Ship navigation supporting system and ship navigation supporting method

Abstract

To accurately measure the distance between a destination location of navigation and an own ship.SOLUTION: A navigation support system comprises a reflection member, an optical distance measurement unit, a reflection member detection unit, and a support information generation unit. The reflection member is placed at multiple locations corresponding to target objects at which a ship docks. The optical distance measurement unit is installed on the ship and performs three-dimensional distance measurement. The reflection member detection unit detects position coordinates of multiple reflection members from the results of the three-dimensional distance measurement. The support information generation unit measures a distance and a deviation angle between the ship and the target object based on the position coordinates of the multiple reflection members.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a navigation support technology used when a ship is leaving or arriving at a berth. [Background technology]

[0002] 2. Description of the Related Art A docking support device is known that uses a distance sensor to measure the distance between a ship and an object such as a quay. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5000244 specification Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional docking assistance devices may not be able to accurately measure the distance between the ship and a destination point of navigation, such as a quay where the ship will dock.

[0005] Therefore, an object of the present invention is to measure the distance between the destination position of navigation and the ship itself with high accuracy. [Means for solving the problem]

[0006] A navigation assistance system according to one embodiment of the present invention includes a reflecting member, an optical ranging unit, a reflecting member detection unit, and an assistance information generation unit. The reflecting members are arranged at multiple locations corresponding to targets where the ship will dock. The optical ranging unit is installed on the ship and performs three-dimensional ranging. The reflecting member detection unit detects the position coordinates of the multiple reflecting members from the results of the three-dimensional ranging. The assistance information generation unit measures the distance and declination angle between the ship and the target based on the position coordinates of the multiple reflecting members.

[0007] With this configuration, simply by placing multiple reflecting members at the target where the ship will dock, the distance and deviation angle between the ship and its destination position can be measured with high accuracy.

[0008] In a navigation support system according to an embodiment of the present invention, the target includes a quay line where a ship will dock. The navigation support system includes an offset correction unit. The offset correction unit performs offset correction of the distance and declination between the ship and the quay line based on offset correction values ​​set by the position coordinates of the plurality of reflecting members and the quay line.

[0009] With this configuration, even if it is not possible to install a reflecting member on the quay line, it is possible to measure the distance and deviation angle between the ship and the quay line.

[0010] In the navigation assistance system according to an embodiment of the present invention, the offset correction unit sets a correction value for offset correction based on the distance measurement results obtained when the ship first docks or the actual measurement results obtained when a plurality of reflecting members are installed.

[0011] With this configuration, the distance and declination angle between the ship and the quay line can be measured using a precisely set offset correction value. Furthermore, if the distance measurement results from the first docking are used, there is no need to set the offset correction value in advance. If the actual measurement results at the time of installation are used, the distance and declination angle can be measured from the very first time.

[0012] In the navigation support system according to one embodiment of the present invention, the target includes a quay line where the ship will dock, and the plurality of reflecting members are arranged parallel to the quay line.

[0013] This configuration does not require an angle offset, so the distance and deviation angle between the ship and the quay line can be measured with simpler calculations.

[0014] In a navigation support system according to an embodiment of the present invention, the number of reflecting members is three or more. The number of reflecting members includes two reflecting members arranged on the quay line and a reflecting member arranged at a position horizontally spaced apart from the quay line.

[0015] In this configuration, when the optical distance measuring unit is located at a high position on the ship, it can detect reflective members located far from the quay line even when the ship approaches the quay line, thereby improving the robustness of measurements of the distance and declination angle between the ship and the quay line.

[0016] In a navigation support system according to an embodiment of the present invention, the number of reflecting members is three or more. The reflecting members include two reflecting members arranged parallel to a quay line included in the target, and a reflecting member arranged spaced apart in the height direction from the two reflecting members.

[0017] In this configuration, if the optical distance measuring unit is located at a high position on the ship, it can detect reflective members at high positions even when the ship approaches the quay line, thereby improving the robustness of measurements of the distance and declination angle between the ship and the quay line.

[0018] A navigation assistance system according to one embodiment of the present invention includes a roll angle estimator. A reflecting member is arranged at a height apart from two reflecting members, and the reflecting member is positioned at the same position in a direction parallel to the quay line as at least one of the two reflecting members. The roll angle estimator estimates the roll angle of the ship based on the distance between the ship and two reflecting members that are arranged at a height apart and whose relative height relationship is known.

[0019] With this configuration, it is possible to measure the distance and deflection angle as described above, and also to estimate the roll angle even if the ship is not equipped with a roll angle measurement function unit.

[0020] In the navigation support system according to one embodiment of the present invention, the plurality of reflecting members are four or more, and are configured by two or more sets of reflecting members, each set consisting of two reflecting members installed at different heights. The two or more sets of reflecting members are arranged at intervals in a direction parallel to the quay line.

[0021] With this configuration, the distance and deviation angle between the ship and the quay line can be measured with a predetermined accuracy regardless of whether the distance between the ship and the quay line is long or short, which improves the robustness of the measurement of the distance and deviation angle between the ship and the quay line.

[0022] A navigation assistance system according to one embodiment of the present invention includes a pitch angle estimation unit that estimates the pitch angle of the vessel based on the distance between the vessel and two reflecting members that are included in the target and whose relative heights are known and that are arranged parallel to the quay line.

[0023] With this configuration, it is possible to measure the distance and deviation angle as described above, and also to estimate the pitch angle even if the vessel is not equipped with a pitch angle measurement function.

[0024] A navigation support system according to an embodiment of the present invention includes a draft estimating unit that estimates the draft of a ship by further using tidal information.

[0025] In this configuration, the draft can be estimated with a predetermined accuracy.

[0026] A navigation assistance system according to an embodiment of the present invention includes a provisional position information setting unit that sets provisional position information for a plurality of reflecting members, and a reflecting member detection unit that detects position coordinates of the plurality of reflecting members based on the provisional position information.

[0027] This configuration suppresses erroneous detection of multiple reflecting members, allowing for easier and more reliable detection.

[0028] In the navigation assistance system according to an embodiment of the present invention, the provisional position information includes the latitude and longitude of the plurality of reflecting members.

[0029] In this configuration, longitude and latitude information can be used as provisional position information, and erroneous detection of multiple reflecting members can be suppressed.

[0030] In the navigation assistance system according to an embodiment of the present invention, the provisional position information includes heights of the installation positions of the plurality of reflecting members.

[0031] With this configuration, erroneous detection of multiple reflecting members can be suppressed, and multiple reflecting members can be detected more easily and reliably.

[0032] In the navigation assistance system according to an embodiment of the present invention, the provisional position information is the distances between the plurality of reflecting members and the heights thereof.

[0033] In this configuration, erroneous detection of multiple reflecting members can be suppressed without using latitude and longitude information, and multiple reflecting members can be detected more easily and reliably.

[0034] In the navigation support system according to an embodiment of the present invention, the optical distance measuring unit measures distances only within a limited three-dimensional area that includes position coordinates based on provisional position information.

[0035] In this configuration, the position coordinates of the plurality of reflecting members can be detected by simpler processing.

[0036] In the navigation assistance system according to an embodiment of the present invention, a reflective member detection unit detects candidate reflective member points based on reflection intensity, and detects candidate reflective member points whose position coordinates have moved by an amount smaller than an error determination threshold over a predetermined time period.

[0037] This configuration can suppress erroneous detection of the reflective member.

[0038] A navigation support system according to an embodiment of the present invention includes an estimated target extraction unit that extracts an estimated target based on point cloud data detected by three-dimensional ranging.

[0039] The support information generator measures an estimated distance and an estimated deflection angle between the ship and the target based on the position coordinates of the estimated target. The support information generator integrates the estimated distance and the deflection angle with the distance and the deflection angle between the ship and the target based on the position coordinates of the multiple reflecting members to measure an integrated calculated distance and an integrated calculated deflection angle.

[0040] With this configuration, if multiple reflective members can be detected, the distance and declination angle between the ship and the target can be measured based on the position coordinates of the multiple reflective members, and even if no reflective members can be detected, the distance and declination angle between the ship and the target can be measured.

[0041] A navigation assistance system according to an embodiment of the present invention includes a positioning unit that measures the position coordinates of a ship, and an attitude measuring unit that measures the attitude of the ship.

[0042] If the support information generation unit cannot detect a reflecting member, it measures the distance and deflection angle based on the position coordinates and attitude of the ship measured by the ship.If the support information generation unit can detect only one reflecting member, it measures the distance and deflection angle based on the position coordinates and attitude of the one reflecting member.If the support information generation unit can detect multiple reflecting members, it measures the distance and deflection angle between the ship and the target based on the position coordinates of the multiple reflecting members.

[0043] In this configuration, the distance and deviation angle between the ship and the target can be measured in a more suitable manner depending on the number of reflective members detected.

[0044] In the navigation assistance system according to one embodiment of the present invention, the plurality of reflecting members are configured in a shape having reflecting surfaces in five outward directions.

[0045] This configuration can reduce the difference in reflection intensity depending on the direction of arrival of the laser light for optical distance measurement. [Brief explanation of the drawings]

[0046] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a navigation assistance system according to the first embodiment. [Figure 2] FIG. 2 is a diagram showing an example of an application mode of the navigation assistance system according to the first embodiment. [Figure 3] FIG. 3(A) is an external perspective view showing an example of the shape of the reflecting member, and FIG. 3(B) is a cross-sectional view of the reflecting member. [Figure 4] FIG. 4 is a flowchart showing an example of the navigation support method according to the first embodiment. [Figure 5] FIG. 5 is a flowchart showing an example of a method for detecting a reflective member. [Figure 6]FIG. 6 is a diagram illustrating an example of the configuration of a navigation assistance system according to the second embodiment. [Figure 7] 7(A), 7(B), and 7(C) are diagrams showing an example of an application mode of the navigation assistance system according to the second embodiment. [Figure 8] FIG. 8 is a flowchart showing an example of a navigation support method according to the second embodiment. [Figure 9] FIG. 9 is a diagram illustrating an example of the configuration of a navigation assistance system according to the third embodiment. [Figure 10] FIG. 10 is a diagram showing an example of an application mode of the navigation assistance system according to the third embodiment. [Figure 11] 11(A) and 11(B) are diagrams showing examples of variations in the installation of a plurality of reflecting members. [Figure 12] FIG. 12 is a flowchart showing an example of a navigation support method according to the third embodiment. [Figure 13] FIG. 13 is a flowchart showing another example of the navigation support method according to the third embodiment. [Figure 14] FIG. 14 is a diagram illustrating an example of the configuration of a navigation assistance system according to the fourth embodiment. [Figure 15] FIG. 15 is a flowchart showing an example of a navigation support method according to the fourth embodiment. [Figure 16] FIG. 16 is a diagram illustrating an example of the configuration of a navigation assistance system according to the fifth embodiment. [Figure 17] FIG. 17 is a flowchart showing an example of a navigation support method according to the fifth embodiment. [Figure 18] FIG. 18 is a diagram illustrating an example of the configuration of a navigation assistance system according to the sixth embodiment. [Figure 19] FIG. 19 is a flowchart showing an example of a navigation support method according to the sixth embodiment. [Figure 20] FIG. 20 is a diagram illustrating an example of the configuration of a navigation assistance system according to the seventh embodiment. [Figure 21]21(A) and 21(B) are diagrams showing an example of an application mode of the navigation assistance system according to the seventh embodiment. [Figure 22] FIG. 22 is a diagram illustrating an example of the configuration of a navigation assistance system according to the eighth embodiment. [Figure 23] 23(A) and 23(B) are diagrams showing an example of an application mode of the navigation assistance system according to the eighth embodiment. [Figure 24] FIG. 24 is a diagram illustrating an example of the configuration of a navigation assistance system according to the ninth embodiment. [Figure 25] FIG. 25 is a diagram illustrating an example of the configuration of a navigation assistance system according to the tenth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0047] [First embodiment] A navigation support technology according to a first embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a diagram showing an example of the configuration of a navigation support system according to the first embodiment. Fig. 2 is a diagram showing an example of an application mode of the navigation support system according to the first embodiment.

[0048] (Configuration of navigation support system 10) 1, the navigation support system 10 includes a vessel-mounted device 20 and a plurality of reflecting members 31 and 32. The vessel-mounted device 20 includes an optical distance measuring unit 21, a reflecting member detection unit 22, and an support information generation unit 23.

[0049] The optical distance measuring unit 21 is configured by a device that performs three-dimensional distance measurement using laser light, such as LiDAR.

[0050] The reflective member detection unit 22 and the support information generation unit 23 constitute the control unit 200. The control unit 200 is composed of, for example, an arithmetic processing unit such as a computer, a program executed by the arithmetic processing unit, and a storage medium that stores the program.

[0051] The vessel-mounted device 20 is mounted on a vessel 80. As shown in Fig. 2, the optical distance measuring unit 21 is installed, for example, near the side of the vessel 80 that is docking or departing from the berth (docking or departing side: the side on the side of the vessel to be measured) on the deck 800. In this case, the optical distance measuring unit 21 has a measuring area Ar21 that has a predetermined angular range in both the horizontal and vertical directions outward from the side of the vessel to be measured.

[0052] The optical distance measuring unit 21 transmits laser light while scanning it over the distance measuring area Ar21, and receives the reflected wave, thereby performing three-dimensional distance measurement.

[0053] The reflecting members 31 and 32 are installed at a marine berth 90 where the ship 80 arrives and departs. The object where the ship 80 arrives and departs is not limited to a marine berth, but may be a wharf on the edge of land, etc. Such an object where the ship 80 arrives and departs corresponds to the "target" of the present invention.

[0054] More specifically, the reflecting members 31 and 32 are installed along a quay line 900 where the ship 80 will dock at the offshore berth 90. The reflecting members 31 and 32 are installed at a predetermined distance in a direction parallel to the quay line 900. For example, as shown in FIG. 2 , the reflecting member 31 is installed near one end of the offshore berth 90 in a direction parallel to the quay line 900. The reflecting member 32 is installed near the other end of the offshore berth 90 in a direction parallel to the quay line 900.

[0055] The reflecting members 31 and 32 are installed so as to have at least a reflecting surface on the side where the ship 80 leaves or arrives at the quay.

[0056] Fig. 3(A) is an external perspective view showing an example of the shape of the reflective member, and Fig. 3(B) is a cross-sectional view of the reflective member. As shown in Fig. 3(A) and Fig. 3(B), the reflective members 31 and 32 each include a plurality of reflective walls 301-305.

[0057] The multiple reflecting walls 301-305 are rectangular flat plates. The flat surface of reflecting wall 302 and the flat surface of reflecting wall 303 are perpendicular to the flat surface of reflecting wall 301. Reflecting wall 301 and reflecting wall 302 are connected via reflecting wall 304. Reflecting wall 301 and reflecting wall 303 are connected via reflecting wall 305.

[0058] The plurality of reflective walls 301-305 have a retroreflective function on their outer surfaces (surfaces opposite to the space surrounded by the plurality of reflective walls 301-305). The outer surfaces of the plurality of reflective walls 301-305 have a higher reflectivity than the sea surface WS and the offshore berth 90.

[0059] With this configuration, the reflecting members 31 and 32 are configured to have reflecting surfaces in five outward directions, thereby reducing the difference in reflection intensity depending on the direction of arrival of the laser light for optical distance measurement.

[0060] The reflecting members 31 and 32 are installed on the offshore berth 90 so that the reflecting wall 301 is parallel to the quay line 900. Furthermore, the reflecting members 31 and 32 are installed on the offshore berth 90 so that the quay line 900 and the reflecting wall 301 overlap in a plan view.

[0061] (Method for generating navigation support data by the navigation support system 10) In such a configuration, the navigation support system 10 generates navigation support data as follows. Specifically, the navigation support data includes the distance DIS between the specific position of the ship 80 and the offshore berth 90, and the deviation angle Δψ between the quay line 900 of the offshore berth 90 and the bow heading ψh. Here, as examples of the specific position of the ship 80, a ranging point Pe at the stern of the ship 80 when it is leaving or arriving at a dock, and a ranging point Pt midway between the bow and stern when it is leaving or arriving at a dock, are shown.

[0062] The optical ranging unit 21 performs three-dimensional ranging on the offshore berth 90 side. The optical ranging unit 21 outputs the results of the three-dimensional ranging (detected feature points, their respective signal intensities, their respective position coordinates, the ranging time, etc.) to the reflective member detection unit 22. The position coordinates detected by the optical ranging unit 21 are detected in an optical ranging coordinate system. The optical ranging coordinate system is set, for example, with the position of the optical ranging unit 21 as the origin.

[0063] The reflective member detection unit 22 detects the signal intensity (reflected light intensity) of each characteristic point. The reflectance of the multiple reflective walls 301-305 is higher than the reflectance of the sea surface WS and the offshore berth 90. Using this, the reflective member detection unit 22 detects characteristic points whose signal intensity is equal to or higher than the reflective member detection threshold as reflective members 31 and 32.

[0064] The reflecting member detection unit 22 outputs the position coordinates of the detected reflecting members 31 and 32 to the support information generation unit 23.

[0065] Optical distance measuring unit 21, distance measuring points Pe, and distance measuring points Pt are located on ship 80. Therefore, the positional relationship between optical distance measuring unit 21, distance measuring points Pe, and distance measuring points Pt in the ship's hull coordinate system is known in advance.

[0066] In this way, the position coordinates of reflecting members 31 and 32 relative to optical ranging unit 21 are known, and the positional relationship between optical ranging unit 21, ranging point Pe, and ranging point Pt, which exist on the same coordinate system, is known. Therefore, by performing coordinate conversion between the hull coordinate system and the optical ranging coordinate system, the position coordinates of reflecting members 31 and 32 and the position coordinates of ranging point Pe and ranging point Pt can be expressed in a unified coordinate system (for example, the hull coordinate system).

[0067] Using this, the support information generation unit 23 calculates the distance DISe between the ranging point Pe and the quay line 900 based on the position coordinates of the ranging point Pe, the reflecting member 31, and the reflecting member 32. The support information generation unit 23 calculates the distance DISt between the ranging point Pt and the quay line 900 based on the position coordinates of the ranging point Pt, the reflecting member 31, and the reflecting member 32.

[0068] These distances DISe and DISt can be calculated by known geometric calculations.

[0069] In addition, the distances DISe and DISt can also be calculated by calculating a straight line representing the quay line 900 from the position coordinates of the reflecting members 31 and 32, and calculating the distance between this straight line and the distance measurement points Pe and Pt.

[0070] The support information generating unit 23 also calculates a straight line representing the quay line 900 from the position coordinates of the reflecting members 31 and 32. The support information generating unit 23 calculates the deflection angle Δψ between the ship 80 and the quay line 900 using the straight line representing the quay line 900 and the bow direction ψh (a straight line parallel to the bow direction ψh).

[0071] The heading ψh can be measured by the attitude measurement unit, which will be described later. Also, as shown in Figure 2, if the measurement points Pe and Pt are parallel to the bow-stern direction, the line connecting them can be used to represent a line parallel to the heading ψh.

[0072] This argument Δψ can be calculated by known geometric calculations.

[0073] In this way, the navigation support system 10 can calculate the distance between the quay line 900 of the offshore berth 90 and a specific position of the ship 80, as well as the deviation angle Δψ between the quay line 900 and the bow heading ψh, simply by installing multiple reflective members 31, 32 on the offshore berth 90.

[0074] In this case, since the plurality of reflecting members 31, 32 are installed on the offshore berth 90, which is the distance measurement target, the navigation support system 10 can measure the distance between the quay line 900 of the offshore berth 90 (destination position of navigation) and the ship 80 with high accuracy.

[0075] Furthermore, in the configuration of this embodiment, the navigation support system 10 does not need other characteristic points of the offshore berth 90 as long as it can detect the position coordinates of the multiple reflecting members 31, 32 of the offshore berth 90. Therefore, the navigation support system 10 can measure the distance between the quay line 900 of the offshore berth 90 and the ship 80 with a calculation that is simpler than a method that uses other characteristic points of the offshore berth 90.

[0076] (Navigation support method) Fig. 4 is a flowchart showing an example of a navigation support method according to the first embodiment. Note that the specific contents of each process shown in Fig. 4 have been explained in the description of the configuration above, and therefore explanations will be omitted except for necessary points.

[0077] 4, the optical distance measuring unit 21 performs three-dimensional distance measurement (S11). The reflecting member detection unit 22 detects the position coordinates of the plurality of reflecting members 31, 32 based on the result of the three-dimensional distance measurement (S12).

[0078] The support information generating unit 23 measures the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900 based on the position coordinates of the plurality of reflecting members 31, 32 (S13).

[0079] In the above-described detection of the reflective member, it is more preferable to perform the following process: Fig. 5 is a flowchart showing an example of a method for detecting the reflective member.

[0080] 5, the reflective member detection unit 22 detects multiple candidate points of reflective members based on the results of three-dimensional ranging (S21). Specifically, the reflective member detection unit 22 detects all feature points whose signal strength is equal to or greater than the reflective member detection threshold as multiple candidate points of reflective members.

[0081] The reflecting member detection unit 22 acquires the position coordinates of each candidate point at multiple times, and acquires the amount of movement of the position coordinates of each candidate point (S22).

[0082] The reflective member detection unit 22 sets an error judgment threshold. The error judgment threshold is set, for example, based on the movement speed of the ship 80 relative to the offshore berth 90 (which is in a substantially fixed position). The error judgment threshold is set, for example, to a value less than the movement speed of the ship 80. The movement speed can be acquired, for example, from a ship speed sensor installed on the ship 80 or the positioning results of a positioning unit, which will be described later.

[0083] If the amount of movement is smaller than the error determination threshold (S23: YES), the reflective member detection unit 22 determines that this candidate point is a reflective member (S24).If the amount of movement is equal to or greater than the error determination threshold (S23: NO), the reflective member detection unit 22 determines that this candidate point is not a reflective member (S25).

[0084] By performing such processing, the navigation assistance system 10 can suppress erroneous determination of the reflective member.

[0085] [Second embodiment] A navigation support technology according to a second embodiment of the present invention will be described with reference to the drawings.

[0086] (Configuration and processing of navigation support system 10A) Fig. 6 is a diagram showing an example of the configuration of a navigation support system according to the second embodiment. Fig. 7(A), Fig. 7(B), and Fig. 7(C) are diagrams showing an example of an application mode of the navigation support system according to the second embodiment.

[0087] As shown in Figures 6, 7(A), 7(B), and 7(C), the navigation assistance system 10A according to the second embodiment differs from the navigation assistance system 10 according to the first embodiment in the number of reflecting members and the configuration of the vessel-mounted device 20A, and also in the processing of the assistance information generator 23A that accompanies these differences.

[0088] The navigation support system 10A includes a vessel-mounted device 20A and a plurality of reflecting members 31-34.

[0089] The multiple reflective members 31-34 are arranged parallel to the quay line 900 of the offshore berth 90 at intervals in the order of reflective member 31, reflective member 32, reflective member 33, and reflective member 34. The intervals between each may be the same or different.

[0090] The vessel-mounted device 20A includes an optical distance measuring unit 21, a reflecting member detection unit 22, a support information generation unit 23A, a positioning unit 291, and an attitude measurement unit 292. The reflecting member detection unit 22 and the support information generation unit 23A constitute a control unit 200A.

[0091] The optical distance measurement unit 21 performs three-dimensional distance measurement on the distance measurement area Ar21.

[0092] The reflective member detection unit 22 detects the position coordinates of reflective members present within the ranging area Ar21. For example, if reflective member 31, reflective member 32, reflective member 33, and reflective member 34 are present within the ranging area Ar21, the reflective member detection unit 22 detects the position coordinates of each of reflective member 31, reflective member 32, reflective member 33, and reflective member 34. If only reflective member 32 and reflective member 33 are present within the ranging area Ar21, the reflective member detection unit 22 detects the position coordinates of each of reflective member 32 and reflective member 33. If no reflective member is present within the ranging area Ar21, the reflective member detection unit 22 cannot detect any reflective members.

[0093] The reflecting member detection unit 22 outputs the detected reflecting members and their position coordinates to the support information generation unit 23A.

[0094] The positioning unit 291 measures the position of the ship 80.

[0095] The attitude measurement unit 292 measures the attitude of the ship 80 and measures the heading ψh.

[0096] The support information generating unit 23A measures the navigation support data (distance DIS and deviation angle Δψ) using different methods based on the acquired number of reflecting members.

[0097] (1) When the ship 80 is sailing close to the offshore berth 90 and the offshore berth 90 is not present within the distance measurement area Ar21 (as in FIG. 7(A)). The support information generation unit 23A cannot acquire any reflective members or their position coordinates. The support information generation unit 23 uses the position of the ship 80 measured by the positioning unit 291 and the heading ψh measured by the attitude measurement unit 292. These position coordinates and heading ψh are measured in the Earth coordinate system.

[0098] The support information generating unit 23A acquires in advance the position coordinates of the plurality of reflecting members 31-34 in the Earth coordinate system. The support information generating unit 23A also acquires in advance the coordinates of the line representing the quay line 900 in the Earth coordinate system.

[0099] The support information generation unit 23A measures the distance DIS between the ship 80 and the quay line 900 and the declination Δψ based on the position coordinates in the Earth coordinate system of the ship 80 measured by the positioning unit 291, the bow direction ψh in the Earth coordinate system measured by the attitude measurement unit 292, the position coordinates in the Earth coordinate system of the multiple reflecting members 31-34, or the coordinates in the Earth coordinate system of the straight line representing the quay line 900.

[0100] By using this method, the navigation support system 10A can measure the distance DIS and the deviation angle Δψ between the ship 80 and the quay line 900 even if it cannot detect the multiple reflecting members 31-34 installed on the offshore berth 90.

[0101] (2) When there is only one reflective element in the distance measurement area Ar21 When the ship 80 approaches the offshore berth 90, for example, there comes a time when only the reflecting member 31 installed at one end of the offshore berth 90 enters the distance measurement area Ar21.

[0102] The support information generation unit 23A measures the distance DIS between the ship 80 and the quay line 900 and the declination Δψ based on the position coordinates in the Earth coordinate system of the ship 80 measured by the positioning unit 291, the bow direction ψh in the Earth coordinate system measured by the attitude measurement unit 292, the position coordinates in the hull coordinate system of the multiple reflecting members 31, or the coordinates in the Earth coordinate system of the straight line representing the quay line 900.

[0103] The Earth coordinate system and the ship coordinate system can be converted into each other by measuring the attitude angle of the ship 80.

[0104] By using this method, the navigation support system 10A can measure the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900 even if it can detect only one reflecting member 31 installed on the offshore berth 90. In this case, by detecting even one reflecting member, it is possible to obtain measurement values ​​that directly represent the distance and deflection angle between the ship 80 and the quay line 900. This allows the support information generator 23A to measure the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900 more accurately than when no reflecting member is detected.

[0105] (3) When all reflective components are present within the distance measurement area Ar21 (as in FIG. 7(B)) When the ship 80 approaches the offshore berth 90, for example, there comes a time when all of the reflecting members 31-34 installed at the offshore berth 90 enter the distance measurement area Ar21.

[0106] The support information generator 23A selects two reflecting members from the plurality of reflecting members 31-34. Based on the position coordinates of the two selected reflecting members, the support information generator 23A measures the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900, as described above.

[0107] As a result, when the support information generator 23A cannot detect any reflecting members, it can measure the distance DIS between the ship 80 and the quay line 900 and the deflection angle Δψ more accurately than when only one reflecting member is detected.

[0108] In this case, it is preferable that the support information generator 23A selects the two reflective members that are the furthest from each other. For example, in the case shown in Fig. 7(B), the support information generator 23A selects the reflective member 31 installed at one end of the offshore berth 90 and the reflective member 32 installed at the other end.

[0109] This makes it possible to increase the base line length (length of the line segment) representing the quay line 900. Therefore, the support information generating unit 23A can reduce measurement errors in the distance DIS between the ship 80 and the quay line 900 and the deviation angle Δψ.

[0110] (4) When all reflective components are present within the distance measurement area Ar21 (as in FIG. 7(C)) As the ship 80 approaches further to the offshore berth 90, due to the shape of the ranging area Ar21, there will come a time when some of the reflective elements installed at the offshore berth 90 (for example, only reflective elements 32 and 33) will enter (remain) within the ranging area Ar21.

[0111] The support information generating unit 23A measures the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900, as described above, based on the position coordinates of the plurality of reflecting members 32, 33 in the distance measurement area Ar21.

[0112] As a result, when the support information generator 23A cannot detect any reflecting members, it can measure the distance DIS between the ship 80 and the quay line 900 and the deflection angle Δψ more accurately than when only one reflecting member is detected.

[0113] In this way, the navigation support system 10A can measure the distance DIS and the deviation angle Δψ between the ship 80 and the quay line 900 using a method suited to the navigational state (positional relationship, etc.) of the ship 80 as it approaches docking at the offshore berth 90. This enables the navigation support system 10A to improve the robustness of the measurement of the distance DIS and the deviation angle Δψ between the ship 80 and the quay line 900.

[0114] Although the navigation assistance system 10A has four reflecting members, the number of reflecting members may be any number as long as it is three or more.

[0115] Furthermore, the positions of the three or more reflecting members are spaced apart by more than the error range of the provisional position information. For example, if positioning is performed using positioning signals from satellites such as GPS, the distance between the reflecting members is about 10 meters or more. This allows the navigation assistance system 10A to detect each reflecting member more accurately and reliably.

[0116] Even when there are two reflective members (for example, when provisional position information is applied to the detection of reflective members according to the first embodiment), the positions of the reflective members are spaced apart by more than the error range of the provisional position information. In other words, when multiple reflective members are installed, the positions of the reflective members are spaced apart by more than the error range of the provisional position information.

[0117] (Navigation support method) Fig. 8 is a flowchart showing an example of a navigation support method according to the second embodiment. Note that the specific contents of each process shown in Fig. 8 have been explained in the description of the configuration above, and therefore explanations will be omitted except for necessary points.

[0118] 8, the optical distance measuring unit 21 performs three-dimensional distance measurement (S101). The reflective member detection unit 22 detects the position coordinates of a plurality of reflective members based on the results of the three-dimensional distance measurement (S102).

[0119] If the reflecting member detection unit 22 is unable to detect a reflecting member (S102: NO), the support information generation unit 23A measures the distance DIS and the declination Δψ between the ship 80 and the quay line 900 using the Earth coordinate system based on the measured position and measured attitude of the ship 80 (S111).

[0120] If the reflecting member detection unit 22 has detected only one reflecting member (S102: YES, S103: NO), the support information generation unit 23A measures the distance DIS and the declination Δψ between the ship 80 and the quay line 900 using coordinate conversion between the hull coordinate system and the Earth coordinate system based on the position coordinates (hull coordinate system) of the one reflecting member, the measured position (Earth coordinate system) and the measured attitude (Earth coordinate system) of the ship 80 (S112).

[0121] If the reflecting member detection unit 22 has detected multiple reflecting members (S103: YES), the support information generation unit 23A measures the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900 based on the position coordinates of the multiple reflecting members 31, 32 (S113).

[0122] [Third embodiment] A navigation support technology according to a third embodiment of the present invention will be described with reference to the drawings.

[0123] (Configuration and processing of navigation support system 10B) Fig. 9 is a diagram showing an example of the configuration of a navigation assistance system according to the third embodiment, and Fig. 10 is a diagram showing an example of an application mode of the navigation assistance system according to the third embodiment.

[0124] 9 and 10, the navigation assistance system 10B according to the third embodiment differs from the navigation assistance system 10 according to the first embodiment in the installation position of the reflecting member and the configuration of the vessel-mounted device 20B, and also in the processing of the assistance information generator 23B that accompanies these differences.

[0125] The navigation support system 10B includes a vessel-mounted device 20B and a plurality of reflecting members 31 and 32.

[0126] The reflecting member 31 is installed on a quay line 900 of the offshore berth 90. The reflecting member 32 is installed at a position spaced a distance Δ32 from the quay line 900 in a direction perpendicular to the quay line 900 of the offshore berth 90.

[0127] The vessel-mounted device 20B includes an optical distance measuring unit 21, a reflective member detection unit 22, a support information generation unit 23, and an offset correction unit 24. The reflective member detection unit 22, the support information generation unit 23, and the offset correction unit 24 constitute a control unit 200B.

[0128] The offset correction unit 24 stores in advance offset correction values ​​of the plurality of reflecting members 31 and 32 relative to the quay line 900 .

[0129] The offset correction value includes the distance ΔD31 between the quay line 900 and the reflective member 31 in a direction perpendicular to the quay line 900, the distance ΔD32 between the quay line 900 and the reflective member 32 in a direction perpendicular to the quay line 900, and the offset angle Δθ, which is the angle between the quay line 900 and the straight line 990 connecting the multiple reflective members 31, 32.

[0130] The offset correction unit 24 performs offset correction on the distance and angle of deviation measured by the support information generation unit 23 based on the offset correction value.

[0131] The distance measured by the support information generation unit 23 is the distance between the ranging point Pe and the straight line 990 connecting the ranging point Pt and the multiple reflecting members 31, 32, and the deflection angle is the angle between the bow heading ψh and the straight line 990 connecting the multiple reflecting members 31, 32. On the other hand, the positional relationship between the quay line 900 and the multiple reflecting members 31, 32 (distance ΔD31, distance ΔD32) and the offset angle Δθ between the quay line 900 and the straight line 990 are known in advance, so by performing offset correction on the distance and deflection angle measured by the support information generation unit 23 using the distance ΔD31, distance ΔD32 and offset angle Δθ, the offset correction unit 24 can measure the distance between the ranging point Pe and the ranging point Pt and the quay line 900, and the deflection angle Δψ between the bow heading ψh and the quay line 900.

[0132] In this way, the navigation support system 10B can measure the distance and the deviation angle between the ship and the quay line even if the reflecting members cannot be installed on the quay line, which improves the degree of freedom in installing the reflecting members.

[0133] The offset correction unit 24 sets a correction value for the offset correction based on the three-dimensional distance measurement results obtained when the vessel first docks or the actual measurement results obtained when the multiple reflecting members 31, 32 are installed.

[0134] As a result, the navigation assistance system 10B can accurately measure the distance DIS between the ship 80 and the quay line 900 and the declination Δψ using an offset correction value that is set with high precision.

[0135] When using the distance measurement results obtained when the vessel first docks, there is no need to set an offset correction value in advance. On the other hand, when using the actual measurement results obtained when the vessel is installed, the distance and declination angle can be measured from the very first time.

[0136] 11(A) and 11(B) are diagrams showing examples of variations in the installation of a plurality of reflecting members.

[0137] In FIG. 11(A), a plurality of reflecting members 31, 32 are both installed at positions away from a quay line 900 so that a straight line 990 connecting the reflecting members 31, 32 and the quay line 900 are not parallel to each other.

[0138] Even with this installation mode, the navigation assistance system 10B can accurately measure the distance DIS and the declination angle Δψ between the ship 80 and the quay line 900 by performing offset correction. Furthermore, this installation mode further improves the degree of freedom in installing the multiple reflecting members 31, 32.

[0139] In FIG. 11(B), the plurality of reflecting members 31, 32 are both installed at positions away from the quay line 900 so that a straight line 990 connecting the reflecting members 31, 32 and the quay line 900 are parallel to each other.

[0140] Even with this installation, the navigation assistance system 10B can accurately measure the distance DIS and the declination angle Δψ between the ship 80 and the quay line 900 by performing offset correction. Furthermore, since this installation does not require an offset angle, the navigation assistance system 10B can measure the distance DIS and the declination angle δψ between the ship 80 and the quay line 900 with simpler calculations.

[0141] (Navigation support method) Fig. 12 is a flowchart showing an example of a navigation support method according to the third embodiment. Note that the specific contents of each process shown in Fig. 12 have been explained in the description of the configuration above, and therefore explanations will be omitted except for necessary points.

[0142] 12, the optical distance measuring unit 21 performs three-dimensional distance measurement (S11). The reflecting member detection unit 22 detects the position coordinates of the plurality of reflecting members 31, 32 based on the result of the three-dimensional distance measurement (S12).

[0143] The support information generating unit 23 measures the distance and the angle of deviation between the ship 80 and the straight line 990 connecting the plurality of reflecting members 31, 32 based on the position coordinates of the plurality of reflecting members 31, 32 (S13A).

[0144] The offset correction unit 24 measures the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900 by offset correcting the distance and deflection angle between the ship 80 and the straight line 990 connecting the multiple reflecting members 31, 32 based on the offset correction value (S14A).

[0145] 12 shows an embodiment in which offset correction is performed after measuring the distance and declination between the ship 80 and the straight line 990 connecting the multiple reflecting members 31, 32. However, the quay line 900 may be set by offset correcting the straight line 990, and the distance DIS and declination Δψ between the ship 80 and the quay line 900 may be measured. In this case, the navigation assistance system 10B may, for example, configure the offset correction unit 24 as a pre-processing unit of the assistance information generation unit 23.

[0146] (Navigation support method) FIG. 13 is a flowchart showing another example of the navigation support method according to the third embodiment.

[0147] 13, the optical distance measuring unit 21 performs three-dimensional distance measurement (S11). The reflecting member detection unit 22 detects the position coordinates of the plurality of reflecting members 31, 32 based on the result of the three-dimensional distance measurement (S12).

[0148] The offset correction unit 24 sets the quay line 900 based on the position coordinates of the plurality of reflecting members 31, 32 and the offset correction value (S14B).

[0149] The support information generating unit 23 measures the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900 based on the position coordinates of the quay line 900 set by the offset correcting unit 24 (S13B).

[0150] [Fourth embodiment] A navigation support technique according to a fourth embodiment of the present invention will be described with reference to the drawings.

[0151] (Configuration and processing of navigation support system 10C) FIG. 14 is a diagram illustrating an example of the configuration of a navigation assistance system according to the fourth embodiment.

[0152] As shown in Fig. 14, the navigation assistance system 10C according to the fourth embodiment differs from the navigation assistance system 10A according to the second embodiment in that it includes a provisional position information setting unit 25 and in the processing of a reflecting member detection unit 22C. In Fig. 14, the number of reflecting members is expressed as two, but is not limited to this as long as there is more than one.

[0153] The navigation support system 10C includes a vessel-mounted device 20C. The vessel-mounted device 20C includes an optical distance measuring unit 21, a reflecting member detection unit 22C, an support information generation unit 23, a provisional position information setting unit 25, a positioning unit 291, and an attitude measurement unit 292. The reflecting member detection unit 22C and the support information generation unit 23 constitute a control unit 200C.

[0154] The provisional position information setting unit 25 sets, as provisional position information, the position coordinates (planar position coordinates and height) in the Earth coordinate system of the plurality of reflecting members 31, 32. The provisional position information setting unit 25 outputs the provisional position information of the plurality of reflecting members 31, 32 to the reflecting member detection unit 22C.

[0155] The reflecting member detection unit 22C detects candidate points of a plurality of reflecting members and acquires the position coordinates of each of them in the Earth coordinate system. The reflecting member detection unit 22C detects the position coordinates of a plurality of reflecting members 31, 32 by referring to the provisional position information.

[0156] Specifically, the reflecting member detection unit 22C compares the position coordinates of the candidate points of the plurality of reflecting members with the position coordinates of the provisional position information, and detects whether there are any candidate points that match or approximately match. The reflecting member detection unit 22C detects the candidate points that match or approximately match as the plurality of reflecting members 31, 32.

[0157] With this configuration, the navigation assistance system 10C can suppress erroneous detection of the multiple reflecting members 31 and 32.

[0158] In the above process, the earth coordinate system of the plurality of reflecting members is used, but the distance and height of the plurality of reflecting members may be used as the provisional position information.

[0159] In this case, the reflecting member detection unit 22C calculates the distance between each of the plurality of candidate points. The reflecting member detection unit 22C detects the plurality of candidate points having the same or substantially the same distance between them as the distance in the provisional position information as the plurality of reflecting members 31, 32.

[0160] With this configuration, the navigation assistance system 10C can suppress erroneous detection of the multiple reflecting members 31, 32, and can simplify the detection process because it does not need to use the Earth coordinate system.

[0161] (Navigation support method) Fig. 15 is a flowchart showing an example of a navigation support method according to the fourth embodiment. Note that the specific contents of each process shown in Fig. 15 have been explained in the description of the configuration above, and therefore explanations will be omitted except for necessary points.

[0162] As shown in FIG. 15, the optical distance measuring unit 21 performs three-dimensional distance measurement (S11).

[0163] The reflecting member detection unit 22C detects the position coordinates of the plurality of reflecting members 31, 32 by referring to the provisional position information (S12C).

[0164] The support information generating unit 23 measures the distance and the angle of deviation between the ship 80 and the quay line 900 based on the position coordinates of the plurality of reflecting members 31, 32 (S13).

[0165] [Fifth embodiment] A navigation support technique according to a fifth embodiment of the present invention will be described with reference to the drawings.

[0166] (Configuration and processing of navigation support system 10D) FIG. 16 is a diagram illustrating an example of the configuration of a navigation assistance system according to the fifth embodiment.

[0167] As shown in FIG. 16, the navigation assistance system 10D according to the fifth embodiment differs from the navigation assistance system 10C according to the fourth embodiment in the processing of an optical distance measuring unit 21D and a reflective member detection unit 22D.

[0168] The navigation support system 10D includes a vessel-mounted device 20D. The vessel-mounted device 20D includes an optical distance measuring unit 21D, a reflecting member detection unit 22D, an support information generation unit 23, a provisional position information setting unit 25, a positioning unit 291, and an attitude measurement unit 292. The reflecting member detection unit 22D and the support information generation unit 23 constitute a control unit 200D.

[0169] The provisional position information setting unit 25 outputs provisional position information of the plurality of reflecting members 31, 32 to the optical distance measuring unit 21D and the reflecting member detecting unit 22D.

[0170] The optical distance measuring unit 21D performs three-dimensional distance measurement on a limited area including the provisional positions of the plurality of reflecting members 31 and 32 based on the provisional position information of the plurality of reflecting members 31 and 32.

[0171] Reflecting member detection section 22D detects the position coordinates of a plurality of reflecting members 31, 32 from the results of three-dimensional distance measurement in a limited area by optical distance measurement section 21D.

[0172] The support information generating unit 23 measures the distance and the deviation angle between the ship 80 and the quay line 900 based on the position coordinates of the plurality of reflecting members 31, 32.

[0173] With this configuration, the navigation support system 10D can suppress erroneous detection of the multiple reflecting members 31 and 32. Furthermore, the navigation support system 10D can narrow the range of optical ranging without reducing the accuracy of ranging to the reflecting members, thereby shortening the ranging process.

[0174] In addition, the optical ranging unit 21D performs three-dimensional ranging for an unrestricted ranging area Ar21, and the reflective member detection unit 22D can also detect the position coordinates of multiple reflective members 31, 32 for a limited area that includes the temporary positions of multiple reflective members 31, 32.

[0175] (Navigation support method) FIG. 17 is a flowchart showing an example of a navigation support method according to the fifth embodiment.

[0176] The optical distance measuring unit 21D performs three-dimensional distance measurement of a limited area including the temporary positions of the plurality of reflecting members 31 and 32 (S11D).

[0177] The reflecting member detection unit 22D detects the position coordinates of the plurality of reflecting members 31, 32 in the limited area (S12).

[0178] The support information generating unit 23 measures the distance and the angle of deviation between the ship 80 and the quay line 900 based on the position coordinates of the plurality of reflecting members 31, 32 (S13).

[0179] [Sixth embodiment] A navigation support technology according to a sixth embodiment of the present invention will be described with reference to the drawings.

[0180] (Configuration and processing of navigation support system 10E) FIG. 18 is a diagram illustrating an example of the configuration of a navigation assistance system according to the sixth embodiment.

[0181] As shown in FIG. 18, the navigation assistance system 10E according to the sixth embodiment differs from the navigation assistance system 10 according to the first embodiment in the processing of the estimated target extraction unit 26 and the assistance information generation unit 23E.

[0182] The navigation support system 10E includes a vessel-mounted device 20E. The vessel-mounted device 20E includes an optical distance measuring unit 21, a reflective member detection unit 22, an support information generation unit 23E, and an estimated target extraction unit 26. The reflective member detection unit 22, the support information generation unit 23E, and the estimated target extraction unit 26 constitute a control unit 200E.

[0183] The estimated target extraction unit 26 extracts an estimated quay line based on point cloud data (data on a plurality of feature points) detected by three-dimensional ranging in the optical ranging unit 21. The estimated quay line is a line extracted by estimating the quay line 900 of the offshore berth 90, for example, by processing described below, and the estimated quay line corresponds to the "estimated target" of the present invention.

[0184] More specifically, the estimated target extraction unit 26 performs a Hough transform on the point cloud data (data of a plurality of feature points) to extract a plurality of straight lines. The estimated target extraction unit 26 extracts the most probable straight line from the plurality of straight lines as the estimated quay line.

[0185] The estimated target extraction unit 26 outputs the estimated quay line to the support information generation unit 23E.

[0186] The support information generating unit 23E measures the estimated distance and the estimated deviation angle between the ship 80 and the quay line 900 based on the position coordinates of the estimated quay line.

[0187] The support information generating unit 23E measures the distance and the deviation angle between the ship 80 and the quay line 900 based on the position coordinates of the plurality of reflecting members 31, 32.

[0188] The support information generator 23E integrates the distance and deflection angle between the ship 80 and the quay line 900 based on the position coordinates of the multiple reflecting members 31, 32 with the estimated distance and estimated deflection angle to measure an integrated calculated distance and integrated calculated deflection angle.

[0189] The integrated calculated distance is, for example, a weighted average of the estimated distance and the distance between the ship 80 and the quay line 900 based on the position coordinates of the multiple reflecting members 31, 32. In this case, for example, the weighting coefficient for the distance between the ship 80 and the quay line 900 based on the position coordinates of the multiple reflecting members 31, 32 is set to be larger than the weighting coefficient for the estimated distance. Alternatively, the variances of each may be calculated, and the weighting coefficient may be set based on the variances.

[0190] Alternatively, for the integrated calculated distance, for example, if the distance between the ship 80 and the quay line 900 based on the position coordinates of the multiple reflective members 31, 32 cannot be obtained, an estimated distance may be used, and if the distance between the ship 80 and the quay line 900 based on the position coordinates of the multiple reflective members 31, 32 can be obtained, this distance may be used.

[0191] Similarly, the integrated calculated deviation angle is, for example, a weighted average deviation angle of the deviation angle between the heading ψh and the quay line 900 based on the position coordinates of the multiple reflecting members 31, 32 and the estimated deviation angle. In this case, for example, the weighting coefficient for the deviation angle between the heading ψh and the quay line 900 based on the position coordinates of the multiple reflecting members 31, 32 is set to be larger than the weighting coefficient for the estimated deviation angle. Alternatively, the variances of each may be calculated and the weighting coefficients may be set based on the variances.

[0192] Alternatively, for example, if the deflection angle between the bow heading ψh based on the position coordinates of the multiple reflecting members 31, 32 and the quay line 900 cannot be obtained, an estimated deflection angle may be used as the integrated deflection angle, and if the deflection angle between the bow heading ψh based on the position coordinates of the multiple reflecting members 31, 32 and the quay line 900 can be obtained, this deflection angle may be used.

[0193] (Navigation support method) Fig. 19 is a flowchart showing an example of a navigation support method according to the sixth embodiment. Note that the specific contents of each process shown in Fig. 19 have been explained in the description of the configuration above, and therefore explanations will be omitted except for necessary points.

[0194] 19, the optical distance measuring unit 21 performs three-dimensional distance measurement (S11). The reflecting member detection unit 22 detects the position coordinates of the plurality of reflecting members 31, 32 based on the result of the three-dimensional distance measurement (S12).

[0195] The estimated target extraction unit 26 estimates the quay line based on the result of the three-dimensional ranging (S15).

[0196] The support information generating unit 23E comprehensively measures the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900 based on the position coordinates of the plurality of reflecting members 31, 32 and the estimated quay line (S13E).

[0197] [Seventh embodiment] A navigation support technique according to a seventh embodiment of the present invention will be described with reference to the drawings.

[0198] (Configuration and processing of navigation support system 10F) Fig. 20 is a diagram showing an example of the configuration of a navigation assistance system according to the seventh embodiment. Fig. 21(A) and Fig. 21(B) are diagrams showing an example of an application mode of the navigation assistance system according to the seventh embodiment.

[0199] As shown in Figure 20, the navigation support system 10F of the seventh embodiment differs from the navigation support system 10 of the first embodiment in the number of reflective members, the inclusion of a ship-mounted device 20F, and the processing of the support information generation unit 23F.

[0200] The navigation support system 10F includes a vessel-mounted device 20F and a plurality of reflecting members 31-34.

[0201] The reflecting members 31 and 32 are arranged at a distance from each other in a direction parallel to a quay line 900 of the offshore berth 90. Alternatively, the reflecting members 31 and 32 are arranged at a position that substantially overlaps the quay line 900.

[0202] The reflecting members 33 and 34 are disposed on the surface (ground) of the offshore berth 90, i.e., at approximately the same height as the reflecting members 31 and 32. The reflecting members 33 and 34 are disposed at a position horizontally spaced apart from the quay line 900. The reflecting members 33 and 34 are disposed at a distance in a direction parallel to the quay line 900. The distance between the reflecting members 33 and 34 and the quay line 900 is known.

[0203] The distance between reflecting member 33 and reflecting member 34 (the distance in the direction parallel to quay line 900) is preferably shorter than the distance between reflecting member 31 and reflecting member 32 (the distance in the direction parallel to quay line 900).

[0204] It is more preferable that the reflecting members 33 and 34 are disposed between the reflecting members 31 and 32 in the direction parallel to the quay line 900 (the direction in which the reflecting members 31 and 32 are aligned).

[0205] The distance between the closest reflecting members among the plurality of reflecting members 31-34 is equal to or greater than the error range of the provisional position information described above. For example, when positioning is performed using positioning signals from satellites such as GPS, the distance is equal to or greater than about 10 m.

[0206] The vessel-mounted device 20F includes an optical distance measuring unit 21, a reflecting member detection unit 22, and a support information generation unit 23F. The reflecting member detection unit 22 and the support information generation unit 23F constitute a control unit 200F.

[0207] (When vessel 80 is away from quay line 900) "When the ship 80 is away from the quay line 900" means when the plurality of reflecting members 31-34 enter the distance measurement area Ar21, as shown in FIG. 21(A).

[0208] In this case, the support information generator 23F measures the distance DIS and the declination angle Δψ between the ship 80 and the quay line 900 based on the respective position coordinates of the reflecting members 31 and 32 arranged on the quay line 900. This allows the navigation support system 10F to accurately measure the distance DIS and the declination angle Δψ between the ship 80 and the quay line 900 without the need to perform offset correction.

[0209] (When vessel 80 is close to quay line 900) "When the ship 80 is approaching the quay line 900" means when the reflecting members 31 and 32 on the quay line 900 leave the distance measurement area Ar21, as shown in Figure 21(B). At this time, by appropriately setting the distance between the reflecting members 31 and 33 (the distance in the direction perpendicular to the quay line 900) and the distance between the reflecting members 32 and 34 (the distance in the direction perpendicular to the quay line 900), the reflecting members 33 and 34 enter (remain) within the distance measurement area Ar21.

[0210] In this case, the support information generator 23F measures the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900 based on the position coordinates of the reflecting members 33 and 33. This allows the navigation support system 10F to measure the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900 with a predetermined accuracy even if it cannot measure the position coordinates of the reflecting members 31 and 32 arranged on the quay line 900.

[0211] This allows the navigation support system 10F to improve the robustness of the measurement of the distance DIS between the ship 80 and the quay line 900 and the deviation angle Δψ.

[0212] [Eighth embodiment] A navigation support technique according to an eighth embodiment of the present invention will be described with reference to the drawings.

[0213] (Configuration and processing of navigation support system 10G) Fig. 22 is a diagram showing an example of the configuration of a navigation assistance system according to the eighth embodiment. Fig. 23(A) and Fig. 23(B) are diagrams showing an example of an application mode of the navigation assistance system according to the eighth embodiment.

[0214] As shown in Figure 22, the navigation support system 10G of the eighth embodiment differs from the navigation support system 10 of the first embodiment in the number of reflective members, the inclusion of a ship-mounted device 20G, and the processing of the support information generation unit 23G.

[0215] The navigation support system 10G includes a vessel-mounted device 20G and a plurality of reflecting members 31-34.

[0216] The reflecting members 31 and 32 are arranged at a distance from each other in a direction parallel to the quay line 900 of the offshore berth 90.

[0217] The reflective member 33 is disposed at a distance from the reflective member 31 in a direction perpendicular to the surface of the offshore berth 90 and perpendicular to the quay line 900. In other words, the reflective member 33 is disposed at a higher position than the reflective member 31. The reflective member 34 is disposed at a distance from the reflective member 32 in a direction parallel to the surface of the offshore berth 90 and perpendicular to the quay line 900. In other words, the reflective member 34 is disposed at a higher position than the reflective member 32. The reflective members 33 and 34 are disposed at a distance from each other in a direction parallel to the quay line 900.

[0218] The vessel-mounted device 20G includes an optical distance measuring unit 21, a reflecting member detection unit 22, and a support information generation unit 23G. The reflecting member detection unit 22 and the support information generation unit 23G constitute a control unit 200G.

[0219] (When vessel 80 is away from quay line 900) "When the ship 80 is away from the quay line 900" means when the plurality of reflecting members 31-34 enter the distance measurement area Ar21, as shown in FIG. 23(A).

[0220] In this case, the support information generator 23G measures the distance DIS and the declination angle Δψ between the ship 80 and the quay line 900 based on the respective position coordinates of the reflecting member 31 and the reflecting member 32 that are positioned closer to the quay line 900. This allows the navigation support system 10G to accurately measure the distance DIS and the declination angle Δψ between the ship 80 and the quay line 900 without needing to perform offset correction in the height direction.

[0221] (When vessel 80 is close to quay line 900) "When the ship 80 is approaching the quay line 900" means that the reflecting members 31 and 32, which are positioned closer to the quay line 900, leave the distance measurement area Ar21, as shown in Figure 23(B). At this time, by appropriately setting the distance between the reflecting members 31 and 33 (the difference in height between the reflecting members 31 and 33) and the distance between the reflecting members 32 and 34 (the difference in height between the reflecting members 32 and 34), the reflecting members 33 and 34 enter (remain) within the distance measurement area Ar21.

[0222] In this case, the support information generator 23G measures the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900 based on the position coordinates of the reflecting member 33 and the reflecting member 33. As a result, the navigation support system 10G can measure the distance DIS and the deflection angle Δψ between the ship 80 and the quay line 900 with a predetermined accuracy even if it cannot measure the position coordinates of the reflecting member 31 and the reflecting member 32 that are positioned closer to the quay line 900.

[0223] This allows the navigation assistance system 10G to improve the robustness of the measurement of the distance DIS between the ship 80 and the quay line 900 and the declination Δψ.

[0224] [Ninth embodiment] A navigation support technique according to a ninth embodiment of the present invention will be described with reference to the drawings.

[0225] (Configuration and processing of navigation support system 10H) FIG. 24 is a diagram illustrating an example of the configuration of a navigation assistance system according to the ninth embodiment.

[0226] As shown in FIG. 24, a navigation assistance system 10H according to the ninth embodiment differs from the navigation assistance system 10 according to the first embodiment in the number of reflecting members and in that a vessel-mounted device 20H is provided.

[0227] The navigation support system 10H includes a vessel-mounted device 20H and a plurality of reflecting members 31-34.

[0228] The arrangement of the plurality of reflecting members 31-34 is similar to that of the navigation assistance system 10G according to the eighth embodiment (see FIGS. 22, 23(A), and 23(B)).

[0229] The vessel-mounted device 20H includes an optical distance measuring unit 21, a reflective member detection unit 22, a support information generation unit 23, and an attitude estimation unit 27. The reflective member detection unit 22, the support information generation unit 23, and the attitude estimation unit 27 constitute a control unit 200H.

[0230] The attitude estimation unit 27 estimates the attitude of the ship 80 based on the distances between the ship 80 and predetermined ones of the reflecting members 31-34.

[0231] More specifically, the posture estimation unit 27 selects a set of the reflecting members 31 and 33 that are aligned in the height direction, or a set of the reflecting members 32 and 34 that are aligned in the height direction.

[0232] For example, when selecting reflecting member 31, reflecting member 32, and reflecting member 33, attitude estimation unit 27 estimates the roll angle of vessel 80 based on the difference between the time change in the position coordinate of reflecting member 31, the time change in the position coordinate of reflecting member 32, and the time change in the position coordinate of reflecting member 33. In this case, the height relationship between reflecting member 31 and reflecting member 33 is known, and the height relationship between reflecting member 32 and reflecting member 34 is known, and attitude estimation unit 27 estimates the roll angle using these height relationships. In this case, attitude estimation unit 27 corresponds to the "roll angle estimation unit" of the present invention.

[0233] In estimating the roll angle, it is sufficient to select either the set of reflecting member 31, reflecting member 32, and reflecting member 33, or the set of reflecting member 31, reflecting member 32, and reflecting member 34. In other words, in estimating the roll angle, it is sufficient to have three or more reflecting members where the distance between any two reflecting members separated in the height direction is known.

[0234] In addition, the posture estimation unit 27 selects a pair of reflecting members 31 and 32 that are aligned in a direction parallel to the quay line 900, or a pair of reflecting members 33 and 34 that are aligned in a direction parallel to the quay line 900.

[0235] For example, when the attitude estimation unit 27 selects the reflecting member 31 and the reflecting member 32, it estimates the pitch angle of the vessel 80 based on the difference between the time change in the position coordinate of the reflecting member 31 and the time change in the position coordinate of the reflecting member 32. In this case, the height relationship between the reflecting member 31 and the reflecting member 32 is known, and the attitude estimation unit 27 estimates the pitch angle using this height relationship.

[0236] In this case, the attitude estimation unit 27 corresponds to the "pitch angle estimation unit" of the present invention. Note that the pitch angle estimation is not limited to the combination of reflecting member 31 and reflecting member 32, but it is sufficient to select two reflecting members whose height relationship is known.

[0237] In this way, the navigation support system 10H can estimate the attitude of the ship 80 in addition to measuring the distance DIS and the deviation angle Δψ between the ship 80 and the quay line 900.

[0238] [Tenth embodiment] A navigation support technique according to a tenth embodiment of the present invention will be described with reference to the drawings.

[0239] (Configuration and processing of navigation support system 10I) FIG. 25 is a diagram illustrating an example of the configuration of a navigation assistance system according to the tenth embodiment.

[0240] As shown in FIG. 25, the navigation assistance system 10I according to the tenth embodiment differs from the navigation assistance system 10H according to the ninth embodiment in that the navigation assistance system 10I includes a vessel-mounted device 20I.

[0241] The navigation support system 10I includes a vessel-mounted device 20I and a plurality of reflecting members 31-34.

[0242] The vessel-mounted device 20I includes an optical distance measuring unit 21, a reflective member detection unit 22, a support information generation unit 23, an attitude estimation unit 27, and a draft estimation unit 28. The reflective member detection unit 22, the support information generation unit 23, the attitude estimation unit 27, and the draft estimation unit 28 constitute a control unit 200I.

[0243] The draft estimating unit 28 acquires the attitude angles (roll angle and pitch angle) of the ship 80 estimated by the attitude estimating unit 27. The draft estimating unit 28 receives tidal information from an external source.

[0244] The draft estimation unit 28 estimates the draft of the ship 80 using the height position coordinates of at least one of the multiple reflecting members 31-34 and tidal information. At this time, the draft estimation unit 28 estimates the draft using the attitude angles (roll angle and pitch angle). This makes it possible to suppress errors in draft estimation caused by the attitude of the ship 80.

[0245] In this way, the navigation support system 10H can estimate the draft of the ship 80 in addition to measuring the distance DIS and the deviation angle Δψ between the ship 80 and the quay line 900.

[0246] In the configurations of the above-described embodiments, a plurality of reflective members are arranged on the offshore berth 90. However, if the positional relationship with the quay line 900 is known, the reflective members can also be arranged at a location other than the offshore berth 90. In this case, it can be said that the plurality of reflective members are arranged at positions corresponding to the quay line 900.

[0247] Furthermore, the configurations of the above-described embodiments can be combined as appropriate, and effects according to each combination can be achieved. [Explanation of symbols]

[0248] 10, 10A, 10B, 10C, 10D, 10E, 10F, 10G, 10H, 10I: Navigation aid systems 20, 20A, 20B, 20C, 20D, 20E, 20F, 20G, 20H, 20I: Ship-mounted equipment 21, 21D: Optical ranging section 22, 22C, 22D: Reflective member detection unit 23, 23A, 23B, 23E, 23F, 23G: Support information generation section 24: Offset correction section 25: Temporary location information setting section 26: Estimated target extraction part 27: Posture estimation section 28: Draft estimation section 31, 32, 33, 34: Reflective members 80: Ship 90: Offshore berth 200, 200A, 200B, 200C, 200D, 200E, 200F, 200G, 200H, 200I: Control unit 291: Positioning unit 292: Posture measurement unit 301, 302, 303, 304, 305: Reflective wall 800:Deck 900: Quay line 990: Straight line Ar21: Ranging area DIS, DISe, DISt: distance Pe, Pt: Range measurement point WS:Sea surface

Claims

1. Reflective members arranged at a plurality of locations corresponding to targets where the ship will dock; an optical ranging unit that is installed on the ship and performs three-dimensional ranging; a reflecting member detection unit that detects position coordinates of the plurality of reflecting members based on the results of the three-dimensional distance measurement; an assistance information generating unit that measures the distance and the deviation angle between the ship and the target based on the position coordinates of the plurality of reflecting members; A navigation support system comprising:

2. 2. The navigation support system according to claim 1, The target includes a quay line where the vessel will dock, an offset correction unit that performs offset correction of the distance and the deflection angle between the ship and the quay line based on an offset correction value that is set by the position coordinates of the plurality of reflecting members and the quay line; Navigation aid system.

3. 3. The navigation support system according to claim 2, the offset correction unit sets the offset correction value based on a distance measurement result at the time of first docking or an actual measurement result at the time of installation of the plurality of reflecting members. Navigation aid system.

4. 2. The navigation support system according to claim 1, The target includes a quay line where the vessel will dock, The plurality of reflective members are arranged parallel to the quay line. Navigation aid system.

5. 4. The navigation support system according to claim 3, The plurality of reflecting members are Three or more, Two reflective members are arranged on the quay wall line, and a reflective member is arranged at a position horizontally spaced apart from the quay wall line. Navigation aid system.

6. 2. The navigation support system according to claim 1, The plurality of reflecting members are Three or more, The target includes two reflecting members arranged parallel to the quay line included in the target, and a reflecting member arranged apart in the height direction from the two reflecting members. Navigation aid system.

7. 7. The navigation support system according to claim 6, a reflecting member disposed apart in a height direction from the two reflecting members is positioned at the same position in a direction parallel to the quay wall line as at least one of the two reflecting members; a roll angle estimation unit that estimates a roll angle of the vessel based on a distance between the vessel and two reflecting members that are arranged apart in the height direction and have a known height relationship; Navigation aid system.

8. 3. The navigation support system according to claim 2, The plurality of reflecting members are four or more, The system is composed of two or more sets of reflecting members, each set having two reflecting members at different installation heights. The two or more sets of reflective members are arranged at intervals in a direction parallel to the quay line. Navigation aid system.

9. 2. The navigation support system according to claim 1, further comprising: a pitch angle estimation unit that estimates a pitch angle of the vessel based on a distance between the vessel and two reflecting members that are arranged parallel to a quay line and whose relative height relationship is known and that are included in the target. Navigation aid system.

10. 10. The navigation support system according to claim 9, A draft estimation unit is provided that estimates the draft of the vessel using tidal information. Navigation aid system.

11. 2. The navigation support system according to claim 1, a temporary position information setting unit that sets temporary position information of the plurality of reflecting members; the reflecting member detection unit detects position coordinates of the plurality of reflecting members by referring to the provisional position information; Navigation aid system.

12. The navigation support system according to claim 11, The temporary position information includes latitude and longitude of the plurality of reflecting members. Navigation aid system.

13. The navigation support system according to claim 11, The temporary position information includes heights of installation positions of the plurality of reflecting members. Navigation aid system.

14. The navigation support system according to claim 11, The temporary position information is the distance and height between the plurality of reflecting members. Navigation aid system.

15. The navigation support system according to claim 11, the optical distance measuring unit performs distance measurement only in a limited three-dimensional area including the tentative positions of the plurality of reflecting members included in the tentative position information; Navigation aid system.

16. 2. The navigation support system according to claim 1, The reflective member detection unit detecting candidate points of the reflecting member based on the reflection intensity; a candidate point of the reflecting member, the candidate point having a movement amount of its position coordinates within a predetermined time period that is smaller than an error determination threshold, is detected as the reflecting member; Navigation aid system.

17. 2. The navigation support system according to claim 1, an estimated target extraction unit that extracts an estimated target based on point cloud data detected by the three-dimensional ranging; The support information generation unit measuring an estimated distance and an estimated deviation angle between the vessel and the target based on the position coordinates of the estimated target; calculating an integrated calculated distance and an integrated calculated deflection angle by integrating the distance and deflection angle between the ship and the target based on the position coordinates of the plurality of reflecting members and the estimated distance and the estimated deflection angle; Navigation aid system.

18. 2. The navigation support system according to claim 1, a positioning unit that measures the position coordinates of the ship; an attitude measurement unit that measures the attitude of the ship; Equipped with The support information generation unit If the reflecting member cannot be detected, the distance and the deflection angle are measured based on the position coordinates and attitude of the ship measured by the ship; If only one reflecting member can be detected, the distance and the deflection angle are measured based on the position coordinates and the attitude of the one reflecting member; If the plurality of reflecting members are detected, the distance and the deviation angle between the ship and the target are measured based on the position coordinates of the plurality of reflecting members. Navigation aid system.

19. 2. The navigation support system according to claim 1, The plurality of reflecting members are configured to have reflecting surfaces in five outer directions. Navigation aid system.

20. Reflective elements are placed at multiple locations corresponding to the targets where the ship will dock, performing three-dimensional ranging using an optical ranging unit installed on the vessel; a reflecting member detection unit detecting position coordinates of the plurality of reflecting members from the results of the three-dimensional distance measurement; an assistance information generating unit measuring a distance and a deviation angle between the ship and the target based on the position coordinates of the plurality of reflecting members; Navigation aid methods.

21. 21. The navigation support method according to claim 20, If the reflecting member cannot be detected, the distance and the deflection angle are measured based on the position coordinates and attitude of the ship measured by the ship; If only one reflecting member can be detected, the distance and the deflection angle are measured based on the position coordinates and the attitude of the one reflecting member; If the plurality of reflecting members are detected, the distance and the deviation angle between the ship and the target are measured based on the position coordinates of the plurality of reflecting members. Navigation aid methods.

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