Information processing device, information processing method, and program

Abstract

This technology provides automatic navigation using the location of a school of fish detected by sonar as the target point. [Solution] An information processing device relating to one aspect of the present disclosure includes a control unit. The control unit is configured to acquire a search result for a school of fish obtained by the ship's sonar, which indicates the position of the school of fish relative to the ship; to set the position of the school of fish indicated by the acquired search result as a target point and activate the ship's automatic navigation; and to stop the automatic navigation when the ship reaches the position of the school of fish.

Description

Technical Field

[0001] The present disclosure relates to an information processing apparatus, an information processing method, and a program.

Background Art

[0002] Patent Document 1 proposes an underwater detection device that associates and displays fish species information received from an external device with an echo image of a detected fish school.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] One object of the present disclosure is to provide a technology for automatically navigating a ship with the position of a fish school captured by a sonar as a destination.

Means for Solving the Problems

[0005] An information processing apparatus according to a first aspect of the present disclosure acquires a search result of a fish school by a sonar provided on a ship, which indicates the position of the fish school with respect to the ship, sets the position of the fish school indicated by the acquired search result as a target point, activates the automatic navigation of the ship, and stops the automatic navigation in response to the ship reaching the position of the fish school, and includes a control unit that executes the above.

Effects of the Invention

[0006] According to the present disclosure, it is possible to automatically navigate with the position of a fish school captured by a sonar as a target point.

Brief Description of the Drawings

[0007] [Figure 1]Figure 1 schematically illustrates an example of a scenario in which this disclosure applies. [Figure 2] Figure 2 schematically shows an example of a case where a ship detects the movement of a school of fish while it is automatically navigating and resets its target location. [Figure 3] Figure 3 schematically illustrates an example of a scenario where the movement of a school of fish is detected after arriving at the target location, and the ship's automatic navigation is reactivated. [Figure 4] Figure 4 schematically shows an example of the hardware configuration of the server described herein. [Figure 5] Figure 5 is a flowchart showing an example of a processing procedure when the control device of this disclosure controls the automatic navigation of a vessel S toward the location of a school of fish. [Modes for carrying out the invention]

[0008] For example, conventional systems such as those described in Patent Document 1 associate and display fish species information received from an external device with the detected echo image of a school of fish. This fish species information includes the location information of the school of fish. This system makes it possible to identify the fish species of the school of fish displayed in the image and then approach the target school of fish. However, with conventional systems, when moving a vessel toward the location of a school of fish, the user must constantly keep track of the location of the school of fish in the displayed image. For the user, operating the vessel while visually checking the image showing the location of the school of fish can be cumbersome. While moving the vessel toward the location of a school of fish, the user cannot perform any actions other than operating the vessel (fishing activities, preparation for fishing activities, etc.), which can reduce the efficiency of fishing activities.

[0009] In contrast, the information processing device according to the first aspect of this disclosure includes a control unit. The control unit is configured to acquire a search result from the sonar of the vessel indicating the location of the fish school relative to the vessel, set the location of the fish school indicated by the acquired search result as a target point and activate the automatic navigation of the vessel, and stop the automatic navigation when the vessel reaches the location of the fish school. With this configuration, the vessel can automatically follow the target fish school until it reaches the location of the target fish school. This makes it possible to reduce at least a portion of the user's actions related to ship operation during the automatic navigation of the vessel. Therefore, a reduction in the user's workload can be expected. Furthermore, as a result of reducing at least a portion of the actions related to ship operation during the automatic navigation of the vessel, the user can engage in fishing activities, and thus an improvement in the efficiency of fishing activities can be expected.

[0010] Furthermore, as another form of the information processing device relating to the above embodiment, one aspect of this disclosure may be an information processing method that implements all or part of the above components, a program, or a machine-readable storage medium that stores such a program. A machine-readable storage medium is a medium that stores information such as programs by electrical, magnetic, optical, mechanical, or chemical action.

[0011] [1. Application Examples] Figure 1 schematically shows an example of a scenario to which this disclosure applies. The control device 1 according to this embodiment is an example of an information processing device. First, the control device 1 searches for a school of fish SF using sonar SN. The control device 1 acquires a search result indicating the position P of the searched school of fish SF relative to the ship S. The control device 1 sets the position P indicated by the acquired search result as the target point. After setting the target point, the control device 1 activates the automatic navigation of the ship S.

[0012] (ship) If sonar SN enables detection of fish schools SF and automatic navigation, the type of vessel S (power source, size, etc.) may be appropriately selected according to the embodiment. The power source of vessel S may be selected from, for example, electricity, fuel, etc. The size of vessel S may be selected from large vessels, medium vessels, small vessels, etc. The user may be a crew member (operator) of vessel S.

[0013] (Sonar) A sonar (SN) is a device that emits ultrasonic waves into the sea and searches for fish schools (SF) based on the reflected waves. The search results from the sonar (SN) may be displayed on a screen such as a display. The type of sonar (SN) is not particularly limited as long as it can search around the vessel, and may be appropriately selected depending on the embodiment. For example, the sonar (SN) may include a fish finder, scanning sonar, searchlight sonar, etc.

[0014] In one example, as shown in Figure 1, the display image D of the sonar SN search results may show the vessel (ship S), bearing, the portion showing the response to ultrasonic waves (including the response of the fish school), the position information of the vessel S, the distance and bearing of the position P of the fish school SF relative to the vessel S, etc. The position information of the vessel S may be obtained from the positioning device PD. The distance to position P may be displayed as a straight-line distance, or as the horizontal and vertical distances with respect to the direction of travel of the vessel S, respectively. The bearing of position P may be displayed as an absolute bearing, or as a relative bearing from the direction of travel of the vessel S. Note that the display image D of the sonar SN search results is not limited to this example and may be modified as appropriate depending on the embodiment.

[0015] The positioning device PD is configured to measure the position of the ship S. The type of positioning device PD is not particularly limited, as long as it is capable of measuring position, and can be appropriately selected depending on the embodiment. Typically, the positioning device PD may be a satellite positioning device such as a GNSS (Global Navigation Satellite System) receiver. GNSS includes, for example, GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System), GLONASS, Galileo, etc.

[0016] (Determining whether or not it is a school of fish) If the display image D of the sonar SN search results includes a portion that responds to ultrasound, the control device 1 may appropriately determine whether or not that portion is a school of fish SF. In one example, the control device 1 may identify that portion by performing image analysis on the display image D of the search results. The method of identification by image analysis may be appropriately determined depending on the embodiment. In one example, the control device 1 may identify that portion based on its characteristics (appearance, etc.).

[0017] The image analysis method is not particularly limited and may be appropriately selected depending on the embodiment. In one example, the control device 1 may analyze the displayed image D using general image analysis techniques such as edge detection and pattern matching. In another example, the control device 1 may analyze the displayed image D using a trained machine learning model that has acquired the ability to analyze images. The machine learning model is configured to include one or more computational parameters that can be adjusted by machine learning. One or more computational parameters are used for the calculation of the desired inference (such as image analysis). The machine learning model may consist of, for example, a neural network, a support vector machine, or other functional equations (computational models). The machine learning method may be appropriately selected depending on the machine learning model to be adopted (for example, backpropagation). Training a machine learning model involves adjusting (optimizing) the values ​​of the computational parameters using training samples. The machine learning model may be appropriately trained to derive the true value of the corresponding analysis result when given images of training samples. A large-scale model, such as a large-scale visual language model, may be used as the trained machine learning model.

[0018] When it is determined that the part showing the reaction to the ultrasonic wave is the fish school SF, the control device 1 may output the determination result. In one example, the output of the determination result may include displaying information indicating the determination result on the display image D. Displaying information indicating the determination result may be, for example, displaying text on or near the part, changing the color of the part, etc. When it is determined that the part is not the fish school SF, the control device 1 may omit the output of the determination result.

[0019] (Designation of the position of the fish school) The position P of the fish school SF may be automatically designated by the control device 1 or manually designated by the user. When the position P is automatically designated by the control device 1, the control device 1 may arbitrarily designate a point inside the part determined to be the fish school SF on the display image D as the position P. The internal point may be, for example, the centroid of the part indicating the presence of the fish school SF. When a plurality of parts are determined to be the fish school SF in the display image D, the fish school SF set as the target point may be arbitrarily determined. In one example, the fish school SF set as the target point may be determined according to the size (area) of the part indicating the presence of the fish school SF. In another example, the fish school SF set as the target point may be determined according to the distance from the ship S. When the position P is manually designated by the user, the output device such as a display may be configured to be able to indicate an arbitrary position on the display image D. At this time, the position P may be the point indicated by the user's input operation.

[0020] (Automatic navigation of the ship) The method of automatically navigating the ship S may include any method of performing automatic navigation toward the target point. A known method may be adopted for the method of automatically navigating the ship S. In one example, the method of automatic navigation may be a method of controlling in an arbitrary manner toward the point (target point) indicated by the position information of the designated position P. In one example, the control method may refer to the map information 83 This may include controlling the distance and direction of the ship S's navigation according to the navigation route obtained by the above. The control device 1 may appropriately search for a route from the ship S's current position to the target point using the map information 83.

[0021] Map information 83 may be pre-loaded into the storage unit 12, or it may be provided from an external computer via a network. The external computer is any computer other than the control device 1. For example, the external computer may be a server device, a user terminal, etc. Map information 83 may be composed of any data format that allows for route searching. A known data format may be used for the map information 83 data format. Also, route searching does not necessarily have to be performed on the control device 1, but may be performed on any other computer. The control device 1 may obtain the route by receiving the calculation results from this other computer.

[0022] In another example, the control method may include converting the positional information of the target point into distance and bearing relative to the position of the ship, and then automatically navigating in the direction of the obtained bearing for that distance. The control device 1 may stop automatic navigation after the ship S has moved that distance.

[0023] The control device 1 may perform various navigational controls while the vessel S is automatically navigating according to its route. For example, navigational controls may include acquiring the current position, adjusting the speed of movement, controlling the direction of the vessel, detecting and avoiding obstacles, etc. When detecting obstacles, the vessel S may be further equipped with any sensors. For example, the vessel S may be further equipped with detection sensors. For example, the detection sensors may include an imaging device. The imaging device may be appropriately placed in a location where it can observe surrounding objects while the vessel S is navigating. The type of imaging device is not particularly limited and may be appropriately selected depending on the embodiment. The imaging device may include any sensor that acquires data in the form of an image or image representation, such as an RGB camera, depth sensor, infrared sensor, radar, LiDAR (light detection and ranging), etc.

[0024] The arrival of the vessel S at the target location may be detected by any method. For example, arrival at the target location may be detected using the current position of the vessel S. In this case, the control device 1 may continuously acquire the current position measured by the positioning device PD. The control device 1 may detect arrival at the target location according to the distance between the current position of the vessel S and the target location. For example, the control device 1 may detect arrival at the target location when the current position and the target location become closer than a predetermined distance. Note that the method for detecting arrival at the destination is not limited to this example and may be appropriately modified depending on the embodiment.

[0025] The control device 1 may monitor the movement of the vessel S by continuously acquiring its current position measured by the positioning device PD. In monitoring this movement, the control device 1 may determine whether the acquired current position satisfies predetermined conditions. If the acquired current position satisfies predetermined conditions, the control device 1 may execute a process to stop automatic navigation. On the other hand, if the current position does not satisfy predetermined conditions, the control device 1 may omit the execution of the process to stop automatic navigation. Typically, the predetermined conditions may be that the vessel S's current position has moved away from the shipping lane for a certain period of time.

[0026] (Searching for schools of fish during automatic navigation) Figure 2 schematically shows an example of a case where the movement of a school of fish SF is detected during automatic navigation of the vessel S, and the target location is reset. The position P of the school of fish SF may move while the vessel S is heading toward position P. Therefore, while automatic navigation is being performed toward the position P of the school of fish SF which has been set as the target location, the control device 1 may acquire the search results from the sonar SN again. If the position P of the school of fish SF indicated by the newly acquired search results (new position P) is far from the set target location (original position P), the control device 1 changes the target location to the new position P. This may be done. Whether the new position P is far from the original position P may be determined as appropriate. For example, if the difference in distance between the new position P and the original position P exceeds a predetermined threshold, it may be determined that the new position P is far from the original position P. If the difference in distance is equal to the predetermined threshold, either determination may be made. The predetermined threshold may be set as appropriate. If it is determined that the new position P is far from the original position P, the control device 1 may re-determine the course according to the position P of the new target point and perform automatic navigation according to that course.

[0027] The frequency at which the sonar SN searches for fish schools SF again while automatic navigation is in operation may be determined as appropriate depending on the embodiment. For example, the sonar SN may search for fish schools SF again at predetermined time intervals. The predetermined time interval may be set as appropriate. For example, the predetermined time interval may be set as a fixed value. Alternatively, the predetermined time interval may be set dynamically according to the distance from the vessel S to the position P of the target location. In this case, the longer the distance from the vessel S to position P, the smaller the predetermined time interval may be set, and the shorter the distance from the vessel S to position P, the larger the predetermined time interval may be set. The relationship between the distance from the vessel S to position P and the predetermined time interval may be the opposite of this relationship.

[0028] As described above, even while the vessel S is automatically navigating towards position P, the control device 1 can detect the fish school SF as it moves along the vessel S's path by performing another search for the fish school SF using the sonar SN. This allows the automatic navigation route to be corrected, enabling the vessel to efficiently reach the fish school SF's position P.

[0029] (Searching for schools of fish after arriving at the target location) Figure 3 schematically shows an example of a case where the movement of the fish school SF is detected after arriving at the target location, and the automatic navigation of the vessel S is reactivated. When the vessel S reaches the position P of the fish school SF, the control device 1 may stop the automatic navigation of the vessel S. After stopping the automatic navigation of the vessel S, the control device 1 may acquire the search results from the sonar SN again. If the new position P of the fish school SF indicated by the newly acquired search results is far from the stopping point of the vessel S, the control device 1 may reactivate the automatic navigation of the vessel S with the new position P of the fish school SF indicated by the newly acquired search results as the target location. The determination of whether the new position P is far from the stopping point of the vessel S may be made as appropriate. In one example, it may be determined that the new position P is far from the stopping point of the vessel S depending on whether the difference in distance between the new position P and the stopping point of the vessel S exceeds a predetermined threshold. If the difference in distance is equal to the predetermined threshold, either determination may be made. The predetermined threshold may be set as appropriate.

[0030] When the vessel S reaches position P and stops, the position P of the fish school SF may have moved between the point where the sonar SN last searched for the fish school SF and the time the vessel S reached position P. Therefore, even after the vessel S has reached its target position P, the control device 1 can help the vessel S reach the position P of the fish school SF more reliably by performing another search for the fish school SF using the sonar SN.

[0031] Furthermore, the determination of whether the area showing a response to ultrasound is a school of fish SF, the determination of whether the position P of the school of fish SF has moved, and the determination of whether the ship S has arrived at the position P of the school of fish SF do not necessarily have to be performed by the control device 1, similar to the route search described above. In one example, these determinations may be performed by an external computer. The external computer may be a server device, a user terminal, etc. For example, the control device 1 may request a determination result from the external computer by transmitting the display image D of the school of fish SF to the external computer. The determination method may be the same as that of the control device 1 described above. The external computer may return the determination result to the control device 1. The control device 1 may obtain the determination result by receiving this.

[0032] [2 Example Configurations] Figure 4 schematically shows an example of the hardware configuration of the control device 1 of this disclosure. As shown in Figure 4, the control device 1 according to this embodiment is a computer in which a control unit 11, a storage unit 12, an external interface 13, a communication interface 14, an input device 15, an output device 16, and a drive 17 are electrically connected. The control unit 11 is a CPU (Central Processing Unit) The storage unit 12 includes RAM (Random Access Memory), ROM (Read Only Memory), etc., and is configured to perform arbitrary information processing. The storage unit 12 may be composed of, for example, a hard disk drive, a solid-state drive, etc. In this embodiment, the storage unit 12 stores a program 81. The program 81 is a program that causes the information processing device to perform the information processing according to this embodiment. The program 81 includes a series of instructions for the information processing.

[0033] The external interface 13 may be, for example, a USB (Universal Serial Bus) port, a dedicated port, a wireless communication port, etc., and is configured to connect to an external device by wire or wireless connection. In this embodiment, the control device 1 may be connected to the sonar SN and the positioning device PD via the external interface 13.

[0034] The communication interface 14 is configured to perform wired or wireless data communication over a network. The communication interface 14 may consist of, for example, a wired LAN (Local Area Network) module, a wireless LAN module, etc. In this embodiment, the control device 1 may perform data communication over a network with other computers (for example, an external server, a user terminal, etc.) via the communication interface 14. The input device 15 is a device for receiving input such as a mouse, keyboard, buttons, joystick, or operator. The output device 16 is a device for providing output such as a display or speaker. The input device 15 and the output device 16 may be integrally configured by, for example, a touch panel display, etc.

[0035] The drive 17 is a device for reading various information, such as programs, stored in the storage medium 91. The program 81 may be stored in the storage medium 91 in place of or together with the storage unit 12. The storage medium 91 is configured to store various information (stored programs, etc.) by electrical, magnetic, optical, mechanical, or chemical means so that a machine such as a computer can read the information. The control device 1 may retrieve the program 81 from the storage medium 91. The storage medium 91 may be a disk-type storage medium such as a CD or DVD, or a non-disk-type storage medium such as semiconductor memory (e.g., flash memory). The type of drive 17 may be appropriately selected according to the type of storage medium 91.

[0036] Regarding the specific hardware configuration of the control device 1, components can be omitted, replaced, and added as appropriate depending on the embodiment. For example, the control unit 11 may include multiple hardware processors. Hardware processors include microprocessors, FPGAs (field-programmable gate arrays), DSPs (digital signal processors), and GPUs. (Graphics Processing Unit), ASIC (application specific integrated circuit) ) may be composed of the following:

[0037] [3 Examples of operation] Figure 5 is a flowchart showing an example of a processing procedure when the control device 1 of this disclosure controls the automatic navigation of a vessel S toward the position P of a school of fish SF. The following processing procedure is an example of a control method (information processing method) executed by a computer (control device 1).

[0038] (Steps S101~S102) In step S101, the control unit 11 obtains the results of the fish school SF search from the sonar SN. This is advantageous. In step S102, if the acquired search results include a school of fish SF, the control unit 11 sets the position P of the school of fish SF as the target point. The control unit 11 may activate the automatic navigation of the ship S with position P as the target point. The route of the automatic navigation may be determined as appropriate. In one example, the route may be searched from the map information 83. Once the automatic navigation of the ship S is activated, the control unit 11 proceeds to the next step S103.

[0039] (Steps S103~S106) In step S103, the control unit 11 determines whether the ship S, which is in automatic navigation mode, has arrived at position P (target location). The method for determining whether or not it has arrived may be determined as appropriate. If it is determined that the ship S has arrived at position P, the control unit 11 proceeds to step S107. On the other hand, if it is determined that the ship S has not arrived at position P, the control unit 11 proceeds to step S104 and may obtain the fish school SF search results again from the sonar SN. Depending on whether or not the fish school SF search results have been obtained, the control unit 11 may determine in step S105 whether or not position P has changed. The method for determining whether or not position P has changed may be determined as appropriate. If it is determined that position P has not changed, the control unit 11 returns to step S103 and determines whether or not the ship S has arrived at position P. On the other hand, if it is determined that position P has changed, the control unit 11 proceeds to step S106 and may set the new position P after the change as the target location again. As a result, the control unit 11 may change (modify) the target location. In addition, the control unit 11 may modify the automatic navigation route of the vessel S so that it navigates to the new location P as the target location. For example, modifying the route may include searching for the route again from the map information 83. After changing the target location, the control unit 11 may return to step S103 and perform the determination again whether or not the vessel S has arrived at location P. Note that the execution of steps S104 to S106 may be performed at any time after it is determined in step S103 that the vessel S has not arrived at location P of the fish school SF.

[0040] (Steps S107~S110) In step S107, the control unit 11 stops the automatic navigation of the vessel S. Then, in step S108, the control unit 11 may again acquire the fish school SF search results from the sonar SN. Depending on the acquisition of the fish school SF search results, the control unit 11 may determine in step S109 whether the position P has changed. If it is determined that the position P has changed, the control unit 11 may return to step S102 and restart the automatic navigation of the vessel S with the new position P of the fish school SF as the target point. If it is determined that the position P has not changed, the control unit 11 proceeds to step S110 and determines whether or not to terminate the fish school search. Whether or not to terminate the fish school search may be determined by any criterion. For example, the control unit 11 may decide not to terminate the fish school search until an arbitrary termination instruction is given. On the other hand, when a termination instruction is given, the control unit 11 may decide to terminate the fish school search. If the control unit 11 determines that the search should not be terminated, it may return to step S108 and obtain the search results for group SF again. If the control unit 11 determines that the search should be terminated, it terminates the processing procedure according to this embodiment.

[0041] [Features] In this embodiment, the control device 1 identifies the position P of the fish school SF using the sonar SN, and then activates the automatic navigation of the vessel S with position P as the target point. This reduces the effort required for the user to visually check the image outputting the fish school search results. Furthermore, even while automatically navigating towards position P, the control device 1 acquires the search results from the sonar SN and determines whether the new position P included in the search results is far from the original position P. If the new position P is far from the original position P, the target point for automatic navigation is reset to the new position P. This allows the automatic navigation route to be corrected if the fish school SF moves during automatic navigation, and is expected to efficiently reach the position P of the fish school SF. Moreover, even when arriving at position P and stopping automatic navigation, the control device 1 acquires the search results from the sonar SN again and determines whether the new position P included in the search results is far from the original position P. The system determines whether the target position P is far from the original position P (stopping point). If the new position P is far from the stopping point, the system restarts the automatic navigation of the vessel S, using the new position P as the target point. This allows the control device 1 to help the vessel S reach the fish school SF at position P more reliably.

[0042] [4. Variant] In step S102 above, the target location for the automatic navigation of the vessel S may be a location other than position P. In one example, the target location may be the predicted position of the fish school SF after a predetermined time has elapsed. The predetermined time may be any time. In one example, the predetermined time may be the time required to reach the target location by automatic navigation.

[0043] The method for predicting the location of the fish school SF may be appropriately selected depending on the embodiment. Any information may be used for the prediction. The information used for the prediction may include, for example, attribute information and environmental information of the fish school SF. Attribute information may include the fish species constituting the fish school SF, swimming speed, swimming pattern, etc. Environmental information may include water temperature, ocean current speed, etc.

[0044] The control device 1 may predict the location of the fish school SF using any method based on this information. A prediction model may be used for the prediction calculation. In one example, the prediction model may consist of at least one of a rule-based model and a trained machine learning model (trained model).

[0045] A rule-based model is configured to derive an inference result (predicted position of a school of fish SF) from a given input according to rules. The rules may be set as appropriate. For example, the rules for determining the predicted position may use information on the fish species and swimming speed from the attribute information of the school of fish SF. For example, the rule may include calculating the range that the fish species can reach at its swimming speed after a predetermined time has elapsed, based on this information. In this case, the predicted position of the school of fish SF may be selected from any point within this range.

[0046] A machine learning model is configured to include one or more computational parameters that can be tuned by machine learning. These one or more computational parameters are used in the calculation of the desired inference (predicting the location of the fish school SF). The machine learning model may consist of, for example, a neural network, a support vector machine, or other functional equations (computational models). The machine learning method may be appropriately selected depending on the machine learning model employed (e.g., backpropagation). In one example, the machine learning model that predicts the location of the fish school SF may be a trained machine learning model that has acquired the ability to predict location.

[0047] Furthermore, the processing procedure shown in Figure 5 is merely an example, and each step may be modified as much as possible. Depending on the embodiment, steps in the processing procedure shown in Figure 5 can be omitted, replaced, or added as appropriate. For example, if the fish school search during automatic navigation is omitted, steps S104 to S106 may be omitted. Also, for example, if the fish school search after arriving at the target location is omitted, steps S108 to S109 may be omitted.

[0048] While embodiments of this disclosure have been described in detail above, the above description is merely illustrative in all respects of this disclosure. Needless to say, various improvements or modifications can be made without departing from the scope of this disclosure. The processes and means described in this disclosure can be freely combined and implemented, as long as no technical inconsistencies arise.

[0049] In the above embodiment, the control device 1 is an example of an information processing device. However, the form of the information processing device is not limited to this example and may be appropriately modified depending on the embodiment. Another example is a terminal such as a PC (personal computer), tablet terminal, or mobile terminal. However, it may be configured to execute the calculation processing of the control device 1 described above. In this way, the terminal may be an example of an information processing device. [Explanation of symbols]

[0050] 1...Control device, 11...Control unit, 12...Storage unit, 13. External interface, 14. Communication interface, 15. Input device, 16. Output device, 17 drives, 81 programs, 83...Map information, 91...Storage media, SN... Sonar, PD... Positioning device, S...Ship, P...Fish position, D ··Displayed image

Claims

1. An information processing device comprising a control unit, The control unit, To obtain a search result for a school of fish using sonar installed on a ship, which indicates the location of the school of fish relative to the ship. The position of the fish school indicated by the acquired search results is set as the target point, and the automatic navigation of the vessel is activated, and The system is configured to stop the automatic navigation when the vessel reaches the location of the school of fish. Information processing device.

2. While the automatic navigation is being operated toward the location of the fish school, the search results by the sonar are acquired again, and If the location of the fish school indicated by the newly acquired search results is far from the set target point, change the target point to the location of the fish school in the newly acquired search results. It is configured to perform further actions. The information processing apparatus according to claim 1.

3. After stopping the automatic navigation, the search results from the sonar are acquired again. If the location of the school of fish indicated by the newly acquired search results is far from the stopping point, the automatic navigation of the vessel will be restarted, with the location of the school of fish indicated by the newly acquired search results as the target point. It is configured to perform further actions. The information processing apparatus according to claim 1 or 2.

4. A method of information processing performed by a computer, The aforementioned information processing method is To obtain a search result for a school of fish using sonar installed on a ship, which indicates the location of the school of fish relative to the ship. The position of the fish school indicated by the acquired search results is set as the target point, and the automatic navigation of the vessel is activated, and The system is configured to stop the automatic navigation when the vessel reaches the location of the school of fish. Information processing methods.

5. A program that causes a computer to execute an information processing method, The aforementioned information processing method is To obtain a search result for a school of fish using sonar installed on a ship, which indicates the location of the school of fish relative to the ship. The position of the fish school indicated by the acquired search results is set as the target point, and the automatic navigation of the vessel is activated, and The system is configured to stop the automatic navigation when the vessel reaches the location of the school of fish. program.

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