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

Abstract

[Problem] To highly precisely set initial information on an anchorage target for a watercraft. [Solution] Provided is a watercraft navigation assistance device comprising a preliminary initial information setting unit, a measurement unit, and a calculation unit. The preliminary initial information setting unit receives specification of preliminary initial information for characteristic information on a target of anchorage for a watercraft. The measurement unit uses a ranging result for a region including the target to acquire measurement information on the target. The calculation unit uses the preliminary initial information and the measurement information to set initial information for the characteristic information on the target.

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 support device for a vessel is described in Patent Document 1. In the docking support device described in Patent Document 1, a candidate docking position is designated by a user using a touch panel. [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, in the conventional technology, since the candidate docking positions are input by the user, errors occur with respect to the actual candidate docking positions, and such errors occur not only in the candidate docking positions but also in the initial information of other targets where the ship is to berth.

[0005] Therefore, an object of the present invention is to set initial information on the berthing target of a ship with high accuracy. [Means for solving the problem]

[0006] The vessel navigation support device of the present invention includes a temporary initial information setting unit, a measurement unit, and a calculation unit. The temporary initial information setting unit receives designation of temporary initial information for characteristic information of a target where the vessel is anchored. The measurement unit obtains measurement information for the target using distance measurement results for an area including the target. The calculation unit sets initial information for the characteristic information of the target using the temporary initial information and the measurement information.

[0007] In this configuration, the initial value of the characteristic information of the target, for example, the initial value of the quay line where the ship is moored, is given by measurement information based on distance measurement. [Effects of the Invention]

[0008] According to the present invention, initial information on the berthing target of the ship can be set with high accuracy. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a functional block diagram showing the configuration of a ship navigation support device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a functional block diagram showing the configuration of the temporary initial information setting unit. [Figure 3] FIG. 3 is a functional block diagram showing the configuration of the measurement unit. [Figure 4] FIG. 4 is a functional block diagram showing the configuration of the calculation unit. [Figure 5] FIG. 5 is a diagram showing an example of a method for specifying temporary initial information. [Figure 6] FIG. 6 is a diagram illustrating an example of a method for generating measurement information. [Figure 7] FIG. 7 is a diagram illustrating an example of a method for setting initial information. [Figure 8] 8(A) and 8(B) are flowcharts showing the outline of the process of the ship navigation support method. [Figure 9] 9(A), 9(B), and 9(C) are flowcharts showing specific processing flows of the respective steps of the vessel navigation support method shown in FIG. 8(A). [Figure 10] FIG. 10 is a flowchart showing an example of a method for detecting maximum likelihood measurement information. [Figure 11] 11(A), 11(B), and 11(C) show the case where the processing of FIG. 9(A), 9(B), and 9(C) is set for a more specific target (quay). [Figure 12] FIG. 12 is a flowchart showing a process for setting temporary initial information from past position coordinates of feature information of a target. [Figure 13] FIG. 13 is a functional block diagram showing the configuration of the calculation unit when the processing for updating feature information is included. DETAILED DESCRIPTION OF THE INVENTION

[0010] A ship navigation support technology according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a functional block diagram showing the configuration of a ship navigation support device according to an embodiment of the present invention. Fig. 2 is a functional block diagram showing the configuration of a provisional initial information setting unit. Fig. 3 is a functional block diagram showing the configuration of a measurement unit. Fig. 4 is a functional block diagram showing the configuration of a calculation unit.

[0011] (General configuration of ship navigation support device 10) As shown in Fig. 1, the ship navigation assistance device 10 includes a provisional initial information setting unit 20, a measurement unit 30, and a calculation unit 40. The ship navigation assistance device 10 can be realized, for example, excluding the optical system and radio wave system, by a storage device that stores a program (ship navigation assistance program) that realizes the ship navigation assistance method, and a processing unit such as a CPU that executes the ship navigation assistance program. The storage device and processing unit can also be realized by an IC or the like that has the navigation assistance program built in.

[0012] The provisional initial information setting unit 20 accepts designation of provisional initial information for characteristic information of a target object at which a ship will anchor or dock (berth). The provisional initial information setting unit 20 outputs the provisional initial information to the calculation unit 40. For example, the target object is a quay, the characteristic information is the vector quantity of the quay line, and the provisional initial information is the provisional quay line (vector quantity).

[0013] The measurement unit 30 measures the distance to an area including a target where the ship will be anchored or docked (berthed). The measurement unit 30 obtains measurement information for the target using the distance measurement results. The measurement unit 30 outputs the measurement information to the calculation unit 40. For example, the measurement information is the vector quantity of a line segment (straight line).

[0014] The calculation unit 40 sets initial information of the characteristic information of the target object using the provisional initial information and the measurement information. For example, the initial information of the characteristic information of the target object is an initial quay line (vector quantity).

[0015] In this way, the vessel navigation support device 10 sets initial information (e.g., initial quay line) of the target based on the distance measurement result. Therefore, the vessel navigation support device 10 can suppress errors in the initial information of the target and set it with high accuracy. This allows the vessel navigation support device 10 to suppress initial errors when tracking the target thereafter.

[0016] (Configuration of provisional initial information setting unit 20) As shown in FIG. 2, the temporary initial information setting unit 20 includes a camera 21, an operation input unit 22, and a temporary initial information setting unit .

[0017] The camera 21 is connected to the operation input unit 22. The camera 21 captures an image of an area including a target (for example, a quay). The camera 21 outputs the captured image to the operation input unit 22.

[0018] The operation input unit 22 is realized by, for example, a touch panel. The operation input unit 22 displays an input image. The operation input unit 22 accepts an operation input from a user and detects an operation position (operation trajectory) on the image. The operation input unit 22 outputs the operation position (operation trajectory) to the temporary initial information setting unit 23.

[0019] The temporary initial information setting unit 23 converts the operation position (operation trajectory) into a vector quantity in a three-dimensional coordinate system set in the image and sets it as temporary initial information. The temporary initial information setting unit 23 outputs the temporary initial information to the calculation unit 40.

[0020] (Example of how to specify provisional initial information) Fig. 5 is a diagram showing an example of a method for specifying temporary initial information. As shown in Fig. 5, an image including a quay 90, which is a target, is displayed on the display screen. When a user operates the touch panel with a finger along a quay line 910 displayed on the screen, the operation input unit 22 detects the trajectory of the operation (a trajectory corresponding to the temporary quay line 920 in Fig. 5). More specifically, the operation input unit 22 detects a group of pixels (a group of pixel coordinates) operated by the finger in the image as the trajectory. The operation input unit 22 outputs this trajectory to the temporary initial information setting unit 23.

[0021] The provisional initial information setting unit 23 sets this trajectory as a provisional quay line 920. The provisional quay line 920 is expressed, for example, by a vector quantity set by a direction and a distance based on the position of the ship. The provisional quay line 920 corresponds to the provisional initial information. The provisional initial information setting unit 23 outputs the provisional quay line 920 to the calculation unit 40.

[0022] (Configuration of measurement unit 30) As shown in FIG. 3, the measurement unit 30 includes a distance measurement unit 31, an attitude measurement unit 32, and a measurement information generation unit 33.

[0023] The distance measuring unit 31 is realized by, for example, LIDAR or the like. Note that the distance measuring unit 31 may also be LADAR. The distance measuring unit 31 performs three-dimensional distance measurement on an area including a target and detects multiple feature points. The distance measuring unit 31 outputs the multiple feature points to the measurement information generating unit 33.

[0024] The attitude measurement unit 32 is realized by, for example, an attitude sensor equipped on the ship. The attitude sensor may use GNSS signal positioning technology or an inertial sensor. The attitude sensor may also be a combination of GNSS signal positioning technology and an inertial sensor. If the GNSS signal positioning technology is used, the position (position coordinates) of the ship can also be measured. If the GNSS signal positioning technology is used, the attitude can be measured with high accuracy in open-sky conditions such as at sea.

[0025] The attitude measurement unit 32 measures the attitude of the ship and outputs the attitude of the ship to the measurement information generation unit 33.

[0026] The measurement information generation unit 33 converts (projects) the multiple feature points obtained in three-dimensional coordinates into a two-dimensional coordinate system on a horizontal plane. At this time, by using the attitude of the ship, the measurement information generation unit 33 can convert the multiple feature points in the three-dimensional coordinate system into a two-dimensional coordinate system on a horizontal plane with high precision, even if the ship is rolling, for example.

[0027] The measurement information generating unit 33 applies a predetermined conversion process to the plurality of feature points arranged at two-dimensional coordinates on a horizontal plane to generate measurement information. The measurement information generating unit 33 outputs the generated measurement information to the calculation unit 40.

[0028] The process of converting the multiple feature points obtained in three-dimensional coordinates into a two-dimensional coordinate system on a horizontal plane can be omitted. However, by performing this process, it is possible to set the initial information of the feature information of the target with high accuracy, while facilitating subsequent processing, for example.

[0029] (Example of how to generate measurement information) Fig. 6 is a diagram showing an example of a method for generating measurement information. Fig. 6 shows a bird's-eye view of the detection results of LIDAR. Note that this example shows a case where LIDAR is used for the distance measurement unit 31.

[0030] The distance measuring unit 31 performs three-dimensional distance measurement on an area including a quay line 910 (not shown). As a result, the distance measuring unit 31 detects a plurality of characteristic points 81, 82, 83, 84, 85, 86, and 87, as shown in FIG. 6. The distance measuring unit 31 outputs these plurality of characteristic points 81, 82, 83, 84, 85, 86, and 87 to the measurement information generating unit 33.

[0031] The measurement information generation unit 33 generates measurement lines 931, 932, 933, 934, 935, 936, and 937 by applying Hough transform or the like to the multiple feature points 81, 82, 83, 84, 85, 86, and 87. The measurement lines 931, 932, 933, 934, 935, 936, and 937 correspond to measurement information. More specifically, the measurement information generation unit 33 generates measurement line 931 from the multiple feature points 81 arranged in a straight line, and generates measurement line 932 from the multiple feature points 82 arranged in a straight line. Similarly, the measurement information generation unit 33 generates measurement line 933 from the multiple feature points 83, generates measurement line 934 from the multiple feature points 84, generates measurement line 935 from the multiple feature points 85, generates measurement line 936 from the multiple feature points 86, and generates measurement line 937 from the multiple feature points 87. These measurement lines 931, 932, 933, 934, 935, 936, and 937 are represented by vector quantities set by the direction and distance based on the ship position. The measurement information generation unit 33 outputs these measurement lines 931, 932, 933, 934, 935, 936, and 937 to the calculation unit 40.

[0032] (Configuration of Calculation Unit 40) As shown in FIG. 4, the calculation unit 40 includes a difference calculation unit 41 and an initial information setting unit 42.

[0033] The difference calculation unit 41 receives the provisional initial information from the provisional initial information setting unit 23 and the measurement information from the measurement information generation unit 33. The difference calculation unit 41 compares the provisional initial information with the measurement information and calculates the difference between them. The difference calculation unit 41 outputs the difference between each pair of the provisional initial information and the measurement information to the initial information setting unit 42.

[0034] The initial information setting unit 42 compares the difference between each pair of provisional initial information and measurement information. The initial information setting unit 42 detects the measurement information that constitutes the pair with the smallest difference as the most likely measurement information. The initial information setting unit 42 sets the most likely measurement information as the initial information of the feature information of the target.

[0035] (Example of how to set initial information) Fig. 7 is a diagram showing an example of a method for setting initial information. Note that Fig. 7 illustrates the concept of comparing the measurement lines 931 and 932 with the temporary quay line 920, but the same concept applies to other measurement lines.

[0036] Through the above processing, the provisional quay line 920 is obtained as a vector quantity (ρ920, θ920) of distance and direction relative to the ship. In addition, the measurement line 931 is obtained as a vector quantity (ρ931, θ931) of distance and direction relative to the ship, and the measurement line 932 is obtained as a vector quantity (ρ932, θ932) of distance and direction relative to the ship.

[0037] The difference calculation unit 41 calculates the difference between the provisional quay wall line 920 and the measurement line 931. That is, the difference calculation unit 41 calculates the distance difference Δρ1 and the direction difference Δθ1 between the vector quantity (ρ920, θ920) and the vector quantity (ρ931, θ931). Similarly, the difference calculation unit 41 calculates the difference between the provisional quay wall line 920 and the measurement line 932. That is, the difference calculation unit 41 calculates the distance difference Δρ2 and the direction difference Δθ2 between the vector quantity (ρ920, θ920) and the vector quantity (ρ932, θ932). The difference calculation unit 41 outputs the distance difference and the direction difference for each pair of the provisional quay wall line and the measurement line to the initial information setting unit 42.

[0038] In this case, it is preferable that the difference calculation unit 41 stores in advance the bias error between the image coordinate system and the ranging coordinate system, and calculates the distance difference and the azimuth difference after correcting for this bias error, thereby enabling the difference calculation unit 41 to calculate the distance difference and the azimuth difference with higher accuracy.

[0039] The initial information setting unit 42 detects a pair of a provisional quay wall line and a measurement line that has the smallest distance difference Δρ, detects the measurement line that constitutes this pair as the most likely measurement line, and sets it as the initial quay wall line. Alternatively, the initial information setting unit 42 detects a pair of a provisional quay wall line and a measurement line that has the smallest azimuth difference Δθ, detects the measurement line that constitutes this pair as the most likely measurement line, and sets it as the initial quay wall line.

[0040] Alternatively, the initial information setting unit 42 sets the initial quay wall line by comprehensively reflecting the distance difference Δρ and the orientation difference Δθ. For example, the initial information setting unit 42 sets a distance evaluation value according to the magnitude of the distance difference Δρ, and sets an orientation evaluation value according to the magnitude of the orientation difference Δθ. The initial information setting unit 42 determines the most likely measurement line using the distance evaluation value and the orientation evaluation value. The initial information setting unit 42 sets the most likely measurement line as the initial quay wall line.

[0041] For example, in the example of FIG. 7, the measurement line 931 is detected as the most likely measurement line for the provisional quay wall line 920, and is set as the initial quay wall line.

[0042] As described above, by using the above-mentioned configuration, the vessel navigation support device 10 can set initial information (initial quay line) of a target (for example, a quay) with high accuracy.

[0043] (Ship navigation support method) In the above description, each process is executed by a separate functional unit. However, the above process can be realized by storing it as a ship navigation support program and executing it on a processing unit. In this case, the process can be executed according to the flow shown in the following figures. Note that detailed explanations of the specific process content described above will be omitted in the following description.

[0044] Figures 8(A) and 8(B) are flowcharts showing the outline of the process of the ship navigation support method. Figure 8(B) shows a case where the process of Figure 8(A) is set for a more specific target (quay).

[0045] As shown in Figure 8(A), the calculation processing device (ship navigation support device) receives designation of provisional initial information of characteristic information of a target (S11). The calculation processing device generates measurement information of an area including the target (S12). The calculation processing device sets initial information of the characteristic information of the target from the measurement information (S13).

[0046] As a more specific example, when the target is a quay, as shown in Fig. 8(B), the arithmetic processing device receives the designation of a provisional quay line (S11e). The arithmetic processing device generates a measurement line of an area including the quay line (S12e). The arithmetic processing device sets an initial quay line from the measurement line (S13e).

[0047] 9(A), 9(B), and 9(C) are flowcharts showing specific processing flows of the respective steps of the vessel navigation support method shown in FIG. 8(A).

[0048] 9A, in the process of specifying temporary initial information, the arithmetic processing device captures an image including a target (S21). The arithmetic processing device receives an operation input for the image (S22). The arithmetic processing device sets temporary initial information based on the content of the operation input (S23).

[0049] As shown in Fig. 9(B), in the measurement information generation process, the arithmetic processing device performs three-dimensional ranging of an area including a target and detects feature points (S31). The arithmetic processing device converts (projects) the three-dimensionally measured feature points into a two-dimensional coordinate system using the attitude data of the ship (S32). The arithmetic processing device applies a predetermined conversion process to the multiple feature points converted into the two-dimensional coordinate system to generate measurement information (S33).

[0050] As shown in Figure 9(C), in the initial information setting process, if there is one piece of measurement information (S41: YES), the calculation processing device sets this measurement information (the generated measurement information) as the initial information of the target's characteristic information (S42).

[0051] If there are multiple pieces of measurement information (S41: NO), the calculation processing device compares the provisional initial information with the multiple pieces of measurement information (S43). The calculation processing device detects the most likely measurement information from the comparison result (S44). More specifically, for example, the calculation processing device executes the process shown in FIG. 10.

[0052] 10 is a flowchart showing an example of a method for detecting maximum likelihood measurement information. The calculation processing device performs distance evaluation for multiple pieces of measurement information (S51). The distance evaluation is performed using the difference (distance difference) between the distance from the ship to the measurement information and the distance from the ship to the provisional initial information. For example, the smaller the distance difference, the higher the distance evaluation value is set.

[0053] The arithmetic processing device performs a heading evaluation on the plurality of pieces of measurement information (S52). The heading evaluation is performed using the difference (heading difference) between the heading of the measurement information based on the position of the ship and the heading of the provisional initial information based on the ship. For example, the smaller the heading difference, the higher the heading evaluation value is set.

[0054] The arithmetic processing device determines maximum likelihood measurement information from the distance evaluation value and the orientation evaluation value (S53). For example, the arithmetic processing device sets a distance weighting coefficient and an orientation weighting coefficient, multiplies the distance evaluation value by the distance weighting coefficient, and multiplies the orientation evaluation value by the orientation weighting coefficient. The arithmetic processing device calculates an overall evaluation value by adding these values, and sets the measurement information with the highest overall evaluation value as the maximum likelihood measurement information. Note that the method for setting the maximum likelihood measurement information is not limited to this, and at least one of the distance difference and the orientation difference may be used. For example, the arithmetic processing device can set the maximum likelihood measurement information by considering only the distance difference, or by considering only the orientation difference.

[0055] Returning to FIG. 9, the arithmetic processing device sets the maximum likelihood measurement information as the initial information of the feature information of the target (S45).

[0056] 11(A), 11(B), and 11(C) show the case where the processing of FIG. 9(A), 9(B), and 9(C) is set for a more specific target (quay).

[0057] As shown in Fig. 11(A), in the process of specifying a temporary quay line, the arithmetic processing device captures an image including the quay line (S21e). The arithmetic processing device accepts an operation input for the image (S22e). The arithmetic processing device sets the temporary quay line based on the content of the operation input (S23e).

[0058] As shown in Fig. 11(B), in the measurement line generation process, the arithmetic processing device performs three-dimensional distance measurement of an area including the quay line and detects feature points (S31e). The arithmetic processing device converts (projects) the three-dimensionally measured feature points into a two-dimensional coordinate system using the ship's attitude data (S32e). The arithmetic processing device applies a predetermined conversion process to the multiple feature points converted into the two-dimensional coordinate system to generate a measurement line (S33e).

[0059] As shown in FIG. 11(C), in the initial quay line setting process, if there is one measurement line (S41e: YES), the arithmetic processing device sets this measurement line (the generated measurement line) as the initial quay line (S42e).

[0060] If there are multiple measurement lines (S41e: NO), the calculation processing device compares the provisional quay wall line with the multiple measurement lines (S43e).The calculation processing device detects the most likely measurement line from the comparison result (S44e).The calculation processing device sets the most likely measurement line as the initial quay wall line (S45e).

[0061] (Another way to set provisional initial information (provisional quay line)) In the above description, the provisional initial information (provisional quay line) is set by the user's operation input, but it is also possible to set the provisional initial information from past data on the characteristic information of the target object.

[0062] 12 is a flowchart showing a process of setting temporary initial information from the past position coordinates of the characteristic information of the target object. Here, a mode will be described in which the characteristic information of the target object is a quay line and the temporary initial information is a temporary quay line.

[0063] The arithmetic processing device stores the past position coordinates of the quay line. The arithmetic processing device reads the past position coordinates of the quay line (S61). The arithmetic processing device acquires the position coordinates of the ship (own ship) (S62). The acquisition of the position coordinates of the ship can be realized, for example, by using the above-mentioned GNSS signal positioning technology.

[0064] The arithmetic processing unit uses these position coordinates to calculate the relative position of the quay line with respect to the ship (S63). The arithmetic processing unit sets a provisional quay line from the relative position (S64). For example, the arithmetic processing unit converts the relative position into a vector quantity set by the distance and direction with respect to the ship as the reference, and sets the provisional quay line.

[0065] Here, we have shown a mode in which the past position coordinates of the quay line are used. However, it is also possible to set a reference station on the quay line and use the ship as a mobile station to detect the relative position using DGPS or RTK technology, and then set a provisional quay line. It is also possible to receive the coordinates of the quay line from an external source and set a provisional quay line.

[0066] Although the above description has been given as an example of a quay, the above configuration and processing can be applied to any object where a ship is moored, such as a pier or another ship.

[0067] In the above explanation, an example was given in which straight lines (line segments) were used as feature information. However, points, surfaces, and curves can also be used as feature information, and the above configuration and processing can be applied to these cases as well.

[0068] In the above explanation, the initial information of the target's characteristic information was set. However, the vessel navigation support device can also update the characteristic information sequentially. In this case, for example, the calculation unit may have the following configuration and execute the following processing. Figure 13 is a functional block diagram showing the configuration of the calculation unit when the characteristic information update processing is included.

[0069] 13, the calculation unit 40A includes a difference calculation unit 41, an initial information setting unit 42, and a feature information update unit 43. That is, the calculation unit 40A differs from the calculation unit 40 in that it adds the feature information update unit 43. The other configuration of the calculation unit 40A is the same as that of the calculation unit 40, and a description of the similar parts will be omitted.

[0070] The characteristic information update unit 43 receives the initial information from the initial information setting unit 42 and the measurement information from the measurement unit 30 .

[0071] The feature information update unit 43 calculates feature information using the initial information and the measurement information. Specifically, the feature information update unit 43 calculates the difference between the initial information and each of the plurality of pieces of measurement information. The feature information update unit 43 sets a weighting coefficient for each of the plurality of pieces of measurement information according to the difference. The feature information update unit 43 calculates feature information using the weighting coefficient and the plurality of pieces of measurement information. For example, the feature information update unit 43 calculates feature information by multiplying the plurality of pieces of measurement information by the weighting coefficient and adding the multiplication results.

[0072] The feature information update unit 43 outputs this feature information and uses it to calculate the next feature information. That is, if feature information has already been calculated, the feature information update unit 43 calculates new feature information using the feature information and multiple pieces of newly input (acquired) measurement information. Specifically, the feature information update unit 43 calculates the difference between the feature information and each of the multiple pieces of measurement information. The feature information update unit 43 sets a weighting coefficient for each of the multiple pieces of measurement information according to the difference. The feature information update unit 43 calculates feature information using the weighting coefficient and the multiple pieces of measurement information. For example, the feature information update unit 43 calculates new feature information by multiplying the multiple pieces of measurement information by the weighting coefficients and adding the multiplication results.

[0073] Thereafter, by repeating this process, the characteristic information update unit 43 successively updates the characteristic information.

[0074] By performing such a configuration and processing, it is possible to update the characteristic information (for example, quay lines) with high accuracy. [Explanation of symbols]

[0075] 10:Ship navigation support equipment 20: Temporary initial information setting section 21: Camera 22: Operation input section 23: Temporary initial information setting section 30: Measurement section 31: Ranging section 32: Posture measurement unit 33: Measurement information generation unit 40, 40A: Arithmetic unit 41: Difference calculation part 42: Initial information setting section 43: Feature information update section 81, 82, 83, 84, 85, 86, 87: feature points 90: Quay 910: Quay Line 920: Temporary quay line 931, 932, 933, 934, 935, 936, 937: Measurement lines

Claims

1. a temporary initial information setting unit that receives designation of temporary initial information for characteristic information of a target that is a berthing target of a ship; a measurement unit that obtains measurement information for the target using a distance measurement result for an area including the target; a calculation unit that sets initial information of feature information of the target object using the provisional initial information and the measurement information; Equipped with The calculation unit a difference calculation unit that calculates a difference between each piece of measurement information and the provisional initial information when a plurality of pieces of measurement information are obtained; an initial information setting unit that sets the measurement information that minimizes the difference as initial information of the feature information; Equipped with Ship navigation support equipment.

2. A ship navigation support device as described in claim 1, The initial information setting unit The measurement information that minimizes the difference between the distance from the vessel to the measurement information and the distance from the vessel to the provisional initial information is set as the initial information of the characteristic information. Ship navigation support equipment.

3. A ship navigation support device according to claim 1 or claim 2, The initial information setting unit The measurement information that minimizes the difference between the orientation of the measurement information for the ship and the orientation of the provisional initial information for the ship is set as the initial information of the characteristic information. Ship navigation support equipment.

4. 4. A ship navigation support device according to claim 1, The measurement unit a distance measurement unit that measures the distance in a three-dimensional coordinate system of an area including the target and outputs the distance measurement result; a measurement information generating unit that converts the distance measurement result into a two-dimensional coordinate system to generate the measurement information; Equipped with Ship navigation support equipment.

5. A provisional initial information setting unit that receives designation of provisional initial information for characteristic information of a target that is a berthing target of a ship; a measurement unit that obtains measurement information for the target using a distance measurement result for an area including the target; a calculation unit that sets initial information of feature information of the target object using the provisional initial information and the measurement information; Equipped with The measurement unit a distance measurement unit that measures the distance in a three-dimensional coordinate system of an area including the target and outputs the distance measurement result; a measurement information generating unit that converts the distance measurement result into a two-dimensional coordinate system to generate the measurement information; Equipped with Ship navigation support equipment.

6. A ship navigation support device according to claim 4 or claim 5, The distance measurement unit includes an optical distance meter. Ship navigation support equipment.

7. A ship navigation support device according to any one of claims 4 to 6, the measurement unit includes an attitude measurement unit that measures the attitude of the vessel, the measurement information generation unit performs transformation into the two-dimensional coordinate system using the orientation; Ship navigation support equipment.

8. 8. A ship navigation support device according to claim 1, The temporary initial information setting unit an imaging unit that captures an image including the target; an operation input unit that displays the image and receives an operation input for the displayed image; a temporary initial information setting unit that sets the temporary initial information based on the operation input; Equipped with Ship navigation support equipment.

9. 9. A ship navigation support device according to claim 1, an imaging unit that captures an image including the target; a tentative target detection unit that detects a tentative target relative to the target from the image; a temporary initial information setting unit that sets the temporary initial information from the temporary target; Equipped with Ship navigation support equipment.

10. 10. A ship navigation support device according to claim 1, The temporary initial information setting unit setting the provisional initial information from the past position coordinates of the target and the position coordinates of the ship; Ship navigation support equipment.

11. A provisional initial information setting unit that receives designation of provisional initial information for characteristic information of a target that is a berthing target of a ship; a measurement unit that obtains measurement information for the target using a distance measurement result for an area including the target; a calculation unit that sets initial information of feature information of the target object using the provisional initial information and the measurement information; Equipped with The temporary initial information setting unit setting the provisional initial information from the past position coordinates of the target and the position coordinates of the ship; Ship navigation support equipment.

12. 12. A ship navigation support device according to claim 1, The temporary initial information setting unit calculating the provisional initial information using the past position coordinates of the target and the position coordinates of the ship; Ship navigation support equipment.

13. A provisional initial information setting unit that receives designation of provisional initial information for characteristic information of a target that is a berthing target of a ship; a measurement unit that obtains measurement information for the target using a distance measurement result for an area including the target; a calculation unit that sets initial information of feature information of the target object using the provisional initial information and the measurement information; Equipped with The temporary initial information setting unit calculating the provisional initial information using the past position coordinates of the target and the position coordinates of the ship; Ship navigation support equipment.

14. 14. A ship navigation support device according to any one of claims 1 to 13, The characteristic information of the target is a quay line. Ship navigation support equipment.

15. 15. A ship navigation support device according to any one of claims 1 to 14, The calculation unit a feature information update unit that updates the feature information of the target object using the initial information of the target object or the feature information of the target object before update and the measurement information; Ship navigation support equipment.

16. Accepting designation of provisional initial information for characteristic information of a target that is a berthing target of a ship; obtaining measurement information for the target using a distance measurement result for an area including the target; setting initial information of characteristic information of the target object using the provisional initial information and the measurement information; When a plurality of pieces of measurement information are obtained, a difference between each piece of measurement information and the provisional initial information is calculated; the measurement information that minimizes the difference is set as initial information of the feature information. Ship navigation support method.

17. A ship navigation support method as described in claim 16, comprising: measuring the distance in a three-dimensional coordinate system of an area including the target and outputting the distance measurement result; converting the distance measurement result into a two-dimensional coordinate system to generate the measurement information; Ship navigation support method.

18. A ship navigation support method as described in claim 17, comprising: measuring the attitude of the vessel; performing a transformation into the two-dimensional coordinate system using the orientation; Ship navigation support method.

19. A method for assisting ship navigation according to any one of claims 16 to 18, comprising: updating the feature information for the target using the initial information for the target or the feature information for the target before updating and the measurement information; Ship navigation support method.

20. Accepting designation of provisional initial information for characteristic information of a target that is a berthing target of a ship; obtaining measurement information for the target using a distance measurement result for an area including the target; setting initial information of characteristic information of the target object using the provisional initial information and the measurement information; When a plurality of pieces of measurement information are obtained, a difference between each piece of measurement information and the provisional initial information is calculated; the measurement information that minimizes the difference is set as initial information of the feature information. A ship navigation support program that causes a processing unit to execute processing.

21. A ship navigation support program as described in claim 20, measuring the distance in a three-dimensional coordinate system of an area including the target and outputting the distance measurement result; converting the distance measurement result into a two-dimensional coordinate system to generate the measurement information; A ship navigation support program that causes a processing unit to execute processing.

22. 22. The ship navigation support program according to claim 21, measuring the attitude of the vessel; performing a transformation into the two-dimensional coordinate system using the orientation; A ship navigation support program that causes a processing unit to execute processing.

23. A ship navigation support program according to claim 20 or claim 21, updating the feature information for the target using the initial information for the target or the feature information for the target before updating and the measurement information; A ship navigation support program that causes a processing unit to execute processing.

Images