Ship navigation support device, ship navigation support method, and ship navigation support program

Abstract

【Problem】To set initial information of a target object of a ship with high accuracy. 【Solution】A ship navigation support device has a tentative initial information setting section, a measurement section, and a calculation section. The tentative initial information setting section accepts designation of tentative initial information of feature information of a target object of a ship. The measurement section obtains measurement information of the target object using ranging results of an area including the target object. The calculation section sets initial information of the feature information of the target object using the tentative initial information and the measurement information.

Description

Technical Field

[0001] This invention relates to ship navigation support technology used when a ship is anchored. Background Technology

[0002] Patent Document 1 describes a berthing support device for ships. In the berthing support device described in Patent Document 1, the user uses a touch panel to specify the berthing standby position.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Patent No. 5000244 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] However, in existing technologies, because the berthing standby position is input by the user, an error will occur relative to the actual berthing standby position. This error is not limited to the berthing standby position; it will also occur relative to the initial information of other objects the ship is to berth at.

[0008] Therefore, the purpose of this invention is to set the initial information of the vessel's berthing object with high precision.

[0009] Technical means for solving problems

[0010] The ship navigation support device of the present invention includes a provisional initial information setting unit, a measurement unit, and a calculation unit. The provisional initial information setting unit receives provisional initial information regarding the characteristics of a target object for which the ship is moored. The measurement unit uses distance measurement results for a region containing the target object to obtain measurement information for the target object. The calculation unit uses the provisional initial information and the measurement information to set initial information regarding the characteristics of the target object.

[0011] In this structure, the initial values ​​of the target's feature information, such as the initial value of the shoreline where the ship is moored, are given by distance-based measurement information.

[0012] Invention Effects

[0013] According to the present invention, the initial information of the vessel's berthing object can be set with high precision. Attached Figure Description

[0014] Figure 1 This is a functional block diagram illustrating the structure of a ship navigation support device according to an embodiment of the present invention.

[0015] Figure 2 This is a functional block diagram representing the structure of the provisional initial information setting unit.

[0016] Figure 3 This is a functional block diagram representing the structure of the measuring unit.

[0017] Figure 4 It is a functional block diagram representing the structure of the arithmetic unit.

[0018] Figure 5 This is a diagram illustrating an example of a method for specifying provisional initial information.

[0019] Figure 6 This is a diagram illustrating an example of a method for generating measurement information.

[0020] Figure 7 This is a diagram illustrating an example of how initial information is set.

[0021] Figure 8 (A) Figure 8 (B) is a flowchart illustrating a general process for ship navigation support methods.

[0022] Figure 9 (A) Figure 9 (B) Figure 9 (C) represents Figure 8 The flowchart shown in (A) illustrates the specific processing flow of each process in the ship navigation support method.

[0023] Figure 10 This is a flowchart illustrating an example of a method for detecting maximum likelihood measurement information.

[0024] Figure 11 (A) Figure 11 (B) Figure 11 (C) indicates that a more specific target (shorewall) has been set. Figure 9 (A) Figure 9 (B) Figure 9 The situation regarding the processing of (C).

[0025] Figure 12 This is a flowchart illustrating the process of setting provisional initial information based on the past position coordinates of the target object's characteristic information.

[0026] Figure 13 This is a functional block diagram showing the structure of the arithmetic unit in the case of update processing that includes feature information. Detailed Implementation

[0027] The ship navigation support technology according to embodiments of the present invention will be described with reference to the accompanying drawings. Figure 1 This is a functional block diagram illustrating the structure of a ship navigation support device according to an embodiment of the present invention. Figure 2 This is a functional block diagram representing the structure of the provisional initial information setting unit. Figure 3 This is a functional block diagram representing the structure of the measuring unit. Figure 4 It is a functional block diagram representing the structure of the arithmetic unit.

[0028] (Simplified structure of ship navigation support device 10)

[0029] like Figure 1 As shown, the ship navigation support device 10 includes a provisional initial information setting unit 20, a measurement unit 30, and a calculation unit 40. Apart from the optical system and the radio wave system, the ship navigation support device 10 can be implemented, for example, by a storage device storing a program (ship navigation support program) that implements the ship navigation support method and a processing unit such as a CPU that executes the ship navigation support program. Alternatively, the storage device and the processing unit can also be implemented by an IC or similar device incorporating the navigation support program.

[0030] The provisional initial information setting unit 20 accepts the designation of provisional initial information for the characteristic information of a target object for which the ship is moored or docked (at a pier). The provisional initial information setting unit 20 outputs the provisional initial information to the calculation unit 40. For example, the target object is a quay wall, the characteristic information is a vector of the quay wall line, and the provisional initial information is a provisional quay wall line (vector).

[0031] The measurement unit 30 measures the distance to an area containing a target object, such as a ship moored or docked (near a pier). Using the distance measurement results, the measurement unit 30 obtains measurement information for the target object. The measurement unit 30 outputs the measurement information to the calculation unit 40. For example, the measurement information may refer to the vector of a line segment (straight line).

[0032] The calculation unit 40 uses provisional initial information and measurement information to set the initial information of the target object's characteristic information. For example, the initial information of the target object's characteristic information refers to the initial shoreline (vector).

[0033] In this way, the ship navigation support device 10 sets the initial information of the target (e.g., the initial shoreline) based on the ranging results. Therefore, the ship navigation support device 10 can suppress errors in the initial information of the target and set the initial information of the target with high accuracy. As a result, the ship navigation support device 10 can suppress initial errors when tracking subsequent targets.

[0034] (Tentative structure of the initial information setting unit 20)

[0035] like Figure 2 As shown, the provisional initial information setting unit 20 includes: a camera 21, an operation input unit 22, and a provisional initial information setting unit 23.

[0036] Camera 21 is connected to operation input unit 22. Camera 21 captures images of an area containing a target object (e.g., a shoreline). Camera 21 outputs the captured images to operation input unit 22.

[0037] The operation input unit 22 is implemented, for example, by a touch panel. The operation input unit 22 displays the input image. The operation input unit 22 accepts operation input from the user and detects the operation position (operation trajectory) on the image. The operation input unit 22 outputs the operation position (operation trajectory) to the provisional initial information setting unit 23.

[0038] The provisional initial information setting unit 23 transforms the operation position (operation trajectory) into a vector of the three-dimensional coordinate system set in the image and sets it as provisional initial information. The provisional initial information setting unit 23 outputs the provisional initial information to the calculation unit 40.

[0039] (A specific example of a method for specifying initial information)

[0040] Figure 5 This is a diagram illustrating an example of a method for specifying provisional initial information. For example... Figure 5 As shown, an image of the shoreline 90, which is the target object, is displayed on the screen. When the user operates the touch panel with their finger along the shoreline 910 displayed on the screen, the operation input unit 22 detects the trajectory of the operation (and...). Figure 5 The trajectory corresponds to the provisional shoreline 920 in the image. More specifically, the operation input unit 22 detects the pixel group (pixel coordinate group) operated by the finger in the image as the trajectory. The operation input unit 22 outputs this trajectory to the provisional initial information setting unit 23.

[0041] The provisional initial information setting unit 23 sets the trajectory as a provisional shoreline 920. The provisional shoreline 920 is represented, for example, by a vector set based on the bearing and distance relative to the ship's position. The provisional shoreline 920 corresponds to the provisional initial information. The provisional initial information setting unit 23 outputs the provisional shoreline 920 to the calculation unit 40.

[0042] (Structure of measuring section 30)

[0043] like Figure 3 As shown, the measurement unit 30 includes: a ranging unit 31, an attitude measuring unit 32, and a measurement information generation unit 33.

[0044] The ranging unit 31 is implemented, for example, by a LIDAR (radar). Alternatively, the ranging unit 31 can also be a LADAR. The ranging unit 31 performs three-dimensional ranging on the area containing the target object, detecting multiple feature points. The ranging unit 31 outputs the multiple feature points to the measurement information generation unit 33.

[0045] The attitude measurement unit 32 is implemented, for example, by an attitude sensor mounted on the ship. Furthermore, the attitude sensor can be a sensor using GNSS (Global Navigation Satellite Systems) signal positioning technology, or it can be a sensor using an inertial sensor. Alternatively, the attitude sensor can be a sensor combining GNSS signal positioning technology and an inertial sensor. If GNSS signal positioning technology is used, the ship's position (position coordinates) can also be measured. Furthermore, if GNSS signal positioning technology is used, attitude can be measured with high accuracy in open-air conditions such as at sea.

[0046] The attitude measurement unit 32 measures the ship's attitude. The attitude measurement unit 32 outputs the ship's attitude to the measurement information generation unit 33.

[0047] The measurement information generation unit 33 transforms (projects) multiple feature points obtained through three-dimensional coordinates onto a two-dimensional coordinate system on a horizontal plane. At this time, the measurement information generation unit 33 can transform multiple feature points from the three-dimensional coordinate system to a two-dimensional coordinate system on a horizontal plane with high precision by utilizing the ship's attitude, for example, even if the ship is swaying.

[0048] The measurement information generation unit 33 applies a prescribed transformation process to multiple feature points arranged in two-dimensional coordinates on the horizontal plane to generate measurement information. The measurement information generation unit 33 outputs the generated measurement information to the calculation unit 40.

[0049] Furthermore, the process of transforming multiple feature points obtained in three-dimensional coordinates to a two-dimensional coordinate system on a horizontal plane can be omitted. However, by performing this process, the initial information of the target object's feature information can be set with high precision, which facilitates subsequent processing.

[0050] (Specific examples of methods for generating measurement information)

[0051] Figure 6 This is a diagram illustrating an example of a method for generating measurement information. Figure 6 A bird's-eye view of the LIDAR detection results is shown. Furthermore, the use of LIDAR in the ranging unit 31 is illustrated here.

[0052] The ranging unit 31 performs three-dimensional ranging over the area including the shoreline 910 (not shown in the figure). Thus, as... Figure 6 As shown, the ranging unit 31 detects multiple feature points 81, 82, 83, 84, 85, 86, and 87. The ranging unit 31 outputs these multiple feature points 81, 82, 83, 84, 85, 86, and 87 to the measurement information generation unit 33.

[0053] The measurement information generation unit 33 generates measurement lines 931, 932, 933, 934, 935, 936, and 937 by applying Hough transform and other methods to multiple feature points 81, 82, 83, 84, 85, 86, and 87. Measurement lines 931, 932, 933, 934, 935, 936, and 937 correspond to measurement information. More specifically, the measurement information generation unit 33 generates measurement line 931 based on multiple feature points 81 arranged in a straight line, and generates measurement line 932 based on multiple feature points 82 arranged in a straight line. Similarly, the measurement information generation unit 33 generates measurement line 933 based on multiple feature points 83, measurement line 934 based on multiple feature points 84, measurement line 935 based on multiple feature points 85, measurement line 936 based on multiple feature points 86, and measurement line 937 based on multiple feature points 87. These measurement lines 931, 932, 933, 934, 935, 936, and 937 are represented by vectors set based on the bearing and distance relative to the ship's position. The measurement information generation unit 33 outputs these measurement lines 931, 932, 933, 934, 935, 936, and 937 to the calculation unit 40.

[0054] (Structure of the arithmetic unit 40)

[0055] like Figure 4 As shown, the arithmetic unit 40 includes a difference calculation unit 41 and an initial information setting unit 42.

[0056] Provisional initial information is input from the provisional initial information setting unit 23 to the difference calculation unit 41, and measurement information is input from the measurement information generation unit 33 to the difference calculation unit 41. The difference calculation unit 41 compares the provisional initial information and the measurement information and calculates the difference. The difference calculation unit 41 outputs the differences between each group of provisional initial information and measurement information to the initial information setting unit 42.

[0057] The initial information setting unit 42 compares the differences between each group of provisional initial information and measurement information. The initial information setting unit 42 detects the measurement information that constitutes the group with the smallest difference as the maximum likelihood measurement information. The initial information setting unit 42 sets the maximum likelihood measurement information as the initial information for the characteristic information of the target object.

[0058] (A specific example of how to set initial information)

[0059] Figure 7 This is a diagram illustrating an example of a method for setting initial information. Furthermore, although in Figure 7 The diagram illustrates the comparative concepts between survey line 931 and survey line 932 and provisional bank line 920, but the same concepts also apply to other survey lines.

[0060] Through the above processing, the provisional quay wall line 920 is obtained as a distance and bearing vector (ρ920, θ920) with the ship as the reference. Furthermore, the measurement line 931 is obtained as a distance and bearing vector (ρ931, θ931) with the ship as the reference, and the measurement line 932 is obtained as a distance and bearing vector (ρ932, θ932) with the ship as the reference.

[0061] The difference calculation unit 41 calculates the difference between the provisional shoreline 920 and the survey line 931. Specifically, the difference calculation unit 41 calculates the distance difference Δρ1 and the azimuth difference Δθ1 between vectors (ρ920, θ920) and (ρ931, θ931). Similarly, the difference calculation unit 41 calculates the difference between the provisional shoreline 920 and the survey line 932. Specifically, the difference calculation unit 41 calculates the distance difference Δρ2 and the azimuth difference Δθ2 between vectors (ρ920, θ920) and (ρ932, θ932). The difference calculation unit 41 outputs the distance differences and azimuth differences of each set of these provisional shoreline and survey line to the initial information setting unit 42.

[0062] Preferably, the difference calculation unit 41 pre-stores the offset error between the image coordinate system and the ranging coordinate system, and calculates the distance difference and azimuth difference after correcting for the offset error. Therefore, the difference calculation unit 41 can calculate the distance difference and azimuth difference with higher accuracy.

[0063] The initial information setting unit 42 detects the group of provisional shoreline and measurement lines with the smallest distance difference Δρ, detects the measurement lines constituting this group as the maximum likelihood measurement lines, and sets them as the initial shoreline. Alternatively, the initial information setting unit 42 detects the group of provisional shoreline and measurement lines with the smallest azimuth difference Δθ, detects the measurement lines constituting this group as the maximum likelihood measurement lines, and sets them as the initial shoreline.

[0064] Alternatively, the initial information setting unit 42 can comprehensively reflect the distance difference Δρ and the azimuth difference Δθ to set an initial shoreline. For example, the initial information setting unit 42 sets a distance evaluation value based on the magnitude of the distance difference Δρ and an azimuth evaluation value based on the magnitude of the azimuth difference Δθ. The initial information setting unit 42 uses the distance evaluation value and the azimuth evaluation value to determine the maximum likelihood measurement line. The initial information setting unit 42 sets the maximum likelihood measurement line as the initial shoreline.

[0065] For example, if it is Figure 7 In the example, measurement line 931 is detected as the maximum likelihood measurement line relative to the provisional shoreline 920 and is set as the initial shoreline.

[0066] As described above, if the above structure is used, the ship navigation support device 10 can set the initial information (initial shoreline) of the target object (e.g., shoreline) with high precision.

[0067] (Methods for Supporting Ship Navigation)

[0068] The above description illustrates how each process is executed separately by individual functional units. However, the above processes can also be implemented by storing them as ship navigation support programs and executing them using a computing processing unit. In this case, the processes can be executed simply by following the flowcharts shown in the following figures. Furthermore, detailed explanations of the above-mentioned processes are omitted in the specific processing descriptions below.

[0069] Figure 8 (A) Figure 8 (B) is a flowchart illustrating a general process for ship navigation support methods. Figure 8 (B) indicates that a more specific target (the shoreline) has been defined. Figure 8 The processing of (A).

[0070] like Figure 8 As shown in (A), the computational processing unit (ship navigation support unit) receives the designation of provisional initial information for the characteristic information of the target object (S11). The computational processing unit generates measurement information of the area containing the target object (S12). The computational processing unit sets the initial information for the characteristic information of the target object based on the measurement information (S13).

[0071] As a more specific example, such as Figure 8 As shown in (B), when the target object is a shoreline, the processing unit accepts the designation of a provisional shoreline line (S11e). The processing unit generates a measurement line encompassing the area of ​​the shoreline line (S12e). The processing unit sets an initial shoreline line based on the measurement line (S13e).

[0072] Figure 9 (A) Figure 9 (B) Figure 9 (C) represents Figure 8 The flowchart shown in (A) illustrates the specific processing flow of each process in the ship navigation support method.

[0073] like Figure 9 As shown in (A), in the process of specifying provisional initial information, the processing unit captures an image containing the target object (S21). The processing unit receives operation input on the image (S22). The processing unit sets provisional initial information based on the content of the operation input (S23).

[0074] like Figure 9As shown in (B), in the measurement information generation process, the computational processing device performs three-dimensional ranging on the area containing the target object and detects feature points (S31). The computational processing device uses the ship's attitude data to transform (project) the feature points after three-dimensional ranging to a two-dimensional coordinate system (S32). The computational processing device applies a prescribed transformation process to the multiple feature points transformed to the two-dimensional coordinate system to generate measurement information (S33).

[0075] like Figure 9 As shown in (C), in the initial information setting process, if the measurement information is a ("yes" in S41), the arithmetic processing device sets the measurement information (generated measurement information) as the initial information of the feature information of the target object (S42).

[0076] If there are multiple measurement pieces of information ("No" in S41), the processing unit compares the provisional initial information with the multiple measurement pieces of information (S43). Based on the comparison result, the processing unit detects the maximum likelihood measurement information (S44). More specifically, for example, performing... Figure 10 The processing is shown.

[0077] Figure 10 This is a flowchart illustrating an example of a method for detecting maximum likelihood measurement information. The processing unit performs distance evaluation on multiple measurement information (S51). The distance evaluation is performed using the difference (distance difference) between the distance from the ship to the measurement information and the distance from the ship to the provisional initial information; for example, the smaller the distance difference, the higher the distance evaluation value is set.

[0078] The processing unit performs a bearing evaluation on multiple measurement information (S52). The bearing evaluation is performed using the difference (bearing difference) between the bearing of the measurement information based on the ship's position and the bearing of the provisional initial information based on the ship. For example, the smaller the bearing difference, the higher the bearing evaluation value is set.

[0079] The processing unit determines the maximum likelihood measurement information based on the distance evaluation value and the azimuth evaluation value (S53). For example, the processing unit sets a weighting coefficient for distance and a weighting coefficient for azimuth, multiplies the distance evaluation value by the distance weighting coefficient, and multiplies the azimuth evaluation value by the azimuth weighting coefficient. The processing unit calculates the comprehensive evaluation value after adding these values ​​together, and sets the measurement information with the highest comprehensive evaluation value as the maximum likelihood measurement information. Furthermore, the method for setting the maximum likelihood measurement information is not limited to this; at least one of the distance difference and the azimuth difference can be used. For example, the processing unit may set the maximum likelihood measurement information considering only the distance difference, or it may set the maximum likelihood measurement information considering only the azimuth difference.

[0080] Return to Figure 9The processing unit sets the maximum likelihood measurement information as the initial information of the target object's feature information (S45).

[0081] Figure 11 (A) Figure 11 (B) Figure 11 (C) indicates that a more specific target (shorewall) has been set. Figure 9 (A) Figure 9 (B) Figure 9 The situation regarding the processing of (C).

[0082] like Figure 11 As shown in (A), in the process of specifying the provisional shoreline, the processing unit captures an image containing the shoreline (S21e). The processing unit receives operation input for the image (S22e). The processing unit sets the provisional shoreline based on the content of the operation input (S23e).

[0083] like Figure 11 As shown in (B), in the process of generating the measurement line, the computational processing unit performs three-dimensional ranging on the area containing the shoreline and detects feature points (S31e). Using the ship's attitude data, the computational processing unit transforms (projects) the feature points after three-dimensional ranging onto a two-dimensional coordinate system (S32e). The computational processing unit applies a prescribed transformation process to the multiple feature points transformed into the two-dimensional coordinate system to generate the measurement line (S33e).

[0084] like Figure 11 As shown in (C), in the initial shoreline setting process, if there is one measurement line ("Yes" in S41e), the calculation processing device sets the measurement line (generated measurement line) as the initial shoreline (S42e).

[0085] If there are multiple measurement lines ("No" in S41e), the processing unit compares the provisional shoreline with the multiple measurement lines (S43e). Based on the comparison result, the processing unit detects the maximum likelihood measurement line (S44e). The processing unit sets the maximum likelihood measurement line as the initial shoreline (S45e).

[0086] (Other methods for setting the initial information (provisional shoreline))

[0087] In the above description, provisional initial information (provisional shoreline) is set through user input. However, provisional initial information can also be set based on past data regarding the characteristics of the target object.

[0088] Figure 12This is a flowchart illustrating the process of setting provisional initial information based on the past position coordinates of the target object's characteristic information. Furthermore, this section explains how the target object's characteristic information is set as the shoreline, and the provisional initial information is set as the provisional shoreline.

[0089] The processing unit stores the past position coordinates of the quay wall line. The processing unit reads the past position coordinates of the quay wall line (S61). The processing unit acquires the position coordinates of the vessel (this vessel) (S62). The acquisition of the vessel's position coordinates is achieved, for example, by using the GNSS signal positioning technology described above.

[0090] The processing unit uses these position coordinates to calculate the relative position of the quay wall line with respect to the ship (S63). The processing unit sets a provisional quay wall line based on the relative position (S64). For example, the processing unit transforms the relative position into a vector based on the distance and bearing relative to the ship, and sets a provisional quay wall line.

[0091] Furthermore, this section illustrates a method using past position coordinates of the quayline. However, it is also possible to establish a base station within the quayline, using the vessel as a mobile station, and employing technologies such as DGPS or RTK to detect relative position and set a provisional quayline. Alternatively, the coordinates of the quayline can be received externally to set a provisional quayline.

[0092] Furthermore, the above description shows an example using a quay wall as the object. However, the above structure and treatment can be applied to objects such as piers or other vessels where ships are moored.

[0093] In the above description, an example using a straight line (line segment) as feature information is shown. However, points, surfaces, and curves can also be used as feature information, and in these cases, the above structure and processing can also be applied.

[0094] Furthermore, the above description only covers the initial setting of the target object's characteristic information. However, the ship navigation support device can also update the characteristic information sequentially. In this case, for example, the arithmetic unit only needs to have the following structure to perform the following processing. Figure 13 This is a functional block diagram representing the structure of the computation unit in the case of update processing containing feature information.

[0095] like Figure 13 As shown, the arithmetic unit 40A includes a difference calculation unit 41, an initial information setting unit 42, and a feature information updating unit 43. That is, the difference between the arithmetic unit 40A and the arithmetic unit 40 is the addition of the feature information updating unit 43. The other structures of the arithmetic unit 40A are the same as those of the arithmetic unit 40, therefore, the description of the identical parts is omitted.

[0096] Initial information from the initial information setting unit 42 and measurement information from the measurement unit 30 are input into the feature information update unit 43.

[0097] The feature information update unit 43 calculates feature information using initial information and measurement information. Specifically, the feature information update unit 43 calculates the difference between the initial information and multiple measurement information respectively. Based on the difference, the feature information update unit 43 sets a weighting coefficient for each of the multiple measurement information. The feature information update unit 43 calculates feature information using the weighting coefficient and the multiple measurement information. For example, the feature information update unit 43 calculates feature information by multiplying the multiple measurement information by the weighting coefficient and adding the multiplication results.

[0098] The feature information update unit 43 outputs the feature information and uses it for calculating the next feature information. That is, when feature information has already been calculated, the feature information update unit 43 uses the feature information and newly input (acquired) multiple measurement information to calculate new feature information. Specifically, the feature information update unit 43 calculates the difference between the feature information and the multiple measurement information respectively. Based on the difference, the feature information update unit 43 sets a weighting coefficient for each of the multiple measurement information. The feature information update unit 43 uses the weighting coefficient and the multiple measurement information to calculate the feature information. For example, the feature information update unit 43 calculates new feature information by multiplying the multiple measurement information by the weighting coefficient and adding the multiplication results.

[0099] The feature information updating unit 43 then repeats this process to update the feature information sequentially.

[0100] Through such a structure and processing, feature information (such as shoreline) can be updated with high precision.

[0101] Explanation of reference numerals in the attached figures:

[0102] 10: Ship navigation support equipment

[0103] 20: Provisional Initial Information Setting Department

[0104] 21: Camera

[0105] 22: Operation Input Section

[0106] 23: Provisional Initial Information Setting Department

[0107] 30: Measurement Department

[0108] 31: Distance measuring unit

[0109] 32: Attitude Measurement Unit

[0110] 33: Measurement Information Generation Department

[0111] 40, 40A: Arithmetic Unit

[0112] 41: Difference Calculation Department

[0113] 42: Initial Information Setting Department

[0114] 43: Feature Information Update Department

[0115] 81, 82, 83, 84, 85, 86, 87: Feature points

[0116] 90: Shore wall

[0117] 910: Shoreline

[0118] 920: Provisional shoreline

[0119] 931, 932, 933, 934, 935, 936, 937: Measuring lines

Claims

1. A ship navigation support device, wherein, have: The provisional initial information designation department accepts the designation of provisional initial information regarding the characteristic information of a target object that serves as the berthing target for a ship. The measurement unit uses distance measurement results for a region containing the target object to obtain measurement information for the target object; and The calculation unit uses the provisional initial information and the measurement information to set the initial information of the feature information of the target object; The arithmetic unit has: The difference calculation unit calculates the difference between each measurement information and the provisional initial information when multiple measurement information is obtained. as well as The initial information setting unit sets the measurement information with the smallest difference as the initial information of the feature information.

2. The ship navigation support device according to claim 1, wherein, The initial information setting unit sets the measurement information whose difference between the distance from the ship to the measurement information and the distance from the ship to the provisional initial information is minimized as the initial information of the feature information.

3. The ship navigation support device according to claim 1, wherein, The initial information setting unit sets the measurement information for which the difference between the bearing of the measurement information for the ship and the bearing of the provisional initial information for the ship is minimized as the initial information of the feature information.

4. The ship navigation support device according to any one of claims 1 to 3, wherein, The measuring unit has: The ranging unit measures the distance in a three-dimensional coordinate system over the area containing the target object and outputs the ranging result; and The measurement information generation unit transforms the ranging result into a two-dimensional coordinate system to generate the measurement information.

5. The ship navigation support device according to claim 4, wherein, The ranging unit has an optical rangefinder.

6. The ship navigation support device according to claim 4, wherein, The measuring unit includes: an attitude measuring unit, which measures the attitude of the ship. The measurement information generation unit uses the posture to perform a transformation to the two-dimensional coordinate system.

7. The ship navigation support device according to any one of claims 1 to 3, wherein, The provisional initial information designation unit has: The imaging unit captures images containing the target object; An operation input unit displays the image and accepts operation input for the displayed image; and The provisional initial information setting unit sets the provisional initial information based on the operation input.

8. The ship navigation support device according to any one of claims 1 to 3, wherein, The ship navigation support device has: The imaging unit captures images containing the target object; The provisional target detection unit detects provisional target objects against the target object based on the image; and The provisional initial information setting unit sets the provisional initial information based on the provisional target object.

9. The ship navigation support device according to any one of claims 1 to 3, wherein, The provisional initial information designation unit sets the provisional initial information based on the past position coordinates of the target object and the position coordinates of the ship.

10. The ship navigation support device according to any one of claims 1 to 3, wherein, The provisional initial information designator uses the past position coordinates of the target object and the position coordinates of the ship to calculate the provisional initial information.

11. The ship navigation support device according to any one of claims 1 to 3, wherein, The characteristic information of the target object is the shoreline.

12. The ship navigation support device according to any one of claims 1 to 3, wherein, The arithmetic unit has: The feature information updating unit updates the feature information of the target object using the initial information for the target object or the feature information of the target object before the update and the measurement information.

13. A method for supporting ship navigation, wherein, Accept the designation of provisional initial information regarding the characteristics of the target object intended for berthing of the ship; Using the ranging results for the region containing the target object, measurement information for the target object is obtained; Using the provisional initial information and the measurement information, the initial information for the characteristic information of the target object is set. When multiple measurement information pieces are obtained, the difference between each measurement information piece and the provisional initial information is calculated. The measurement information with the smallest difference is set as the initial information of the feature information.

14. The ship navigation support method according to claim 13, wherein, The distance to the region containing the target object is measured in a three-dimensional coordinate system, and the distance measurement result is output. The ranging results are transformed into a two-dimensional coordinate system to generate the measurement information.

15. The ship navigation support method according to claim 14, wherein, Measure the attitude of the ship. The pose is used to transform to the two-dimensional coordinate system.

16. The method for supporting ship navigation according to any one of claims 13 to 15, wherein, The feature information of the target object is updated using the initial information for the target object or the feature information of the target object before the update and the measurement information.

17. A storage medium having stored thereon a ship navigation support program, wherein, When the ship navigation support program is executed by the computing device, it performs the following processing: Accept the designation of provisional initial information regarding the characteristics of the target object intended for the ship's berthing. Using the ranging results for the region containing the target object, measurement information for the target object is obtained. Using the provisional initial information and the measurement information, the initial information for the characteristic information of the target object is set. When multiple measurement information pieces are obtained, the difference between each measurement information piece and the provisional initial information is calculated. The measurement information with the smallest difference is set as the initial information of the feature information.

18. The storage medium according to claim 17, wherein, When the ship navigation support program is executed by the computing device, it performs the following processing: The distance to the region containing the target object is measured in a three-dimensional coordinate system, and the distance measurement result is output. The ranging results are transformed into a two-dimensional coordinate system to generate the measurement information.

19. The storage medium according to claim 18, wherein, When the ship navigation support program is executed by the computing device, it performs the following processing: Measure the attitude of the ship. Using the stated posture, a transformation to the stated two-dimensional coordinate system is performed.

20. The storage medium according to any one of claims 17 to 19, wherein, When the ship navigation support program is executed by the computing device, it performs the following processing: The feature information of the target object is updated using the initial information for the target object or the feature information of the target object before the update and the measurement information.

Images