Method for generating route on basis of delaunary triangulation and apparatus therefor

Abstract

In one embodiment of the present invention, disclosed is a Delaunay triangulation-based route generation method for generating a safe path for ships in a target area on the basis of Delaunay edges.

Description

Delaunay triangulation-based route generation method and device therefor

[0001] The present invention relates to a method for generating a route, and more specifically, to a method for generating a route using the Delaunay triangulation technique.

[0002] After departing port, ships navigate along pre-established routes to their ports of call. Larger vessels often navigate fixed routes, avoiding excessive fuel consumption and other costs associated with route changes. Conversely, smaller vessels often navigate unstable routes, such as those in the ocean, coastal waters, and rivers. Therefore, to ensure safe navigation, smaller vessels require more detailed pre-established navigation plans than larger vessels. Previously, routes were generated solely based on topographical information and consistent criteria. This often resulted in routes that did not take into account the characteristics of narrow waterways or dredged areas, leading to frequent accidents in these areas.

[0003] Figure 1 is a diagram explaining a quad tree, one of the existing route generation methods.

[0004] The first screen (20) of Fig. 1 shows the result of generating a quad-tree based on a square map including both land and sea. Quad-tree refers to a technique for detailing the area displayed on the map by continuously dividing it into four. The second screen (21) shows the result of displaying the shortest path (shortest route) generated between points S and E on a map divided into quad-trees. The quad-tree technique has the advantage of being easily applicable to any map, but has the limitation of making it difficult to generate detailed routes.

[0005] The technical problem to be solved by the present invention is to provide a route generation method based on Delaunay triangulation and a device for implementing the method.

[0006] A method according to one embodiment of the present invention for solving the above technical problem comprises the steps of: receiving a first target map including land and sea; generating a second target map by applying a Delaunay triangulation technique to the sea of ​​the first target map; identifying a target area from the second target map; and generating a safe path for a vessel for the target area based on a Delaunay edge of the second target map.

[0007] According to another embodiment of the present invention for solving the above technical problem, a device includes a memory storing at least one program; and a processor performing a calculation by executing the at least one program, wherein the processor receives a first target map including land and sea, applies a Delaunay triangulation technique to the sea of ​​the first target map to generate a second target map, identifies a target area in the second target map, and generates a safe path for a ship for the target area based on a Delaunay edge of the second target map.

[0008] One embodiment of the present invention can provide a computer-readable recording medium storing a program for executing the above method.

[0009] According to the present invention, a detailed route can be created even in narrow areas such as narrow channels or dredged areas, thereby enabling safe navigation of ships.

[0010] According to the present invention, a safe route that sufficiently reflects traffic rules or geometry can be created.

[0011] Figure 1 is a diagram explaining a quad tree, one of the existing route generation methods.

[0012] Figure 2 is a diagram for explaining Delaunay triangulation.

[0013] Figure 3 is a block diagram showing an example of a route generation device according to the present invention.

[0014] Figure 4 is a drawing for explaining a method by which a route generation device generates a safe route for a ship in a narrow waterway.

[0015] Figure 5 is a flowchart illustrating the process described in Figure 4.

[0016] Figure 6 is a drawing for explaining by comparison the initial route and the safe route in the present invention.

[0017] FIG. 7 is a flowchart illustrating an example of a method for generating a safe route based on Delaunay triangulation according to the present invention.

[0018] A method according to one embodiment of the present invention for solving the above technical problem comprises the steps of: receiving a first target map including land and sea; generating a second target map by applying a Delaunay triangulation technique to the sea of ​​the first target map; identifying a target area from the second target map; and generating a safe path for a vessel for the target area based on a Delaunay edge of the second target map.

[0019] In the above method, the target area may be one of a narrow channel and a dredging area.

[0020] In the above method, the Delaunay edge may be an edge formed adjacent to the target area.

[0021] In the above method, the first target map may be map data in which an initial path is formed using a quad-tree.

[0022] In the above method, the step of generating the second target map may generate the second target map by extracting boundary points based on coordinate information received together with the first target map and applying the Delaunay triangulation technique using the extracted boundary points.

[0023] In the above method, the step of generating the safe route may include generating the safe route by placing at least one node on the Delaunay edge and connecting the nodes placed for each Delaunay edge.

[0024] In the above method, the step of generating the safe route may generate the safe route by calculating the minimum distance from the reference boundary based on the direction of the vessel approaching the target area, and further considering the calculated minimum distance from land.

[0025] In the above method, the step of generating the safety route may compare the minimum distance from the reference boundary with the length of the Delaunay edge, and determine the number of nodes to be placed on each Delaunay edge based on the comparison result.

[0026] In the above method, the minimum distance from the reference boundary may include a first distance component measured from one side of the adjacent reference boundary when the vessel moves and a second distance component measured from the other side of the reference boundary.

[0027] In the above method, the step of generating the safe route may be such that, if the length of the Delaunay edge is less than or equal to the sum of the minimum reference values ​​of the first distance component and the second distance component, one node is placed on the Delaunay edge.

[0028] In the above method, the step of generating the safe route may be such that, if the length of the Delaunay edge exceeds the sum of the minimum reference values ​​of the first distance component and the second distance component, two nodes are placed on the Delaunay edge.

[0029] In the above method, the step of generating the safe route may be such that, if the length of the Delaunay edge is less than the sum of the minimum reference values ​​of the first distance component and the second distance component plus the minimum distance between nodes, two nodes are placed on the Delaunay edge.

[0030] In the above method, the step of generating the safe route may be such that, if the length of the Delaunay edge is greater than the sum of the minimum reference values ​​of the first distance component and the second distance component plus the minimum distance between nodes, at least three nodes are placed on the Delaunay edge.

[0031] According to another embodiment of the present invention for solving the above technical problem, a device includes a memory storing at least one program; and a processor performing a calculation by executing the at least one program, wherein the processor receives a first target map including land and sea, applies a Delaunay triangulation technique to the sea of ​​the first target map to generate a second target map, identifies a target area in the second target map, and generates a safe path for a ship for the target area based on a Delaunay edge of the second target map.

[0032] One embodiment of the present invention can provide a computer-readable recording medium storing a program for executing the above method.

[0033] The present invention is capable of various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, as well as the methods for achieving them, will become clearer with reference to the embodiments described in detail below, along with the drawings. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various forms.

[0034] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same drawing reference numerals, and redundant descriptions thereof will be omitted.

[0035] In the following examples, the terms first, second, etc. are not used in a limiting sense, but are used for the purpose of distinguishing one component from another.

[0036] In the examples below, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0037] In the following examples, terms such as “include” or “have” mean that a feature or component described in the specification is present, and do not preclude the possibility that one or more other features or components may be added.

[0038] In some embodiments, where the implementation is otherwise feasible, a particular process sequence may be performed in a different order than described. For example, two processes described in succession may be performed substantially simultaneously, or in a reverse order from the described order.

[0039] The present invention is capable of various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, as well as the methods for achieving them, will become clearer with reference to the embodiments described in detail below, along with the drawings. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various forms.

[0040] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same drawing reference numerals, and redundant descriptions thereof will be omitted.

[0041] In the following examples, the terms first, second, etc. are not used in a limiting sense, but are used for the purpose of distinguishing one component from another.

[0042] In the examples below, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0043] In the following examples, terms such as “include” or “have” mean that a feature or component described in the specification is present, and do not preclude the possibility that one or more other features or components may be added.

[0044] In some embodiments, where the implementation is otherwise feasible, a particular process sequence may be performed in a different order than described. For example, two processes described in succession may be performed substantially simultaneously, or in a reverse order from the described order.

[0045] Figure 2 is a diagram for explaining Delaunay triangulation.

[0046] Figure 2 (a) shows a Voronoi diagram. A Voronoi diagram is a diagram that divides a plane into a set of points with the shortest distance to a specific point, and may include a Voronoi site, a Voronoi vertex, a Voronoi region, a Voronoi circle, and a Voronoi arc.

[0047] Figure 2 (b) shows the result of applying the Delaunay triangulation technique, which is a dual structure of the Voronoi diagram. The present invention proposes a method for generating a safe route for a narrow area using the Delaunay triangulation technique.

[0048] Figure 3 is a block diagram showing an example of a route generation device according to the present invention.

[0049] The route generation device (300) according to the present invention can generate a route for a ship to safely navigate by receiving map data from an external source or using map data previously stored in a memory (350). Referring to FIG. 3, it can be seen that the route generation device (300) includes a communication unit (310), a processor (330), and a memory (350).

[0050] The communication unit (310) may include one or more components that enable wired / wireless communication with external devices. For example, the communication unit (310) may include at least one piece of hardware necessary to implement short-range communication, such as Wi-Fi or Bluetooth, in a network provided by a communication network, or to implement various communications, including the Internet, when a LAN cable is connected.

[0051] The memory (350) is a hardware that stores various data processed within the route generation device (300), and can store a program for processing and controlling the processor (330). The memory (350) may include a random access memory (RAM) such as a dynamic random access memory (DRAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a CD-ROM, a Blu-ray or other optical disk storage, a hard disk drive (HDD), a solid state drive (SSD), or a flash memory. As an example, the memory (350) may store a global map as raw map data, and then transmit the global map to the processor (330) upon receiving a call from the processor (330). As another example, the memory (350) may store a first target map and a second target map, which will be described later.

[0052] The processor (330) can control the overall operation of the route generation device (300). For example, the processor (330) can control the operation of the input unit (not shown), display (not shown), communication unit (310), memory (350), etc. included in the route generation device (300) by executing programs stored in the memory (350).

[0053] As an example, the processor (330) may receive a first target map including land and sea, apply a Delaunay triangulation technique to the sea of ​​the first target map to generate a second target map, identify a target area in the second target map, and generate a safe path for a ship to the target area based on a Delaunay edge of the second target map.

[0054] Hereinafter, an embodiment in which the processor (330) of the route generation device (300) according to the present invention generates a safe route for a ship will be described collectively, and each embodiment will be described in detail through FIGS. 4 to 7.

[0055] As an example, the target area identified by the processor (330) of the route generation device (300) may be one of a narrow waterway and a dredging area.

[0056] As an example, in the method performed by the processor (330) of the route generation device (300), the Delaunay edge may be an edge formed adjacent to the target area.

[0057] As an example, in a method performed by a processor (330) of a route generation device (300), the first target map may be map data in which an initial path is formed using a quad-tree.

[0058] As an example, the processor (330) of the route generation device (300) can extract boundary points based on coordinate information received together with the first target map, and generate a second target map by applying the Delaunay triangulation technique using the extracted boundary points.

[0059] As an example, the processor (330) of the route generation device (300) can place at least one node on a Delaunay edge and connect the nodes placed on each Delaunay edge to create a safe route.

[0060] As an example, the processor (330) of the route generation device (300) can calculate the minimum distance from land based on the direction of a ship approaching a target area, and generate a safe route by further considering the calculated minimum distance from land.

[0061] As an example, the processor (330) of the route generation device (300) may compare the minimum distance from land with the length of the Delaunay edge and determine the number of nodes to be placed on each Delaunay edge based on the comparison result.

[0062] As an example, in a method performed by a processor (330) of a route generation device (300), the minimum distance from land may include a first distance component measured from one side of the adjacent land when the ship moves and a second distance component measured from the other side of the reference boundary.

[0063] As an example, the processor (330) of the route generation device (300) may cause one node to be placed on the Delaunay edge if the length of the Delaunay edge is less than or equal to the sum of the minimum reference values ​​of the first distance component and the second distance component.

[0064] As an example, the processor (330) of the route generation device (300) may cause two nodes to be placed on the Delaunay edge if the length of the Delaunay edge exceeds the sum of the minimum reference values ​​of the first distance component and the second distance component.

[0065] As an example, the processor (330) of the route generation device (300) may cause two nodes to be placed on the Delaunay edge if the length of the Delaunay edge is less than the sum of the minimum reference values ​​of the first distance component and the second distance component plus the minimum distance between nodes.

[0066] As an example, the processor (330) of the route generation device (300) may cause at least three nodes to be placed on the Delaunay edge if the length of the Delaunay edge is greater than the sum of the minimum reference values ​​of the first distance component and the second distance component plus the minimum distance between nodes.

[0067] When the route generation device (300) is implemented as a physical device, the processor (330) may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

[0068] In addition, in the present invention, when the route generation device (300) is implemented in the form of an application (program) that runs on an integrated data processing device such as a server, the processor (330) and memory (350) included in the route generation device (300) may be implemented in the form of a virtual machine that implements hardware such as DSPs, microcontrollers, RAM, ROM, HDD, etc. as software (command script).

[0069] Figure 4 is a drawing for explaining a method by which a route generation device generates a safe route for a ship in a narrow waterway.

[0070] The method according to the present invention can be performed by a route generation device (300) and a processor (330) included in the route generation device (300).

[0071] The route generation device (300) can receive a first target map including land and sea. The first target map may be map data in which an initial path has been pre-formed using the quadtree technique described in the background art.

[0072] The route generation device (300) can generate a second target map by applying the Delaunay triangulation technique to the sea area of ​​the first target map. That is, in the present invention, the sea area of ​​the second target map may be map data to which the Delaunay triangulation technique has been applied after the quadtree technique has been applied.

[0073] The route generation device (300) can identify the target area on the second target map. The target area may be a narrow seaway, such as a narrow channel or dredged area, making it difficult for vessels to pass through. For example, Fig. 4 shows the results of applying the Delaunay triangulation technique to a narrow channel.

[0074] The route generation device (300) can generate a safe route for a vessel in a target area based on the Delaunay edge indicated on the second target map. Here, the safe route refers to a route that is distinct from the initial route generated on the first target map. In the present invention, the initial route is a route generated based on the quadtree technique, so in a narrow area such as a narrow channel, a detailed route cannot be generated, and therefore, when a vessel uses the initial route, there is a possibility of an accident involving a collision with land. However, since the safe route generated by the method according to the present invention is a route specialized for a narrow area, when a vessel uses the safe route, an accident involving a collision with land can be minimized.

[0075] As an example, the route generation device (300) can extract boundary points from the first target map based on coordinate information received together with the first target map, and apply the Delaunay triangulation technique using the extracted boundary points to generate a second target map. In the present invention, an initial route is generated in the first target map, and boundary points are defined at predetermined intervals at the boundary where land and sea meet. Referring to FIG. 4, there are a total of six boundary points in FIG. 4, and it can be seen that the boundary points become the vertices of a triangle when the route generation device (300) applies the Delaunay triangulation technique.

[0076] When generating a safe route, the route generation device (300) can generate a safe route by placing at least one node on a Delaunay edge and connecting the nodes placed on each Delaunay edge. In Fig. 4, "link" refers to the shortest route that is safe and has the shortest distance among various routes generated by connecting multiple nodes.

[0077] In Fig. 4, nodes are arranged on Delaunay edges, and the number of nodes arranged for each Delaunay edge may vary depending on various conditions described below. In the present invention, the Delaunay triangulation technique can be applied to all seas of the first target map, and numerous Delaunay edges exist. However, in order for the route generation device (300) to generate a safe route, the Delaunay edges where nodes are arranged are limited to areas designated as narrow channels or dredged areas in the first target map. The narrow channels and dredged areas may be automatically determined based on the number of pixels or a reference distance constituting the map data of the first target map, or may be actively designated through user input.

[0078] The route generation device (300) calculates the 'minimum distance from the reference boundary' based on the direction of a vessel approaching the target area (narrow channel, dredged area), and can generate a safe route by additionally considering the minimum distance from the calculated reference boundary as well as the Delaunay edge. In Fig. 4, the minimum distance from the reference boundary is indicated by Dx and Dy, respectively. When a vessel moves forward from the left to the right in the narrow channel illustrated in Fig. 4, the positions of the reference boundary are located on the left and right sides of the vessel's moving direction, respectively. That is, in a narrow area such as a narrow channel, the reference boundary inevitably exists on the left and right sides of the vessel's moving direction, and therefore, the minimum distance from the reference boundary in the present invention may have two components. Here, the reference boundary is a boundary for ensuring safety during vessel navigation, and may be the boundary of land or a dredged area.

[0079] In one embodiment, the minimum distance from the reference boundary may include a first distance component measured from one side of the adjacent reference boundary when the vessel moves, and a second distance component measured from the other side of the reference boundary. In FIG. 4, the first distance component and the second distance component are represented as Dx and Dy, respectively. In the present invention, the minimum distances Dx and Dy from the reference boundary may be the same distance for safe navigation. However, depending on the embodiment, the values ​​of Dx and Dy may be different lengths depending on the direction in which the vessel enters the narrow channel or the traffic rules set for the channel. For example, when a vessel turns right and enters the narrow channel, Dy may be a larger value than Dx to prevent a collision with land. As another example, when the traffic rule of the narrow channel into which the vessel enters is set to "travel on the right," Dx may be a larger value than Dy. That is, according to the present invention, a safe route can be generated by reflecting the vessel's previous turning state or the traffic rules in the narrow channel.

[0080] The route generation device (300) can arrange one node on the Delaunay edge if the length of the Delaunay edge is less than or equal to the sum of the minimum reference values ​​of the first distance component and the second distance component. In Fig. 4, the Delaunay edge is indicated as 'De', and as described above, the minimum reference values ​​of the first distance component and the second distance component can be Dx and Dy, respectively. That is, if De is less than or equal to the value obtained by adding Dy to Dx, only one node can be arranged on the Delaunay edge. Here, the minimum distance value means the minimum clearance distance that must be left from the reference boundary to ensure safe navigation.

[0081] The route generation device (300) may arrange two nodes on the Delaunay edge if the length of the Delaunay edge exceeds the sum of the minimum reference values ​​of the first distance component and the second distance component. In addition, the route generation device (300) may arrange two nodes on the Delaunay edge if the length of the Delaunay edge exceeds the sum of the minimum reference values ​​of the first distance component and the second distance component and is at the same time less than the sum of the minimum reference values ​​of the first distance component and the second distance component plus the minimum distance between nodes. At this time, the minimum distance between nodes is indicated as Dn in FIG. 4. The minimum distance between nodes, Dn, may be a preset value. That is, as the minimum distance between nodes becomes shorter, the number of nodes arranged on the Delaunay edge increases, which allows more calculations to be performed, and allows a more precise safe route to be generated.

[0082] The route generation device (300) can connect all nodes when nodes are placed on all Delaunay edges of the second target map corresponding to the narrow channel (dredged area) through the above process. Furthermore, the route generation device (300) can select only one route with the shortest distance as a safe route among the numerous routes generated by connecting each node. The route generation device (300) can use the Dijkstra algorithm to select the route with the shortest distance.

[0083] Figure 5 is a flowchart illustrating the process described in Figure 4.

[0084] Since the method according to FIG. 5 can be implemented by the route generation device (300) and the processor (330) included in the route generation device (300), it will be described below with reference to FIGS. 3 and 4, and any redundant description will be omitted.

[0085] The route generation device (300) can apply the Delaunay triangulation technique to narrow areas such as narrow channels or dredging areas (S510).

[0086] The route generation device (300) can define the vessel's direction of travel (S530). When defining the vessel's direction of travel in step S530, the initial route formed based on the quadtree can be referenced. Defining the vessel's direction of travel is crucial for accurately applying traffic rules, such as right-of-way traffic, when navigating a narrow channel.

[0087] The route generation device (300) can define the minimum distance from the reference boundary based on the Delaunay edge, and the minimum distance from the reference boundary can be Dx and Dy as described in FIG. 4 (S550).

[0088] The route generation device (300) can generate multiple routes by arranging at least one node on the Delaunay triangle generated in step S510 while satisfying the minimum distance from the reference boundary defined in step S550 and connecting all nodes (S570).

[0089] The route generation device (300) can select the link with the shortest distance among the links formed by connected nodes as a safe route (S590).

[0090] Figure 6 is a drawing for explaining by comparison the initial route and the safe route in the present invention.

[0091] First, the basic map (610) of FIG. 6 refers to basic map data received by the route generation device (300) from an external device or stored in the memory (350). The basic map (610) displays both land and sea at a preset resolution, and includes a narrow waterway area (630) to which the method according to the present invention is applied.

[0092] The narrow channel area (630) of FIG. 6 compares and displays an initial route generated using the quadtree technique with a safe route generated using the method of the present invention. Referring to FIG. 6 , the initial route and safe route displayed in the narrow channel area (630) are generally consistent, but the initial route (651) and safe route (653) in the expanded area (650) do not coincide. In other words, a vessel can navigate more safely by traveling along the safe route (653).

[0093] FIG. 7 is a flowchart illustrating an example of a method for generating a safe route based on Delaunay triangulation according to the present invention.

[0094] Since the method according to Fig. 7 can be implemented by the route generation device (300) described in Fig. 3 and the sub-modules included in the route generation device (300), it will be described below with reference to Figs. 2 to 6, and any description that overlaps with the contents already described will be omitted.

[0095] The route generation device (300) receives the first target map and can determine the narrow channel / dredging area from the first target map (S710).

[0096] The route generation device (300) can generate a second target map by applying the Delaunay triangulation technique to the determined area (S730).

[0097] The route generation device (300) can generate nodes for each Delaunay edge in an area where the Delaunay triangulation technique is applied and generate multiple links based on nodes (S750).

[0098] The route generation device (300) can determine the shortest distance from the link generated in step S750 as the ship's movement route (safe route) (S770).

[0099] The embodiments of the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded on a computer-readable medium. At this time, the medium may include a magnetic medium such as a hard disk, a floppy disk, and a magnetic tape, an optical recording medium such as a CD-ROM and a DVD, a magneto-optical medium such as a floptical disk, and a hardware device specifically configured to store and execute program instructions, such as a ROM, a RAM, a flash memory, etc.

[0100] Meanwhile, the computer program may be specifically designed and constructed for the present invention, or may be one known and available to those skilled in the computer software field. Examples of computer programs may include not only machine language code, such as that generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.

[0101] The specific implementations described in the present invention are exemplary embodiments and do not limit the scope of the present invention in any way. For the sake of brevity, descriptions of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the lines connecting or connecting members between components illustrated in the drawings are merely representative of functional connections and / or physical or circuit connections, and may be replaced or represented as various additional functional connections, physical connections, or circuit connections in an actual device. In addition, unless specifically mentioned as “essential,” “important,” etc., a component may not be absolutely necessary for the application of the present invention.

[0102] The use of the term "above" and similar referential terms in the specification of the present invention (especially in the claims) may refer to both singular and plural. Furthermore, if a range is described in the present invention, it includes inventions that apply individual values ​​within the range (unless otherwise stated), and is equivalent to describing each individual value constituting the range in the detailed description of the invention. Finally, unless the order of the steps constituting the method according to the present invention is explicitly stated or otherwise stated to the contrary, the steps may be performed in any appropriate order. The present invention is not necessarily limited by 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 made within the scope of the appended claims or their equivalents, depending on design conditions and factors.

Claims

1. A step of receiving a first target map including land and sea; A step of creating a second target map by applying the Delaunay triangulation technique to the sea of ​​the first target map; A step of identifying the target area in the second target map; and A Delaunay triangulation-based route generation method, comprising a step of generating a safe path for a vessel for the target area based on the Delaunay Edge of the second target map.

2. In paragraph 1, The above target area is, A method for creating a route based on the Delaunay triangulation, one of the narrow channels and dredged areas.

3. In paragraph 1, The above Delaunay edge is, A method for generating a route based on Delaunay triangulation, which is an edge formed adjacent to the above target area.

4. In paragraph 1, The above first target map is, A route generation method based on Delaunay triangulation, which is map data in which an initial path is formed using a quad-tree.

5. In paragraph 1, The step of generating the second target map is: Extract boundary points based on the coordinate information received together with the first target map, A Delaunay triangulation-based route generation method for generating the second target map by applying the Delaunay triangulation technique using the extracted boundary points.

6. In paragraph 1, The steps for generating the above safe route are: A Delaunay triangulation-based route generation method, wherein at least one node is placed on the Delaunay edge, and the safe route is generated by connecting the nodes placed for each Delaunay edge.

7. In paragraph 6, The steps for generating the above safe route are: A Delaunay triangulation-based route generation method, which calculates the minimum distance from land based on the direction of the vessel approaching the target area, and generates the safe route by further considering the calculated minimum distance from land.

8. In paragraph 7, The steps for generating the above safe route are: A Delaunay triangulation-based route generation method, which compares the minimum distance from the land and the length of the Delaunay edge, and determines the number of nodes to be placed on each Delaunay edge based on the comparison result.

9. In paragraph 7, The minimum distance from the above reference boundary is, A Delaunay triangulation-based route generation method, comprising a first distance component measured from one side of adjacent land and a second distance component measured from the other side of the reference boundary when the vessel moves.

10. In paragraph 9, The steps for generating the above safe route are: A Delaunay triangulation-based route generation method, wherein one node is placed on the Delaunay edge if the length of the Delaunay edge is less than or equal to the sum of the minimum reference values ​​of the first distance component and the second distance component.

11. In paragraph 9, The steps for generating the above safe route are: A Delaunay triangulation-based route generation method, wherein two nodes are placed on the Delaunay edge when the length of the Delaunay edge exceeds the sum of the minimum reference values ​​of the first distance component and the second distance component.

12. In paragraph 11, The steps for generating the above safe route are: A Delaunay triangulation-based route generation method, wherein two nodes are placed on the Delaunay edge if the length of the Delaunay edge is less than the sum of the minimum reference values ​​of the first distance component and the second distance component plus the minimum distance between nodes.

13. In paragraph 9, The steps for generating the above safe route are: A Delaunay triangulation-based route generation method, wherein at least three nodes are arranged on the Delaunay edge if the length of the Delaunay edge is greater than or equal to the sum of the minimum reference values ​​of the first distance component and the second distance component plus the minimum distance between nodes.

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

15. Memory in which at least one program is stored; and By executing at least one program, a processor is included that performs an operation, The above processor, Receive the first target map including land and sea, A second target map is created by applying the Delaunay triangulation technique to the sea of ​​the first target map, Identify the target area on the above second target map, A route generation device based on Delaunay triangulation, which generates a safe path for a vessel for the target area based on the Delaunay Edge of the second target map.

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