Information processing device

Abstract

To provide a technique for correcting the position of a registered docking line based on a registration value and enabling docking control at the time of docking using an automatic docking support system.SOLUTION: An information processing device has a control section and a display section. The control section is configured so as to execute acquisition of a registration value regarding a docking position and a docking direction of berthing facilities at which a vessel is scheduled to dock, acquisition of a map image round a vessel, detection of a target docking line regarding the docking position and docking direction of berthing facilities in the map image when a vessel approaches the berthing facilities, display of a registered docking line expressed by a registration value and a target docking line on a display section by superposing it on a map image, reception of correction input to a registered docking line, and correction of at least one of the position and direction of a registered docking line on the display section according to the correction input.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device. [Background technology]

[0002] Patent Document 1 proposes a method and system for assisting ships in entering, leaving, and undocking at port. The proposed method and system for assisting ships in entering, leaving, and undocking at port superimposes the position of a ship determined based on position information and time information transmitted from multiple GPS satellites and correction information transmitted from geostationary satellites on a pre-determined image of the port where the ship will be docking or undocking, and also displays the distance between the ship and the quay or pier where the ship will be docking or undocking, as well as the detected ground speed and heading of the ship. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-137309 Summary of the Invention [Problem to be solved by the invention]

[0004] One of the objectives of the present disclosure is to provide a technology that enables docking control by correcting the position of a registered docking line based on registered values ​​when docking using an automatic docking support system. [Means for solving the problem]

[0005] An information processing device according to a first aspect of the present disclosure includes a control unit and a display unit, wherein the control unit is configured to acquire registered values ​​relating to a docking position and a docking direction of a docking facility where a vessel is to dock, acquire a map image of the vessel's surroundings, detect a target docking line relating to the docking position and the docking direction of the docking facility within the map image when the vessel approaches the docking facility, display the registered docking line and the target docking line represented by the registered values ​​superimposed on the map image on the display unit, accept a correction input for the registered docking line, and correct at least one of the position and the direction of the registered docking line on the display unit in response to the correction input. [Effects of the Invention]

[0006] According to the present disclosure, when docking using an automatic docking support system, the position of the registered docking line based on the registered value can be corrected, enabling docking control. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 schematically illustrates an example of a situation to which the present disclosure is applied. [Figure 2] FIG. 2 is a diagram illustrating an example of the hardware configuration of an information processing device according to this embodiment. [Figure 3] FIG. 3 is a schematic diagram showing an example of a registered docking line and a target docking line superimposed on a map image displayed on a display. [Figure 4] FIG. 4 shows an example of a processing procedure for displaying the registered docking line and the target docking line and correcting the registered docking line by the information processing device according to this embodiment. [Figure 5] Figure 5 shows an example of a processing procedure in which, when a ship according to this embodiment is automatically navigating to approach a registered docking line, an information processing device controls the automatic navigation in accordance with the difference in position or direction between the registered docking line and the target docking line. DETAILED DESCRIPTION OF THE INVENTION

[0008] For example, in the conventional system such as Patent Document 1, when a ship leaves or arrives at a berth, it receives information transmitted by a GPS satellite. In addition to the GPS satellite positioning system, the system also receives correction information transmitted from geostationary satellites, thereby improving the accuracy of positioning information for the vessel. However, the inventors of the present invention have discovered the following problem with conventional systems. In conventional systems, the correction information transmitted from geostationary satellites cannot be used to correct errors in the position information transmitted from GPS satellites due to errors or radio wave obstruction in some cases. For example, this applies when plasma bubbles occur in the ionosphere, changing the propagation speed of radio waves in the ionosphere, causing ranging errors. In such cases, conventional systems leave errors in the vessel's position information when the vessel is berthing or leaving the berthing area, making it difficult to support safe berthing and leaving control.

[0009] In contrast, an information processing device according to a first aspect of the present disclosure includes a control unit and a display unit. The control unit is configured to acquire registered values ​​related to the docking position and docking direction of a berthing facility where the vessel is scheduled to dock, acquire a map image of the vessel's surroundings, detect a target docking line related to the docking position and docking direction of the berthing facility within the map image when the vessel approaches the berthing facility, superimpose the registered docking line and target docking line represented by the registered values ​​on the map image and display them on the display unit, accept correction inputs for the registered docking line, and correct at least one of the position and direction of the registered docking line on the display unit in response to the correction input. This configuration has a mechanism for correcting the position and direction of the registered docking line based on the detected accurate target docking line even if there is an error in the registered values ​​recognized by the control unit. Therefore, it is possible to support safe docking control when a vessel is docked using a docking support system such as an automatic docking system.

[0010] As another form of the information processing device according to the above aspect, one aspect of the present disclosure may be an information processing method or program that realizes all or part of the above components, or may be a storage medium that stores such a program and is readable by a machine such as a computer. Here, a machine-readable storage medium is a medium that stores information such as a program by electrical, magnetic, optical, mechanical, or chemical action.

[0011] [1 Application example] FIG. 1 schematically shows an example of a scene to which the present disclosure is applied. The information processing device 1 according to this embodiment is one or more computers configured to display a registered docking line RL and a target docking line TL represented by registered values ​​on a display unit 15. In this embodiment, the information processing device 1 acquires registered values ​​relating to the docking position and docking direction of a berthing facility where the vessel M is scheduled to dock, and detects a target docking line TL relating to the position and direction of the berthing facility on a display D when the vessel M approaches the berthing facility. The registered docking line RL and the target docking line TL represented by the acquired registered values ​​are superimposed on the display D together with a map image of the surrounding area of ​​the berthing facility, and the information processing device 1 accepts a correction input for the registered docking line RL from a user using a joystick J or the like. Upon acquiring the correction input, the information processing device 1 again displays the registered docking line RL and the target docking line TL on the display D.

[0012] (Borthing facilities) A berthing facility is a facility where a ship M can dock. The berthing facility may include, for example, a quay, a pier, a wharf (wharf), etc. Furthermore, the shape of the place where the ship M docks at the berthing facility is not particularly limited, and may include any shape, such as a straight line or a curve.

[0013] (Registered value) The registered values ​​are information regarding the docking position and docking direction of the berthing facility, and are held in a database on an external network connected via the memory unit 12 or drive 17 in the information processing device 1, or the communication interface 14. The contents included in the registered values ​​are not particularly limited as long as they can identify the docking position and docking direction of the berthing facility, and may be selected appropriately depending on the embodiment. In one example, the registered values ​​may be position information (latitude, longitude) of two points at the berthing facility along the location where the vessel M will dock.

[0014] In order for the vessel M to dock at the berthing facility where it is scheduled to dock, the control unit 11 acquires the registered values ​​in advance. The timing for acquiring the registered values ​​is not particularly limited and may be determined appropriately depending on the embodiment. In one example, the registered values ​​may be set to be acquired when the vessel M approaches the berthing facility where it is scheduled to dock and a system for assisting docking (a docking assistance system), such as an automatic docking system, is activated.

[0015] Furthermore, the method of registering the registered values ​​is not particularly limited and may be selected appropriately depending on the embodiment. In one example, when the vessel M is moored at the berthing facility, the position information of two points received by the positioning devices PD attached to the front and rear ends of the vessel M may be acquired and stored in the memory unit 12. The acquired position information may be transmitted to the server S via the communication interface 14, and the server S may store it in a database. In another example, the database may store the position information of the berthing location of the berthing facility.

[0016] Although the registered values ​​of the docking location stored in the storage unit 12 or the database by these methods may contain errors due to the use of the positioning device PD, in this embodiment, it is assumed that accurate registered values ​​with the errors already eliminated are stored. Therefore, in this embodiment, it is assumed that errors in the position and direction of the registered docking line RL, which will be described later, occur due to the ship M misrecognizing the position information of its current location.

[0017] Furthermore, the positioning device PD used to acquire the position information is typically a satellite positioning device such as a GNSS (Global Navigation Satellite System) receiver. GNSS includes, for example, GPS, QZSS, GLONASS, Galileo, etc. In this embodiment, as an example, a case where a GPS receiver is adopted as the positioning device PD is considered.

[0018] (Dooring line) By acquiring the positional information of two points, the line segment connecting the two points can be determined as the docking line. The position of the docking line may be, for example, the midpoint of the line segment. The direction of the docking line may be, for example, the direction from the rear end to the front end of the line segment, with the front and rear ends of the line segment defined.

[0019] (Registered berthing line) The registered docking line RL is a line that the control unit 11 displays on the display D based on the acquired registration values. Displaying the registered docking line RL on the display D can assist the ship M when docking. When the ship M is operating under automatic navigation, the control unit 11 performs docking control using the position and direction of this registered docking line RL as target values.

[0020] The control unit 11 displays the registered docking line RL on the display D. The format of displaying the registered docking line RL on the display D is not particularly limited and may be selected appropriately depending on the embodiment. In one example, the format may be such that the registered docking line RL is superimposed on the map image displayed on the display D together with the current position of the vessel M.

[0021] When docking, it is preferable to shorten the distance to the target while checking the current location of the vessel M as appropriate, regardless of whether a docking assistance system is used. When checking the current location using GPS, the location information indicated by the GPS may contain errors. Since the control unit 11 determines the location information of the registered values ​​based on the location information of the current location, if an error occurs in determining the current location, the location information of the registered docking line RL represented by the target registered value may also be recognized as an incorrect location. In this case, docking operations based on an incorrect registered docking line RL may result in difficulties such as a collision. Therefore, it is preferable that the vessel M has a mechanism that can determine and correct errors caused by GPS.

[0022] If there is an error in the registered docking line RL, the control unit 11 makes it possible to correct it based on the target docking line TL. The target docking line TL is a line that represents the exact docking line of the docking location, and is detected when the ship M approaches a docking facility. The method of detecting the target docking line TL is not particularly limited and may be selected appropriately depending on the embodiment. In one example, if a map of the surroundings of the current location is displayed on the display D, the target docking line TL of the docking location may be detected from the image when the ship M approaches a docking facility.

[0023] The detection of the target docking line TL may be performed at a detection point that is a predetermined distance and direction from the docking facility. The predetermined distance and direction may be arbitrarily specified as long as the target docking facility can be recognized on the display unit 15. For example, the distance and direction may be specified regardless of the ship M that will dock, or the distance and direction may be calculated according to the size of the ship M. The method of registering the detection point is not particularly limited and may be appropriately selected depending on the embodiment. In one example, the detection point may be set and stored in a database along with the registration of the registered value, and the detection point may be acquired together with the acquisition of the registered value. By the ship M setting the detection point as the target point before docking, it is expected that the risk of collision during docking due to measurement errors in position information can be reduced compared to when the ship M navigates with the docking facility as the target point from the beginning.

[0024] The control unit 11 displays the detected target docking line TL together with the registered docking line RL on the display D. This allows the user to easily recognize errors in the registered docking line RL, making it easier for the user to decide whether to use the automatic docking system or to dock manually.

[0025] The method for displaying both the registered docking line RL and the target docking line TL on the display D may be selected as appropriate. For example, the registered docking line RL and the target docking line TL may be set to be displayed in different colors. They may also be set to be displayed in different line types. Furthermore, to assist in correcting the registered docking line RL, which will be described later, the endpoints of each docking line may be displayed so that they are easy to recognize. In one example, the endpoints of the docking lines may be surrounded by circles. When the endpoints are surrounded by circles, the outer shape of the circle may be set to have different colors, sizes, or border types at the front and rear ends.

[0026] Figure 3 shows a schematic example of a registered docking line RL and a target docking line TL superimposed on a map image displayed on the display D. As shown in Figure 3, an error occurs in the position of the registered docking line RL due to a GPS error. The control unit 11 analyzes the displayed map image, identifies the docking location within the docking facility, and extracts the target docking line TL.

[0027] When the ship M is controlled to dock by automatic navigation, if the difference in position and direction between the registered docking line RL and the target docking line TL is large, the ship M will move toward the wrong location, which may not only prevent the ship M from docking at the desired location but also pose a risk of an unexpected collision. Therefore, in such cases, it is desirable to suspend automatic navigation. Therefore, the control unit 11 may suspend automatic navigation of the ship M when the difference in position or direction between the registered docking line RL and the target docking line TL displayed on the display unit 15 is greater than a predetermined threshold value while the ship M is automatically navigating.

[0028] The predetermined threshold for determining whether to stop automatic navigation of the vessel M is not particularly limited and may be determined appropriately depending on the embodiment. In one example, the difference between the positions of the registered docking line RL and the target docking line TL on the display D may be converted into an actual distance, and the threshold may be set for the converted distance. For example, the predetermined threshold for the converted distance may be set as a constant such as 1 [m], or may be set according to the size of the vessel M, such as a ratio to the overall length of the vessel M to be docked. Furthermore, the predetermined threshold for the direction may be set as a constant such as 5 [deg].

[0029] Due to the difference in position or direction between the registered docking line RL and the target docking line TL, vessel M is unable to navigate automatically. When the automatic navigation of the vessel M is stopped, if the difference is eliminated to some extent by the user's operation, etc., which will be described later, it is considered that the vessel M can resume automatic navigation. Therefore, when the automatic navigation of the vessel M is stopped, if the difference in the position and direction between the registered docking line RL and the target docking line TL on the display unit 15 becomes smaller than a predetermined amount by the user's operation, the automatic navigation of the vessel M may be resumed.

[0030] (correction input) The correction input is an input given to the information processing device 1 to eliminate the difference between the two displayed docking lines, and is input by the operator via the input device 16. The content of the correction input is not particularly limited and may be selected appropriately depending on the embodiment. For example, the amount of change in the registered value may be determined according to the amount of change in the position and direction of the registered docking line RL on the display D, and the amount of change may be used as the correction input.

[0031] (Input device for obtaining corrective input) The type of input device 16 for acquiring the correction input is not particularly limited and may be appropriately selected depending on the embodiment. 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, the position of the registered docking line RL may be moved using the joystick J, and the registered docking line RL may be rotated at that position using the button. Furthermore, for example, if the display unit 15 is a touch panel type, the registered docking line RL may be corrected to a desired position and direction by touching the display portion thereof. Furthermore, the position and direction of the registered docking line RL on the display unit 15 may be changed in accordance with the changed registered value by directly changing the registered value using a keyboard or the like.

[0032] The position and direction of the registered docking line RL on the display D are changed by the user's operation, and a correction input is determined according to the amount of change, changing the registered value recognized by the control unit 11. It is expected that the ship M will safely navigate automatically based on this changed registered value.

[0033] [2 Configuration Examples] 2 is a schematic diagram showing an example of the hardware configuration of the information processing device 1 according to this embodiment. The information processing device 1 according to this embodiment is a computer in which a control unit 11, a storage unit 12, an external interface 13, a communication interface 14, a display unit 15, an input device 16, and a drive 17 are electrically connected.

[0034] The control unit 11 includes a CPU (Central Processing Unit), a RAM (Random Access Memory ), ROM (Read Only Memory), etc., and is configured to execute any information processing based on programs and various data. The control unit 11 (CPU) is an example of a processor resource. The storage unit 12 may be configured, for example, by a hard disk drive, a solid state drive, etc. The storage unit 12 (and RAM, ROM) are examples of memory resources. In this embodiment, the storage unit 12 stores information of a program 81. The program 81 is a program for causing the information processing device 1 to execute information processing for correcting the registered berthing line RL. The program 81 includes a series of instructions for the information processing.

[0035] The external interface 13 may be, for example, a USB (Universal Serial Bus) port, a dedicated port, a wireless communication port, or the like, and is configured to connect to an external device via a wire or wirelessly. In this embodiment, the information processing device 1 may be connected to the positioning device PD via the external interface 13.

[0036] The communication interface 14 is an interface for wireless communication with other computers (for example, servers, user terminals, etc.) via a network according to a predetermined wireless communication standard. Examples of the predetermined wireless communication standard include 3G (3rd Generation), LTE (Long Term Evolution), and 5G (5th Generation). The sensor 14 includes a wireless communication circuit for wireless communication.

[0037] The display unit 15 is a device for outputting, for example, a display, a speaker, etc. The input device 16 is a device for inputting, for example, a mouse, a keyboard, a button, a joystick, an operator, etc. The display unit 15 and the input device 16 may be integrally configured, for example, by a touch panel display, etc.

[0038] The drive 17 is a device for reading various information such as programs stored in the storage medium 70. The program 81 may be stored in the storage medium 70 instead of or together with the storage unit 12. The storage medium 70 is configured to store various information (such as stored programs) by electrical, magnetic, optical, mechanical, or chemical action so that a machine such as a computer can read the information. The information processing device 1 may obtain the program 81 from the storage medium 70. The storage medium 70 may be a disk-type storage medium such as a CD or DVD, or may be a non-disk-type storage medium such as a semiconductor memory (e.g., flash memory). The type of the drive 17 may be selected appropriately depending on the type of the storage medium 70.

[0039] Regarding the specific hardware configuration of the information processing device 1, components can be omitted, replaced, or added as appropriate depending on the embodiment. For example, the control unit 11 may include multiple hardware processors. The hardware processors may be a microprocessor, a field-programmable gate array (FPGA), a digital signal processor (DSP), an E Consists of a CU (Electronic Control Unit), GPU (Graphics Processing Unit), etc. The information processing device 1 may be a computer designed specifically for the services provided, a general-purpose computer, a terminal device, etc. The information processing device 1 may be a device installed on the ship M.

[0040] [3 Example of operation] FIG. 4 shows an example of a processing procedure for displaying the registered docking line RL and the target docking line TL and correcting the registered docking line RL by the information processing device 1 according to this embodiment. The control unit 11 of the information processing device 1 executes instructions included in the program 81 by means of the CPU. As a result, the information processing device 1 operates as a computer capable of executing the following information processing. 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 may be changed as much as possible. Steps in the following processing procedure may be omitted, replaced, or added as appropriate depending on the embodiment.

[0041] (Step S101) In step S101, the control unit 11 acquires registered values ​​relating to the docking position and docking direction of the docking facility. The registered values ​​may be acquired from the memory unit 12, the drive 17, or a database on an external network connected via the communication interface 14. After acquiring the registered values, the control unit 11 proceeds to the next step S102.

[0042] (Steps S102 to S103) In steps S102 to S103, the control unit 11 acquires a map image of the area around the ship M, and when the ship M approaches the target docking facility so closely that the facility appears on the map image, the control unit 11 proceeds to step S104. The map image may be acquired as needed from a location information database on an external network connected via the communication interface 14.

[0043] (Step S104) In step S104, the control unit 11 performs image analysis on the map image showing the docking facilities, identifies 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 proceeds to step S105.

[0044] (Steps S105 to S106) In steps S105 to S106, the control unit 11 displays the registered docking line RL corresponding to the registered value acquired in step S101 and the target docking line TL detected in step S104 superimposed on the map image displayed on the display D. The displayed registered docking line RL can be corrected on the display D, and the control unit 11 accepts a correction input. If a correction input is received, the control unit 11 proceeds to step S107.

[0045] (Step S107) Upon receiving the correction input, the control unit 11 corrects the position and direction of the registered docking line RL, and returns to step S105 to display the registered docking line RL and the target docking line TL again.

[0046] [When controlling automatic navigation] 6 shows an example of a processing procedure in which, when the vessel M according to this embodiment is automatically navigating with the registered docking line RL as a target, the information processing device 1 controls the automatic navigation in accordance with the difference in position or direction between the registered docking line RL and the target docking line TL. In the explanation of this processing procedure, steps S101 to S104 in the above processing procedure are omitted, and the explanation starts from step S105 where the registered docking line RL and the target docking line TL are displayed.

[0047] (Steps S201 to S203) In steps S201 and S202, the control unit 11 determines whether the difference in position or direction between the displayed registered docking line RL and the target docking line TL is greater than a predetermined threshold. The control unit 11 appropriately converts the difference in position and direction of the two displayed docking lines on the display D into the difference in actual position and direction. If both the differences in position and direction are smaller than the threshold, the control unit 11 continues automatic navigation of the vessel M in step S203. If automatic navigation has been stopped, the control unit 11 performs processing to resume automatic navigation. If the difference in at least one of the position and direction is greater than the threshold, the control unit 11 proceeds to step S204.

[0048] (Steps S204 to S206) 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 a correction input in step S205, similar to step S106. The control unit 11 that has received the correction input corrects the position or direction of the registered docking line RL in step S206, and returns to step S201 to display the registered docking line RL and the target docking line TL again.

[0049] The processing procedure of the information processing device 1 is not limited to the examples in Figures 4 and 5, and may be changed as appropriate depending on the embodiment. For example, when the processing procedure in Figure 4 is executed at the timing when the ship M approaches a berthing facility and the automatic docking system is activated, the control unit 11 may perform the process of acquiring the registered values ​​in step S101 after the process of detecting the target docking line TL in steps S102 to S104.

[0050] (Features) In this embodiment, the control unit 11 displays the registered docking line RL and the target docking line TL of the berthing facility that the ship M is aiming for on the display unit 15. This allows the user to check the degree of error of the docking location (registered docking line RL) recognized by the system, and enables the user to take action according to the degree of error. Furthermore, the control unit 11 The position and direction of the shoreline RL can be corrected by user operation. This allows for accurate correction of the registered docking line RL, which is expected to support safe docking control. Even if an obstacle or other obstacle exists at the target docking line TL and the vessel is unable to dock, correcting the registered docking line RL to any position and direction is expected to enable automatic docking control as desired by the user.

[0051] [4 Variations] Although the embodiments of the present disclosure have been described in detail above, the above description is merely an example of the present disclosure in all respects. It goes without saying that various improvements or modifications can be made without departing from the scope of the present disclosure. The processes and means described in the present disclosure can be freely combined and implemented as long as no technical contradiction occurs. [Explanation of symbols]

[0052] 1. Information processing device, 11. Control unit, 12. Storage unit, 13. External interface, 14. Communication interface, 15. Display unit, 16. Input device, 17··Drive, 70··Storage media, 81··Program, M··Ship, PD··Positioning device, S··Server, RL: Registered berthing line, TL: Target berthing line, D··Display, J··Joystick

Claims

1. An information processing device including a control unit and a display unit, The control unit Obtaining registered values ​​relating to the berthing position and berthing direction of the berthing facility where the vessel is scheduled to dock; acquiring a map image of the surroundings of the vessel; detecting a target docking line relating to a docking position and a docking direction of the docking facility within the map image when the vessel approaches the docking facility; displaying the registered docking line and the target docking line based on the registered values ​​on the display unit in a superimposed manner on the map image; Accepting correction input for the registered docking line; and correcting at least one of the position and the direction of the registered docking line on the display unit in accordance with the correction input; configured to perform Information processing device.

2. detecting the target docking line is performed at a detection point having a predetermined distance from the docking facility; The information processing device according to claim 1 .

3. the control unit further executes, when the vessel is automatically navigating to approach the registered docking line, stopping the automatic navigation of the vessel when a difference in position or direction between the registered docking line and the target docking line displayed on the display unit is greater than a predetermined threshold value. The information processing device according to claim 1 .

4. the control unit, after stopping the automatic navigation of the vessel, resumes the automatic navigation of the vessel when a difference in position and direction between the registered docking line and the target docking line on the display unit becomes smaller than a predetermined amount due to a user operation. The information processing device according to claim 3 .

5. the correction input is input by an operator via an input device; The information processing device according to claim 1 .

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