Information processing device, control method, program, and storage medium

Abstract

To provide an information processing device capable of suitably determining a berthing situation.SOLUTION: A controller 13 of an information processing device 1 obtains point group data of a direction in which a berthing location is situated, which is generated by a lidar 3 provided on a target ship. In addition, the controller 13 specifies both a visual-field inner face that is a face of the berthing location which exists within a viewing angle of the lidar 3 and a detection face that is a face of the berthing location which is detected by the point group data, based on a normal vector calculated from the point group data. In addition, the controller 13 determines a berthing situation about berthing in the berthing location, based on a specification result.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to ship docking procedures. [Background technology]

[0002] Conventionally, there have been known technologies for providing support for docking (berthing) of ships. For example, Patent Document 1 describes a method for controlling an automatic docking device that automatically docks a ship by changing the attitude of the ship so that light emitted from a lidar is reflected by objects around the docking position and can be received by the lidar. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-59403 Summary of the Invention [Problem to be solved by the invention]

[0004] When assisting ships that dock based on sensor output without estimating their own position or using map data, it is necessary to accurately determine the docking situation, such as whether nearby structures are suitable for docking, and reflect this information in ship control, etc.

[0005] The present disclosure has been made to solve the above-mentioned problems, and a main object of the present disclosure is to provide an information processing device that can appropriately determine the docking situation. [Means for solving the problem]

[0006] The claimed invention is an acquisition means for acquiring measurement data in a direction toward a berthing location, the measurement data being generated by a measurement device provided on the ship; a detection plane, which is a plane of the docking location detected by the measurement data based on a normal vector calculated from the measurement data; and a vertical number of the vertical field of view of the measurement device corresponding to the upper or lower end of the detection surface; A means for identifying the A docking situation regarding the docking location is determined based on the result of the determination by the determination means. a shore condition determination means; The information processing device has the following.

[0007] The claimed invention also includes: A computer-implemented control method comprising: Acquire measurement data in the direction of the docking location generated by a measuring device installed on the ship, a detection plane, which is a plane of the docking location detected by the measurement data based on a normal vector calculated from the measurement data; and a vertical number of the vertical field of view of the measurement device corresponding to the upper or lower end of the detection surface; Identify the the detection surface and the Vertical Number Based on the results of the identification, the docking status of the docking location is determined. It is a control method.

[0008] The claimed invention also includes: Acquire measurement data in the direction of the docking location generated by a measuring device installed on the ship, a detection plane, which is a plane of the docking location detected by the measurement data based on a normal vector calculated from the measurement data; and a vertical number of the vertical field of view of the measurement device corresponding to the upper or lower end of the detection surface; Identify the the detection surface and the Vertical Number This is a program that causes a computer to execute a process of determining the docking status of the docking location based on the result of the identification. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic configuration diagram of a driving assistance system. [Figure 2] FIG. 2 is a block diagram showing a hardware configuration of the information processing device. [Figure 3] FIG. 2 is a functional block diagram relating to a docking assistance process. [Figure 4] FIG. 10 is a perspective view of a structure showing the calculated normal vectors. [Figure 5]This is a diagram showing a docking situation in which both the top and side surfaces of the structure at the docking location are included as the inner field of view and detection surfaces. [Figure 6] (A) A diagram showing a docking situation where the inner field of view is the top and side surfaces, while the detection surface is only the side surfaces. (B) A diagram showing a docking situation where the inner field of view is the top and side surfaces, while the detection surface is only the top surface. [Figure 7] (A) A diagram showing a docking situation where the inner field of view and the detection surface are both only the side, and (B) A diagram showing a docking situation where the inner field of view and the detection surface are both only the top. [Figure 8] FIG. 1 is a perspective view of a structure showing neighboring points and nearest neighboring points. [Figure 9] FIG. 10 is a diagram illustrating an outline of a method for calculating the distance to the opposite shore. [Figure 10] FIG. 10 is a diagram showing an outline of a method for calculating a docking speed. [Figure 11] FIG. 10 is a diagram illustrating an outline of a method for calculating an approach angle. [Figure 12] 10 shows an example of a data structure of reliability information. [Figure 13] 10 is an example of a flowchart illustrating an outline of a docking assistance process. [Figure 14] This is a diagram showing docking situation B. [Figure 15] This is a diagram showing docking situation C. [Figure 16] An example of berthing situation C where a pier exists is shown below. DETAILED DESCRIPTION OF THE INVENTION

[0010] According to a preferred embodiment of the present disclosure, an information processing device includes: an acquisition means for acquiring measurement data in a direction toward a docking location generated by a measurement device provided on a ship; an identification means for identifying, based on a normal vector calculated from the measurement data, an inner field of view that is a surface of the docking location present in the field of view of the measurement device and a detection surface that is the surface of the docking location detected by the measurement data; and a docking status determination means for determining a docking status regarding the docking location based on the identification result by the identification means. According to this aspect, the information processing device can accurately determine the docking status based on the detection status of the surface of the docking location by the measurement device.

[0011] In one aspect of the information processing device, the information processing device has a normal vector calculation means for calculating the normal vector based on data obtained by removing water surface reflection data from the measurement data using the water surface position as a reference. With this aspect, the information processing device can accurately calculate the normal vector of the docking location based on data obtained by accurately removing erroneous detection data that indicates a position below the water surface position and is generated due to water surface reflection.

[0012] In another aspect of the information processing device, the information processing device includes a normal vector calculation unit that calculates the normal vector for each measurement point that constitutes the downsampled measurement data. With this aspect, the information processing device can preferably calculate the required normal vector while reducing the processing load.

[0013] In another aspect of the information processing device, the specifying means determines whether the upper surface of the docking location is the detection surface based on a vertical normal vector, and determines whether the side surface of the docking location is the detection surface based on a horizontal normal vector. With this aspect, the information processing device can accurately determine whether the upper surface and the side surface of the docking location are each the detection surface.

[0014] In another aspect of the information processing device, the docking status determination means determines the docking status based on a combination of whether the upper surface and the side surface are each within the field of view and whether the upper surface and the side surface are each within the detection surface. With this aspect, the information processing device can appropriately determine the docking status, such as whether the detected object is suitable for docking at a location.

[0015] In another aspect of the information processing device, the information processing device further includes reliability information generating means for generating reliability information representing the reliability of the docking location based on the determination result of the docking situation. With this aspect, the information processing device can suitably generate reliability information useful for controlling the ship when docking, etc.

[0016] In another aspect of the information processing device, the information processing device further comprises a shore distance calculation means for calculating a shore distance, which is the distance from the ship to the docking location, based on the normal vector, and an approach angle calculation means for calculating an approach angle of the ship relative to the docking location based on the shore distance, and the reliability information generation means generates the reliability information including a reliability of the shore distance based on a time change of the shore distance and a reliability of the approach angle based on a time change of the approach angle. With this aspect, the information processing device can accurately calculate the shore distance and the approach angle, and suitably generate reliability information including these reliabilities.

[0017] In another aspect of the above information processing device, the information processing device further comprises: a neighboring point searching means for determining a predetermined number of neighboring points at the docking location relative to the ship based on the measurement data; and a nearest point determining means for determining a nearest point at the docking location relative to the ship from the neighboring points, wherein the opposite-shore distance calculating means calculates the opposite-shore distance based on the nearest point and the normal vector, and the reliability information generating means generates the reliability information including the reliability of the nearest point based on the variance of the nearest points. With this aspect, the information processing device can preferably perform a search for the nearest point to the docking location required for calculating the opposite-shore distance, and preferably generate reliability information including the reliability of the nearest point.

[0018] According to another preferred embodiment of the present disclosure, there is provided a control method executed by a computer, which acquires measurement data in a direction in which a berthing location exists, generated by a measurement device provided on a ship, identifies an inner field of view, which is a surface of the berthing location present in the field of view of the measurement device, and a detection surface, which is the surface of the berthing location detected by the measurement data, based on a normal vector calculated from the measurement data, and determines a berthing status regarding the berthing location based on the identification result of the inner field of view and the detection surface. By executing this control method, the computer can accurately determine the berthing status based on the detection status of the surface of the berthing location by the measurement device.

[0019] According to another preferred embodiment of the present disclosure, there is provided a program that causes a computer to execute a process of acquiring measurement data in a direction toward a berthing location generated by a measurement device provided on a ship, identifying an inner field of view, which is the surface of the berthing location present in the field of view of the measurement device, and a detection surface, which is the surface of the berthing location detected by the measurement data, based on a normal vector calculated from the measurement data, and determining a berthing status regarding the berthing location based on the identification result of the inner field of view and the detection surface. By executing this program, the computer can accurately determine the berthing status based on the detection status of the surface of the berthing location by the measurement device. Preferably, the program is stored in a storage medium. [Example]

[0020] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. For convenience, in this specification, a character with "^" or "-" added above any symbol will be referred to as "A^" or "A - " (where "A" is any letter).

[0021] (1) Overview of the driving assistance system Figure 1 shows a schematic configuration of a driving assistance system according to this embodiment. The driving assistance system includes an information processing device 1 that moves together with a ship, which is a moving body, and a sensor group 2 mounted on the ship. Hereinafter, the ship that moves together with the information processing device 1 will also be referred to as the "target ship."

[0022] The information processing device 1 is electrically connected to the sensor group 2, and performs operational support such as automatic operation control of the target ship on which the information processing device 1 is installed, based on the outputs of various sensors included in the sensor group 2. The operational support also includes berthing support such as automatic berthing (docking). Here, "docking" includes not only docking the target ship at a quay, but also docking the target ship at a structure such as a pier. In addition, hereinafter, "docking location" is a general term for structures such as quays and piers that are the target for docking. The information processing device 1 may be a navigation device installed on the target ship, or an electronic control device built into the ship.

[0023] The sensor group 2 includes various external and internal sensors provided on the target ship. In this embodiment, the sensor group 2 includes at least a Lidar (Light Detection and Ranging, or Laser Illuminated Detection and Ranging) 3.

[0024] The LIDAR 3 emits a pulsed laser beam over a predetermined angular range in the horizontal and vertical directions to discretely measure the distance to an object in the external world and generate three-dimensional point cloud data indicating the position of the object. In this case, the LIDAR 3 includes an irradiation unit that irradiates laser light while changing the irradiation direction, a light receiving unit that receives reflected light (scattered light) of the irradiated laser light, and an output unit that outputs scan data based on the light receiving signal output by the light receiving unit. Data measured for each direction (scanning position) of laser light irradiation (also referred to as a "measurement point" or "measurement point data") is generated based on the irradiation direction corresponding to the laser light received by the light receiving unit and the response delay time of the laser light identified based on the above-mentioned light receiving signal. Note that the LIDAR 3 is not limited to the above-mentioned scan-type LIDAR, but may also be a flash-type LIDAR that generates three-dimensional data by irradiating a diffused laser beam within the field of view of a two-dimensional array sensor. The LIDAR 3 is an example of a "measurement device" in the present invention.

[0025] (2) Configuration of information processing device 2 is a block diagram showing an example of the hardware configuration of the information processing device 1. The information processing device 1 mainly includes an interface 11, a memory 12, and a controller 13. These elements are connected to each other via a bus line.

[0026] The interface 11 performs interface operations related to the exchange of data between the information processing device 1 and an external device. In this embodiment, the interface 11 acquires output data from each sensor in the sensor group 2 and supplies it to the controller 13. The interface 11 also supplies, for example, signals related to the control of the target vessel generated by the controller 13 to each component of the target vessel that controls the operation of the target vessel. For example, the target vessel may include a drive source such as an engine or an electric motor, a screw that generates a forward thrust based on the drive force of the drive source, a thruster that generates a lateral thrust based on the drive force of the drive source, and a rudder, which is a mechanism for freely determining the direction of travel of the vessel. During automatic operation such as automatic docking, the interface 11 supplies control signals generated by the controller 13 to each of these components. If the target vessel is equipped with an electronic control device, the interface 11 supplies the control signal generated by the controller 13 to the electronic control device. The interface 11 may be a wireless interface such as a network adapter for wireless communication, or a hardware interface for connecting to an external device via a cable or the like. The interface 11 may also perform interface operations with various peripheral devices such as an input device, a display device, and a sound output device.

[0027] The memory 12 is configured by various types of volatile and non-volatile memory, such as a RAM (Random Access Memory), a ROM (Read Only Memory), a hard disk drive, and a flash memory. The memory 12 stores programs for the controller 13 to execute predetermined processes. The programs executed by the controller 13 may be stored in a storage medium other than the memory 12.

[0028] The memory 12 also stores information necessary for the processing executed by the information processing device 1 in this embodiment. For example, the memory 12 may include map data including information about the position of a docking location. In another example, the memory 12 stores information about the downsampling size when downsampling is performed on point cloud data obtained when the LIDAR 3 performs one scanning cycle.

[0029] The controller 13 includes one or more processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a TPU (Tensor Processing Unit), and controls the entire information processing device 1. In this case, the controller 13 executes programs stored in the memory 12, etc., to perform processing related to operational support for the target ship, etc.

[0030] The controller 13 also functionally includes a berthing location detection unit 15 and a berthing parameter calculation unit 16. The berthing location detection unit 15 performs processing related to the detection of a berthing location based on the point cloud data output by the LIDAR 3. The berthing parameter calculation unit 16 calculates parameters (also referred to as "berthing parameters") required for berthing at the berthing location. The berthing parameters include the distance to the berthing location (near-berthing distance), the approach angle to the berthing location, and the speed at which the vessel approaches the berthing location (near-berthing speed). The berthing parameter calculation unit 16 also calculates information (also referred to as "reliability information") indicating the reliability of berthing at the berthing location based on the processing results of the berthing location detection unit 15 and the berthing parameters. The controller 13 functions as an "acquisition means," a "identification means," a "normal vector calculation means," a "near-berthing distance calculation means," an "approach angle calculation means," a "near-point search means," a "near-neighbor point determination means," a "near-neighbor point determination means," a "berthing situation determination means," a "reliability information generation means," a computer that executes programs, etc.

[0031] The processes executed by the controller 13 are not limited to being realized by software programs, but may be realized by any combination of hardware, firmware, and software. Furthermore, the processes executed by the controller 13 may be realized by using a user-programmable integrated circuit, such as an FPGA (Field-Programmable Gate Array) or a microcomputer. In this case, the programs executed by the controller 13 in this embodiment may be realized by using this integrated circuit.

[0032] (3) Berthing support processing Next, we will explain the docking assistance process executed by the information processing device 1. In summary, based on point cloud data of the lidar 3 measured in the direction in which the docking location exists, the information processing device 1 identifies a surface present in the field of view of the lidar (i.e., the scanning range of the laser light) and a surface detected by the point cloud data, and determines the reliability of the docking location based on the identification result.

[0033] (3-1) Functional Blocks 3 is a functional block diagram of the docking location detection unit 15 and the docking parameter calculation unit 16 related to the docking assistance process. The docking location detection unit 15 functionally comprises a normal vector calculation block 20, a field of view / detection plane specification block 21, a normal number specification block 22, a mean / variance calculation block 23, and a docking situation determination block 24. The docking parameter calculation unit 16 functionally comprises a neighboring point search block 25, a nearest neighbor determination block 26, a docking distance calculation block 27, an approach angle calculation block 28, a docking speed calculation block 29, and a reliability information generation block 30.

[0034] The normal vector calculation block 20 calculates the normal vector of the plane formed by the docking location (also called the "docking surface") based on point cloud data generated by the LIDAR 3 in the direction in which the docking location is located. In this case, the normal vector calculation block 20 calculates the above-mentioned normal vector based on point cloud data generated by the LIDAR 3, for example, whose measurement range includes the docking side of the target ship. Information regarding the measurement range of the LIDAR 3 and the direction in which the docking location is located may be registered in advance in the memory 12, for example.

[0035] In this case, the normal vector calculation block 20 preferably downsamples the point cloud data and removes data obtained by the laser light reflecting off the water surface (also called "water surface reflection data").

[0036] In this case, the normal vector calculation block 20 first removes data that exists below the water surface position from the point cloud data generated by the LIDAR 3 as water surface reflection data (i.e., false detection data). Note that the normal vector calculation block 20 estimates the water surface position based on, for example, the average value in the height direction of the point cloud data generated by the LIDAR 3 when there are no objects other than the water surface in the vicinity. Then, the normal vector calculation block 20 performs downsampling on the point cloud data after the water surface reflection data has been removed, which is a process of integrating measurement points for each grid space of a predetermined size. Then, for each measurement point indicated by the point cloud data after downsampling, the normal vector calculation block 20 calculates a normal vector using multiple surrounding measurement points. Note that downsampling may be performed before removing the data reflected by the water surface.

[0037] The field of view / detection surface identification block 21 identifies the surface of the docking location that exists within the field of view angle of the lidar 3 (also referred to as the "inner field of view") and the surface of the docking location that is detected based on the normal vector calculated by the normal vector calculation block 20 (also referred to as the "detection surface"). In this case, the field of view / detection surface identification block 21 identifies whether the top surface and / or side surface of the docking location are included as the inner field of view and the detection surface. A specific identification method will be described with reference to Figures 5 to 7.

[0038] The normal number specification block 22 extracts the vertical normal vectors and the normal vectors in the direction perpendicular to the vertical normal vectors (i.e., the horizontal direction) from the normal vectors calculated by the normal vector calculation block 20, and calculates the number of vertical normal vectors and the number of horizontal normal vectors. Here, the normal number specification block 22 regards the vertical normal vectors as normals to the measurement points on the top surface of the docking location, and the horizontal normal vectors as normals to the measurement points on the side surfaces of the docking location, and calculates the respective numbers as an index of the reliability of the docking location.

[0039] The mean / variance calculation block 23 extracts the vertical normal vectors and the normal vectors perpendicular to the vertical normal vectors (i.e., the horizontal direction) from the normal vectors calculated by the normal vector calculation block 20, and calculates the mean and variance of the vertical normal vectors and the mean and variance of the horizontal normal vectors.

[0040] The docking situation determination block 24 acquires the processing results of the field of view / detection plane determination block 21, the number of normals determination block 22, and the mean / variance calculation block 23, which are specified or calculated based on the same point cloud data, as a determination result representing the detection situation of the docking location at the time the point cloud data was generated.The docking situation determination block 24 then supplies the processing results of the field of view / detection plane determination block 21, the number of normals determination block 22, and the mean / variance calculation block 23 to the reliability information generation block 30 as the determination result of the detection situation of the docking location.

[0041] The neighboring point search block 25 detects a predetermined number of neighboring points of the docking location for the target ship from the measurement points that make up the point cloud data by searching for multiple points with short distances. The nearest neighbor determination block 26 performs processing to determine the nearest point from the predetermined number of neighboring points detected by the neighboring point search block 25.

[0042] The shore distance calculation block 27 calculates the shore distance, which corresponds to the shortest distance between the target ship and the berthing location, based on the nearest point determined by the nearest neighbor determination block 26. The approach angle calculation block 28 calculates the approach angle of the target ship with respect to the berthing location, based on the shore distance calculated by the shore distance calculation block 27 or based on the average value of the normal vectors calculated by the mean / variance calculation block 23. The berthing speed calculation block 29 calculates the berthing speed, which is the speed at which the target ship approaches the berthing location, based on the shore distance calculated by the shore distance calculation block 27.

[0043] The reliability information generation block 30 generates reliability information based on the processing results of the docking situation determination block 24, the neighboring point search block 25, the nearest neighbor determination block 26, the distance to the shore calculation block 27, and the approach angle calculation block 28. The reliability information will be described in detail later.

[0044] (3-2) Normal vector operations Next, a specific example of the processing of the normal vector calculation block 20, the normal number specification block 22, and the mean / variance calculation block 23 will be described with reference to FIG.

[0045] FIG. 4(A) shows an example of a hull coordinate system based on the hull of the target ship. As shown in FIG. 4(A), the front (forward) direction of the target ship is the "x" coordinate, the lateral direction of the target ship is the "y" coordinate, and the height direction of the target ship is the "z" coordinate. The measurement data measured by the LIDAR 3 in the coordinate system based on the LIDAR 3 is converted into the hull coordinate system shown in FIG. 4(A). Note that the process of converting point cloud data in a coordinate system based on a LIDAR installed on a moving body into the coordinate system of the moving body is disclosed, for example, in International Publication WO2019 / 188745.

[0046] 4(B) is a perspective view of the structure 50, which is the docking location, clearly showing measurement points that indicate measurement positions measured by the lidar 3 and normal vectors calculated based on the measurement points. In FIG. 4(B), the measurement points are indicated by circles, and the normal vectors are indicated by arrows. This shows an example in which both the top and side surfaces of the structure 50 were measured by the lidar 3.

[0047] As shown in FIG. 4B, the normal vector calculation block 20 calculates normal vectors for the measurement points on the side and top surfaces of the structure 50. Because normal vectors are vectors perpendicular to the target plane or curved surface, they are calculated using multiple measurement points that can be configured as a surface. Therefore, a grid of predetermined length and width or a circle of predetermined radius is set, and calculations are performed using measurement points within the grid. In this case, the normal vector calculation block 20 may calculate normal vectors for each measurement point or at predetermined intervals. The normal number determination block 22 then determines that a normal vector whose z-component is greater than a predetermined threshold is a normal vector pointing in the vertical direction. Note that the normal vectors are assumed to be unit vectors. Furthermore, a normal vector whose z-component is less than a predetermined threshold is a normal vector pointing in the horizontal direction. The normal number determination block 22 then determines the number of vertical normal vectors (here, five) and the number of horizontal normal vectors (here, four). Furthermore, the mean / variance calculation block 23 calculates the mean and variance of the normal vectors in the vertical direction and the mean and variance of the normal vectors in the horizontal direction. Note that the measurement points around the edge portion are on the top surface or the side surface, so the direction is oblique.

[0048] (3-3) Identifying the inner field of view and detection surface The process of specifying the inner field of view and the detection surface will be explained below by dividing the process into docking situations A to E, which represent specific docking situations.

[0049] (3-3-1) Berthing situation A: Both the side and top of the berthing location are within the field of view and detection surface Fig. 5 is a diagram showing a docking situation in which both the top and side surfaces of a structure 50, which is the docking location, are included as the inner field of view and detection surface. In Fig. 5, a dashed line 51 indicates the estimated water surface position. Circles below the dashed line 51 indicate measurement points that have been removed as measurement points below the water surface position. Circles on the top and side surfaces of the structure 50 indicate measurement points corresponding to the normal vectors calculated by the normal vector calculation block 20.

[0050] In this case, the field of view / detection surface identification block 21 detects both the top and side surfaces of the structure 50 as detection surfaces based on the normal vectors calculated by the normal vector calculation block 20. For example, the field of view / detection surface identification block 21 determines that the top surface of the structure 50 has been detected if the number of vertical normal vectors is equal to or greater than a predetermined number, and determines that the side surface of the structure 50 has been detected if the number of horizontal normal vectors is equal to or greater than a predetermined number. The predetermined number is stored in advance in, for example, the memory 12. The field of view / detection surface identification block 21 may determine whether the top surface or side surface of the structure 50 has been detected by setting a threshold value for the average and / or variance of the normal vectors calculated by the average / variance calculation block 23. In this case, for example, the field of view / detection surface identification block 21 determines that the top surface is included as a detection surface if the difference between the average of the vertical normal vectors and the vector representing the vertical direction is within a predetermined threshold value and the variance of the vertical normal vectors is within a threshold value. Similarly, the field of view / detection surface identification block 21 determines that the side is included as a detection surface if the difference between the average of the horizontal normal vectors and the vector representing the vertical direction is within a predetermined threshold and the variance of the horizontal normal vectors is within a threshold.

[0051] In addition, in the example of Figure 5, the field of view / detection surface identification block 21 determines that both the top and side surfaces of the structure 50 are within the field of view angle of the lidar 3, since the top and side surfaces of the structure 50 are detected as detection surfaces.

[0052] In docking situation A shown in Figure 5, the inner field of view and the detection surface include both the top and side surfaces of structure 50, which is the docking location, so it is estimated that the docking location has been accurately detected and that the reliability of the detection of the docking location is high.

[0053] (3-3-2) Berthing situation B: Both sides of the berthing location are inside the field of view and only the sides are detected FIG. 6(A) is a diagram showing a docking situation in which the inner surface of the field of view is the top surface and the side surface, while the detection surface is only the side surface.

[0054] In the case of the docking situation shown in FIG. 6(A), the field of view / detection plane identification block 21 detects the side of the structure 50 as the detection plane based on the normal vectors calculated by the normal vector calculation block 20. For example, the field of view / detection plane identification block 21 detects the side of the structure 50 as the detection plane because the number of horizontal normal vectors is equal to or greater than a predetermined number and the number of vertical normal vectors is less than a predetermined number. On the other hand, the field of view / detection plane identification block 21 determines that the inner field of view includes both the top and side surfaces because there is a scanning position that can measure an area above the scanning position that detected the side of the structure 50 (in other words, the highest vertical number (described later in FIG. 6(B)) of the data that detected the side of the structure 50 is not the number at the top of the vertical field of view). FIG. 6(B) shows an example of an array of data generated by the lidar 3 in one scanning cycle. Each piece of data generated by the lidar 3 is identified by a combination of a vertical number (here, 1 to m) and a horizontal number (here, 1 to n) according to the emission direction of the laser light. In the example of FIG. 6(B), the data with vertical number 1 is the number at the top of the vertical field of view. In this case, in the example of FIG. 6(A), if the highest vertical number in the data detecting the side of the structure 50 is not 1, the field of view / detection surface identification block 21 determines that the inner field of view includes both the top surface and the side surface.

[0055] In the docking situation shown in Figure 6(A), although the inner field of view includes both the top and side surfaces, only the side surfaces of the docking location can be detected, so it is estimated that the reliability of detecting the docking location is lower than in the case of Figure 5.

[0056] (3-3-3) Berthing situation C: Both sides of the berthing location are inside the field of view and only the top surface is detected FIG. 6(C) is a diagram showing a docking situation in which the inner surface of the field of view is the top and side surfaces, while the detection surface is only the top surface.

[0057] In the case of the docking situation shown in Fig. 6(C), the field of view and detection plane identification block 21 detects the side of the structure 50 as the top surface based on the normal vector calculated by the normal vector calculation block 20. On the other hand, the field of view and detection plane identification block 21 determines that the inner surface of the field of view includes both the top surface and the side surface because there is a scanning position that can measure below the scanning position that detected the top surface of the structure 50 (in other words, the lowest vertical number of the data that detected the top surface of the structure 50 is not the number at the bottom of the vertical field of view (number m in Fig. 6(B))).

[0058] In the docking situation shown in Figure 6(C), although the inner field of view includes both the top and side surfaces, only the top surface of the docking location can be detected, so it is estimated that the reliability of detecting the docking location is lower than in the cases of Figures 5 and 6(A).

[0059] (3-3-4) Berthing situation D: Both the inner field of view and the detection surface are only on the side FIG. 7(A) is a diagram showing a docking situation in which the inner field of view and the detection surface are both side surfaces.

[0060] In the case of the docking situation shown in FIG. 7(A), the field of view and detection plane identification block 21 detects part of the side of the structure 50 as the detection plane based on the normal vector calculated by the normal vector calculation block 20. Furthermore, the field of view and detection plane identification block 21 determines that the inner field of view includes only part of the side because there is no scanning position capable of measuring above the scanning position where the side of the structure 50 was detected (in other words, the highest vertical number of the data detecting the side of the structure 50 is the number at the top of the vertical field of view (number 1 in FIG. 6(B))). Furthermore, in the docking situation shown in FIG. 7(A), only part of the side of the docking location has been detected, so it is estimated that the reliability of the detection of the docking location is lower than in the case of FIG. 5, etc.

[0061] (3-3-5) Berthing situation E: The inner field of view and the detection surface are both on the upper surface only FIG. 7(B) is a diagram showing a docking situation in which the inner field of view and the detection surface are both only the upper surface.

[0062] In the docking situation shown in FIG. 7(B), the field of view / detection plane identification block 21 detects only the top surface of the structure 50 as the detection plane based on the normal vector calculated by the normal vector calculation block 20. Furthermore, the field of view / detection plane identification block 21 determines that the inner field of view includes only the top surface because there is no scanning position capable of measuring below the scanning position where the side of the structure 50 was detected (in other words, the lowest vertical number of the data detecting the top surface of the structure 50 is the number at the bottom of the vertical field of view (number m in FIG. 6(B))). Furthermore, in the docking situation shown in FIG. 7(B), only a portion of the top surface of the structure 50 can be detected, and it is estimated that the reliability of detecting the docking location is lower than in the case of FIG. 5, etc. Furthermore, in this case, the nearest point does not become the reference position of the structure 50 when calculating the distance to the opposite bank, and therefore the distance to the opposite bank cannot be calculated accurately.

[0063] (3-4) Nearest neighbor search Next, a specific example of the processing of the neighbor point search block 25 and the nearest neighbor determination block 26 will be described with reference to Fig. 8(A) and Fig. 8(B). Fig. 8(A) is a perspective view of a structure 50, clearly indicating the measurement points of the structure 50 measured by the LIDAR 3 and the nearest points therein. Fig. 8(B) is a perspective view of a structure 50, clearly indicating the measurement points of the structure 50 measured by the LIDAR 3 and the nearest points therein.

[0064] The nearby point search block 25 searches for a predetermined number of nearby points based on distance information of the point cloud data acquired from the LIDAR 3. In the example of Fig. 8(A), the nearby point search block 25 finds six nearby points. In this case, it is preferable that the nearby point search block 25 removes data from the point cloud data that represents a position below a height that can be estimated as the water surface position, as water surface reflection data (i.e., false detection data) obtained by the laser light reflecting off the water surface.

[0065] The nearest neighbor determination block 26 determines the nearest neighbor among the neighboring points found by the neighboring point search block 25 as a nearest neighbor candidate and calculates the coordinate difference between the candidate and the other neighboring points (e.g., the average distance between the candidate and the other neighboring points). If the difference is less than a predetermined threshold, the nearest neighbor determination block 26 determines that the candidate is the nearest neighbor. Strong waves or winds near a quay can accidentally capture sea spray or floating objects. Therefore, the threshold is used to determine whether the measurement point is noise or an object other than a docked location, and is stored in advance in the memory 12, for example. On the other hand, if the difference is greater than or equal to the predetermined threshold, the nearest neighbor determination block 26 determines that the candidate is likely to be noise or a measurement point of another object, and does not determine that the candidate is the nearest neighbor. In this case, the nearest neighbor determination block 26 determines the next nearest neighbor after the candidate as a new candidate, calculates the difference, compares it with the threshold, and determines whether the candidate is the nearest neighbor. The variance of the coordinates of the multiple neighbor points found by the neighbor point search block 25 is used to set the reliability of the nearest neighbor search.

[0066] (3-5) Calculation of distance to shore, approach angle, and approaching speed Next, calculation of the berthing distance, approach angle, and berthing speed will be explained. As a typical example, a case where the LIDAR 3 is installed at two locations, one in front and one in rear of the target ship, will be explained below.

[0067] 9(A) is a diagram showing an overview of the first calculation method for the distance to the opposite shore. In this example, the target ship is not parallel (is at an angle) to the structure 50 where the ship is docked, so the distance to the nearest point is not the shortest distance.

[0068] In the first calculation method, the shore distance calculation block 27 generates an equation for a straight line passing through the nearest point calculated based on the point cloud data of the forward LIDAR 3 and the nearest point calculated based on the point cloud data of the rear LIDAR 3. This equation is a straight line parallel to the side of the structure 50 on the target vessel side. The shore distance calculation block 27 then regards the distance from the straight line indicated by the equation as the shortest distance from each LIDAR 3, and regards these shortest distances as the shore distance. Note that instead of regarding the shortest distance for each LIDAR 3 as the shore distance, the shore distance calculation block 27 may determine the shortest distance among the shortest distances for each LIDAR 3 as the shore distance, or may determine the average of these shortest distances as the shore distance.

[0069] According to the first calculation method, the distance to the shore calculation block 27 can suitably calculate the distance to the shore even when the target ship is at an angle to the berthing location.

[0070] 9(B) is a diagram showing an outline of the second calculation method for the distance to the opposite shore. In this example, the target vessel is not parallel to (is at an angle to) the structure 50 where the vessel will be docked, so the distance to the nearest point is not the shortest distance.

[0071] In the second calculation method, the shore distance calculation block 27 calculates the dot product of the vector from the LIDAR 3 to the nearest point and the normal vector at the nearest point for each of the front LIDAR 3 and the rear LIDAR 3. Then, the shore distance calculation block 27 regards the calculation result of the dot product for each LIDAR 3 as the shortest distance to each LIDAR 3, and determines the shore distance from these shortest distances. Even with the second calculation method, the shore distance calculation block 27 can preferably calculate the shore distance regardless of the direction of the target ship relative to the berthing location.

[0072] Next, a method for calculating the docking speed will be described. The docking speed calculation block 29 calculates the change over time in the distance to the shore (shortest distance) obtained for each of the front rider 3 and the rear rider 3 as the docking speed.

[0073] FIG. 10 is a diagram showing an outline of the calculation method for the docking speed. f " represents the distance (shortest distance) across the shore from rider 3 in front, and "d r " represents the distance to the opposite bank (shortest distance) of the rear rider 3, "t" represents the current processing time, "t-1" represents the previous processing time, and "Δt" represents the time interval from the previous calculation time of the distance to the opposite bank.

[0074] Here, the docking speed calculation block 29 inserts a filter to deal with an increase in noise when dividing the difference in the distance to the dock between the previous time and the current time by the time interval. Specifically, the docking speed calculation block 29 calculates the docking speed "v" relative to the forward rider 3 by the following formula using a time constant "τ" and a Laplace operator "s". f ” and the approaching speed for the rear rider 3 “v r " is calculated.

[0075]

number

[0076] This allows the docking speed calculation block 29 to appropriately calculate the docking speed taking into account the influence of noise.

[0077] Next, the calculation method of the approach angle will be explained. In the first calculation method, the approach angle calculation block 28 calculates the approach angle using "atan2," a function that determines the arc tangent from two arguments that define the tangent. Specifically, the approach angle calculation block 28 calculates the approach angle by calculating the function atan2 from the average of the normal vectors of the side of the berthing location.

[0078] FIG. 11(A) is a diagram showing an outline of the first approach angle calculation method. f " represents the normal vector of the side surface of the structure 50, which is the docking location, facing the target ship, calculated based on the point cloud data of the forward lidar 3. r" represents the normal vector of the side of the structure 50, which is the docking location, on the target ship side, calculated based on the point cloud data of the rear lidar 3. Also, the components of each normal vector are "n f =[n xf ,n yf ,n zf ] T "," "n r =[n xr ,n yr ,n zr ] T "

[0079] In this case, the approach angle calculation block 28 calculates the approach angle "Ψ f " and the approach angle "Ψ r " is calculated based on the following formula:

[0080]

number

[0081] As a second calculation method for the approach angle, the approach angle calculation block 28 calculates the approach angle based on the angle formed by the line expressed by the line equation connecting the direction of the target ship and the nearest point. Figure 11(B) is a diagram showing an overview of the second calculation method for the approach angle. The line connecting the nearest points is the same as the line shown in Figure 9(A) and is parallel to the side of the structure 50, which is the docking location, on the target ship side. Here, the direction vector of the line is defined as "L = [L x ,L y ,L z ] T ", the approach angle corresponds to the angle between the line connecting the nearest points and the direction of travel, so the approach angle calculation block 28 can suitably calculate the approach angle "Ψ" based on the following formula.

[0082]

number

[0083] (3-6) Generating reliability information The reliability information generation block 30 generates a flag for each element such as the field of view when detecting the docking location, the surface detection of the docking location, the number and variance of normal vectors, etc., and generates a vector of the generated flags as reliability information. Hereinafter, a flag of "1" indicates that the reliability of the corresponding element is high, and a flag of "0" indicates that the reliability of the corresponding element is low.

[0084] 12 shows an example of the data structure of the reliability information generated by the reliability information generation block 30. As shown in FIG. 12, the reliability information has the following items: "Top surface," "Side surface," "Neighboring points," "Distance," and "Angle." The item "Top surface" has the sub-items "Viewing angle," "Detection," "Number of normals," and "Variance," and the item "Side surface" has the sub-items "Viewing angle," "Detection," "Number of normals," and "Variance." The item "Neighboring points" has the sub-item "Variance," the item "Distance" has the sub-items "Amount of change" and "Rate of change," and the item "Angle" has the sub-item "Amount of change."

[0085] Here, the reliability information generation block 30 registers a flag in the sub-item "viewing angle" of the item "upper surface" that is "1" if the upper surface of the docking location is within the range of the viewing angle, and "0" if the upper surface is outside the viewing angle. Also, the reliability information generation block 30 registers a flag in the sub-item "viewing angle" of the item "upper surface" that is "1" if the upper surface of the docking location is the detection surface, and "0" if the upper surface is not the detection surface. Also, the reliability information generation block 30 registers a flag in the sub-item "number of normals" of the item "upper surface" that is "1" if the number of normal vectors to the upper surface of the docking location is equal to or greater than a predetermined threshold (e.g., 10), and "0" if the number is less than the threshold. Furthermore, the reliability information generation block 30 registers a flag in the "variance" sub-item of the "top surface" item that is set to "1" if the variances of the x, y, and z components of the normal vector relative to the top surface of the docking location are all less than a predetermined threshold (e.g., 1.0), and is set to "0" if any of the variances is equal to or greater than the threshold. The reliability information generation block 30 also registers flags in each sub-item of the "side surface" item that are determined according to the same rules as for each sub-item of the "top surface" item.

[0086] Furthermore, the reliability information generation block 30 registers a flag in the sub-item "variance" of the item "neighborhood point" that is "1" if the variances of the x, y, and z components of the neighboring points searched by the neighboring point search block 25 are all less than a threshold (e.g., 1.0), and "0" if any of the variances is equal to or greater than the threshold. Furthermore, the reliability information generation block 30 registers a flag in the sub-item "change amount" of the item "distance" that is "1" if the amount of change in the opposite bank distance calculated by the opposite bank distance calculation block 27 from one time before is less than a predetermined threshold (e.g., 1.0 m), and "0" if the amount of change is equal to or greater than the threshold. Furthermore, the reliability information generation block 30 registers a flag in the sub-item "change rate" of the item "distance" that is "1" if the rate of change in the opposite bank distance calculated by the opposite bank distance calculation block 27 from one time before is less than a predetermined threshold (e.g., ±10%), and "0" if the rate of change is equal to or greater than the threshold. In addition, the reliability information generation block 30 registers a flag in the sub-item "change amount" of the item "angle" that is set to "1" if the change amount in the approach angle calculated by the approach angle calculation block 28 from one time before is less than a predetermined threshold value (e.g., 1.0 degree), and to "0" if the change amount is equal to or greater than the threshold value.

[0087] The above-mentioned threshold values ​​are set to suitable values ​​stored in advance in the memory 12, for example.

[0088] Using reliability information with such a data structure, it is possible to grasp the reliability of the calculated distance to berth, berthing speed, and approach angle. Note that when each sub-item of the reliability information is "1," the reliability is highest. The information processing device 1 then adjusts the output of the drive source when berthing based on this reliability information. For example, the information processing device 1 may determine the upper limit of the target ship's speed when berthing according to the total value of each sub-item indicated by the reliability information. In this case, the information processing device 1 determines that the smaller the total value, the lower the reliability of the information regarding the berthing location and the more careful berthing is required, and reduces the upper limit of the target ship's speed when berthing.

[0089] (3-7) Processing Flow 13 is an example of a flowchart showing an outline of the docking support process in this embodiment. The information processing device 1 repeatedly executes the process of the flowchart in FIG.

[0090] First, the information processing device 1 acquires point cloud data in the direction of the docking location (step S11). In this case, the information processing device 1 acquires point cloud data generated by, for example, a lidar 3 of the target ship whose measurement range includes the docking side. The information processing device 1 may further downsample the acquired point cloud data and remove data reflected on the water surface.

[0091] Next, the docking location detection unit 15 of the information processing device 1 calculates normal vectors based on the point cloud data acquired in step S11 (step S12). Furthermore, in step S12, the docking location detection unit 15 calculates the number of normal vectors, the variance of the normal vectors, etc. Furthermore, based on the processing result of step S12, the docking location detection unit 15 identifies the inner field of view and the detection plane (step S13).

[0092] Next, the berthing parameter calculation unit 16 calculates berthing parameters based on the point cloud data acquired in step S11 and the information on the normal vectors calculated in step S12 (step S14). In this case, the berthing parameter calculation unit 16 calculates the neighboring points and the nearest points of the berthing location, and further calculates the distance to the berthing location, the approach angle, the berthing speed, etc. using the calculation results.

[0093] Then, the berthing parameter calculation unit 16 generates reliability information based on the results of identifying the field of view inner surface and the detection surface in step S13 and the results of calculating the berthing parameters in step S14 (step S15). Thereafter, the information processing device 1 controls the ship based on the reliability information (step S16). This allows the information processing device 1 to accurately control the ship regarding berthing based on the reliability that accurately reflects the berthing situation.

[0094] The information processing device 1 then determines whether the target ship has come alongside (docking) (step S17). In this case, the information processing device 1 determines whether the target ship has come alongside (docking) based on, for example, the output signal of the sensor group 2 or user input via the interface 11. If the information processing device 1 determines that the target ship has come alongside (step S17; Yes), it terminates the processing of the flowchart. On the other hand, if the target ship has not come alongside (step S17; No), the information processing device 1 returns the processing to step S11.

[0095] (4) Variations The results of the identification by the field of view and detection plane identification block 21 are not limited to being used for generating reliability information. Alternatively, the information processing device 1 may use the results of the identification by the field of view and detection plane identification block 21 for various purposes other than generating reliability information. Hereinafter, examples of accurately grasping the docking situation and determining whether or not docking is possible based on the results of the identification by the field of view and detection plane identification block 21 will be described for each docking situation (docking situation A to docking situation E) with reference to Figures 14 to 16. The grasping of the docking situation and the determination of whether or not docking is possible based on the results of the identification by the field of view and detection plane identification block 21 are performed, for example, by the docking situation determination block 24.

[0096] [Bornelling situation A] In the case of docking situation A shown in Fig. 5, the information processing device 1 can grasp the characteristic of the docking location, that is, both the side and top surfaces of the docking location become the inner field of view and the detection surface, and the docking location has a top surface and a side surface. Therefore, the information processing device 1 can correctly recognize that it is a docking location (pier, quay). Furthermore, since the information processing device 1 knows the height of the docking location, it can also determine whether or not docking (docking) is possible. Furthermore, the information processing device 1 can accurately measure the distance to the docking location (i.e., calculate the distance to the shore).

[0097] [Bornelling situation B] In the case of docking situation B shown in Fig. 6(A), the information processing device 1 determines that both sides of the docking location are inside the field of view and only the side is the detected surface. In this case, either a docking location with water pooled on the top surface or an object with almost no top surface, such as a stake or a fish pen enclosure, has been detected.

[0098] FIG. 14(A) shows an example in which a structure 50 with a puddle of water 51 formed on its upper surface exists in docking situation B. FIG. 14(B) shows an example in which a structure 55 with almost no upper surface exists in docking situation B. In the example of FIG. 14(A), a puddle of water 51 has formed on structure 50, but the target vessel can dock. On the other hand, in the example of FIG. 14(B), structure 55 has almost no upper surface, making it difficult for the target vessel to dock.

[0099] Taking the above into consideration, in the case of docking situation B, the information processing device 1 can determine that there is a possibility that the detected structure is not a docking location.

[0100] [Bornelling situation C] In the case of docking situation C shown in Figure 6(B), the information processing device 1 determines that both sides of the docking location are within the field of view and only the top surface is the detection surface. In this case, it is possible that a large amount of moisture is attached to the side of the docking location, or that fenders have been installed. In the former case, the distance to the opposite shore can be measured from the point cloud data generated by the lidar 3, but in the latter case, the distance to the fenders cannot be measured.

[0101] Figure 15(A) shows an example in which a structure 50 with adhering water 56 formed on its side is present in docking situation C. Figure 15(B) shows an example in which a structure 50 with fenders 57 provided on its side is present in docking situation C. In the example of Figure 15(B), since the fenders 57 are normally black, the reflected light does not reach the lidar 3, making it difficult for the lidar 3 to detect the fenders 57 and making it impossible to measure the distance to the shore (here, the distance to the fenders).

[0102] Taking the above into consideration, the information processing device 1 determines that there is a possibility that the docking location (pier, quay) is unable to calculate an accurate distance to the shore in the case of docking situation C. Note that even in docking situation C, the information processing device 1 can calculate the docking speed, which is the speed relative to the docking location, by measuring the change in the distance to the shore.

[0103] Furthermore, in the case of docking situation C shown in FIG. 6(B), the information processing device 1 can also determine that a pier with thin sides may be the docking location. In this case, the information processing device 1 can determine that the pier is a pier if the side of the pier is detected by continuing measurement using the LIDAR 3 while approaching the docking location. FIGS. 16(A) and 16(B) show an example in which a pier 58 is present in docking situation C. In the example of FIG. 16(A), the information processing device 1 is unable to detect the side of the pier 58 using the LIDAR 3. However, in the example of FIG. 16(B), which shows a situation in which the information processing device 1 is even closer to the pier 58, the information processing device 1 is able to detect the side of the pier 58 using the LIDAR 3. In this case, the information processing device 1 can determine that the pier 58 is a pier.

[0104] [Bornelling situation D] In the case of docking situation D shown in Figure 7(A), the information processing device 1 determines that both the inner field of view and the detection surface are only side surfaces. In this case, the information processing device 1 is unable to determine the height of the side of the detected docking location. In this case, the detected docking location may be a quay high enough to allow docking, but may also be a quay too high to allow docking. Therefore, in the case of docking situation D, the information processing device 1 can determine that the detected structure may not be a place where docking is possible, even if the distance to the shore can be measured.

[0105] [Bornelling situation E] In the case of docking situation E shown in Figure 7(B), the information processing device 1 determines that both the inner field of view and the detected surface are only the upper surface. In this case, the information processing device 1 cannot determine how far the detected upper surface extends toward the front. In this case, the distance cannot be determined from the detection data, and the target vessel may be very close to the docking location. In this case, the information processing device 1 controls the operation of the target vessel to move the target vessel away from the detected structure, or outputs driving guidance information for the target vessel to a display unit or the like, urging the target vessel to move away from the detected structure. This allows the information processing device 1 to include both the side and upper surfaces of the docking location in the field of view of the lidar 3, thereby enabling it to appropriately detect and determine the docking location.

[0106] As described above, the controller 13 of the information processing device 1 according to this embodiment acquires point cloud data in the direction in which the berthing location is located, generated by the LIDAR 3 provided on the target ship. Then, based on the normal vector calculated from the point cloud data, the controller 13 identifies the inner field of view, which is the surface of the berthing location present in the field of view of the LIDAR 3, and the detection surface, which is the surface of the berthing location detected by the point cloud data. Then, based on the identification result, the controller 13 determines the berthing status regarding the berthing location. This allows the information processing device 1 to accurately grasp the berthing status.

[0107] In the above-described embodiments, the program can be stored using various types of non-transitory computer-readable media and supplied to a controller or the like that is a computer. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic storage media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical storage media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)).

[0108] Although the present invention has been described above with reference to the examples, the present invention is not limited to the above examples. Various modifications within the scope of the present invention that would be understood by those skilled in the art can be made to the configuration and details of the present invention. In other words, the present invention naturally includes various modifications and alterations that would be possible for those skilled in the art in accordance with the entire disclosure, including the claims, and the technical ideas. Furthermore, the disclosures of the above-cited patent documents and other documents are incorporated herein by reference. [Explanation of symbols]

[0109] 1. Information processing equipment 2 Sensor group 3 Rider

Claims

1. an acquisition means for acquiring measurement data in a direction toward a berthing location, the measurement data being generated by a measurement device provided on the ship; an identification means for identifying a detection plane, which is the plane of the docking location detected by the measurement data, and a vertical number of the vertical field of view angle of the measurement device corresponding to the upper end or lower end of the detection plane, based on a normal vector calculated from the measurement data; a docking status determination means for determining a docking status regarding the docking location based on the result of identification by the identification means; An information processing device having the above.

2. 2. The information processing apparatus according to claim 1, further comprising: a normal vector calculation means for calculating the normal vector based on data obtained by removing water surface reflection data from the measurement data using the water surface position as a reference.

3. 3. The information processing apparatus according to claim 1, further comprising: a normal vector calculation unit that calculates the normal vector for each measurement point of the measurement data after downsampling.

4. The information processing device according to any one of claims 1 to 3, wherein the identification means determines whether an upper surface of the docking location is the detection surface based on a vertical normal vector, and determines whether a side surface of the docking location is the detection surface based on a horizontal normal vector.

5. 5. The information processing device according to claim 1, further comprising reliability information generating means for generating reliability information representing a reliability of the docking location based on the determination result of the docking situation.

6. a shore distance calculation means for calculating a shore distance, which is a distance from the ship to the berthing location, based on the normal vector; an approach angle calculation means for calculating an approach angle of the vessel with respect to the berthing location based on the distance to the shore; and 6. The information processing device according to claim 5, wherein the reliability information generating means generates the reliability information including a reliability of the opposite bank distance based on a time change of the opposite bank distance and a reliability of the approach angle based on a time change of the approach angle.

7. a neighboring point search means for determining a predetermined number of neighboring points at the docking location relative to the vessel based on the measurement data; a nearest point determining means for determining a nearest point at the docking location relative to the ship from the nearest point; and the opposite bank distance calculation means calculates the opposite bank distance based on the nearest point and the normal vector; The information processing apparatus according to claim 6 , wherein the reliability information generating means generates the reliability information including the reliability of the nearest neighbor point based on a variance of the neighboring points.

8. A computer-implemented control method comprising: Acquire measurement data in the direction of the docking location generated by a measuring device installed on the ship, based on the normal vector calculated from the measurement data, a detection plane, which is the plane of the docking location detected by the measurement data, and a vertical number of the vertical field of view angle of the measurement device corresponding to the upper end or lower end of the detection plane are identified; determining a docking situation regarding docking at a docking location based on the result of identifying the detection surface and the vertical number; Control method.

9. Acquire measurement data in the direction of the docking location generated by a measuring device installed on the ship, based on the normal vector calculated from the measurement data, a detection plane, which is the plane of the docking location detected by the measurement data, and a vertical number of the vertical field of view angle of the measurement device corresponding to the upper end or lower end of the detection plane are identified; A program that causes a computer to execute a process of determining the docking status of the docking location based on the result of identifying the detection surface and the vertical number.

10. A computer-readable storage medium storing the program according to claim 9.

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