Information processing apparatus

Abstract

Provided is a technique for implementing berthing control by correcting the position of a registered berthing line on the basis of a registered value during berthing using an automatic berthing assistance system. The information processing apparatus includes a control unit and a display unit. The control part is configured to execute the following actions: acquiring a registered value related to a berthing position and a berthing direction of a berthing facility where the ship is scheduled to berth; acquiring a map image around the ship; detecting a target berthing line related to a berthing position and a berthing direction of the berthing facility in the map image when the ship approaches the berthing facility; displaying a registered berthing line represented by the target berthing line and the registered value on a display unit in a manner of superimposing the registered berthing line and the registered berthing line on a map image; accepting a correction input for the registered berthing line; and correcting at least one of the position and the direction of the registered berthing line on the display unit in response to the correction input.

Description

Technical Field

[0001] This disclosure relates to information processing devices. Background Technology

[0002] Patent Document 1 proposes a method and system for assisting ships in berthing and departure from port. The proposed method and system overlays the ship's position, calculated based on position and time information from multiple GPS (Global Positioning System) satellites and correction information from geostationary satellites, onto a pre-calculated image of the port to be berthed or departed from. It also displays the distance between the ship and the berth or jetty to which the ship will berth or depart, as well as the detected ground speed and bow position of the ship.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2006-137309 Summary of the Invention

[0006] One of the purposes of this disclosure is to provide a technique for correcting the position of the registered berthing line based on a registered value during berthing using an automatic berthing assist system, thereby achieving berthing control.

[0007] The information processing apparatus of the first embodiment of this disclosure includes a control unit and a display unit. The control unit is configured to perform the following operations: acquire a registration value related to the berthing position and berthing direction of a berthing facility to which the vessel is scheduled to berth; acquire a map image of the area surrounding the vessel; when the vessel approaches the berthing facility, detect a target berthing line related to the berthing position and berthing direction of the berthing facility in the map image; display the target berthing line and the registration berthing line represented by the registration value on the display unit in a manner that is superimposed on the map image; accept a correction input for the registration berthing line; and, in response to the correction input, correct at least one of the position and direction of the registration berthing line on the display unit.

[0008] Invention Effects

[0009] According to this disclosure, berthing control can be achieved by correcting the position of the registered berthing line based on the registered value during berthing using an automatic berthing assist system. Attached Figure Description

[0010] Figure 1 An example of a scenario in which this disclosure is applied is illustrated.

[0011] Figure 2This illustration shows an example of the hardware configuration of the information processing apparatus in this embodiment.

[0012] Figure 3 This illustration shows an example of a map image displayed on a monitor overlaid with registration berthing lines and target berthing lines.

[0013] Figure 4 This illustrates an example of a processing procedure performed by the information processing apparatus of this embodiment related to the display of the registered berthing line and the target berthing line, as well as the correction of the registered berthing line.

[0014] Figure 5 This describes an example of a process in which the information processing device controls the automatic navigation based on the difference in position or direction between the registered berthing line and the target berthing line when the ship is automatically navigating in an approaching manner to the registered berthing line in this embodiment.

[0015] Explanation of reference numerals in the attached figures

[0016] 1: Information processing unit; 11: Control unit; 12: Storage unit; 13: External interface; 14: Communication interface; 15: Display unit; 16: Input device; 17: Driver; 70: Storage medium; 81: Program; M: Ship; PD: Positioning device; S: Server; RL: Registered berthing line; TL: Target berthing line; D: Display; J: Joystick. Detailed Implementation

[0017] For example, conventional systems such as Patent Document 1 receive correction information from geostationary satellites in addition to information transmitted by GPS satellites during berthing and unberthing, thereby improving the accuracy of positioning information related to the vessel. However, the inventors of this invention have discovered the following problem with conventional systems. Specifically, in conventional systems, the correction information transmitted by geostationary satellites may contain errors, or radio waves may be blocked, making it unusable for correcting errors in the position information transmitted by GPS satellites. For example, the above applies to situations where ranging errors occur due to the generation of plasma bubbles in the ionosphere or changes in the propagation speed of radio waves in the ionosphere. In conventional systems, under such conditions during berthing and unberthing, the errors in generating the vessel's position information persist, making it difficult to assist in safe berthing and unberthing control.

[0018] In contrast, the information processing apparatus of the first embodiment of the present invention includes a control unit and a display unit. The control unit is configured to perform the following operations: acquire a registration value related to the berthing position and berthing direction of the berthing facility to which the vessel is scheduled to berth; acquire a map image of the vessel's surroundings; when the vessel approaches the berthing facility, detect a target berthing line related to the berthing position and berthing direction of the berthing facility within the map image; display the target berthing line and the registration berthing line represented by the registration value on the display unit in a manner superimposed on the map image; accept a correction input for the registration berthing line; and, in response to the correction input, correct at least one of the position and direction of the registration berthing line on the display unit. According to this configuration, it has a mechanism that corrects the position and direction of the registration berthing line based on the detected accurate target berthing line even if the registration value acquired by the control unit has an error. Therefore, it can assist in safe berthing control when a vessel using a berthing assistance system such as an automatic berthing system berths.

[0019] As another aspect of the information processing apparatus described above, this disclosure may also be an information processing method that implements all or part of the above-described components, or it may be a program, or a machine-readable storage medium such as a computer storing such a program. Here, a machine-readable storage medium refers to a medium that accumulates information such as programs through electrical, magnetic, optical, mechanical, or chemical action.

[0020] [1 Application Example]

[0021] Figure 1 This illustration schematically depicts an example of a scenario where the present disclosure is applied. The information processing device 1 of this embodiment is one or more computers configured to display the target berthing line TL and the registered berthing line RL represented by the registered value on the display unit 15. In this embodiment, the information processing device 1 acquires a registered value related to the berthing position and berthing direction of the berthing facility to which the vessel M is scheduled to berth. When the vessel M approaches the berthing facility, the target berthing line TL related to the position and direction of the berthing facility is detected on the display D. The target berthing line TL and the registered berthing line RL represented by the registered value acquired by the information processing device 1 are overlaid on the display D along with a map image of the surrounding area of ​​the berthing facility. Correction input of the registered berthing line RL by the user using a joystick J or the like is accepted. When correction input is received, the information processing device 1 again displays the registered berthing line RL and the target berthing line TL on the display D.

[0022] (Connecting facilities)

[0023] A berthing facility is a facility that allows a vessel M to berth. Berthing facilities may include, for example, quays, jetties, and wharves (berths). Furthermore, the shape of the area within the berthing facility where the vessel M berths is located is not particularly limited and can include any shape, such as a straight line or a curve.

[0024] (Registered Value)

[0025] The registration value is information related to the berthing position and direction of the berthing facility, and it is stored in the storage unit 12 or drive 17 within the information processing device 1, or in a database on an external network connected via the communication interface 14. The content included in the registration value is not particularly limited, as long as it can determine the berthing position and direction of the berthing facility, and can be appropriately selected according to the implementation method. In one example, the registration value can be set as the location information (latitude and longitude) of two points along the area within the berthing facility where the vessel M berths.

[0026] To ensure that vessel M berths at the designated berthing facility, control unit 11 acquires a registration value in advance. The timing of acquiring the registration value is not particularly limited and can be appropriately determined depending on the implementation method. In one example, it can be set to acquire the registration value at a time when vessel M approaches the designated berthing facility and a berthing assistance system (berthing assistance system) such as an automatic berthing system is activated.

[0027] Furthermore, the registration method for the registration value is not particularly limited and can be appropriately selected according to the implementation method. In one example, it can be configured such that when the vessel M is berthed at the docking facility, the position information of the two points received by the positioning devices PD installed at the bow and stern of the vessel M is acquired and stored in the storage unit 12. Alternatively, it can be configured such that the acquired position information is sent to the server S via the communication interface 14, and the server S saves the position information in the database. In another example, the database may include pre-stored position information of the berthing location of the docking facility.

[0028] It should be noted that the registered value of the berthing location maintained by the storage unit 12 or the database through these methods may be subject to errors due to the use of the positioning device PD. However, in this embodiment, it is assumed that an accurate registered value with these errors eliminated is maintained. Therefore, in this embodiment, it is assumed that the error in the position and direction of the registered berthing line RL, described later, is caused by the ship M misinterpreting its current position information.

[0029] Furthermore, positioning devices (PDs) used for acquiring location information are typically satellite positioning devices such as GNSS (Global Navigation Satellite System) receivers. GNSS includes, for example, GPS, QZSS (Quasi-Zenith Satellite System), GLONASS (Global Navigation Satellite System), and Galileo. In this embodiment, as an example, we consider the case where a GPS receiver is used as the positioning device (PD).

[0030] (berthing line)

[0031] The position information of two points can be obtained, and the line segment connecting these two points can be designated as the mooring line. The position of the mooring line can be, for example, set as the midpoint of the line segment. Furthermore, regarding the direction of the mooring line, for example, the front and rear ends of the line segment can be specified, and the direction of the mooring line can be set from the rear end of the line segment towards the front end.

[0032] (Registration and berthing line)

[0033] The registered berthing line RL is a line displayed on the display D by the control unit 11 based on the acquired registered values. By displaying the registered berthing line RL on the display D, it can assist the vessel M in berthing. When the vessel M is conducting automatic navigation, the control unit 11 performs berthing control with the position and direction of the registered berthing line RL as the target values.

[0034] The control unit 11 displays the registered berthing line RL on the display D. The form in which the registered berthing line RL is displayed on the display D is not particularly limited and can be appropriately selected depending on the implementation method. In one example, it could be a form in which the registered berthing line RL is overlaid on a map image displayed on the display D along with the current location of the vessel M.

[0035] Preferably, during berthing, regardless of whether a berthing assistance system is used, the distance to the target is shortened while appropriately confirming the current location of the vessel M. When confirming the current location using GPS, the GPS-indicated location information may contain errors. Since the control unit 11 uses the current location information as a starting point to grasp the location information of the registered value, if the current location is incorrectly determined due to errors, the location information of the registered berthing line RL represented by the registered value as the target may also be identified as an incorrect location. In this case, berthing operations based on the incorrect registered berthing line RL may result in difficulties such as collisions. Therefore, it is preferable that the vessel M has a mechanism capable of grasping and correcting errors caused by GPS.

[0036] If there is an error in the registered berthing line RL, the control unit 11 can correct the error based on the target berthing line TL. The target berthing line TL is a line representing the accurate berthing line of the berthing location, which is detected when the vessel M approaches the berthing facility. The method for detecting the target berthing line TL is not particularly limited and can be appropriately selected according to the implementation method. In one example, when the display D shows a surrounding map of the current location, the target berthing line TL of the berthing location can be detected from the image when the vessel approaches the berthing facility.

[0037] The target berthing line TL can be detected at a detection point at a predetermined distance and direction from the berthing facility. The predetermined distance and direction can be arbitrarily specified as long as the target berthing facility can be identified on the display unit 15. For example, the distance and direction can be specified regardless of the vessel M to be berthed, or they can be calculated based on the size of vessel M. Furthermore, the method for registering the detection point is not particularly limited and can be appropriately selected depending on the implementation method. In one example, it can be configured such that the detection point is set and stored in the database simultaneously with the registration value, and the detection point is acquired simultaneously with the acquisition of the registration value. By setting the detection point for vessel M and setting it as the target location before berthing, compared to initially navigating with the berthing facility as the target location, it is expected to reduce the risk of collisions during berthing caused by measurement errors in position information.

[0038] The control unit 11 displays the detected target berthing line TL and the registered berthing line RL together on the display D. This allows the user to easily identify errors in the registered berthing line RL, thus making it easier to determine whether to use the automatic berthing system or manual berthing.

[0039] The method for displaying the registered mooring line RL and the target mooring line TL together on the display D can be appropriately selected. For example, the registered mooring line RL and the target mooring line TL can be set to be displayed in different colors. Alternatively, the registered mooring line RL and the target mooring line TL can be set to be displayed with different line types. Furthermore, to aid in the calibration of the registered mooring line RL (described later), the endpoints of each mooring line can be displayed in an easily identifiable manner. In one example, the endpoint portions of the mooring lines can be surrounded by circles. When using circles to surround the endpoint portions, the circle's shape can be set to have different colors, sizes, or border types at the front and rear ends.

[0040] Figure 3 This schematically illustrates an example where the registered berthing line RL and the target berthing line TL are overlaid on a map image displayed on monitor D. For example... Figure 3As shown, due to GPS errors, the location of the registered berthing line RL was incorrect. The control unit 11 analyzes the displayed map image, determines the berthing location within the docking facility, and extracts the target berthing line TL.

[0041] When vessel M uses automatic navigation for berthing control, if the difference in position and direction between the registered berthing line RL and the target berthing line TL is large, vessel M will move towards the wrong location. This not only prevents it from berthing at the desired location but may also lead to risks such as accidental collisions. Therefore, ideally, automatic navigation should be interrupted in such situations. Alternatively, the control unit 11 can be configured to stop automatic navigation of vessel M when it is in the process of automatic navigation and the difference in position or direction between the registered berthing line RL and the target berthing line TL displayed on the display unit 15 is greater than or equal to a predetermined threshold.

[0042] The threshold for deciding whether to stop the automatic navigation of vessel M is not particularly limited and can be appropriately determined according to the implementation method. In one example, the difference between the registered berthing line RL and the target berthing line TL on the display D can be converted into an actual distance, and a threshold can be set for the converted distance. For example, the threshold related to the converted distance can be set as a constant such as 1 [m], or it can be set according to the size of vessel M, such as a ratio relative to the total length of the vessel M to be berthed. In addition, the threshold related to direction can be set as a constant such as 5 [deg].

[0043] If vessel M stops automatic navigation due to the difference in position or direction between the registered berthing line RL and the target berthing line TL, it is assumed that automatic navigation can resume once the difference has been eliminated to some extent through user operation (described later). Therefore, it can be configured such that when vessel M stops automatic navigation, automatic navigation resumes when the difference in position and direction between the registered berthing line RL and the target berthing line TL on the display unit 15 becomes less than a predetermined amount through user operation.

[0044] (Correction Input)

[0045] The correction input is provided to the information processing device 1 to eliminate the difference between the two displayed mooring lines, and is input by the operator via the input device 16. The content of the correction input is not particularly limited and can be appropriately selected according to the implementation method. For example, the change in the registered value can be determined based on the change in the position and direction of the registered mooring line RL on the display D, and this change can be set as the correction input.

[0046] (Input device for acquiring calibration input)

[0047] The type of input device 16 used to obtain the calibration input is not particularly limited and can be appropriately selected according to the implementation. For example, the input device 16 may include at least one of a joystick J and a button. In one example, when the input device 16 includes a joystick J and a button, it can be configured to move the position of the registration docking line RL by means of the joystick J and rotate the registration docking line RL at that position by means of the button. Furthermore, for example, when the display unit 15 is a touch panel type, the display portion of the registration docking line RL can be touched to make the display portion corrected to the desired position and orientation. In addition, it can also be configured to directly change the registration value by means of a keyboard or the like, thereby changing the position and orientation of the registration docking line RL on the display unit 15 according to the changed registration value.

[0048] The position and direction of the registration berthing line RL on the display D are changed by the user's operation. Based on this change, a correction input is determined, and the registration value acquired by the control unit 11 is modified. It can be expected that the ship M will safely navigate automatically based on the modified registration value.

[0049] [2 Examples of Composition]

[0050] Figure 2 This schematically illustrates an example of the hardware configuration of the information processing apparatus 1 of this embodiment. The information processing apparatus 1 of this embodiment is a computer consisting of a control unit 11, a storage unit 12, an external interface 13, a communication interface 14, a display unit 15, an input device 16, and a driver 17 electrically connected together.

[0051] The control unit 11 includes a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), etc., and is configured to perform arbitrary information processing based on programs and various data. The control unit 11 (CPU) is an example of a processor resource. The storage unit 12 can be, for example, a hard disk drive, a solid-state drive, etc. The storage unit 12 (and RAM, ROM) is an example of a memory resource. In this embodiment, the storage unit 12 stores information of program 81. Program 81 is a program for causing the information processing device 1 to execute information processing for performing correction of the registration docking line RL. Program 81 contains a series of instructions for this information processing.

[0052] The external interface 13 may be, for example, a USB (Universal Serial Bus) port, a dedicated port, a wireless communication port, etc., and is configured to connect to an external device via wired or wireless means. In this embodiment, the information processing device 1 may be connected to the positioning device PD via the external interface 13.

[0053] Communication interface 14 is an interface for wireless communication between the communication interface 14 and other computers (e.g., servers, user terminals, etc.) according to a defined wireless communication standard and via a network. Examples of defined wireless communication standards include 3G (3rd Generation), LTE (Long Term Evolution), or 5G (5th Generation). Communication interface 14 is configured to include wireless communication circuitry for wireless communication.

[0054] The display unit 15 is, for example, a display, a speaker, or other device for output. The input device 16 is, for example, a mouse, a keyboard, buttons, a joystick, an operating element, or other device for input. The display unit 15 and the input device 16 may also be integrated into a single unit, such as a touch panel display.

[0055] The drive 17 is a device for reading various information, such as programs, stored in the storage medium 70. The program 81 can be stored in the storage medium 70 instead of the storage unit 12, or it can be stored in both the storage unit 12 and the storage medium 70. The storage medium 70 is configured to accumulate this information through electrical, magnetic, optical, mechanical, or chemical action, so that a machine such as a computer can read various information (stored programs, etc.). The information processing device 1 can obtain the program 81 from the storage medium 70. It should be noted that the storage medium 70 can be a disc-type storage medium such as a CD (Compact Disc) or DVD (Digital Versatile Disc), or a storage medium other than a disc type such as semiconductor memory (e.g., flash memory). The type of drive 17 can be appropriately selected depending on the type of storage medium 70.

[0056] It should be noted that the specific hardware configuration of the information processing device 1 can be appropriately omitted, substituted, or added depending on the implementation method. For example, the control unit 11 may include multiple hardware processors. These hardware processors can be microprocessors, FPGAs (field-programmable gate arrays), DSPs (digital signal processors), ECUs (electronic control units), GPUs (graphics processing units), etc. The information processing device 1 can be a computer designed specifically for providing the services, or it can be a general-purpose computer, terminal device, etc. The information processing device 1 can be a device mounted on the ship M.

[0057] [3 Action Examples]

[0058] Figure 4 This describes an example of a processing procedure performed by the information processing apparatus 1 of this embodiment, related to the display of the registered berthing line RL and the target berthing line TL, and the correction of the registered berthing line RL. The control unit 11 of the information processing apparatus 1 executes the instructions contained in program 81 via a CPU. Thus, the information processing apparatus 1 operates as a computer capable of performing the following information processing. It should be noted that the following processing procedure is an example of a control method executed by a computer. However, the following processing procedure is merely an example, and each step can be modified as much as possible. Regarding the following processing procedure, steps can be appropriately omitted, substituted, or added according to the embodiment.

[0059] (Step S101)

[0060] In step S101, the control unit 11 acquires registration values ​​related to the berthing position and berthing direction of the docking facility. These registration values ​​can be obtained from a database on the storage unit 12, the drive 17, or an external network connected via the communication interface 14. Upon acquiring the registration values, the control unit 11 proceeds to the next step, S102.

[0061] (Steps S102 to S103)

[0062] In steps S102 to S103, the control unit 11 acquires a map image of the vicinity of the vessel M. When the vessel M approaches the docking facility to the extent that the target docking facility appears in the map image, the control unit 11 causes the process to proceed to step S104. It should be noted that the map image can be appropriately acquired from a location information database on an external network connected via the communication interface 14.

[0063] (Step S104)

[0064] In step S104, the control unit 11 performs image analysis on the map image showing the docking facilities, determines the portion corresponding to the docking position, and detects the target docking line TL. When the target docking line TL is detected, the control unit 11 causes the process to proceed to step S105.

[0065] (Steps S105 to S106)

[0066] In steps S105 and S106, the control unit 11 overlays the registered mooring line RL corresponding to the registered value obtained in step S101 and the target mooring line TL detected in step S104 onto the map image displayed on the display D. The displayed registered mooring line RL can be corrected on the display D, and the control unit 11 accepts correction input. When a correction input is received, the control unit 11 causes the process to proceed to step S107.

[0067] (Step S107)

[0068] Upon receiving the correction input, the control unit 11 corrects the position and direction of the registered berthing line RL and returns to step S105, displaying the registered berthing line RL and the target berthing line TL again.

[0069] [Situations where automatic navigation is controlled]

[0070] Figure 5 This describes an example of a process in which the information processing device 1 controls the automatic navigation based on the difference in position or direction between the registered berthing line RL and the target berthing line TL when the vessel M in this embodiment is automatically navigating towards the registered berthing line RL. The description of this process omits steps S101 to S104 of the above-described process, and begins from the point in step S105 where the registered berthing line RL and the target berthing line TL are displayed.

[0071] (Steps S201 to S203)

[0072] In steps S201 to S202, the control unit 11 determines whether the difference in position or direction between the displayed registered berthing line RL and the target berthing line TL is greater than or equal to a predetermined threshold. The control unit 11 appropriately converts the difference in position and direction of the two displayed berthing lines on the display D into the actual difference in position and direction. If both the position and direction differences are less than the threshold, the control unit 11 continues the automatic navigation of the vessel M in step S203. If automatic navigation stops, the control unit 11 performs a process to restart automatic navigation. If the difference in at least one of the position and direction is greater than or equal to the threshold, the control unit 11 proceeds to step S204.

[0073] (Steps S204 to S206)

[0074] In step S204, the control unit 11 stops the automatic navigation of the vessel M. After stopping the automatic navigation, the control unit 11 accepts the correction input in step S205, similar to step S106. Upon receiving the correction input, the control unit 11 corrects the position or direction of the registered berthing line RL in step S206 and returns to step S201, displaying the registered berthing line RL and the target berthing line TL again.

[0075] Furthermore, the processing procedure of the information processing device 1 may not be limited to... Figure 4 , Figure 5 The example can be modified appropriately according to the implementation method. For example, the timed execution of the automatic berthing system when vessel M approaches the berthing facility and initiates the automatic berthing system. Figure 4 In the case of the processing, the control unit 11 may also perform the processing of obtaining the registration value in step S101 after the processing of detecting the target docking line TL in steps S102 to S104.

[0076] (feature)

[0077] In this embodiment, the control unit 11 displays the registered berthing line RL and the target berthing line TL of the berthing facility targeted by the vessel M on the display unit 15. This allows the user to assess the degree of error in the berthing location (registered berthing line RL) identified by the system and to take appropriate action accordingly. Furthermore, the control unit 11 can correct the position and direction of the registered berthing line RL displayed on the display unit 15 based on the user's operation. This ensures accurate correction of the registered berthing line RL, assisting in safe berthing control. Moreover, even if berthing is impossible due to obstacles or other factors at the target berthing line TL, the user's desired automatic berthing control can be achieved by correcting the registered berthing line RL to any position and direction.

[0078] [4 Variations]

[0079] The embodiments of this disclosure have been described in detail above, but the descriptions above are merely examples of this disclosure at all points. Various modifications or variations can be made without departing from the scope of this disclosure. The processes and components described in this disclosure can be freely combined and implemented as long as no technical contradiction is created.

Claims

1. An information processing device comprising a control unit and a display unit, wherein, The control unit is configured to perform the following actions: Obtain the registration values ​​related to the berthing position and berthing direction of the berthing facility where the vessel is scheduled to berth; Obtain a map image of the area surrounding the ship; When the vessel approaches the docking facility, a target berthing line related to the berthing position and berthing direction of the docking facility is detected in the map image; The target berthing line and the registered berthing line based on the registered value are displayed on the display unit by overlaying the map image; Accepting correction input for the registered berthing line; and In response to the correction input, at least one of the position and direction of the registered berthing line is corrected on the display unit.

2. The information processing apparatus according to claim 1, wherein, The detection of the target berthing line is performed at a detection location at a predetermined distance from the docking facility.

3. The information processing apparatus according to claim 1, wherein, The control unit also performs the following actions: When the vessel is automatically navigating in a manner approaching the registered berthing line, if the difference in position or direction between the registered berthing line and the target berthing line displayed on the display is greater than or equal to a predetermined threshold, the vessel's automatic navigation shall be stopped.

4. The information processing apparatus according to claim 3, wherein, After the vessel's automatic navigation is stopped, the control unit restarts the vessel's automatic navigation when the difference in position and direction between the registered berthing line and the target berthing line on the display becomes less than a predetermined amount through user operation.

5. The information processing apparatus according to claim 1, wherein, The calibration input is provided by the operator via an input device.

Images