Method and apparatus for controlling heading of ship

Abstract

A method for controlling the heading of a ship, according to one embodiment of the present disclosure, may comprise the steps of: acquiring a preset route and a direction (COG) in which a ship actually moves; acquiring a position spaced a preset distance apart from the current position of the ship in the direction in which the ship actually moves; using the current position of the ship and / or the acquired position so as to set a virtual route that extends in parallel to the preset route; and generating a command for controlling the heading of the ship so that same follows the virtual route.

Description

Method and device for controlling the heading of a vessel

[0001] The present disclosure relates to a method and device for controlling the heading of a ship.

[0002] When a vessel strays far from its intended course or encounters a localized disturbance, it may not be able to maintain a stable course and instead zigzag. This can lead to an unstable course, as the vessel must frequently adjust course to maintain its course. This can lead to various negative consequences, including increased fuel consumption, longer voyage times, and reduced maneuverability. Consequently, there is a growing need for a method to reliably align the intended course with the vessel's bow direction.

[0003] The background technology described above is technical information that the inventor possessed for the purpose of deriving the present invention or acquired in the process of deriving the present invention, and cannot necessarily be considered as publicly known technology disclosed to the general public prior to the application for the present invention.

[0004] Some embodiments of the present disclosure provide a method and device for controlling the heading of a vessel. The problems addressed by the present invention are not limited to those mentioned above. Other problems and advantages of the present invention, not mentioned above, can be understood through the following description and will be more clearly understood through examples of the present invention. Furthermore, it will be appreciated that the problems and advantages addressed by the present invention can be realized by the means and combinations thereof set forth in the claims.

[0005] As a technical means for achieving the above-described technical task, a first aspect of the present disclosure may provide a method for controlling the heading of a ship, comprising: a step of acquiring a preset route and a direction (COG) in which the ship actually moves; a step of acquiring a position spaced apart by a preset distance toward the direction in which the ship actually moves based on a current position of the ship; a step of setting a virtual route extending parallel to the preset route using at least one of the current position of the ship and the acquired position; and a step of generating a command for controlling the heading of the ship to follow the virtual route.

[0006] In addition, other methods for implementing the present invention, other systems, and computer-readable recording media storing a computer program for executing the method may be further provided.

[0007] Other aspects, features and advantages other than those described above will become apparent from the following drawings, claims and detailed description of the invention.

[0008] According to the present invention, the heading of a ship can be effectively controlled.

[0009] Figure 1 is a schematic drawing showing an example of an engine-based ship to which the present invention can be applied.

[0010] FIG. 2 is a drawing for explaining an example of a ship control system according to one embodiment.

[0011] FIG. 3 is a flowchart schematically illustrating a method for controlling heading of a vessel according to one embodiment of the present disclosure.

[0012] FIG. 4 is a drawing for explaining an example of a method for controlling the heading of a vessel according to one embodiment of the present disclosure.

[0013] FIG. 5 is a drawing for explaining another example of a method for controlling heading of a vessel according to one embodiment of the present disclosure.

[0014] FIGS. 6A to 6C are drawings for explaining another example of a method for controlling heading of a vessel according to one embodiment of the present disclosure.

[0015] FIGS. 7A to 7C are drawings for explaining another example of a method for controlling heading of a vessel according to one embodiment of the present disclosure.

[0016] FIG. 8 is a flowchart illustrating an example of a method for controlling heading of a vessel according to one embodiment of the present disclosure.

[0017] FIG. 9 is a drawing for explaining an example of the internal configuration of a control device according to one embodiment of the present disclosure.

[0018] As a technical means for achieving the above-described technical task, a first aspect of the present disclosure may provide a method for controlling the heading of a ship, comprising: a step of acquiring a preset route and a direction (COG) in which the ship actually moves; a step of acquiring a position spaced apart by a preset distance toward the direction in which the ship actually moves based on a current position of the ship; a step of setting a virtual route extending parallel to the preset route using at least one of the current position of the ship and the acquired position; and a step of generating a command for controlling the heading of the ship to follow the virtual route.

[0019] A second aspect of the present disclosure provides a control device comprising: at least one memory; and at least one processor; wherein the processor obtains position information separated by a preset distance toward a direction in which the vessel is actually moving based on a current position of the vessel, generates a virtual route including the position information but parallel to the preset route, generates a command for controlling the heading of the vessel to follow the virtual route, and transmits the command to an onboard control device.

[0020] A third aspect of the present disclosure can provide a computer-readable recording medium having recorded thereon a program for executing the method according to the first aspect on a computer.

[0021] In addition, other methods for implementing the present invention, other systems, and computer-readable recording media storing a computer program for executing the method may be further provided.

[0022] Other aspects, features and advantages other than those described above will become apparent from the following drawings, claims and detailed description of the invention.

[0023] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments presented below, but may be implemented in various different forms, and it should be understood that it includes all transformations, equivalents, and substitutes included in the spirit and technical scope of the present invention. The embodiments presented below are provided to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the invention of the scope of the invention. In describing the present invention, if a detailed description of a related known technology is judged to obscure the gist of the present invention, the detailed description thereof will be omitted.

[0024] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms “comprise” or “have” are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0025] Some embodiments of the present disclosure may be represented by functional block configurations and various processing steps. Some or all of these functional blocks may be implemented by various hardware and / or software configurations that perform specific functions. For example, the functional blocks of the present disclosure may be implemented by one or more microprocessors or by circuit configurations for a given function. Furthermore, for example, the functional blocks of the present disclosure may be implemented using various programming or scripting languages. The functional blocks may be implemented by algorithms that execute on one or more processors. Furthermore, the present disclosure may employ conventional techniques for electronic configuration, signal processing, and / or data processing. Terms such as “mechanism,” “element,” “means,” and “configuration” may be used broadly and are not limited to mechanical and physical configurations.

[0026] Additionally, the connecting lines or connecting members between components depicted in the drawings are merely exemplary representations of functional connections and / or physical or circuit connections. In an actual device, connections between components may be represented by various functional connections, physical connections, or circuit connections that may be replaced or added.

[0027] In this specification, "vessel" may refer to a variety of vessels, depending on their size and intended use. For example, vessels may range in size and shape from large ships to small boats, and may include tankers, container ships, passenger ships, salvage ships, fishing boats, coastal surveillance vessels, and warships.

[0028] In this specification, “heading” may refer to the direction of the bow. For example, heading control may refer to controlling the bow direction of a vessel.

[0029] Below, embodiments are described in detail with reference to the attached drawings. However, the embodiments may be implemented in various different forms and are not limited to the examples described herein.

[0030] Figure 1 is a schematic drawing showing an example of an engine-based ship to which the present invention can be applied.

[0031] Referring to Fig. 1, it can be seen that the ship (1) includes a wheelhouse (100), a control room (200), and an engine room (300). Fig. 1 is a limited illustration of only the components necessary for the ship (1) to which the present invention is applied, and the ship (1) to which the present invention is actually applied may naturally include other components in addition to the components illustrated in Fig. 1.

[0032] The wheelhouse (10) is a physical space where the ship (1) is piloted and managed, and the wheelhouse (10) includes a plurality of equipment and panels for efficiently managing and controlling the ship's operation. Referring to Fig. 1, a BDP Unit, a THRUSTER CONTROL PANEL, and a TELEGRAPH LOGGER are arranged in the wheelhouse (10).

[0033] The BDP Unit is a device that displays and manages various data in a ship's wheelhouse. It visually provides the captain and crew with various information related to the ship's operation, enabling them to monitor the ship's status in real time and take necessary measures promptly. The BDP Unit can display various important data, including radar, navigation system, engine status, speed, and route information.

[0034] The THRUSTER CONTROL PANEL is a device that controls the thruster of a ship (1). The thruster is mainly used for precise positioning or anchoring of the ship (1), and can be used to finely adjust the direction of the ship (1). The THRUSTER CONTROL PANEL is generally designed to control multiple thrusters (bow thrusters, stern thrusters, etc.) simultaneously.

[0035] A telegraph logger is a device that records engine commands and actual engine responses on a vessel (1). When the captain or other crew members in the wheelhouse issue specific commands to the engine (e.g., forward, backward, decelerate, accelerate, etc.), these commands are recorded on the telegraph logger, and the actual engine response is also recorded on the telegraph logger. The information recorded on the telegraph logger can play a crucial role in allowing the captain or crew to maintain a record of the vessel's (1) operation and analyze it when problems arise.

[0036] The control room (20) is a physical space where control and monitoring of the main systems of the ship (1) are performed, and the engine, generator, and various electrical systems of the ship (1) can be managed through the control room (20). Referring to Fig. 1, it can be seen that the CDP Unit and GOVERNOR CONTROL UNIT are arranged in the control room (20).

[0037] The CDP Unit (Centralized Display Panel Unit) of Fig. 1 is a centralized display panel that monitors and controls the status of various systems and equipment of a ship (1). The CDP Unit displays various data in real time in the control room (20), thereby allowing the crew in the control room (20) to comprehensively grasp the status of the ship (1). The CDP Unit is composed of multiple monitors, each of which displays various information, such as the ship's engine status, fuel consumption, electrical system, fire alarm, and pump status. In addition, through this panel, the crew working in the control room (20) can remotely control the main systems of the ship (1), or, if necessary, check alarms and take appropriate measures.

[0038] The GOVERNOR CONTROL UNIT in Figure 1 controls the governor, which regulates the vessel's engine speed. The governor maintains a constant engine RPM (revolutions per minute) or adjusts it as needed. This function is essential for efficient engine operation, optimized fuel consumption, and overall power management.

[0039] In Fig. 1, the engine room (30) refers to a physical space where an engineer (sailor) on board the ship (1) can control and monitor the engine and power system of the ship (1), and FIVA-I, MPC, EAR-120, HYDRAULIC VALVE, PMS, LOP, and INDUCTIVE SENSOR are placed in the engine room (30).

[0040] The FIVA-I (Fuel Injection Valve Actuator - Intelligent) in the engine room (30) is a device that controls the electronic fuel injection valve. FIVA-I can precisely control the amount of fuel entering each cylinder of the engine, thereby maintaining optimal combustion and maximizing engine efficiency. The “Intelligent” in FIVA-I indicates that FIVA-I can automatically control optimal fuel injection according to engine operating conditions. In other words, FIVA-I controls the timing and amount of fuel injection of the engine, thereby playing a significant role in increasing combustion efficiency and minimizing exhaust gas, thereby optimizing the engine performance of the ship (1), reducing fuel consumption of the ship (1), and complying with environmental regulations.

[0041] The MPC and MPC-10 in the engine room (30) both refer to multi-purpose controllers. The MPC and MPC-10 are multi-purpose control devices that monitor and control various systems of the engine of the ship (1). They monitor various parameters of the engine, such as temperature, pressure, and speed, in real time, and can automatically control or issue alarms as needed.

[0042] The PMS (Power Management System) of the engine room (30) is a device that manages the power system of the ship (1). The PMS monitors the power demand of the ship (1) and can maintain the stability of the power supply by evenly distributing the load of the generators. In addition, the PMS can automatically control the operation or stop of the generators as needed, thereby preventing the occurrence of power oversupply or power shortage within the ship (1).

[0043] The Local Operating Panel (LOP) of the engine room (30) is a panel for on-site control of specific engine systems or devices. The LOP provides an interface that allows engineers onboard the ship (1) to directly operate specific equipment or systems within the engine room (30) or monitor the overall status, thereby enabling rapid operation of certain systems of the ship (1), thereby improving the maintenance speed of the relevant systems and the speed of emergency response.

[0044] The EAR-120 (Exhaust gas Analyzer - Recorder 120) in the engine room (30) is a device that analyzes and records the exhaust gas of the engine of the ship (1). The EAR-120 analyzes and records the main components (e.g., NO) in the exhaust gas. x , SO x , CO2, etc.) can be monitored in real time to evaluate the combustion status and emission level of the engine. In other words, EAR-120 can help ensure that the values ​​of various substances emitted from the ship (1) comply with environmental regulations, and can provide engineers (crew members) on board the ship (1) with information that can improve fuel efficiency by analyzing the combustion efficiency of the engine.

[0045]

[0046] FIG. 2 is a drawing for explaining an example of a ship control system according to one embodiment.

[0047] In the present disclosure, the ship control system (200) may refer to a system that controls the operation of a ship. For example, the ship control system (200) may control the heading of a ship so that the ship follows a predetermined route.

[0048] Referring to FIG. 2, a ship control system (200) may include a control device (210) and a ship (1). Meanwhile, with respect to the ship control system (200), only components related to the present invention are illustrated in FIG. 2. Therefore, in addition to the components illustrated in FIG. 2, other general-purpose components may be included in the ship control system (200). Meanwhile, although FIG. 2 illustrates the control device (210) and the ship (1) as separate components, this is not a limitation. For example, the control device (210) may be included in the ship (1).

[0049] The control device (210) and the vessel (1) can communicate with each other via a wireless or wired connection. For example, the control device (210) and the vessel (1) can transmit and receive various data to each other via a wired or wireless communication method. For example, the control device (210) and the vessel (1) can communicate with each other via satellite communication.

[0050] For example, the control device (210) can obtain various data used to control the operation of the ship from the ship (1). For example, the control device (210) can obtain ship data collected from each of the wheelhouse (10), the control room (20), and the engine room (30). For example, the control device (210) can receive route data (or preset route), the actual moving direction of the ship (COG), GPS location data of the ship, etc. from the ship (1).

[0051] As another example, the control device (210) may generate a control command for controlling the operation of the ship and transmit it to the ship (1). For example, the control command generated by the control device (210) may be transmitted to the control room (20) of the ship (1).

[0052] Meanwhile, as described below, the control device (210) may be a computing device with its own computing capabilities. For example, the control device (210) may generate a navigation plan for the vessel (11) based on various information. For example, the control device (210) may obtain data regarding the departure point and / or destination of the vessel (1) and set a route for the vessel (1). For example, the control device (210) may set a route for the vessel (1) by further considering weather data. As another example, the control device (210) may receive a preset route from an external device. For example, the control device (210) may store the preset route.

[0053] In one embodiment of the present disclosure, the control device (210) can generate a control command for controlling the heading of the vessel (1). In the present disclosure, heading refers to the direction of the bow, and controlling the heading of the vessel (1) can be understood as controlling the direction in which the bow of the vessel (1) is pointing.

[0054] For example, the control device (210) can control the heading of the vessel (1) based on vessel data. For example, the control device (210) can receive vessel data from the vessel (1). For example, the control device (210) can control the heading of the vessel (1) to follow a preset route. However, the heading of the vessel (1) may change due to external environmental factors such as ocean currents and wind.

[0055] In other words, in order to control a vessel (1) to follow a preset route, a heading control command for the vessel (1) must be generated by considering external environmental factors. Furthermore, due to the inertia caused by the vessel's large weight, it may take time to change the vessel's (1) heading, and a phenomenon may occur in which the vessel exceeds or fails to reach the target heading. In other words, in order to control a vessel (1) to follow a preset route, a heading control command for the vessel (1) must be generated by considering the vessel's (1's) inertia.

[0056] In this disclosure, a method for controlling the heading of a ship (1) by taking into account external disturbances and inertia is disclosed. This will be described in detail below with reference to FIGS. 3 to 9.

[0057]

[0058] FIG. 3 is a flowchart for generally explaining a method for controlling the heading of a ship according to one embodiment of the present disclosure, and FIG. 4 is a drawing for explaining an example of a method for controlling the heading of a ship according to one embodiment of the present disclosure.

[0059] At step 310, the device can obtain a preset route and an actual direction of movement (Course Over Ground, COG).

[0060] For example, the preset route and actual direction of movement may be part of the ship data stored in the ship (1). For example, the control device may receive the preset route and actual direction of movement from the ship.

[0061] A preset route may refer to a portion of a route plan established based on the departure point and destination. For example, a preset route may be established based on a predetermined route planning algorithm. For example, a preset route may include a route established before the start of the voyage. In another example, a preset route may include a route that is modified during the voyage.

[0062] A vessel's true heading (COG) can refer to the direction the vessel is actually moving relative to the ground. For example, a vessel's true heading (COG) can be measured based on the direction in which the vessel is moving. For example, the true heading can be measured in real time using GPS equipment installed on the vessel. For example, the true heading can be measured as the angle of the vessel's heading relative to geographic north.

[0063] As mentioned above, even if a vessel's heading is aligned with the preset route, the vessel's actual direction of travel may deviate from the preset route due to external disturbances and inertia. Therefore, to control the vessel's actual direction of travel so that it resembles the preset route, it is necessary to control the vessel's heading by taking external disturbances and inertia into account.

[0064] In one embodiment of the present disclosure, the control device can perform a vessel heading control algorithm based on a discrepancy between a preset route and an actual moving direction of the vessel.

[0065] For example, the control device can obtain the preset route and the actual direction the vessel is moving, and compare them to determine whether they match. Furthermore, if the control device determines that the two routes point in different directions, it can perform a vessel heading control algorithm.

[0066] In step 320, the control device may generate a virtual circle based on a discrepancy between the preset route and the actual direction in which the vessel is moving. Here, the discrepancy between the preset route and the actual direction in which the vessel is moving may include a case where the direction of the preset route is not the same as the direction in which the vessel is actually moving, or a difference in direction exceeding a predetermined threshold. For example, if the angular difference between the preset route and the actual direction in which the vessel is moving is greater than a predetermined threshold, the direction may be determined to be discrepant. As another example, the control device may determine whether the direction in which the preset route is moving is the same as the actual direction in which the vessel is moving based on the difference in straight-line distance (Cross Track Distance Error) between the preset route and the actual direction in which the vessel is moving.

[0067] For example, as illustrated in FIG. 4, if the direction of the preset route (410) and the direction (401) indicated by the route along which the ship (400) actually moves do not match, the control device may determine that the direction of the preset route (410) and the direction (401) indicated by the actual route along which the ship (400) actually moves do not match. Here, the direction (401) indicated by the route along which the ship (400) actually moves may mean the direction indicated by the heading of the ship (400) before or at the time when heading control of the ship (400) is performed.

[0068] In one embodiment, the control device may generate a virtual circle with a predetermined radius based on the position of the vessel. For example, the control device may generate a virtual circle (420) with a predetermined radius centered on the position of the vessel (400).

[0069] Here, the radius of the virtual circle may vary depending on the vessel's position. For example, the radius of the virtual circle may vary depending on the distance between the vessel and the preset route. For example, the radius of the virtual circle may be adjusted based on changes in the vessel's position. For example, the radius of the virtual circle may gradually increase as the vessel moves away from the preset route. In another example, the radius of the virtual circle may gradually decrease as the vessel moves closer to the preset route. More detailed embodiments will be described later.

[0070] In one embodiment, the initial size of the radius of the virtual circle may be preset by the user. For example, the initial radius of the virtual circle may be set based on ship data. For example, the initial size of the radius of the virtual circle may be set based on the ship length, and may be set to N times the ship length. In another embodiment, when the size of the radius of the virtual circle is initialized, the size of the radius of the virtual circle may be initialized to the initial size. For example, when the area in which the virtual circle is created changes, the radius of the virtual circle may be initialized, and at this time, the size of the radius of the virtual circle may be initialized to the initial size.

[0071] In one embodiment, the control device can acquire a position that is a preset distance away from the vessel's current position in the direction in which the vessel is actually moving. The control device can use the acquired position to create a virtual circle or replace the virtual circle with the acquired position. The acquired position may correspond to a point included in the virtual circle. The step of generating the virtual circle may be omitted as the control device acquires the position. In this case, the radius of the virtual circle may correspond to the distance between the acquired position and the current position of the vessel. In this case, the control device may also generate a virtual route using only the acquired position. According to the present invention, the virtual circle is a concept used to create a virtual route and may be omitted or modified depending on the embodiment.

[0072] At step 330, the control device can set a virtual route.

[0073] In one embodiment, a virtual route may be generated to pass through any point located a predetermined distance from the vessel or within the radius of a virtual circle. For example, a virtual route may be established based on a line extending from a straight line passing through any two points on a virtual circle.

[0074] In one embodiment, a virtual route may be set parallel to a preset route. For example, based on a point determined on a virtual circle, a straight line parallel to the preset route may be determined passing through the random point. For example, the determined straight line may intersect the virtual circle at a point other than the random point. The control device may set a line extending from the determined straight line as the virtual route.

[0075] For example, as illustrated in FIG. 4, the control device can set a virtual route (430) that passes through any two points (441 and 442) of a virtual circle (420) and is parallel to the preset route (410). Although FIG. 4 illustrates passing through any two points, the arbitrary point may be one, or may be omitted so that the virtual route (430) is generated to pass through the current position of the ship but be parallel to the preset route (410).

[0076] Meanwhile, in one embodiment, a virtual route may be set to be generated within a predetermined boundary area (450). Here, the boundary area (450) may be set based on a preset route (410). For example, the boundary area (450) may be set as an area in which the distance from the preset route (410) is less than or equal to a preset limit. The distance from the preset route (410) may be preset by the user. Accordingly, the boundary area (450) may also be preset by the user. Meanwhile, since the virtual route (430) may be set to be generated within the boundary area (450), the case in which the virtual route (430) is set at the farthest distance from the preset route (410) will be when it includes the edge line (451) of the boundary area (450). When the virtual route (430) is set to include the edge line (451), even if the position of the ship (400) is outside the limit area (450), the ship (400) can be controlled to follow the virtual route (430) parallel to the preset route (410). In other words, by setting the limit area (450) and setting the virtual route to be generated within the limit area (450), the heading of the ship (400) can be controlled so that the ship (400) heads toward the preset route (410) even if the ship (400) is outside the limit area (450). A more detailed embodiment will be described later.

[0077] In another embodiment, the virtual route (430) may be set to move according to the position of the vessel (400) within the boundary area (450). For example, the area within the boundary area (450) where the vessel (400) is located may be designated as a first area, and the area opposite to the preset route (410) may be designated as a second area. The virtual route (400) may be set to change its generated position based on changes in the position of the vessel (400). For example, when the vessel (400) is moving closer to the preset route (410) within the first area, the virtual route (430) generated in the first area may be set to move its position to the second area. This prevents the heading direction from changing rapidly by considering the inertia of the vessel (400), and improves control stability. More detailed embodiments will be described later.

[0078] Referring again to FIG. 3, at step 340, the control device may generate a command to control the heading of the vessel (400) to follow the virtual route (430).

[0079] For example, referring to FIG. 4, when a virtual route (430) is generated through the aforementioned algorithm, the control device can generate a command to control the rotation of the hull of the ship (400) until the direction indicated by the heading of the ship (400) matches the direction (402) following the virtual route (430). In another aspect, the direction (402) following the virtual route (430) can be understood as the target heading direction that is the target of the control.

[0080] In one embodiment, even if the heading direction (402) of a vessel (400) following a virtual route (430) becomes parallel to the preset route (430) through a predetermined control process, the control device may continuously generate a heading control command. For example, the control device may generate a command to control the heading of the vessel (400) to be maintained. In other words, the heading control algorithm according to the present disclosure may go beyond controlling the heading of the vessel (400) to follow the preset route (430) and may include controlling the heading of the vessel (400) to be stably maintained parallel to the preset route (430) to prevent excessive use of the rudder due to disturbance and inertia. According to an embodiment, the heading of the vessel (400) may be controlled to maintain a specific direction, so that the rudder of the vessel may be used minimally. A more detailed embodiment will be described later.

[0081]

[0082] FIG. 5 is a drawing for explaining another example of a method for controlling the heading of a ship according to one embodiment of the present disclosure, FIGS. 6a to 6c are drawings for explaining another example of a method for controlling the heading of a ship according to one embodiment of the present disclosure, and FIGS. 7a to 7c are drawings for explaining another example of a method for controlling the heading of a ship according to one embodiment of the present disclosure.

[0083] Figures 5 to 7c may be understood as drawings illustrating embodiments in which the heading of a vessel is controlled in response to predetermined conditions. Here, the predetermined conditions may include the vessel's position, the vessel's heading direction, etc.

[0084] In one embodiment, referring to FIG. 5, the control device may set a virtual route (530) that passes through the center of the vessel (500) but is parallel to the preset route (510) based on the heading (501) of the vessel (500) being directed in the opposite direction of the preset route (510). The virtual route (530) may be set to pass through the center (521) of the virtual circle (520).

[0085] Referring to FIG. 5, it can be understood that the heading (501) of the ship (500) is directed in the opposite direction to the preset route (510), meaning that a line extending from the direction indicated by the heading (501) of the ship (500) does not meet the preset route (510).

[0086] The virtual route (530) may pass through the center (521) of the ship (500) and be parallel to the preset route (510). The virtual route (530) may pass through the center (521) of the virtual circle (520), pass through two points (not shown) on the virtual circle (520), and be parallel to the preset route (510). The distance between the two points (not shown) where the virtual route (530) and the virtual circle (520) meet may be equal to the length of the diameter of the virtual circle (520).

[0087] Meanwhile, the heading (501) of the vessel (500) may be controlled to follow the generated virtual route (530). That is, the heading (501) of the vessel (500) may be controlled to face a direction (502) that follows the virtual route (530). In the example illustrated in FIG. 5, it may be understood that the hull of the vessel (500) is controlled to rotate counterclockwise, or the heading of the vessel (500) is controlled to rotate counterclockwise.

[0088]

[0089] In another embodiment, referring to FIGS. 6A to 6C, the control device can set a virtual route (631 to 633) based on a heading direction (601) of the vessel (600) or a change in the position of the vessel (600).

[0090] For example, referring to FIG. 6A, the control device can obtain a position (640) spaced apart by a preset distance toward the actual moving direction of the vessel (600) based on the current position of the vessel (600) based on the heading (601) of the vessel (600) being directed toward the preset route (610). The control device can set the first virtual route (631) to include a point (640) where a line extended in the heading direction of the vessel (600) and a virtual circle (620) intersect. For example, the first virtual route (631) may pass through another point (not shown) on the virtual circle (620) in addition to the point (640) and may be parallel to the preset route (610).

[0091] The heading (601) of the vessel (600) may be controlled to follow the generated first virtual route (631). That is, the heading (601) of the vessel (600) may be controlled to face a direction (602) following the first virtual route (631). In the example illustrated in FIG. 6A, the heading (601) direction of the vessel (600) and the direction (602) following the first virtual route (631) may be the same. In another aspect, it may be understood that the vessel (600) is controlled to maintain its current heading direction while being controlled to approach the preset route (610).

[0092] Referring to FIG. 6B, the control device may set a second virtual route (632) in an area opposite to the area where the vessel (600) is located based on the preset route (610) based on the heading direction of the vessel. For example, based on a command to control the vessel to follow the first virtual route (631), the control device may set the second virtual route (632) based on the vessel's heading direction being directed toward the preset route (610). That is, the virtual route may move from the first virtual route (631) to the second virtual route (632) depending on the vessel's heading direction.

[0093] For example, the second virtual route (632) may include a location spaced apart by a preset distance in the actual moving direction of the vessel (600) based on the current position of the vessel (600), but may be parallel to the preset route (610). The second virtual route (632) may be parallel to the preset route (610) while passing through any two points on the virtual circle (620). The second virtual route (632) may be parallel to the preset route (610) while passing through any two points on the virtual circle (620).

[0094] The heading (601) of the vessel (600) can be controlled to follow the generated second virtual route (632). That is, the heading (601) of the vessel (600) can be controlled to face the direction (602) that follows the second virtual route (632). Compared to the direction that follows the first virtual route (631) illustrated in FIG. 6A, it can be understood that the hull of the vessel (600) rotates more counterclockwise to follow the second virtual route (632), or the heading of the vessel (600) is controlled more counterclockwise.

[0095] In one embodiment, the control device may set a third virtual route including a point where a line extending in the heading direction (601) of the vessel (600) intersects a virtual circle (620) based on the vessel (600) moving to an opposite area. Here, the line extending in the heading direction (601) of the vessel (600) may be understood as a direction of travel of a route along which the vessel (600) actually moves. In addition, the opposite area may mean an area opposite to the area in which the vessel (600) is located at the time of setting the second virtual route (632). In another aspect, the opposite area may mean the same area as the area in which the second virtual route (632) is set. In other words, if the position of the vessel (600) changes as a result of controlling the heading of the vessel (600) to follow the second virtual route (632), the position of the virtual route may move from the second virtual route (632) to the third virtual route.

[0096] In an embodiment, the size of the virtual circle that serves as the basis for generating the third virtual route may be adjusted based on changes in the position of the vessel (600). For example, after the vessel (600) moves to an opposite area, the size of the virtual circle (620) may be gradually increased based on the distance from the preset route (610).

[0097] In the embodiment, as described above, the third virtual route may be set within the limit area. For example, referring to FIG. 6C, the control device may set a virtual route (651) that includes a limit position (642) that is spaced apart by the limit distance from the preset route (610) based on a position (641) spaced apart by a preset distance in the actual moving direction of the vessel (600) based on the current position of the vessel (600), but is parallel to the preset route. If the first point (641) where the line extending in the heading direction (601) of the vessel (600) and the virtual circle (620) intersect is located outside the limit area (650), the third virtual route (633) may be set to include a limit position (642) where the edge line (651) of the limit area (650) and the virtual circle (620) intersect. In other words, the third virtual route (633) may be set to include a point where a line extending in the heading direction (601) of the ship (600) and a virtual circle (620) meet, but as in the example shown in FIG. 6c, the limit value that includes the edge line (651) of the limit area (650) may be the limit value that is the farthest from the preset route (610).

[0098] The heading (601) of the vessel (600) may be controlled to follow the generated third virtual route (633). That is, the heading (601) of the vessel (600) may be controlled to face a direction (602) that follows the third virtual route (633). Referring to the example illustrated in FIG. 6C, the hull of the vessel (600) may be controlled to rotate clockwise to follow the third virtual route (633), or the heading of the vessel (600) may be controlled to turn clockwise.

[0099]

[0100] In another embodiment, referring to FIGS. 7A to 7C, the control device can set a virtual route (731 to 733) based on a heading direction (701) of the vessel (700) or a change in the position of the vessel (700).

[0101] For example, referring to FIG. 7A, the control device may set a virtual route (731) that includes a limit position spaced apart by the limit distance from the preset route (710) or more or located outside the limit area (750), but is parallel to the preset route. The control device may set a fourth virtual route (731) that includes a point where an edge line (not shown) of the limit area (750) close to the ship (700) intersects the virtual circle (720), based on the ship (700) being located outside the limit area (750). For example, it may be understood that the ship (700) is located outside the limit area (750) due to a disturbance and the inertia of the ship (700). For example, the fourth virtual route (731) may pass through two points where the edge line of the limit area (750) and the virtual circle (720) meet, and may be parallel to the preset route (710).

[0102] The heading of the vessel (700) may be controlled to follow the generated fourth virtual route (731). That is, the heading of the vessel (700) may be controlled to face a direction (702) that follows the fourth virtual route (731). Referring to the example illustrated in FIG. 7A, the hull of the vessel (700) may be controlled to rotate clockwise to follow the fourth virtual route (731), or the heading of the vessel (700) may be controlled to rotate clockwise. Consequently, the vessel (700) may be controlled to follow the fourth virtual route (731), thereby moving within the boundary area (750).

[0103] Referring to FIG. 7B, the control device may generate a virtual route that includes a location (740) that is spaced apart from the current position of the vessel (700) by a preset limit distance or less from the preset route (710) or is located within a limit area (750), but is parallel to the preset route (710), in the direction in which the vessel (700) actually moves by a preset distance based on the current position of the vessel (700). The control device may obtain the location (740), and the distance between the location (740) and the vessel (700) may decrease as the current position of the vessel (700) approaches the preset route (710). For example, the control device may set a fifth virtual route (732) passing through a point (740) where a line extended in the heading direction (701) of the vessel (700) and a virtual circle (720) meet, based on the vessel (700) moving inside the limit area (750). Here, the line extended in the heading direction (701) of the vessel (700) may be understood as the direction of progress of the route along which the vessel (700) actually moves.

[0104] In an embodiment, the fifth virtual route (732) passes through another point (not shown) on the virtual circle (720) in addition to the point (740) and may be parallel to the preset route (710). Furthermore, in an embodiment, the virtual route may be understood as having moved from the fourth virtual route (731) to the fifth virtual route (733) as the vessel (700) moves from outside the limit area (750) to inside the limit area (750).

[0105] The heading (701) of the vessel (700) may be controlled to follow the generated fifth virtual route (732). That is, the heading (701) of the vessel (700) may be controlled to face a direction (702) that follows the fifth virtual route (732). In the example illustrated in FIG. 7B, the heading (701) direction of the vessel (700) and the direction (702) that follows the fifth virtual route (732) may be the same. In another aspect, it may be understood that the vessel (700) is controlled to maintain its current heading direction while being controlled to approach the preset route (710).

[0106] In an embodiment, the size of the virtual circle (720) on which the fifth virtual route (732) is generated may be adjusted according to changes in the position of the ship (700). For example, after the ship (700) moves within the limit area (750), the size of the virtual circle (720) may be gradually reduced based on the distance from the preset route (710) becoming closer.

[0107] Meanwhile, as a result of the heading of the vessel (700) being controlled to follow the fifth virtual route (732), as the vessel (700) gets closer to the preset route (710), the size of the virtual circle (720) that serves as the basis for generating the fifth virtual route (732) decreases, so that the fifth virtual route (732) can be set at a location closer to the vessel (700). In addition, it can be understood that as the fifth virtual route (732) gets closer to the vessel (700), the amount of change in the direction of controlling the heading of the vessel (700) decreases. Eventually, the moment when the heading of the vessel (700) becomes parallel to the preset route (710) will be reached according to the control process.

[0108] For example, referring to FIG. 7c, the control device can control the heading of the vessel (700) to maintain the heading direction (702) of the vessel (700) based on the heading direction (702) of the vessel (700) following the sixth virtual route (733) becoming parallel to the preset route (710).

[0109] Here, the sixth virtual route (733) is a virtual route set to pass through the point where a line extended in the heading direction of the ship (700) and a virtual circle (720) meet, similar to the fifth virtual route (732), and may mean a virtual route at the point where the heading direction of the ship (700) becomes parallel to the preset route (710).

[0110] In an embodiment, the device may control the heading of the vessel (700) by taking into account disturbances around the vessel (700) and the inertia of the vessel (700) so that the heading direction (702) of the vessel (700) continuously follows the sixth virtual route (733).

[0111] Meanwhile, as described above, each of the embodiments described with reference to FIGS. 5 to 7c can be understood as embodiments in which the heading of a vessel is controlled in response to predetermined conditions. However, the embodiments can also be understood as a single, continuous control process. In other words, the vessel heading control process illustrated in FIGS. 5 to 7c can also be understood as a series of control processes for controlling the vessel's heading in a direction parallel to a preset route.

[0112]

[0113] FIG. 8 is a flowchart illustrating an example of a method for controlling heading of a vessel according to one embodiment of the present disclosure.

[0114] The operations illustrated in FIG. 8 may be executed by the aforementioned control device or a processor included in the control device. Furthermore, even if not included in the operations illustrated in FIG. 8, some of the operations described as being performed by the control device with reference to FIGS. 1 to 7c may be included in a method for controlling the heading of a vessel.

[0115] First, in step 810, the control device can obtain, from among the ship data, a preset route and the actual moving direction of the ship (COG).

[0116] In step 820, the control device can obtain a position spaced apart by a preset distance in the direction in which the vessel is actually moving based on the current position of the vessel. Step 820 may include a step in which the control device generates a virtual circle having a preset radius based on the current position of the vessel based on the fact that the direction of the preset route and the actual moving direction do not match, and a step in which the position at which the virtual circle intersects a line extending from the actual moving direction is determined as the obtained position.

[0117] In one embodiment, the control device may generate a virtual circle with a predetermined radius based on the vessel's position, based on a discrepancy between the direction of the preset route and the actual direction of movement. In one embodiment, the virtual circle's radius may be adjusted based on changes in the vessel's position and / or length.

[0118] In some embodiments, the virtual circle may be replaced with location information that is a predetermined distance away from the vessel's current heading relative to the vessel's position. The predetermined distance may be a value that varies depending on the vessel's length and / or position.

[0119] In one embodiment, the preset distance (or, the predetermined distance) may increase as the vessel moves away from the preset route. In another embodiment, the preset distance (or, the predetermined distance) may decrease as the vessel moves closer to the preset route.

[0120] In step 830, the control device may generate a virtual route extending parallel to the preset route using the vessel's current location and / or the acquired location. For example, the control device may establish a virtual route passing through a random point and parallel to the preset route. For example, the random point may be a point within a virtual circle.

[0121] In one embodiment, a virtual route may be established within a boundary area where the distance from the preset route is less than or equal to a preset limit.

[0122] In one embodiment, the position may be set to move depending on the position of the vessel within the boundary area.

[0123] In one embodiment, the control device may set a virtual route that includes the current position of the vessel but is parallel to the preset route, based on the actual direction in which the vessel is moving being in the opposite direction of the preset route.

[0124] In one embodiment, the control device may set a virtual route that includes the acquired position but is parallel to the preset route, based on the actual direction in which the vessel is moving along the preset route.

[0125] In an embodiment, the control device may set the virtual route that includes a limit position spaced apart by the limit distance from the preset route by more than the preset limit distance, but is parallel to the preset route.

[0126] In one embodiment, the control device may set a virtual route that includes a limit position that is spaced apart by the set limit distance from the set route by more than a set limit distance, but extends parallel to the set route.

[0127] In an embodiment, the control device may set a virtual route that includes the acquired position but is parallel to the established route based on the current position of the vessel being less than a preset limit distance from the established route, wherein the acquired position may include getting closer to the vessel as the current position of the vessel gets closer to the established route.

[0128] In an embodiment, if the virtual circle is replaced with position information located a certain distance away from the vessel's current heading relative to the vessel's position, the control device may establish a virtual route that passes through the position information and is parallel to the preset route. In this case, the virtual circle and any two points on the virtual circle may not be required.

[0129] At step 840, the control device may generate a command to control the heading of the vessel to follow the virtual route.

[0130] In one embodiment, the control device may generate a command to control the heading of the vessel to maintain the heading direction of the vessel based on the heading direction of the vessel following the virtual route becoming parallel to the preset route.

[0131]

[0132] FIG. 9 is a drawing for explaining an example of the internal configuration of a control device according to one embodiment of the present disclosure.

[0133] Referring to FIG. 9, the control device (900) may include a processor (910), a memory (920), and a communication module (930). For convenience of explanation, only components related to the present invention are illustrated in FIG. 9. Therefore, in addition to the components illustrated in FIG. 9, other general-purpose components may be further included in the control device (900). Furthermore, it will be apparent to those skilled in the art that the processor (910), memory (920), and communication module (930) illustrated in FIG. 9 may be implemented as independent devices.

[0134] The processor (910) can process computer program instructions by performing basic arithmetic, logic, and input / output operations. Here, the instructions can be provided from memory (920) or an external device. In addition, the processor (910) can generally control the operation of other components included in the device (900).

[0135] For example, the processor (910) may control at least some of the operations of the control device (900) described herein.

[0136] The processor (910) may be implemented as an array of a plurality of logic gates, or may be implemented as a combination of a general-purpose microprocessor and a memory storing a program that can be executed on the microprocessor. For example, the processor (910) may include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some environments, the processor (910) may include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. For example, the processor (910) may refer to a combination of processing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors coupled with a digital signal processor (DSP) core, or any other such combination of configurations.

[0137] The memory (920) may include any non-transitory computer-readable recording medium. As an example, the memory (920) may include a non-volatile mass storage device such as a random access memory (RAM), a read only memory (ROM), a disk drive, a solid state drive (SSD), a flash memory, etc. As another example, the non-volatile mass storage device such as a ROM, an SSD, a flash memory, a disk drive, etc. may be a separate permanent storage device distinct from the memory. In addition, the memory (920) may store an operating system (OS) and at least one program code (e.g., code for the processor (910) to perform the operations described as being performed by the control device).

[0138] These software components may be loaded from a computer-readable recording medium separate from the memory (920). This separate computer-readable recording medium may be a recording medium that can be directly connected to the control device (900), and may include, for example, a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, a memory card, etc. Alternatively, the software components may be loaded into the memory (920) through a communication module (930) that is not a computer-readable recording medium. For example, at least one program may be loaded into the memory (920) based on a computer program (e.g., a computer program for the processor (910) to perform the operations described as being performed by the control device, etc.) that is installed by files provided by developers or a file distribution system that distributes installation files of applications through the communication module (930).

[0139] The communication module (930) may provide a configuration or function for the control device (900) to communicate with an external device (e.g., an external server (not shown)) via a network. For example, control signals, commands, data, etc. provided under the control of the processor (910) may be transmitted to the external device via the communication module (930) and the network.

[0140] Unless the steps constituting the method according to the present invention are explicitly described in a specific order or are otherwise described in a different order, the steps may be performed in any appropriate order. The present invention is not necessarily limited to the order in which the steps are described. The use of all examples or exemplary terms (e.g., "for example," etc.) in the present invention is merely intended to illustrate the present invention in detail, and the scope of the present invention is not limited by the examples or exemplary terms unless otherwise defined by the claims. Furthermore, those skilled in the art will appreciate that various modifications, combinations, and variations can be configured according to design conditions and factors within the scope of the appended claims or their equivalents.

[0141] Therefore, the idea of ​​the present invention should not be limited to the embodiments described above, and all scopes equivalent to or equivalently modified from the following claims as well as the claims are considered to fall within the scope of the idea of ​​the present invention.

Claims

1. In a method for controlling the heading of a ship, A step of obtaining the preset route and the actual direction (COG) in which the vessel is moving; A step of acquiring a position spaced apart by a preset distance toward the actual moving direction of the vessel based on the current position of the vessel; A step of setting a virtual route extending parallel to the preset route using at least one of the current location of the vessel and the acquired location; and A method comprising: generating a command for controlling the heading of the vessel to follow the virtual route; 2. In paragraph 1, A method wherein the above-described preset distance includes a value that changes depending on at least one of the length of the vessel and the position of the vessel.

3. In paragraph 2, A method in which the above-described preset distance increases as the vessel moves away from the above-described route.

4. In paragraph 2, A method in which the above-described preset distance decreases as the vessel gets closer to the above-described route.

5. In paragraph 1, A method in which the above virtual route is set within a limit area in which the distance from the above preset route is less than a preset limit.

6. In paragraph 5, A method in which the virtual route is set to move in position based on the heading direction of the vessel.

7. In paragraph 1, The steps for setting the above virtual route are: A method comprising: setting a virtual route that includes the current location of the vessel but is parallel to the preset route, based on the direction in which the vessel actually moves being opposite to the preset route.

8. In paragraph 1, The steps for setting the above virtual route are: A method comprising: a step of setting a virtual route that includes the acquired position but is parallel to the preset route, based on the direction in which the vessel actually moves toward the preset route; 9. In paragraph 1, The steps for setting the above virtual route are: A method comprising: a step of setting a virtual route that includes a limit position spaced apart by the limit distance from the preset route by the obtained position, but is parallel to the preset route; 10. In paragraph 1, The steps for setting the above virtual route are: A method comprising: a step of setting a virtual route that includes a limit position that is spaced apart by the set limit distance from the set route by a preset limit distance, but extends parallel to the set route; 11. In paragraph 1, The steps for setting the above virtual route are: A step of setting a virtual route that includes the acquired position but is parallel to the preset route, based on the fact that the current position of the vessel is less than a preset limit distance from the preset route; Including, A method in which the acquired position includes getting closer to the vessel as the current position of the vessel gets closer to the preset route.

12. In paragraph 1, The step of generating a command to control the heading of the above vessel is: A method comprising: generating a command to maintain the heading direction of the vessel based on the heading direction of the vessel following the virtual route becoming parallel to the preset route; 13. In paragraph 1, The step of obtaining the above-mentioned spaced location is: A step of generating a virtual circle having a predetermined radius based on the current location of the vessel, based on the fact that the direction of the preset route and the actual moving direction do not match; and A method comprising: determining a position where the virtual circle and a line extending in the actual moving direction intersect as the acquired position; 14. In the control device, At least one memory; and comprising at least one processor; The above processor, A control device that obtains position information at a preset distance from the current position of the vessel toward the actual direction in which the vessel is moving, generates a virtual route including the position information but parallel to the preset route, generates a command to control the heading of the vessel to follow the virtual route, and transmits the command to an onboard control device.

15. A computer-readable recording medium recording a program for executing the method according to paragraph 1 on a computer.

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