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

Abstract

【Problem】 To suppress an error generated in movement or the like when a ship is at anchor. 【Solution】 A ship navigation support device has a measurement section and a feature information updating section. The measurement section obtains measurement information for an object using a ranging result for a region including the object as an anchoring target of the ship. The feature information updating section updates feature information for the object using initial feature information for the object or feature information for the object before update 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, a distance measuring mechanism is used to measure the distance between the ship and multiple points on the shore.

[0003] Existing technical documents

[0004] Patent documents

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

[0006] The problem the invention aims to solve

[0007] However, the distance measured by the distance measuring mechanism shown in the prior art contains errors. Moreover, these errors occur each time a distance is measured and gradually increase.

[0008] Therefore, the object of the present invention is to suppress errors that occur during movement of a ship while it is berthed.

[0009] Technical means for solving problems

[0010] The ship navigation support device of the present invention includes a measurement unit and a feature information updating unit. The measurement unit obtains measurement information for the target object using distance measurement results for an area containing the target object where the ship is moored. The feature information updating unit updates the feature information for the target object using initial feature information for the target object or feature information for the target object before updating and the measurement information.

[0011] In this structure, the ranging results of the target object are reflected in the updated feature information.

[0012] Invention Effects

[0013] According to the present invention, errors that occur during movement, etc., when a ship is at anchor can be suppressed. 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 This is a functional block diagram representing the structure of the feature information update 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 graph representing an example of how weighting coefficients are set.

[0020] Figure 7 This is a functional block diagram illustrating a specific application example of the structure of the ship navigation support device according to an embodiment of the present invention.

[0021] Figure 8 This is a diagram used to illustrate the updated concept of the shoreline.

[0022] Figure 9 (A) Figure 9 (B) Figure 9 (C) is a diagram representing the updated state of the shoreline.

[0023] Figure 10 (A) Figure 10 (B) is a flowchart illustrating a general process for ship navigation support methods.

[0024] Figure 11 (A) represents the relationship with Figure 10 The flowchart shown in (A) illustrates the specific processing flow related to the updating of feature information. Figure 11 (B) indicates that it is related to Figure 10 The flowchart shown in (B) illustrates the specific processing flow related to the renewal of the shoreline.

[0025] Figure 12 It is a flowchart representing other specific processing flows related to the updating of feature information.

[0026] Figure 13 It is a flowchart representing other specific processing flows related to the updating of feature information.

[0027] Figure 14 (A) is a flowchart representing the processing of a ship navigation support method that includes the generation of navigation support information. Figure 14 (B) indicates that a more specific target (the shoreline) has been defined. Figure 14 The processing of (A).

[0028] Figure 15 This is a functional block diagram representing the structure of a ship navigation support device that calculates and updates the shoreline and shoreline reference points.

[0029] Figure 16(A) Figure 16 (B) Figure 16 (C) is a diagram showing the updated status of the shoreline and shoreline reference points.

[0030] Figure 17 This is a flowchart outlining the process for updating the shoreline and shoreline reference points.

[0031] Figure 18 This is a flowchart illustrating the method for updating the shoreline reference points.

[0032] Figure 19 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. Detailed Implementation

[0033] 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.

[0034] (Simplified structure of ship navigation support device 10)

[0035] 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.

[0036] 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 the vector of the quay wall line or the position coordinates of the quay wall reference point, and the provisional initial information is the provisional quay wall line (vector) or the provisional quay wall reference point (position coordinates).

[0037] 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).

[0038] The calculation unit 40 includes an initial feature information setting unit 41 and a feature information updating unit 42. Provisional initial information is input to the initial feature information setting unit 41. Measurement information is input to both the initial feature information setting unit 41 and the feature information updating unit 42.

[0039] The initial feature information setting unit 41 sets initial feature information using provisional initial information and measurement information. Examples of initial feature information include, for instance, an initial shoreline line (vector) or an initial shoreline reference point (position coordinates).

[0040] Specifically, for example, if there is only one measurement information for the target object, the initial feature information setting unit 41 sets that measurement information as the initial feature information. If there are multiple measurement information for the target object, the initial feature information setting unit 41 sets the initial feature information based on the multiple measurement information. As an example, the initial feature information setting unit 41 detects the measurement information (maximum likelihood measurement information) that is most similar to the provisional initial information relative to the ship's position or bearing among the multiple measurement information. The initial feature information setting unit 41 sets the maximum likelihood measurement information as the initial feature information. By performing this processing, the ship navigation support device 10 can suppress errors in the initial feature information compared to setting the initial feature information through manual input by the user. The initial feature information setting unit 41 outputs the initial feature information to the feature information update unit 42.

[0041] The feature information update unit 42 updates the feature information using measurement information. For example, the feature information update unit 42 updates the feature information using measurement information at a time approximately the same as the initial feature information's set timing. Furthermore, the feature information update unit 42 subsequently updates the feature information sequentially using the acquired measurement information. A more detailed description of the structure and processing of the feature information update unit 42 will follow.

[0042] By performing this process, the updated feature information is set based on the measurement information each time it is updated. Therefore, even if the feature information is updated sequentially, the increase in error can be suppressed. As a result, the ship navigation support device 10 can, for example, suppress errors contained in the information (positional relationship, distance, bearing, etc. between the ship and the target object) that it wants to obtain when the ship moves toward the target object. As a more specific example, for example, in the movement of the ship while it is berthed (mooring to shore, mooring to a pier), it can suppress errors contained in the distance, bearing, etc. between the ship and the quay wall line or quay wall reference point.

[0043] (Tentative structure of the initial information setting unit 20)

[0044] like Figure 2As 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.

[0045] Camera 21 is connected to operation input unit 22. Camera 21 is, for example, a monocular camera, which captures images of an area containing a target object (e.g., a shoreline). Camera 21 outputs the captured images to operation input unit 22.

[0046] 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.

[0047] 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.

[0048] (A specific example of how to specify initial information)

[0049] 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 actual shoreline line 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.

[0050] 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 initial feature information setting unit 41 of the calculation unit 40.

[0051] (Structure of measuring section 30)

[0052] like Figure 3 As shown, the measurement unit 30 includes: a ranging unit 31, an attitude measurement unit 32, and a measurement information generation unit 33.

[0053] The ranging unit 31 is implemented, for example, by a LIDAR (radar). Alternatively, the ranging unit 31 can be other ranging devices such as an optical system like LIDAR or a radio wave system. The ranging unit 31 performs three-dimensional ranging over 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.

[0054] The attitude measurement unit 32 is implemented, for example, by an attitude sensor installed 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. 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.

[0055] 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.

[0056] The measurement information generation unit 33 applies a prescribed transformation process (e.g., Hough transform) 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 initial feature information setting unit 41 and the feature information updating unit 42 of the calculation unit 40. Furthermore, the process of transforming multiple feature points obtained from three-dimensional coordinates to a two-dimensional coordinate system on the horizontal plane can be omitted.

[0057] (A more detailed explanation of the arithmetic unit 40)

[0058] As described above, the arithmetic unit 40 includes an initial feature information setting unit 41 and a feature information updating unit 42. The description of the initial feature information setting unit 41 is as described above and will be omitted here. The initial feature information setting unit 41 uses provisional initial information and measurement information to set initial feature information and outputs it to the feature information updating unit 42.

[0059] (Structure and processing of feature information updating unit 42)

[0060] Figure 4 This is a functional block diagram representing the structure of the feature information updating unit. For example... Figure 4 As shown, the feature information update unit 42 includes: a difference calculation unit 421, a weighting coefficient setting unit 422, and a feature information calculation unit 423.

[0061] The difference calculation unit 421 calculates the difference between the feature information and the measurement information. More specifically, when initial feature information is input into the difference calculation unit 421, the difference calculation unit 421 calculates the difference between the initial feature information and the measurement information corresponding to that timing. Furthermore, when feature information updated by the feature information calculation unit 423 is fed back to the difference calculation unit 421, the difference calculation unit 421 calculates the difference between the fed-back feature information and the measurement information corresponding to the fed-back timing. Moreover, the measurement information corresponding to the timing shown here, for example, refers to measurement information obtained at a time after the timing.

[0062] If the difference calculation unit 421 obtains multiple measurement information, it calculates the difference between the initial feature information or the feedback feature information (feature information before update) and the measurement information for each of the multiple measurement information. The difference calculation unit 421 outputs the difference with each measurement information to the weighting coefficient setting unit 422.

[0063] The weighting coefficient setting unit 422 sets a weighting coefficient corresponding to the difference for each measurement information. Figure 6 This is a graph illustrating an example of how weighting coefficients are set. For example... Figure 6 As shown, the weighting coefficient is set such that the larger the absolute value of the difference, the smaller the weighting coefficient w. The weighting coefficient setting unit 422 outputs the weighting coefficient w for each measurement information to the feature information calculation unit 423.

[0064] Measurement information and weighting coefficients w are input into the feature information calculation unit 423. The feature information calculation unit 423 uses the measurement information and the weighting coefficients w for that measurement information to calculate feature information. More specifically, the feature information calculation unit 423 normalizes the weighting coefficients w. Normalization here means resetting the weighting coefficients w so that the sum of all weighting coefficients equals 1. Alternatively, this normalization process can also be performed by the weighting coefficient setting unit 422.

[0065] The feature information calculation unit 423 multiplies the normalized weighting coefficient w with the measurement information. The feature information calculation unit 423 outputs the result of adding the measurement information multiplied by the weighting coefficient w as the new feature information (updated feature information).

[0066] This structure and processing method generates updated feature information by summing measurement information that uses ranging results. This suppresses the accumulation of errors caused by repeated updates.

[0067] Furthermore, the measured information is multiplied by a weighting factor. This weighting factor is set such that the greater the difference between the measured and unmeasured feature information, the smaller the impact on the updated feature information. Therefore, the updated feature information suppresses the influence of errors contained in the unmeasured feature information, resulting in highly accurate information relative to the actual feature information.

[0068] Therefore, the ship navigation support device 10 has high accuracy relative to the actual feature information and can generate feature information while suppressing update errors.

[0069] (Specific application examples of the ship navigation support device 10)

[0070] Figure 7 This is a functional block diagram illustrating a specific application example of the structure of the ship navigation support device according to an embodiment of the present invention. Furthermore, Figure 7 With General Figure 1 , Figure 2 , Figure 3 , Figure 4 The resulting diagrams are essentially the same, differing only in how they concretize the target object or feature information. The following explanations will only cover the parts requiring further clarification, omitting parts that can be understood through the above descriptions. Figure 8 This is a diagram used to illustrate the updated concept of the shoreline. Figure 9 (A) Figure 9 (B) Figure 9 (C) is a diagram representing the updated state of the shoreline.

[0071] like Figure 7 As shown, the ship navigation support device 10e includes: a provisional shoreline information setting unit 20e, a measurement unit 30e, and a calculation unit 40e. The provisional shoreline information setting unit 20e corresponds to the provisional initial information setting unit 20 described above. The measurement unit 30e corresponds to the measurement unit 30. The calculation unit 40e corresponds to the calculation unit 40.

[0072] The provisional shoreline information setting unit 20e includes: a camera 21, an operation input unit 22, and a provisional shoreline line setting unit 23e. The provisional shoreline line setting unit 23e corresponds to the provisional initial information setting unit 23, and uses the operation input results to set the provisional shoreline (refer to the above). Figure 5 (Provisional shoreline 920). The provisional shoreline setting unit 23e outputs the provisional shoreline to the calculation unit 40e.

[0073] The measurement unit 30e includes a ranging unit 31, an attitude measurement unit 32, and a measurement line generation unit 33e. The measurement line generation unit 33e corresponds to the measurement information generation unit 33, and uses multiple feature points obtained through ranging and the attitude of the ship 100 to generate a straight measurement line. The measurement line is represented by the distance ρ from a reference point (e.g., sensor position) 111 of the ship 100 and the azimuth θ of the measurement line relative to the position of the ship 100. Figure 8 As shown, distance ρ is the length of the perpendicular line drawn from the ship 100 to the measurement line, and azimuth θ is the angle between the reference direction in the specified coordinate system and the direction of extension of the perpendicular line. The measurement line generation unit 33e outputs the measurement line to the calculation unit 40e.

[0074] The calculation unit 40e includes an initial shoreline setting unit 41e and a shoreline information updating unit 42e. The initial shoreline setting unit 41e corresponds to the initial feature information setting unit 41, and the shoreline information updating unit 42e corresponds to the feature information updating unit 42.

[0075] The shoreline information update unit 42e includes: a difference calculation unit 421, a weighting coefficient setting unit 422, and a shoreline calculation unit 423e. The shoreline calculation unit 423e corresponds to the feature information calculation unit 423.

[0076] A provisional shoreline and a measurement line are input into the initial shoreline setting unit 41e. If there is only one measurement line, the initial shoreline setting unit 41e sets that measurement line as the initial shoreline. If there are multiple measurement lines, the initial shoreline setting unit 41e sets the measurement line with the highest likelihood among the multiple measurement lines as the initial shoreline. For example, the initial shoreline setting unit 41e sets the measurement line with the highest likelihood to, for example, the measurement line with parameters (distance ρ, azimuth θ) most similar to those of the provisional shoreline. The initial shoreline setting unit 41e outputs the initial shoreline to the shoreline information updating unit 42e.

[0077] The initial shoreline and the measurement line are input into the difference calculation unit 421 of the shoreline information update unit 42e. The difference calculation unit 421 calculates the difference between each measurement line and the initial shoreline. At this time, the difference calculation unit 421 calculates the difference for each parameter. That is, for each measurement line, the difference calculation unit 421 calculates the difference Δρ of the distance ρ relative to the initial shoreline and the difference Δθ of the azimuth θ.

[0078] For example, such as Figure 8As shown, for the shoreline line 920(T0) set at time T0, multiple measurement lines 931(T1), 932(T1), 933(T1), and 934(T1) are obtained at time T1. Measurement line 931(T1) is obtained at time T1 and generated from multiple feature points 81(T1) arranged in a straight line. Similarly, measurement line 932(T1) is obtained at time T1 and generated from multiple feature points 82(T1) arranged in a straight line, measurement line 933(T1) is obtained at time T1 and generated from multiple feature points 83(T1) arranged in a straight line, and measurement line 934(T1) is obtained at time T1 and generated from multiple feature points 84(T1) arranged in a straight line. The difference calculation unit 421 outputs the difference of each measurement line to the weighting coefficient setting unit 422.

[0079] The difference calculation unit 421 calculates the difference Δρ1(T1) between the distance ρ1(T1) of the measurement line 931(T1) and the distance ρ(T0) of the previous shoreline 920(T0). The difference calculation unit 421 calculates the difference Δθ1(T1) between the azimuth θ1(T1) of the measurement line 931(T1) and the azimuth θ(T0) of the previous shoreline 920(T0). Similarly, the difference calculation unit 421 calculates the differences Δρ2(T1) and Δθ2(T1) for the measurement line 932(T1), Δρ3(T1) and Δθ3(T1) for the measurement line 933(T1), and Δρ4(T1) and Δθ4(T1) for the measurement line 934(T1). Furthermore, the difference calculation unit 421 outputs these differences to the weighting coefficient setting unit 422.

[0080] The weighting coefficient setting unit 422 sets the weighting coefficients corresponding to the difference. More specifically, the weighting coefficient setting unit 422 sets a first weighting coefficient wρ for distance ρ based on the difference Δρ relative to distance ρ. The weighting coefficient setting unit 422 sets a second weighting coefficient wθ for azimuth θ based on the difference Δθ relative to azimuth θ. The weighting coefficient setting unit 422 outputs the first weighting coefficient wρ and the second weighting coefficient wθ to the shoreline calculation unit 423e.

[0081] The shoreline calculation unit 423e normalizes the first weighting coefficient wρ using the number of added measurement lines. The shoreline calculation unit 423e normalizes the second weighting coefficient wθ using the number of added measurement lines.

[0082] For each measurement line, the shoreline calculation unit 423e multiplies the normalized first weighting coefficient wρ by the distance ρ, and then sums these multiplied values. For example, in Figure 8In the example, the shoreline calculation unit 423e calculates the distance ρ(T1) of the shoreline 920(T1) at time T1 by multiplying the distance ρ1(T1) of the measurement line 931(T1) by the first weighting coefficient wρ1, the distance ρ2(T1) of the measurement line 932(T1) by the first weighting coefficient wρ2, the distance ρ3(T1) of the measurement line 933(T1) by the first weighting coefficient wρ3, the distance ρ4(T1) of the measurement line 934(T1) by the first weighting coefficient wρ4, and adding these multiplied values ​​together.

[0083] The shoreline calculation unit 423e, for each measurement line, multiplies the normalized second weighting coefficient wθ by the azimuth θ, and then adds these multiplied values ​​together. For example, in... Figure 8 In the example, the shoreline calculation unit 423e calculates the azimuth θ1(T1) of the shoreline 920(T1) at time T1 by multiplying the azimuth θ1(T1) of the measurement line 931(T1) by the second weighting coefficient wθ1, the azimuth θ2(T1) of the measurement line 932(T1) by the second weighting coefficient wθ2, the azimuth θ3(T1) of the measurement line 933(T1) by the second weighting coefficient wθ3, and the azimuth θ4(T1) of the measurement line 934(T1) by the second weighting coefficient wθ4, and adding these multiplied values ​​together.

[0084] By performing such processing, such as Figure 9 (A) Figure 9 (B) Figure 9 As shown in (C), the embankment line 920 is updated sequentially. For example, in Figure 9 In (A), based on the measurement lines 931(T1), 932(T1), 933(T1), and 934(T1) at time T1 and the previous shoreline 920(T0) at time T0, the shoreline 920(T1) at time T1 is generated, thereby updating the shoreline 920. Figure 9 In (B), based on the measurement lines 931(T2), 932(T2), 933(T2), and 934(T2) at time T2 and the previous shoreline 920(T1) at time T1, the shoreline 920(T2) for time T2 is generated, thereby updating the shoreline 920. Figure 9 In (C), based on the measurement lines 931(T3), 932(T3), 933(T3), and 934(T3) at time T3 and the previous shoreline 920(T2) at time T2, the shoreline 920(T3) at time T3 is generated, thereby updating the shoreline 920.

[0085] Thus, by using the structure of this embodiment, the ship navigation support device 10e can sequentially update the shoreline 920 and suppress the accumulation of errors caused by the updating. In particular, as... Figure 9(A) Figure 9 (B) Figure 9 As shown in (C), by using this structure and processing, even if the ship 100 moves, the shoreline 920 can be updated using the distance measurement results at each time interval, thus suppressing the influence of errors caused by movement.

[0086] (Methods for Supporting Ship Navigation)

[0087] 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.

[0088] Figure 10 (A) Figure 10 (B) is a flowchart illustrating a general process for ship navigation support methods. Figure 10 (B) indicates that a more specific target (the shoreline) has been defined. Figure 10 The processing of (A).

[0089] like Figure 10 As shown in (A), the computational processing unit (ship navigation support unit) sets the initial feature 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 calculates new feature information based on the initial feature information of the target object or the feature information and measurement information before updating, thereby updating the feature information (S13).

[0090] As a more specific example, such as Figure 10 As shown in (B), when the target object is a shoreline, the processing unit sets an initial shoreline line (S11e). The processing unit generates a measurement line covering the area containing the shoreline (S12e). The processing unit calculates a new shoreline line based on the initial shoreline line or the shoreline line before updating and the measurement line, thereby updating the shoreline line (S13e).

[0091] Figure 11 (A) represents the relationship with Figure 10 The flowchart of the specific processing flow related to the updating of feature information shown in (A) is as follows. Figure 11 (B) indicates that it is related to Figure 10 The flowchart shown in (B) illustrates the specific processing flow related to the renewal of the shoreline.

[0092] like Figure 11As shown in (A), the processing unit acquires feature information before updating, including initial feature information (S31). The processing unit acquires multiple measurement information (S32). The processing unit calculates the difference between the measurement information and the feature information (S33). For each measurement information, the processing unit sets a weighting coefficient corresponding to the difference (S34). The processing unit uses the weighting coefficient and the measurement information to calculate the updated feature information (S35).

[0093] As a more specific example, such as Figure 11 As shown in (B), when the target object is a shoreline, the processing unit acquires the shoreline before updating, including the initial shoreline (S31e). The processing unit acquires multiple measurement lines (S32e). The processing unit calculates the difference between the measurement lines and the shoreline (S33e). For each measurement line, the processing unit sets a weighting coefficient corresponding to the difference (S34e). The processing unit uses the weighting coefficient and the measurement lines to calculate the updated shoreline (S35e).

[0094] In addition, the weighting coefficients can be adjusted according to the ship's navigation status. Figure 12 It is a flowchart representing other specific processing flows related to the updating of feature information. Figure 12 The processing shown is in the adjustment of the weighting coefficients and Figure 11 The treatment shown in (A) is different. Figure 12 Other processing shown Figure 11 The processing shown in (A) is the same, so the description of the same parts is omitted.

[0095] like Figure 12 As shown, the processing unit adjusts the weighting coefficients according to the ship's navigation state (S391). For example, the processing unit reduces the decrease in weights based on the magnitude of the difference as the ship moves further away from the target. Furthermore, the processing unit further reduces the decrease in weights based on the magnitude of the difference as the ship's speed, more specifically, its approach speed towards the target, increases. Moreover, this adjustment is an example of how the weight reduction should be minimized whenever the navigation state contains a larger error in the ranging result or measurement information.

[0096] By performing such processing, the ship navigation support devices 10 and 10e are able to update feature information (e.g., shoreline) with higher accuracy.

[0097] Furthermore, the above description illustrates a method of using as much available measurement information as possible in updating feature information. However, it is also possible to avoid using measurement information that does not meet the conditions. Figure 13 It is a flowchart representing other specific processing flows related to the updating of feature information. Figure 13The processing shown is related to the selection and processing of measurement information. Figure 11 The treatment shown in (A) is different. Figure 13 Other processing shown Figure 11 The processing shown in (A) is the same, so the description of the same parts is omitted.

[0098] like Figure 13 As shown, the processing unit excludes measurement information whose differences do not meet the conditions (S392). These conditions refer to, for example, differences exceeding a threshold; more specifically, the difference Δρ in distance ρ exceeds a distance threshold, or the difference Δθ in azimuth θ exceeds an azimuth threshold.

[0099] By performing such processing, the ship navigation support devices 10 and 10e can exclude measurement information that is significantly far from the target object or has a significantly different shape from the feature information calculation, which would have an adverse effect on the feature information calculation.

[0100] By performing such processing, for example, at a certain time interval, the feature information (shoreline) can be continuously updated even when almost no measurement information (measurement line) is available.

[0101] Furthermore, the ship navigation support devices 10 and 10e can also perform averaging processing on the feature information, such as moving average. For example, the feature information calculation unit 423 of the calculation unit 40 performs weighted averaging processing on the feature information before the update and the calculated feature information to calculate the updated feature information. More specifically, the shoreline calculation unit 423e of the calculation unit 40e performs weighted averaging processing on the shoreline before the update and the calculated shoreline to calculate the updated shoreline.

[0102] At this point, by increasing the weight of the feature information (shoreline) before the update, the convergence speed of the feature information due to the update slows down, but it can suppress the influence of errors in the measurement information (measurement line). This is particularly useful, for example, when the ship is a large vessel, where the impact of errors is more important than the convergence speed.

[0103] (Methods for generating navigation support information)

[0104] The above description illustrates the method of updating and outputting feature information, such as the quayline. However, the ship navigation support devices 10, 10e can use the acquired feature information (e.g., the quayline) to generate further navigation support information. Figure 14 (A) is a flowchart representing the process of a ship navigation support method that includes the generation of navigation support information. Figure 14 (B) indicates that a more specific target (the shoreline) has been defined. Figure 14 The processing of (A). Furthermore, Figure 14The processing shown in (A) is the same as Figure 10 The difference shown in (A) is that it includes the addition of a process for generating navigation support information. Figure 14 The processing shown in (B) is the same as Figure 10 The difference shown in (B) is that the shoreline distance is generated in addition. Figure 14 (A) Figure 14 The other treatments of (B) are respectively with Figure 10 (A) Figure 10 The processing shown in (B) is the same, so the description of the same parts is omitted.

[0105] like Figure 14 As shown in (A), the computing processing unit (ship navigation support unit) generates navigation support information based on the feature information (S14).

[0106] As a more specific example, such as Figure 14 As shown in (B), when the feature information is the shoreline, the processing unit generates the shoreline distance (S14e) based on the calculated (updated) shoreline. The shoreline distance is obtained, for example, based on the shoreline distance ρ.

[0107] (Calculate and update the shoreline and shoreline reference points)

[0108] The above detailed explanation illustrates how to calculate and update the quay wall line. However, other characteristic information related to the quay wall can also be calculated and updated. Below, as another characteristic information, the method for calculating and updating the quay wall reference point is shown. Furthermore, the quay wall reference point refers to a point on the quay wall line that serves as a reference point when the vessel 100 is docked.

[0109] Figure 15 This is a functional block diagram illustrating the structure of a ship navigation support system that calculates and updates the quaywall line and quaywall reference points. Furthermore, Figure 15 The ship navigation support device 10f shown is Figure 7 The difference between the ship navigation support device 10e shown is that it also includes: a provisional shore reference point setting unit 232f, a shore reference point information setting unit 233f, a position measurement unit 34, and a shore reference point calculation unit 424f. The other structures of the ship navigation support device 10f are the same as those of the ship navigation support device 10e, therefore descriptions of the identical parts are omitted.

[0110] The ship navigation support device 10f includes: a provisional shoreline information setting unit 20f, a measurement unit 30f, and a calculation unit 40f. The provisional shoreline information setting unit 20f includes: a camera 21, an operation input unit 22, a provisional shoreline line setting unit 231f, a provisional shoreline reference point setting unit 232f, and a shoreline reference point information setting unit 233f. The provisional shoreline line setting unit 231f has the same functions as the provisional shoreline line setting unit 23e.

[0111] The measurement unit 30f includes: a ranging unit 31, an attitude measurement unit 32, a measurement line generation unit 33f, and a position measurement unit 34. The measurement line generation unit 33f has the same function as the measurement line generation unit 33e. The position measurement unit 34, for example, has a GNSS positioning function to measure the position of the ship 100.

[0112] The calculation unit 40f includes an initial shoreline setting unit 41f and a shoreline information updating unit 42f. The initial shoreline setting unit 41f has the same function as the initial shoreline setting unit 41e.

[0113] The riparian information update unit 42f includes: a difference calculation unit 421, a weighting coefficient setting unit 422, a riparian line calculation unit 423f, and a riparian reference point calculation unit 424f. The riparian line calculation unit 423f has the same functions as the riparian line calculation unit 423e.

[0114] The update of the quay wall line is the same as that of the aforementioned ship navigation support device 10e, so the description is omitted.

[0115] (Update of shoreline benchmarks)

[0116] The provisional shoreline reference point setting unit 232f uses the operation input results to set a provisional shoreline reference point. For example, the provisional shoreline reference point setting unit 232f detects the coordinates of the operation position on the screen and sets it as the provisional shoreline reference point. The provisional shoreline reference point setting unit 232f outputs the provisional shoreline reference point to the shoreline reference point information setting unit 233f.

[0117] The shoreline reference point information setting unit 233f uses a provisional shoreline reference point, the attitude of the vessel 100, and the position of the vessel 100 to calculate the bearing ψ of the provisional shoreline reference point with the vessel 100 as the reference. Furthermore, the shoreline reference point information setting unit 233f sets the provisional shoreline reference point containing this bearing ψ as the initial shoreline reference point. The shoreline reference point information setting unit 233f outputs the bearing ψ of the initial shoreline reference point with the vessel 100 as the reference, expressed using the bearing ψ, to the shoreline reference point calculation unit 424f of the calculation unit 40f.

[0118] The updated shoreline, the initial shoreline reference point, the position of vessel 100, and the attitude of vessel 100 are input into the shoreline reference point calculation unit 424f. The shoreline reference point calculation unit 424f uses the changes in the position and attitude of vessel 100 since the previous shoreline reference point update time to calculate the change in bearing ψ, Δψ. The shoreline reference point calculation unit 424f uses the change Δψ to correct the initial shoreline reference point or the bearing ψ before the update, and then updates the bearing ψ.

[0119] The quay reference point calculation unit 424f calculates the intersection point between the straight line shown in the updated bearing ψ and the updated quay line. Based on the distance between the intersection point and the vessel 100 and the position of the vessel 100, the quay reference point calculation unit 424f calculates the coordinates of the updated quay reference point. Therefore, the quay reference point calculation unit 424f updates the quay reference point.

[0120] By using such a structure and process, for example, Figure 16 (A) Figure 16 (B) Figure 16 As illustrated in (C), the shoreline reference point can be updated together with the shoreline. Figure 16 (A) Figure 16 (B) Figure 16 (C) is a diagram showing the updated status of the shoreline and shoreline reference points.

[0121] First of all, Figure 16 In (A), the initial quayline 920(T0) is updated to quayline 920(T1), and simultaneously, the initial quay reference point 929(T0) is updated to quay reference point 929(T1). The update of the quay reference point, i.e., the bearing ψ(T1) of quay reference point 929(T1), is obtained by correcting the bearing ψ(T0) of the initial quay reference point 929(T0) using the bearing change Δψv01 based on the change in the ship's position and the bearing change Δψd01 based on the change in attitude. Furthermore, by obtaining the bearing ψ(T1) of quay reference point 929(T1) and quayline 920(T1), the position coordinates of quay reference point 929(T1) can also be calculated.

[0122] exist Figure 16In (B), the quayline 920(T1) is updated to quayline 920(T2), and simultaneously, the quay reference point 929(T1) is updated to quay reference point 929(T2). This update of the quay reference point, i.e., the bearing ψ(T2) of quay reference point 929(T2), is obtained by correcting the bearing ψ(T1) of quay reference point 929(T1) based on the change in the ship's position Δψv12 and the change in attitude Δψd12. Furthermore, by obtaining the bearing ψ(T2) of quay reference point 929(T2) and quayline 920(T2), the position coordinates of quay reference point 929(T2) can also be calculated.

[0123] exist Figure 16 In step (C), the quayline 920(T2) is updated to quayline 920(T3), and simultaneously, the quay reference point 929(T2) is updated to quay reference point 929(T3). This update of the quay reference point, i.e., the bearing ψ(T3) of quay reference point 929(T3), is obtained by correcting the bearing ψ(T2) of quay reference point 929(T2) based on the change in the ship's position Δψv23 and the change in the ship's attitude Δψd23. Furthermore, by obtaining the bearing ψ(T3) of quay reference point 929(T3) and quayline 920(T3), the position coordinates of quay reference point 929(T3) can also be calculated.

[0124] (Methods for updating the shoreline and shoreline reference points)

[0125] 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.

[0126] Figure 17 This is a flowchart outlining the process for updating the shoreline and shoreline reference points. For example... Figure 17 As shown, the computational processing unit (ship navigation support unit) sets the initial shoreline and initial shoreline reference point (S11f). The computational processing unit generates a measurement line covering the area containing the actual shoreline and the actual shoreline reference point (S12f). The computational processing unit uses the measurement line to update the shoreline (S13f). The computational processing unit uses the position and attitude of the ship 100 and the updated shoreline to update the shoreline reference point (S14f).

[0127] Figure 18 This is a flowchart illustrating the method for updating the shoreline reference points. For example... Figure 18As shown, the computational processing unit (ship navigation support unit) acquires the updated shoreline (S41). The computational processing unit acquires the shoreline reference point before the update, for example, the bearing of the shoreline reference point with the ship 100 as the reference (S42).

[0128] The processing unit acquires the movement (change in position) and attitude change of the vessel 100 (S43). Using the bearing of the previous shoreline reference point, the movement (change in position) of the vessel 100, and the attitude change, the processing unit updates the shoreline reference point (bearing) (S44). Using the updated shoreline reference point (bearing) and the updated shoreline line, the processing unit updates the shoreline reference point (position coordinates) (S45).

[0129] By performing such processing, the ship navigation support device 10f can also suppress errors in the updating of the shoreline and the shoreline reference point.

[0130] (Other methods for setting the initial information (provisional shoreline))

[0131] 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.

[0132] Figure 19 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. 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] Furthermore, the above description illustrates a method of setting initial information based on measurement information using provisional initial information as a reference. However, the provisional initial information can also be directly set as the initial information. In particular, when using the GNSS signal positioning technique described above, since the error of the provisional initial information is relatively small, it can also be directly used as the initial information.

[0137] 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.

[0138] 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.

[0139] Explanation of reference numerals in the attached figures:

[0140] 10, 10e, 10f: Ship navigation support devices

[0141] 20: Provisional Initial Information Setting Department

[0142] 20e, 20f: Provisional shoreline information setting department

[0143] 21: Camera

[0144] 22: Operation Input Section

[0145] 23: Provisional Initial Information Setting Department

[0146] 23e: Provisional Shoreline Setting Department

[0147] 30, 30e, 30f: Measurement Department

[0148] 31: Distance measuring unit

[0149] 32: Attitude Measurement Unit

[0150] 33: Measurement Information Generation Department

[0151] 33e, 33f: Measurement line generation section

[0152] 34: Position Measurement Department

[0153] 40: Computational Unit

[0154] 40e: Arithmetic Unit

[0155] 40f: Arithmetic Unit

[0156] 41: Initial Feature Information Setting Section

[0157] 41e, 41f: Initial shoreline setting section

[0158] 42: Feature Information Update Department

[0159] 42e, 42f: Shoreline Information Update Department

[0160] 81, 82, 83, 84: Feature points

[0161] 90: Shore wall

[0162] 100: Ships

[0163] 231f: Provisional Shoreline Setting Department

[0164] 232f: Provisional shoreline reference point setting unit

[0165] 233f: Shoreline Benchmark Information Setting Department

[0166] 421: Difference Calculation Department

[0167] 422: Weighting coefficient setting section

[0168] 423: Feature Information Calculation Department

[0169] 423e, 423f: Shoreline Calculation Department

[0170] 424f: Bank Benchmark Point Calculation Department

[0171] 910: Actual shoreline

[0172] 920: Shoreline

[0173] 929: Bank Benchmark Point

[0174] 931, 932, 933, 934: Measuring lines

Claims

1. A ship navigation support device, wherein, have: The measurement unit uses distance measurement results for an area containing a target object that serves as the berthing target of the ship to obtain measurement information for the target object; and The feature information updating unit updates the feature information of the target object using initial feature information for the target object or feature information of the target object before updating and the measurement information. The feature information updating unit has: The difference calculation unit calculates the difference between the initial feature information or the feature information before the update and each of the plurality of measurement information; The weighting coefficient setting unit uses the difference to set a weighting coefficient for each of the plurality of measurement information, where the larger the absolute value of the difference, the smaller the value. as well as The feature information calculation unit uses the weighting coefficients and multiple measurement information to calculate the updated feature information.

2. The ship navigation support device according to claim 1, wherein, The weighting coefficient setting unit sets a first weighting coefficient for the distance between the target and the ship and a second weighting coefficient for the orientation of the target relative to the ship as the weighting coefficient. The feature information calculation unit uses the first weighting coefficient and the second weighting coefficient to calculate the updated feature information.

3. The ship navigation support device according to claim 1 or 2, wherein, The feature information calculation unit uses the feature information before the update and the calculated feature information to calculate the updated feature information.

4. The ship navigation support device according to claim 1 or 2, wherein, The measuring unit has: The ranging unit performs three-dimensional ranging over the area containing the target object; and The measurement information generation unit generates the measurement information using the results of the three-dimensional ranging.

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 has: Attitude measurement unit measures the attitude of the vessel. The measurement information generation unit uses the results of the three-dimensional ranging and the attitude to generate the measurement information.

7. The ship navigation support device according to claim 1 or 2, wherein, The feature information of the target object is a vector determined based on the positional relationship between the ship and the target object.

8. The ship navigation support device according to claim 7, wherein, The target object is the shoreline. The characteristic information of the target object includes the shoreline formed by the vector.

9. The ship navigation support device according to claim 8, wherein, The characteristic information of the target object includes the coordinates of the shoreline reference point.

10. The ship navigation support device according to claim 9, wherein, The measuring unit has: The position measurement unit measures the position of the vessel. The feature information updating unit uses the ship's attitude and position and the shoreline to update the shoreline reference point.

11. The ship navigation support device according to claim 1 or 2, wherein, The ship navigation support device has: The provisional initial information setting unit accepts the specification of provisional initial information for the feature information of the target object; and The initial feature information setting unit uses the provisional initial information and the measurement information to set initial feature information for the target object.

12. A method for supporting ship navigation, wherein, Using the ranging results for the area containing the target object that serves as the berthing target for the ship, measurement information for the target object is obtained. The feature information of the target object is updated using the initial feature information or the feature information of the target object before the update, and the measurement information. Calculate the difference between the initial feature information or the feature information before the update and each of the plurality of measurement information. Using the difference, a weighting coefficient is set for each of the multiple measurement information, where the larger the absolute value of the difference, the smaller the value. The updated feature information is calculated using the weighting coefficients and multiple measurement data.

13. The ship navigation support method according to claim 12, wherein, The weighting coefficients are defined as follows: a first weighting coefficient for the distance between the target and the ship, and a second weighting coefficient for the bearing of the target relative to the ship. The updated feature information is calculated using the first weighting coefficient and the second weighting coefficient.

14. The ship navigation support method according to claim 12 or 13, wherein, The updated feature information is calculated using the feature information before the update and the calculated feature information.

15. The ship navigation support method according to claim 12 or 13, wherein, Accept the specification of provisional initial information regarding the feature information of the target object. Using the provisional initial information and the measurement information, initial feature information for the target object is set.

16. A storage medium storing ship navigation support programs thereon, wherein, When the ship navigation support program is executed by the computing device, it performs the following processing: Using the ranging results for the area containing the target object that serves as the berthing target for the ship, measurement information for the target object is obtained. The feature information of the target object is updated using the initial feature information or the feature information of the target object before update, and the measurement information. Calculate the difference between the initial feature information or the feature information before the update and each of the plurality of measurement information. Using the difference, a weighting coefficient is set for each of the multiple measurement information, where the larger the absolute value of the difference, the smaller the value. The updated feature information is calculated using the weighting coefficients and multiple measurement data.

17. The storage medium according to claim 16, wherein, When the ship navigation support program is executed by the computing device, it performs the following processing: The weighting coefficients are defined as follows: a first weighting coefficient for the distance between the target and the ship, and a second weighting coefficient for the bearing of the target relative to the ship. The updated feature information is calculated using the first weighting coefficient and the second weighting coefficient.

18. The storage medium according to claim 16 or 17, wherein, When the ship navigation support program is executed by the computing device, it performs the following processing: The updated feature information is calculated using the feature information before the update and the calculated feature information.

19. The storage medium according to claim 16 or 17, wherein, When the ship navigation support program is executed by the computing device, it performs the following processing: Accept the specification of provisional initial information regarding the feature information of the target object. Using the provisional initial information and the measurement information, initial feature information for the target object is set.

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