Ship navigation support equipment

Abstract

[Problem] To generate effective docking assistance information. [Solution] A ship navigation assistance device 10 comprises a camera 21 and a ranging device 31. The camera 21 has a larger number of pixels in a vertical direction than in a horizontal direction. The ranging device 31 uses laser light to measure a distance to a region overlapping with a region imaged by the camera 21. The ranging device 31 has a higher resolution in the vertical direction than in the horizontal direction. The ranging device 31 is aligned with the camera 21 with respect to the vertical direction, and is installed at a position overlapping with the position of the camera 21 with respect to the horizontal direction.

Description

[Technical Field]

[0001] The present invention relates to a ship navigation support technology used when a ship is at anchor. [Background technology]

[0002] A docking assistance device using a LiDAR and a short-range object detection sensor is known. Such a docking assistance device detects docking targets using the output signal of the LiDAR. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-19372 Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional docking assistance devices may not provide sufficient docking assistance to the object to be docked.

[0005] Therefore, an object of the present invention is to provide a ship navigation support device that generates more effective docking support information. [Means for solving the problem]

[0006] The vessel navigation support device of this invention comprises a first camera and a first distance measuring device. The first camera has a larger number of pixels in the vertical direction than in the horizontal direction. The first distance measuring device measures distances using laser light in an area that overlaps with the imaging area of the first camera. The first distance measuring device has a higher vertical resolution than a horizontal resolution. The first distance measuring device is installed in a position aligned with the first camera in the vertical direction and overlapping with the first camera in the horizontal direction.

[0007] In this configuration, support information is generated using an image of the docking object and the distance measurement results of the docking object. Also, because the imaging area and the distance measurement range overlap, the number of vertical pixels is large, and the vertical resolution is high, even if the first camera and the first distance measurement device are far from the docking object in the vertical direction, imaging and distance measurement of the docking object can be performed more reliably. [Effects of the Invention]

[0008] According to the present invention, more effective docking assistance information can be generated. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an external perspective view showing a structure of a vessel navigation support device according to a first embodiment of the present invention. [Figure 2] 2(A) and 2(B) are partially enlarged views of the structure of the vessel navigation support device according to the first embodiment of the present invention. [Figure 3] FIG. 3A is a diagram showing an imaging area in the horizontal direction, and FIG. 3B is a diagram showing an imaging area in the vertical direction. [Figure 4] FIG. 4A is a diagram showing the distance measurement range in the horizontal direction, and FIG. 4B is a diagram showing the distance measurement range in the vertical direction. [Figure 5] FIG. 5A is a diagram showing the positional relationship between the imaging area and the distance measurement range in the horizontal direction, and FIG. 5B is a diagram showing the positional relationship between the imaging area and the distance measurement range in the vertical direction. [Figure 6] FIG. 6 is a block diagram showing an example of the functional configuration of the vessel navigation assistance device according to the first embodiment of the present invention. [Figure 7] FIG. 7 is an external perspective view showing the structure of the vessel navigation support device with attitude measurement according to the first embodiment of the present invention. [Figure 8] FIG. 8 is a block diagram showing an example of the functional configuration of the vessel navigation support device with attitude measurement according to the first embodiment of the present invention. [Figure 9]9(A) and 9(B) are partially enlarged views of the structure of a vessel navigation support device according to a second embodiment of the present invention. [Figure 10] FIG. 10(A) is a diagram showing the positional relationship between the imaging area and the distance measurement range in the horizontal direction, and FIG. 10(B) is a diagram showing the positional relationship between the imaging area and the distance measurement range in the vertical direction. [Figure 11] FIG. 11 is a block diagram showing an example of the functional configuration of a vessel navigation assistance device according to the second embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing an example of the behavior of a ship when docking. [Figure 13] FIG. 13 is a block diagram showing an example of the functional configuration of a vessel navigation support device with attitude measurement according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] (First embodiment) A ship navigation support device according to a first embodiment of the present invention will be described with reference to the drawings. Fig. 1 is an external perspective view showing the structure of the ship navigation support device according to the first embodiment of the present invention. Figs. 2(A) and 2(B) are partially enlarged views of the structure of the ship navigation support device according to the first embodiment of the present invention. Figs. 2(A) and 2(B) are side views viewed from two different directions.

[0011] (Configuration of structure 100) As shown in Figures 1, 2(A), and 2(B), the vessel navigation support device structure 100 includes a camera 21 and a distance measuring device 31. The camera 21 corresponds to the "first camera" of the present invention, and the distance measuring device 31 corresponds to the "first distance measuring device" of the present invention.

[0012] The camera 21 is realized by, for example, a monocular camera. The distance measuring device 31 is realized by, for example, a LiDAR that measures distance by scanning with laser light.

[0013] The fixing member 70 is made of a highly rigid material and has a portion that extends in the first horizontal direction Xm of the structure 100.

[0014] The camera 21 is fixed to an upper surface 701 at one end of the portion of the fixed member 70 extending in the first horizontal direction Xm using a fixing jig 71. The distance measuring device 31 is fixed to a lower surface 702 at one end of the portion of the fixed member 70 extending in the first horizontal direction Xm using a fixing jig 72.

[0015] The other end of the portion of the fixing member 70 extending in the first horizontal direction Xm is fixed to a support 88.

[0016] The support pillars 88 are made of a highly rigid material. The support pillars 88 extend in the vertical direction Zm of the structure 100. The lower ends of the support pillars 88 are fixed to the deck 89 of the ship 80 on which the structure 100 is installed. The fixing member 70 is fixed near the upper ends of the support pillars 88.

[0017] By using such fixing member 70 and support pillar 88, camera 21 and distance measuring device 31 are fixed in a predetermined position relative to ship 80. Furthermore, because fixing member 70 and support pillar 88 are each made of a highly rigid material, the positional relationship between camera 21 and distance measuring device 31 and ship 80 hardly changes even when ship 80 sways or the like.

[0018] (Positional relationship between the camera 21 and the distance measuring device 31 in the structure 100) 2(A) and 2(B), the camera 21 and the distance measuring device 31 are arranged side by side along the vertical direction Zm of the structure 100. Furthermore, as shown in Fig. 2(B), the position of the camera 21 and the position of the distance measuring device 31 overlap in the second horizontal direction Ym of the structure 100. More specifically, the position of the imaging lens 211 of the camera 21 and the position of the laser transmitting and receiving surface 311 of the distance measuring device 31 overlap in the second horizontal direction Ym.

[0019] The camera 21 is fixed to the fixed member 70 so that the imaging area in the vertical direction Zm is larger than the imaging area in the second horizontal direction Ym. The distance measuring device 31 is fixed to the fixed member 70 so that the resolution in the vertical direction Zm is higher than the resolution in the second horizontal direction Ym.

[0020] (Position of camera 21 and distance measuring device 31 relative to ship 80) The camera 21 and the distance measuring device 31 are fixed to the ship 80 as follows.

[0021] 1, the structure 100 is fixed to the side of the vessel 80, more specifically, near the starboard side 891. In this case, the structure 100 is fixed to the vessel 80 so as to satisfy, for example, the following conditions.

[0022] The first horizontal direction Xm of the structure 100 is parallel to the starboard-port direction Xb of the ship 80, the second horizontal direction Ym of the structure 100 is parallel to the bow-stern direction Yb of the ship 80, and the vertical direction Zm of the structure 100 is parallel to the vertical direction Zb of the ship 80. Note that these fixations may have a predetermined angle error (for example, approximately ±15°). This error is an example and can be changed as appropriate depending on the specifications that the ship navigation assistance device 10 must meet.

[0023] One end of the portion of the fixed member 70 of the structure 100 extending in the first horizontal direction Xm is located at approximately the same position as the side 891 of the ship 80. In other words, the camera 21 and the distance measuring device 31 are located at approximately the same position as the side 891 of the ship 80.

[0024] (Specific explanation of imaging area and distance measurement range) (imaging area) 3A is a diagram showing an imaging area in the horizontal direction, and FIG. 3B is a diagram showing an imaging area in the vertical direction. As shown in FIGS. 3A and 3B, the vertical imaging area VF1cv of camera 21 is larger than the horizontal imaging area VF1ch. In other words, the vertical viewing angle (viewing angle in the roll direction) of camera 21 is larger than the horizontal viewing angle (viewing angle in the yaw direction). Alternatively, for example, when the vertical resolution and horizontal resolution are the same, the number of pixels in the vertical direction of camera 21 is larger than the number of pixels in the horizontal direction.

[0025] As shown in Figure 3(A), the horizontal imaging area VF1ch has a central axis parallel to the starboard direction Xb of the ship 80, and is set to have approximately the same angular range on the bow and stern sides.

[0026] 3(B), the vertical imaging area VF1cv is set, for example, to be mainly an area below the installation position of the camera 21 in the vertical direction, that is, an area on the sea S side of the ship 80. For example, as shown in FIG. 3(B), the upper end of the imaging area VF1cv is at approximately the same position as the camera 21.

[0027] The imaging region VF1cv in the vertical direction is set to include the side 891 of the vessel 80. In other words, the camera 21 is set to capture an image of the surface of the side 891 of the vessel 80.

[0028] (Measuring range) Fig. 4(A) is a diagram showing the ranging range in the horizontal direction, and Fig. 4(B) is a diagram showing the ranging range in the vertical direction. As shown in Fig. 4(A) and Fig. 4(B), the ranging range VF1rv in the vertical direction of the ranging device 31 is larger than the ranging range VF1rh in the horizontal direction. Furthermore, the resolution in the vertical direction (resolution in the roll direction) of the ranging device 31 is higher than the resolution in the horizontal direction (resolution in the yaw direction).

[0029] As shown in Figure 4(A), the horizontal distance measurement range VF1rh has a central axis parallel to the starboard direction Xb of the ship 80, and is set to have approximately the same angular range on the bow and stern sides.

[0030] 4(B), the vertical distance measurement range VF1rv is set, for example, so that the main area (range) is the area (range) below the installation position of the distance measurement device 31 in the vertical direction, that is, the area (range) on the sea S side of the ship 80. For example, as shown in FIG. 4(B), the upper end of the distance measurement range VF1rv is at approximately the same position as the distance measurement device 31.

[0031] Furthermore, the vertical distance measurement range VF1rv may be set so as to include the wall surface of the side 891 of the vessel 80, but it does not have to be set so as to include the wall surface.

[0032] (Relationship between imaging area and distance measurement range) FIG. 5A is a diagram showing the positional relationship between the imaging area and the distance measurement range in the horizontal direction, and FIG. 5B is a diagram showing the positional relationship between the imaging area and the distance measurement range in the vertical direction.

[0033] 5A, the horizontal imaging region VF1ch and the horizontal ranging range VF1rh overlap. The central axis of the horizontal imaging region VF1ch and the central axis of the horizontal ranging range VF1rh coincide. The horizontal imaging region VF1ch is wider than the horizontal ranging range VF1rh.

[0034] As shown in FIG. 5B, the vertical imaging region VF1cv and the vertical distance measurement range VF1rv overlap over substantially their entirety.

[0035] With the above-described configuration, the vertical quay wall surface 99 of the quay wall 90, which is the docking target, falls within the imaging area of the camera 21 and the distance measurement range of the distance measurement device 31. In particular, with the above-described configuration, the imaging area is wide in the vertical direction, and the distance measurement range is wide in the vertical direction, with high resolution. Therefore, as shown in Figures 3(B), 4(B), and 5(B), even if the camera 21 and distance measurement device 31 are far from the quay wall 90 in the vertical direction Zm of the ship 80, the camera 21 can more reliably image the quay wall 90, and the distance measurement device 31 can more reliably detect characteristic points indicative of the quay wall 90 and measure the distance. Furthermore, although the vertical quay wall surface 99 has a shape extending along the vertical direction Zm, the camera 21 can more reliably image a wide range of the vertical quay wall surface 99, and the distance measurement device 31 can more reliably detect characteristic points indicative of the vertical quay wall surface 99 (e.g., the top edge of the vertical quay wall surface 99) and measure the distance.

[0036] Therefore, the vessel navigation assistance device 10 can generate more reliable, that is, more effective, docking assistance information using these captured images and distance measurement results.

[0037] Furthermore, in the above-described configuration, the horizontal positions of the camera 21 and the distance measuring device 31 overlap. Therefore, the relationship between the docking object (e.g., the quay wall 90 and the vertical quay wall surface 99) in the image captured by the camera 21 and the feature points detected by the distance measuring device 31 can be more easily and accurately linked.

[0038] This allows the vessel navigation assistance device 10 to more accurately and easily detect the distance between the vessel 80 and the docking object (e.g., the quay 90 and the vertical quay surface 99). Therefore, the vessel navigation assistance device 10 can generate more reliable, i.e., more effective, docking assistance information using these captured images and distance measurement results. For example, the vessel navigation assistance device 10 can easily generate an image in which the distance to the vessel 80 is superimposed on the top end of the vertical quay surface 99 of the quay 90. Furthermore, the vessel navigation assistance device 10 can easily calculate the distance between the vessel 80 and the quay 90 (the distance between the vessel 80 and the foot of a perpendicular line extended from the vessel 80 to the quay 90) with high accuracy and easily, and generate this as navigation assistance information.

[0039] Furthermore, the closer to the edge of the imaging area, the more it is affected by lens distortion of the camera 21. Therefore, the imaged object is affected by distortion and the amount of deformation increases. However, in the above-described configuration, the central axis of the ranging range and the central axis of the imaging area coincide. Therefore, in the central area of the imaging area, the relationship between the shape of the object and the distance measurement results of the object's feature points coincides with high accuracy. Therefore, the ship navigation support device 10 can generate highly accurate navigation support information. Furthermore, in the above-described configuration, the ranging range is narrower than the imaging area in the horizontal direction, and the central axis of the ranging range coincides with the central axis of the imaging area, and this central axis is parallel to the starboard and port directions Xb of the ship 80. Therefore, the distance between the ship 80 and the quay 90 and the captured image coincide with high accuracy, and the ship navigation support device 10 can generate even more accurate navigation support information.

[0040] (Functional configuration of ship navigation support device 10) Fig. 6 is a block diagram showing an example of the functional configuration of a ship navigation support device according to a first embodiment of the present invention. As shown in Fig. 6, the ship navigation support device 10 includes a camera 21, a distance measuring device 31, and a support information generation unit 40. The camera 21 and the distance measuring device 31 have been described above, and a description thereof will be omitted. The support information generation unit 40 is realized, for example, by a storage medium storing a support information generation program and a computer or the like that executes this program.

[0041] The support information generating unit 40 is disposed, for example, on a steering deck or the like of the ship 80. On this deck, for example, a display or the like that displays the support information (docking support information) generated by the support information generating unit 40 is disposed.

[0042] The support information generation unit 40 receives as input an image captured by the camera 21 and the distance measurement results from the distance measurement device 31. The support information generation unit 40 generates support information using the image and the distance measurement results. The support information is composed of, for example, an image and docking assistance information. The docking assistance information includes at least one of the distance from the ship 80 to the quay 90, the distance to the quay reference point (docking target point), and the direction. In this case, for example, the docking assistance information such as the distance to the quay 90, the distance to the docking point, and the direction is superimposed on the position of the target on the image. Specifically, the distance to the quay 90 is superimposed by text data or the like near the foot of a perpendicular line dropped from the ship 80 to the quay 90 in the image, near the top end position of the vertical quay surface 99. In addition, the distance to the quay reference point is superimposed near the quay reference point on the image using a vector image connecting the ship 80 on the image and the quay reference point, and text data such as distance and direction representing the vector.

[0043] In this case, by arranging the camera 21 and the distance measuring device 31 in the above-described relationship, the support information generating unit 40 can easily and accurately perform coordinate conversion between the coordinate system of the image and the coordinate system of the distance measurement result, thereby enabling the support information generating unit 40 to generate effective support information with high accuracy.

[0044] (Example with posture measurement) Fig. 7 is a perspective view showing the structure of the vessel navigation support device with attitude measurement according to the first embodiment of the present invention, and Fig. 8 is a block diagram showing an example of the functional configuration of the vessel navigation support device with attitude measurement according to the first embodiment of the present invention.

[0045] 7, structural body 100S differs from structural body 100 described above in that it additionally includes antenna 51. Other configurations of structural body 100S are the same as those of structural body 100, and a description of similar parts will be omitted.

[0046] 8, the ship navigation support device 10S differs from the above-described ship navigation support device 10 in that it adds an attitude measurement device consisting of an antenna 51 and an attitude calculation unit 52, and in that it generates support information using the attitude measurement results. The other configuration of the ship navigation support device 10S is the same as that of the ship navigation support device 10, and a description of similar parts will be omitted.

[0047] The structure 100S includes an antenna 51. The antenna 51 is fixed to a fixing member 70. More specifically, the antenna 51 is fixed to the upper surface 701 side of the fixing member 70, for example, near the other end of the portion extending in the first horizontal direction Xm.

[0048] The antenna 51 receives a positioning signal from a positioning satellite in a positioning system such as a GPS (Global Positioning System), and outputs the positioning signal to the attitude calculation unit 52.

[0049] The attitude calculation unit 52 calculates the position of the antenna 51, i.e., the attitude of the structure 100S, using the reception results of the positioning signals (code phase difference, carrier phase difference, navigation message, etc.). The attitude calculation unit 52 outputs the attitude of the structure 100S to the support information generation unit 40S.

[0050] The support information generator 40S uses the attitude to correct the effects of the rolling of the ship 80, etc., contained in the support information. For example, the support information generator 40S uses the attitude to perform correction so as to suppress the effects of the rolling, etc., contained in the image and the distance measurement results. The support information generator 40S then generates support information using the corrected image and distance measurement results. In this way, the support information generator 40S can suppress the effects of, for example, the attitude of the ship 80, and generate support information with higher accuracy.

[0051] In this configuration, the antenna 51 is fixed to a fixing member 70 to which the camera 21 and the distance measuring device 31 are fixed. The fixing member 70 has high rigidity. Therefore, the attitude of the antenna 51 and the attitude of the camera 21 and the distance measuring device 31 match with high accuracy. As a result, by using the positioning signal received by the antenna 51, the attitudes of the camera 21 and the distance measuring device 31 can be calculated with higher accuracy, and the accuracy of the assistance information is also improved.

[0052] (Second embodiment) A vessel navigation support device according to a second embodiment of the present invention will be described with reference to the drawings. Figures 9(A) and 9(B) are partially enlarged views of the structure of the vessel navigation support device according to the second embodiment of the present invention. Figures 9(A) and 9(B) are side views viewed from two different directions.

[0053] 9(A) and 9(B), the structure 100A according to the second embodiment differs from the structure 100 according to the first embodiment in that it further includes a camera 22 and a distance measuring device 32. The other configuration of the structure 100A is the same as that of the structure 100, and a description of similar parts will be omitted.

[0054] The structure 100A includes a camera 22 and a distance measuring device 32. The camera 22 is realized by, for example, a monocular camera. The distance measuring device 32 is realized by, for example, a LiDAR that measures distances by scanning with laser light.

[0055] The camera 22 is arranged alongside the camera 21 along the second horizontal direction Ym. The camera 22 is fixed to the upper surface 701 of the fixing member 70 using a fixing jig 71A. In this case, the optical axis of the imaging lens 221 of the camera 22 forms a predetermined angle that is not parallel to both the first horizontal direction Xm and the second horizontal direction Ym, and forms a predetermined angle downward in the vertical direction Zm. The camera 22 is fixed to the fixing member 70 so that the imaging area in the second horizontal direction Ym is larger than the imaging area in the vertical direction Zm.

[0056] The distance measuring device 32 is fixed to the lower surface 702 of the fixed member 70 using a fixing jig 72A. In this case, the central axis of the scanning area of the distance measuring device 32 is parallel to the first horizontal direction Xm and forms a predetermined angle downward in the vertical direction Zm. The distance measuring device 32 is fixed to the fixed member 70 so that the imaging area in the second horizontal direction Ym is larger than the imaging area in the vertical direction Zm.

[0057] (Specific explanation of imaging area and distance measurement range) FIG. 10(A) is a diagram showing the positional relationship between the imaging area and the distance measurement range in the horizontal direction, and FIG. 10(B) is a diagram showing the positional relationship between the imaging area and the distance measurement range in the vertical direction.

[0058] (imaging area) 10(A) and 10(B), the horizontal imaging area VF2ch of camera 22 is larger than the vertical imaging area VF2cv. In other words, the horizontal viewing angle (viewing angle in the Yaw direction) of camera 22 is larger than the vertical viewing angle (viewing angle in the Roll direction). Alternatively, for example, when the vertical resolution and the horizontal resolution are the same, the number of pixels in the horizontal direction of camera 22 is larger than the number of pixels in the vertical direction.

[0059] 10(A), the horizontal imaging area VF2ch is set, for example, at a predetermined angle with respect to the starboard-port direction Xb of the ship 80, has a central axis in the forward starboard direction, and is set in an area toward the bow from the mounting position of the camera 22. In this case, the imaging area VF2ch is set so as to capture an image of the surface of the front starboard side 891 of the ship 80.

[0060] 10(B), the vertical imaging area VF2cv is set, for example, so that both sides of the vertical direction Zb (roll direction) are at approximately the same angle around the optical axis of the imaging lens 221 of the camera 22. Furthermore, the vertical imaging area VF2cv is set so that the area (range) below the installation position of the camera 22 in the vertical direction, that is, the area (range) on the sea S side of the ship 80, is the main area (range). In this case, the imaging area VF2ch is set so that the main area is an area a predetermined distance away from the starboard side 891 of the ship 80.

[0061] (Measuring range) 10(A) and 10(B), the horizontal measurement range VF2rh of the distance measuring device 32 is larger than the vertical measurement range VF2rv. Also, the horizontal resolution of the distance measuring device 32 (resolution in the yaw direction) is higher than the vertical resolution (resolution in the roll direction).

[0062] As shown in Figure 10(A), the horizontal distance measurement range VF2rh has a central axis parallel to the starboard and port directions Xb of the ship 80, and is set to have approximately the same angular range on the bow and stern sides.

[0063] 10(B), the vertical distance measurement range VF2rv is set, for example, so that the main area (range) is an area (range) below the installation position of the distance measurement device 32 in the vertical direction, that is, an area (range) on the sea S side of the ship 80. In this case, the distance measurement range VF2rv is set so that the main area (range) is an area (range) that is a predetermined distance away from the starboard side 891 of the ship 80.

[0064] (Relationship between imaging area and distance measurement range) 10A, the horizontal imaging area VF2ch and the horizontal ranging range VF2rh overlap. More specifically, the area where the horizontal imaging area VF2ch and the horizontal ranging range VF2rh overlap is an area on the bow side of the installation positions of the camera 22 and the ranging device 32 (installation position of the structure 100A).

[0065] As shown in FIG. 10(B), the vertical imaging region VF2cv and the vertical distance measurement range VF2rv partially overlap.

[0066] With the above-described configuration, a wide range on the horizontal plane on the starboard side of the ship 80 becomes the imaging area of the camera 22 and the distance measurement range of the distance measuring device 32. This makes it possible to more reliably and accurately detect the quay 90 and objects on the sea (obstacles, etc.) when the ship 80 moves and navigates forward on the starboard side.

[0067] (Functional configuration of ship navigation support device 10A) Fig. 11 is a block diagram showing an example of the functional configuration of a ship navigation support device according to a second embodiment of the present invention. As shown in Fig. 11, the ship navigation support device 10A of the second embodiment differs from the ship navigation support device 10 of the first embodiment in that it includes a camera 22 and a distance measuring device 32, and in the processing of a support information generator 40A. The other configuration of the ship navigation support device 10A is the same as that of the ship navigation support device 10, and a description of similar parts will be omitted.

[0068] The vessel navigation support device 10A includes a camera 22, a distance measuring device 32, and a support information generation unit 40A. The camera 22 corresponds to the "second camera" of the present invention, and the distance measuring device 32 corresponds to the "second distance measuring device" of the present invention. The camera 22 and the distance measuring device 32 are as described above, and a description thereof will be omitted. The support information generation unit 40A, like the support information generation unit 40 described above, is realized by, for example, a storage medium storing a support information generation program and a computer or the like that executes this program.

[0069] The support information generation unit 40A receives as input the image captured by the camera 21, the distance measurement results by the distance measurement device 31, the image captured by the camera 22, and the distance measurement results by the distance measurement device 32. The support information generation unit 40A generates docking support information using the image captured by the camera 21 and the distance measurement results by the distance measurement device 31. The support information generation unit 40A generates approach support information for the docking target (quay wall 90, etc.) using the image captured by the camera 22 and the distance measurement results by the distance measurement device 32.

[0070] With this processing, the images captured by the camera 21 and the distance measurement results by the distance measuring device 31 are mainly in the vertical direction, so the support information generation unit 40A can generate effective support information when docking when the distance to the docking object is close.

[0071] Furthermore, since the images captured by the camera 22 and the distance measurement results by the distance measuring device 32 are mainly in the horizontal direction, the support information generation unit 40A can generate effective support information when the ship 80 approaches the docking object from a distant state.

[0072] Fig. 12 is a diagram showing an example of the behavior of a ship when docking. As shown in Fig. 12, in states ST11 and S12 when the ship 80 approaches the quay 90, the support information generator 40A generates approach support information using the image captured by the camera 22 and the distance measurement results by the distance measuring device 32. Then, in states ST21 and S22 when the ship 80 arrives near the quay 90, the support information generator 40A generates docking support information using the image captured by the camera 21 and the distance measurement results by the distance measuring device 31.

[0073] The support information generating unit 40A switches between generating the approach support information and generating the docking support information using a switching indicator that indicates the positional relationship between the ship 80 and the quay 90. The switching indicator that indicates the positional relationship between the ship 80 and the quay 90 is expressed, for example, by the distance to the quay 90, the difference in elevation, or the angle of depression. For example, the support information generating unit 40A switches from the approach support information to the docking support information when the switching indicator (for example, the distance to the quay 90, the difference in elevation, or the angle of depression) becomes equal to or less than a switching threshold. Alternatively, the support information generating unit 40A switches between generating only the approach support information, generating both the approach support information and the docking support information, and generating only the docking support information, depending on the switching indicator (the distance to the quay 90, the difference in elevation, or the angle of depression). These are just examples, and the support information generating unit 40A may generate the approach support information or the docking support information as appropriate depending on the situation.

[0074] In this way, when the ship 80 approaches or docks at the quay 90, the ship navigation assistance device 10A can generate effective assistance information according to each situation.

[0075] (Example with posture measurement) FIG. 13 is a block diagram showing an example of the functional configuration of a ship navigation support device with attitude measurement according to a second embodiment of the present invention. As shown in FIG. 13, the ship navigation support device 10AS differs from the ship navigation support device 10A in that it adds an attitude measurement device consisting of an antenna 51 and an attitude calculation unit 52, and generates support information using the attitude measurement results. The other configuration of the ship navigation support device 10AS is the same as that of the ship navigation support device 10A, and a description of similar parts will be omitted. The antenna 51 and the attitude calculation unit 52 are the same as those of the ship navigation support device 10S described above, and a detailed description thereof will be omitted.

[0076] The support information generation unit 40AS uses the attitude to correct the influence of rolling and the like of the vessel 80 included in the support information (proximity support information and docking support information). For example, the support information generation unit 40AS uses the attitude to make corrections to suppress the influence of rolling and the like included in the images and distance measurement results. Then, the support information generation unit 40AS generates the support information (proximity support information and docking support information) using the corrected images and distance measurement results. In this way, the support information generation unit 40S can suppress the influence of, for example, the attitude of the vessel 80 and generate the approach support information and docking support information with higher accuracy.

[0077] In the above description, the structure including the camera and the distance measuring device is disposed on the starboard side of the ship 80. However, the structure may be disposed on the port side of the ship 80 or on both sides.

[0078] In the above description, the docking object is the quay 90. However, the docking object is not limited to the quay 90, and may be any object to which the ship 80 can dock (moor in close proximity) (for example, a pier, an offshore base, another ship, etc.). [Explanation of symbols]

[0079] 10, 10A, 10AS, 10S: Ship navigation support equipment 21, 22: Camera 31, 32: Distance measuring device 40, 40A, 40AS, 40S: Support information generation unit 51: Antenna 52: Posture calculation section 70: Fixing member 71, 71A, 72, 72A: Fixture 80: Ship 88: Strut 89: Deck 90: Quay 99: Vertical quay surface 100, 100A, 100S: Structure 211, 221: Imaging lenses 311: Laser transmitting and receiving surface 701:Top surface 702: Bottom surface 891: Side

Claims

1. a first camera having a larger number of pixels in the vertical direction than in the horizontal direction; performing distance measurement using a laser beam in an area overlapping with the imaging area of the first camera; the vertical resolution is higher than the horizontal resolution; a first distance measuring device installed at a position aligned with the first camera in the vertical direction and overlapping with the first camera in the horizontal direction; a second camera having a larger number of pixels in the horizontal direction than in the vertical direction; a second distance measuring device that measures distances using a laser beam in an area overlapping with an imaging area of the second camera, and has a resolution in the horizontal direction higher than a resolution in the vertical direction; Equipped with Ship navigation support equipment.

2. 2. The vessel navigation support device according to claim 1, the first camera defines an area below an installation position of the first camera in the vertical direction as the imaging area; Ship navigation support equipment.

3. 3. The vessel navigation support device according to claim 2, The first camera includes, within the imaging area, a part of the ship on which the first camera is installed. Ship navigation support equipment.

4. 4. A ship navigation support device according to claim 1, an imaging area of the first camera in the horizontal direction is wider than a distance measurement range of the first distance measurement device in the horizontal direction; an imaging area of the first camera in the vertical direction is the same as a ranging range of the first ranging device in the vertical direction; Ship navigation support equipment.

5. 5. A ship navigation support device according to claim 1, a support information generating unit that generates docking support information for a docking target object using an image captured by the first camera and a distance measurement result of the first distance measuring device; Ship navigation support equipment.

6. 6. The ship navigation support device according to claim 5, The docking assistance information is The captured image; docking assistance information including at least one of a distance from the vessel to the docking object, a distance from the vessel to a reference point on the docking object, and a direction of the reference point from the vessel; Including, Ship navigation support equipment.

7. 7. The ship navigation support device according to claim 6, The docking assistance information is The docking assistance information is superimposed on the captured image. Ship navigation support equipment.

8. The ship navigation support device according to any one of claims 5 to 7, a fixing member to which the first camera and the first distance measuring device are fixed; an attitude measurement device fixed to the fixed member and configured to measure the attitudes of the first camera and the first distance measuring device; Equipped with the support information generation unit corrects the captured image of the first camera and the distance measurement result of the first distance measurement device using the attitude. Ship navigation support equipment.

9. A ship navigation support device according to any one of claims 1 to 4, generating approach support information for the docking object using the image captured by the second camera and the distance measurement result of the second distance measurement device; generating docking assistance information for the docking target object using the image captured by the first camera and the distance measurement result of the first distance measurement device; A support information generating unit is provided. Ship navigation support equipment.

10. A ship navigation support device as described in claim 9, The support information generation unit switching between generating the approach support information and generating the docking support information using a switching index that indicates a positional relationship between the ship and the docking object; Ship navigation support equipment.

11. A ship navigation support device according to claim 9 or claim 10, a fixing member to which the first camera, the first distance measuring device, the second camera, and the second distance measuring device are fixed; an attitude measurement device fixed to the fixed member and configured to measure the attitudes of the first camera, the first distance measuring device, the second camera, and the second distance measuring device; Equipped with the support information generation unit corrects the captured image of the first camera, the distance measurement result of the first distance measurement device, the captured image of the second camera, and the distance measurement result of the second distance measurement device using the attitude; Ship navigation support equipment.

12. The ship navigation support device according to claim 8 or 11, The posture measurement device an antenna fixed to the fixed member for receiving a positioning signal; an attitude calculation unit that calculates the attitude using the positioning signal; Equipped with Ship navigation support equipment.

Images