Information processing device, ship steering support system

Abstract

To provide an information processing device capable of sufficiently supporting ship maneuvering.SOLUTION: An information processing device for supporting ship maneuvering of a main ship includes a processor. The processor executes: first acquisition processing for acquiring an output signal of a distance sensor on a support ship different from the main ship, and an output signal of a first GNSS receiver on the support ship; and sea chart data generation processing for generating sea chart data in a harbor where the main ship navigates on the basis of the output signal of the distance sensor and the output signal of the first GNSS receiver.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device and a ship steering assistance system. [Background technology]

[0002] Information processing devices that assist ship maneuvering have been known for some time. For example, one such information processing device is proposed in an automatic docking device disclosed in Patent Document 1. According to Patent Document 1, before a user issues an instruction for automatic docking, a LiDAR on the ship measures the distance to an object located within the harbor in advance, and nautical chart data that assists ship maneuvering is generated based on this measurement data. [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] The automatic docking device in Patent Document 1 measures the distance from a ship to objects located within the harbor when the ship docks, and generates nautical chart data based on this measurement data. However, in such cases, the accuracy of the nautical chart data depends on the observation conditions when the ship docks, and there are cases where the data does not provide sufficient support for ship maneuvering.

[0005] Therefore, an object of the present disclosure is to provide an information processing device and a ship-maneuvering assistance system that can sufficiently assist ship maneuvering. [Means for solving the problem]

[0006] In order to solve the above problem, an information processing device according to one embodiment of the present disclosure is an information processing device that assists in the operation of a ship, and is equipped with a processor, which performs a first acquisition process that acquires an output signal of a distance sensor on a support ship different from the ship and an output signal of a first GNSS receiver on the support ship, and a nautical chart data generation process that generates nautical chart data for the port in which the ship is navigating based on the output signal of the distance sensor and the output signal of the first GNSS receiver.

[0007] In order to solve the above problem, an information processing device according to another aspect of the present disclosure is an information processing device that assists in the operation of a ship, and is equipped with a processor, wherein the processor executes a second acquisition process that acquires nautical chart data of the port in which the ship is navigating, generated based on the output signal of a distance sensor on a support ship different from the ship and the output signal of a first GNSS receiver on the support ship; a third acquisition process that acquires shape data of the ship, orientation data of the ship, and the output signal of a second GNSS receiver on the ship; and a current status image generation process that generates a current status image including a ship figure showing the ship in its current position and orientation on a nautical chart image based on the nautical chart data, based on the chart data, shape data of the ship, orientation data of the ship, and output signal of the second GNSS receiver.

[0008] In order to solve the above problem, a ship maneuvering assistance system according to one aspect of the present disclosure includes the information processing device according to the other aspect, the distance sensor and the first GNSS receiver on the support vessel, The second GNSS receiver on the ship. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide an information processing device and a ship-maneuvering assistance system that are capable of sufficiently assisting ship maneuvering. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram illustrating a ship maneuvering assistance system according to an embodiment of the present disclosure. [Figure 2] FIG. 10 is a schematic diagram showing a support vessel sailing along the coast of a port to acquire quay shape data and a first GNSS signal used by a cloud server as an information processing device according to one embodiment of the present disclosure. [Figure 3] FIG. 10 is a schematic diagram illustrating an example of nautical chart data generated by a cloud server as an information processing device according to one embodiment of the present disclosure. [Figure 4] 1 is a schematic diagram showing a ship whose maneuvering is assisted by a ship maneuvering assistance system according to one embodiment of the present disclosure, navigating along the coast of a harbor. [Figure 5] FIG. 10 is a schematic diagram illustrating an example of a ship maneuvering support screen including a current status image generated by a client computer as an information processing device according to another aspect of the present disclosure. [Figure 6] FIG. 1 is a schematic diagram showing how nautical chart data and the like generated by a cloud server as an information processing device according to one embodiment of the present disclosure are shared among multiple ships. [Figure 7] 10 is a flowchart illustrating an example of a process executed by a cloud server as an information processing device according to an aspect of the present disclosure. [Figure 8] 10 is a flowchart illustrating an example of processing executed by a client computer as an information processing device according to another aspect of the present disclosure. [Figure 9] FIG. 10 is a block diagram showing a first modified example of a marine vessel maneuvering assistance system according to an embodiment of the present disclosure. [Figure 10] 10 is a flowchart illustrating an example of processing executed by a first modified example of a cloud server as an information processing device according to an embodiment of the present disclosure. [Figure 11] FIG. 10 is a block diagram showing a second modified example of a marine vessel maneuvering assistance system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] 1. Ship steering support system FIG. 1 is a block diagram illustrating a ship maneuvering assistance system according to one embodiment of the present disclosure. As shown in FIG. 1, the ship maneuvering assistance system 5A according to this embodiment includes a cloud server 10a as an information processing device according to one embodiment of the present disclosure, a client computer 10b as an information processing device according to another embodiment of the present disclosure, a LiDAR 60 as a distance sensor, an antenna 62 as a first GNSS receiver, a HDD 70, a compass 72, an antenna 74 as a second GNSS receiver, a display 76, a controller 77, and a propulsion device 78. The LiDAR 60 and the antenna 62 are disposed on a support vessel Va, and the HDD 70, the compass 72, the antenna 74, the display 76, the controller 77, and the propulsion device 78 are disposed on a main vessel Vb, which is different from the support vessel Va. The cloud server 10a may transmit and receive data to and from the LiDAR 60 and the antenna 62 on the support vessel Va and the client computer 10b on the main vessel Vb via a known communication device, such as an internet connection, a wired connection, or a wireless connection. The client computer 10b may transmit and receive data to and from the HDD 70, compass 72, antenna 74, display 76, controller 77 and propulsion device 78 on the ship Vb using known wired or wireless communication devices.

[0012] 1, the cloud server 10a includes a processor 12a, which includes a first acquisition unit 21, a second acquisition unit 22, a nautical chart data generation unit 30, a memory 32 as a first memory, a receiving unit 34, and a transmitting unit 36. As shown in the figure, the client computer 10b includes a processor 12b, which includes a third acquisition unit 23, a fourth acquisition unit 24, a fifth acquisition unit 25, a sixth acquisition unit 26, a ship maneuvering support screen generation unit 38 as a current status image generation unit, a memory 39 as a second memory, a transmitting unit 40, a receiving unit 42, and a control unit 50.

[0013] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0014] Fig. 2 is a schematic diagram showing a support vessel sailing along the coast of a port to acquire quay shape data and a first GNSS signal to be used by a cloud server as an information processing device according to one embodiment of the present disclosure. As shown in Fig. 2, in this embodiment, first, the support vessel Va sails along the coast of the port H where the vessel Vb is scheduled to dock before the vessel Vb docks, and acquires data for generating the nautical chart data 80 shown in Fig. 3. Fig. 3 is a schematic diagram showing an example of nautical chart data generated by a cloud server as an information processing device according to one embodiment of the present disclosure.

[0015] The data for generating the nautical chart data 80 shown in FIG. 3 includes the output signal of the LiDAR 60 on the support vessel Va and the output signal of the antenna 62 on the support vessel Va. The output signal of the LiDAR 60 includes three-dimensional shape data of the quay Q detected by the LiDAR 60. The output signal of the antenna 62 includes a first GNSS signal received by the antenna 62 from an artificial satellite AS. Note that "GNSS" here refers to the Global Navigation Satellite System. In this embodiment, the GNSS may be any one of the satellite positioning systems, such as the United States' GPS, Japan's QZSS, Russia's GLONASS, and the European Union's Galileo, or a combination of these satellite positioning systems. Although FIGS. 1, 2, 4, and 6 each illustrate only one artificial satellite AS, the antenna 62 may receive a first GNSS signal from multiple artificial satellites, including the artificial satellite AS, and the antenna 74 may receive a second GNSS signal from multiple artificial satellites, including the artificial satellite AS. As shown in Fig. 2, the LiDAR 60 may be disposed, for example, at the bow, stern, port side, and starboard side of the support vessel Va. As shown in the same figure, the antenna 62 may be installed, for example, on the ceiling of the bridge. The antenna 62 may receive the first GNSS signal in a manner that allows positioning with an error of 10 cm or less.

[0016] In this embodiment, in the cloud server 10a, the first acquisition unit 21 acquires three-dimensional shape data of the quay wall Q detected by the LiDAR 60 on the support vessel Va from the LiDAR 60, and the second acquisition unit 22 acquires a first GNSS signal received from the satellite AS by the antenna 62 on the support vessel Va. Then, in this embodiment, in the cloud server 10a, the nautical chart data generation unit 30 generates three-dimensional nautical chart data 80 of the port H shown in Fig. 3 based on the three-dimensional shape data of the quay wall Q acquired by the first acquisition unit 21 and the first GNSS signal acquired by the second acquisition unit 22. The nautical chart data generation unit 30 can generate the nautical chart data 80 shown in Fig. 3 by converting the relative position data of the quay wall Q included in the three-dimensional shape data of the quay wall Q into absolute position data based on the absolute position data of the support vessel Va included in the first GNSS signal.

[0017] In this embodiment, the memory 32 in the cloud server 10a stores the nautical chart data 80 generated by the nautical chart data generation unit 30. Also in this embodiment, the receiving unit 34 in the cloud server 10a receives an operation instruction input by the operating device 77 on the ship Vb as a first request signal requesting the transmission of the nautical chart data 80 stored in the memory 32. Furthermore, in this embodiment, the transmitting unit 36 ​​in the cloud server 10a transmits the nautical chart data 80 stored in the memory 32 to the ship maneuvering support screen generating unit 38 of the client computer 10b based on the first request signal received by the receiving unit 34.

[0018] FIG. 4 is a schematic diagram showing a ship whose maneuvering is assisted by a ship maneuvering assistance system according to one embodiment of the present disclosure navigating along the coast of a port. As shown in FIG. 4, in this embodiment, after the nautical chart data generation unit 30 of the cloud server 10a generates nautical chart data 80 for port H, a ship Vb navigates along the coast of port H to dock at port H. In this embodiment, a hard disk drive (HDD) 70 on board the ship Vb navigating along the coast stores shape data of the ship Vb in advance, and a compass 72 on board the ship Vb detects the orientation data of the ship Vb. Furthermore, in this embodiment, an antenna 74 on board the ship Vb navigating along the coast receives a second GNSS signal from a satellite AS. The shape data of the ship Vb may be three-dimensional or two-dimensional. As shown in FIG. 4, the HDD 70 and the compass 72 may be located, for example, on the bridge of the ship Vb. As shown in the figure, the antenna 74 may be installed, for example, on the ceiling of the bridge. The antenna 74 may receive the second GNSS signal in a manner that allows positioning with an error of 10 cm or less.

[0019] 4, when the ship Vb is sailing, in the client computer 10b, the third acquisition unit 23 acquires shape data of the ship Vb from the HDD 70, the fourth acquisition unit 24 acquires direction data of the ship Vb from the compass 72, and the fifth acquisition unit 25 acquires the second GNSS signal from the antenna 74 as an output signal of the antenna 74. Also, in this embodiment, as shown in the same figure, when the ship Vb is sailing, in the client computer 10b, the sixth acquisition unit 26 acquires nautical chart data 80 from the cloud server 10a.

[0020] In this embodiment, as shown in Fig. 4, when the ship Vb is sailing, in the client computer 10b, the ship maneuvering support screen generation unit 38 generates a two-dimensional current status image 102 including a ship figure 106 showing the ship Vb in its current position and orientation on a two-dimensional nautical chart image 104 based on the three-dimensional chart data 80, based on the three-dimensional chart data 80, the shape data of the ship Vb acquired by the third acquisition unit 23, the orientation data of the ship Vb acquired by the fourth acquisition unit 24, and the second GNSS signal acquired by the fifth acquisition unit 25, as shown in Fig. 5. Fig. 5 is a schematic diagram showing an example of a ship maneuvering support screen including a current status image generated by a client computer as an information processing device according to another embodiment of the present disclosure.

[0021] As shown in FIG. 5, the ship maneuvering support screen generating unit 38 may generate the ship maneuvering support screen 100 by displaying a menu switching unit 108 alongside the current status image 102 generated as described above. The menu switching unit 108 includes a current status button 110a for displaying the current status image 102 based on a user's instruction, a monitor button 110b for displaying image data captured by an imaging device on the ship Vb based on a user's instruction, a route plan button 110c for displaying a route plan based on a user's instruction, an instruction button 110d for issuing ship maneuvering instructions based on a user's instruction, and a call button 110e for making a call based on a user's instruction. As shown in FIG. 5, when the current status button 110a is selected based on a user's instruction, buttons for switching between displaying and hiding information related to the ship speed, rudder direction, and thrust of the ship Vb are displayed alongside the current status image 102. This allows, for example, only desired information to be displayed on the current status image 102, thereby reducing the amount of information displayed on the ship maneuvering support screen 100 and improving user convenience.

[0022] In this embodiment, the memory 39 of the client computer 10b stores the ship maneuvering assistance screen 100 generated by the ship maneuvering assistance screen generating unit 38. Also in this embodiment, the receiving unit 42 of the client computer 10b receives an operation instruction input by the operating device 77 on the ship Vb as a second request signal requesting the transmission of a current status image 102. Then, in this embodiment, the transmitting unit 40 of the client computer 10b transmits the ship maneuvering assistance screen 100 stored in the memory 39 to the display 76 on the ship Vb based on the operation instruction received by the receiving unit 42. The display 76 displays the ship maneuvering assistance screen 100 received from the client computer 10b. The operation device 77 may receive, from the user, for example, an input of an operation instruction to send to the cloud server 10a a first request signal requesting transmission of the nautical chart data 80 stored in the memory 32 of the cloud server 10a, an input of an operation instruction to send to the client computer 10b a second request signal requesting transmission of the vessel maneuvering assistance screen 100 stored in the memory 39 of the client computer 10b, and an input of an operation instruction to switch the display of the vessel maneuvering assistance screen 100. The operation device 77 may be disposed adjacent to the display 76, for example.

[0023] In this embodiment, in the client computer 10b, the control unit 50 autonomously controls the operation of the propulsion device 78 of the ship Vb based on the three-dimensional nautical chart data 80 acquired by the sixth acquisition unit 26, the shape data of the ship Vb acquired by the third acquisition unit 23, the orientation data of the ship Vb acquired by the fourth acquisition unit 24, and the second GNSS signal acquired by the fifth acquisition unit 25.

[0024] FIG. 6 is a schematic diagram illustrating how nautical chart data, etc., generated by a cloud server serving as an information processing device according to one embodiment of the present disclosure are shared among multiple ships. As shown in FIG. 6, for example, nautical chart data 80 can be used not only to assist in the navigation of the main ship Vb, but also to assist in the navigation of other ships VA, VB, VC, etc. Here, for example, the other ships VA, VB, and VC may each be equipped with the same equipment as the HDD 70, compass 72, antenna 74, and display 76 on the main ship Vb. Furthermore, for example, when the other ship VA docks at a port other than the port H, the nautical chart data for the other port generated in the same manner as above can be used to assist in the navigation of the main ship Vb, the other ships VB, and VC. The same applies to the other ships VB and VC, and therefore similar explanations will not be repeated here.

[0025] 2. Example of processing by cloud server 10a An example of processing executed by the cloud server 10a will be described with reference to Fig. 7. Fig. 7 is a flowchart showing an example of processing executed by the cloud server as an information processing device according to an embodiment of the present disclosure.

[0026] First, step S1-1 is executed to acquire shape data of quay Q in port H from the LiDAR 60 on board the support vessel Va. Next, step S1-2 is executed to acquire a first GNSS signal from the antenna 62 on board the support vessel Va. These steps S1-1 and S1-2 correspond to the first acquisition process. Next, step S1-3 is executed to generate nautical chart data 80 based on the shape data of quay Q acquired in step S1-1 and the first GNSS signal acquired in step S1-2. This step S1-3 corresponds to the nautical chart data generation process.

[0027] Next, step S1-4 is executed to store the nautical chart data 80 generated in step S1-3 in memory 32. This step S1-4 corresponds to the nautical chart data storage process. Next, step S1-5 is executed to determine whether an operation instruction input by the operating device 77 on board the ship Vb has been received as a first request signal requesting the transmission of the nautical chart data 80 stored in memory 32. This step S1-5 corresponds to the first determination process, and the process of receiving the first request signal in step S1-5 corresponds to the first request signal reception process. Finally, based on the reception status of the first request signal received in step S1-5, in other words, if the determination in step S1-5 is "YES," step S1-6 is executed to transmit the nautical chart data 80 stored in memory 32 in step S1-4 to the client computer 10b. This step S1-6 corresponds to the nautical chart data transmission process. Note that if the determination in step S1-5 is "NO," step S1-5 is repeatedly executed until the first request signal is received.

[0028] Steps S1-1 and S1-2 may be executed in reverse order or in parallel. Step S1-3 is executed after steps S1-1 and S1-2 are executed. Step S1-4 is executed after step S1-3 is executed. Step S1-5 may be executed in parallel with steps S1-1 to S1-4. Step S1-6 is executed after steps S1-4 and S1-5 are executed.

[0029] 3. Example of Processing by Client Computer 10b An example of processing executed by the client computer 10b will be described with reference to Fig. 8. Fig. 8 is a flowchart showing an example of processing executed by a client computer as an information processing device according to another embodiment of the present disclosure.

[0030] First, step S2-1 is executed to acquire nautical chart data 80 from the cloud server 10a. This step S2-1 corresponds to the second acquisition process. Next, step S2-2 is executed to acquire shape data of the ship Vb from the HDD 70 on the ship Vb. Next, step S2-3 is executed to acquire direction data of the ship Vb from the compass 72 on the ship Vb. Next, step S2-4 is executed to acquire a second GNSS signal from the antenna 74 on the ship Vb. These steps S2-2 to S2-4 correspond to the third acquisition process.

[0031] Next, step S2-5 is executed to generate a ship maneuvering support screen 100 including a current status image 102 based on the nautical chart data 80 acquired in step S2-1, the shape data of the ship Vb acquired in step S2-2, the orientation data of the ship Vb acquired in step S2-3, and the second GNSS signal acquired in step S2-4. This step S2-5 corresponds to the current status image generation process.

[0032] Next, step S2-6 is executed to store the ship maneuvering assistance screen 100 generated in step S2-5 in the memory 39. This step S2-6 corresponds to the current status image storage process. Next, step S2-7 is executed to determine whether an operation instruction input by the operating device 77 on the ship Vb has been received as a second request signal requesting transmission of the ship maneuvering assistance screen 100 stored in the memory 39. This step S2-7 corresponds to the second determination process, and the process of receiving the second request signal in step S2-7 corresponds to the second request signal reception process. Next, based on the reception status of the second request signal received in step S2-7, in other words, if the determination in step S2-7 is "YES," step S2-8 is executed to transmit the ship maneuvering assistance screen 100 stored in the memory 39 in step S2-6 to the display 76 on the ship Vb. This step S2-8 corresponds to the current status image transmission process. Finally, step S2-9 is executed to autonomously control the operation of the propulsion device 78 of the ship Vb based on the nautical chart data 80 acquired in step S2-1, the shape data of the ship Vb acquired in step S2-2, the orientation data of the ship Vb acquired in step S2-3, and the second GNSS signal acquired in step S2-4. This step S2-9 corresponds to the operation control process. Note that if the determination in step S1-5 is "NO," step S1-5 is repeatedly executed until the first request signal is received.

[0033] Step S2-1 is executed after step S1-6 shown in FIG. 7 is executed. Steps S2-2 to S2-4 may be executed in a different order or in parallel. Steps S2-2 to S2-4 may be executed before the steps shown in FIG. 7 and step S2-1 are executed, or may be executed in parallel with the steps shown in FIG. 7 and step S2-1, or may be executed after the steps shown in FIG. 7 and step S2-1 are executed. Step S2-5 is executed after steps S2-1 to S2-4 are executed. Step S2-6 is executed after step S2-5 is executed. Step S2-7 may be executed in parallel with the steps shown in FIG. 7 and steps S2-1 to S2-6. Step S2-8 is executed after steps S2-6 and S2-7 are executed. Step S2-9 is executed after steps S2-1 to S2-4 are executed.

[0034] 3.Effects 3.1. Effects of Cloud Server 10a A cloud server 10a as an information processing device according to one embodiment of the present disclosure generates nautical chart data 80 of port H based on shape data of quay Q of port H detected by a LiDAR 60 on board a support vessel Va and a first GNSS signal received by an antenna 62 on board the support vessel Va. This allows for the generation of more accurate nautical chart data 80 compared to, for example, conventional cases in which nautical chart data is generated based on detection values ​​by a LiDAR on board the vessel. For example, under relatively good observation conditions, the support vessel Va can navigate along the coast of port H in advance before the vessel Vb docks, detect shape data of quay Q using the LiDAR 60, and receive the first GNSS signal using the antenna 62. Therefore, for example, compared to conventional cases in which nautical chart data is generated based on detection values ​​by a LiDAR on board the vessel Vb, data for generating nautical chart data can be obtained without depending on the observation conditions at the time the vessel Vb docks. This makes it possible to generate more accurate nautical chart data 80 than, for example, conventional cases where nautical chart data is generated based on detection values ​​from LiDAR on board the ship. Based on this accurate nautical chart data 80, it becomes possible to provide sufficient support for ship operation.

[0035] The cloud server 10a according to this embodiment stores the nautical chart data 80 in the memory 32, receives an operation instruction input by the operator 77 as a first request signal requesting transmission of the nautical chart data 80 stored in the memory 32, and determines, based on the received operation instruction, whether or not transmission of the nautical chart data 80 to the client computer 10b as an information processing device according to another embodiment of the present disclosure has been requested, thereby improving convenience. Note that even if the ship maneuvering assistance system 5A does not include a device for transmitting the first request signal, such as the operator 77, and the cloud server 10a does not determine whether or not transmission of the nautical chart data 80 to the client computer 10b has been requested, the cloud server 10a can still sufficiently assist in maneuvering the ship Vb.

[0036] The cloud server 10a according to this embodiment determines whether or not transmission of the nautical chart data 80 has been requested, as described above, and when it determines that transmission of the nautical chart data 80 has been requested, transmits the nautical chart data 80 to the client computer 10b, thereby further improving convenience. Note that even when transmitting the nautical chart data 80 to the client computer 10b without determining whether or not transmission of the nautical chart data 80 has been requested, as described above, the cloud server 10a can still adequately support the maneuvering of the ship Vb. In such a case, for example, the cloud server 10a may continue to transmit the nautical chart data 80 to the client computer 10b.

[0037] In this embodiment, three-dimensional shape data of the quay wall Q is detected by the LiDAR 60 as a distance sensor on the support vessel Va, so more accurate nautical chart data 80 can be generated compared to, for example, when two-dimensional shape data of the quay wall Q is detected by another distance sensor. Note that even when the nautical chart data 80 is not generated in this way, it is still possible to sufficiently support the maneuvering of the vessel Vb. Furthermore, in this embodiment, the output signal of the antenna 62 as the first GNSS receiver includes the first GNSS signal received by the antenna 62 from the artificial satellite AS in a manner that allows positioning with an error of 10 cm or less. Therefore, more accurate nautical chart data 80 can be generated based on this first GNSS signal, etc. Note that even when the nautical chart data 80 is not generated in this way, it is still possible to sufficiently support the maneuvering of the vessel Vb.

[0038] In this embodiment, two-dimensional nautical chart data 80 is generated based on three-dimensional shape data of the quay Q and the first GNSS signal, making it possible to generate more accurate and easier-to-read nautical chart data 80. Even if nautical chart data 80 is not generated in this way, it is still possible to sufficiently assist in maneuvering the ship Vb.

[0039] 3.2. Effects of the Client Computer 10b A client computer 10b as an information processing device according to another aspect of the present disclosure acquires nautical chart data 80 and the like generated by the cloud server 10a as described above, and generates a current status image 102 including a ship figure 106 on a nautical chart image 104 based on the acquired nautical chart data 80. This makes it possible to generate a more accurate current status image 102 than, for example, when a current status image is generated based on detection values ​​from LiDAR on the ship as in the conventional case. Then, it becomes possible to provide sufficient ship maneuvering assistance based on this accurate current status image 102.

[0040] The client computer 10b according to this embodiment stores the current status image 102 in the memory 39, receives an operation instruction input by the controller 77 as a second request signal requesting transmission of the nautical chart data 80 stored in the memory 39, and transmits the current status image 102 to the display 76 on the ship Vb based on the received second request signal, thereby improving convenience. Note that even if the ship maneuvering assistance system 5A does not include a device for transmitting the second request signal, such as the controller 77, the client computer 10b can sufficiently assist in maneuvering the ship Vb. In such a case, for example, the client computer 10b may continue to transmit the current status image 102 to the display 76.

[0041] In this embodiment, the output signal of the antenna 74 as a second GNSS receiver includes the second GNSS signal received by the antenna 74 from the satellite AS in a manner that allows positioning to be performed with an error of 10 cm or less, and therefore a more accurate current status image 102 can be generated based on this second GNSS signal, etc. Note that even if the output signal of the antenna 74 as a second GNSS receiver does not include the second GNSS signal in a manner that allows positioning to be performed with an error of 10 cm or less, but includes, for example, a second GNSS signal of another manner, it is still possible to sufficiently assist in the maneuvering of the ship Vb.

[0042] In this embodiment, the operation of the propulsion device 78 of the ship Vb is autonomously controlled based on the nautical chart data 80, the shape data of the ship Vb, the orientation data of the ship Vb, and the second GNSS signal, which makes it possible to more fully assist in maneuvering the ship Vb. Note that even if the operation of the propulsion device 78 is not autonomously controlled in this way, it is still possible to fully assist in maneuvering the ship Vb.

[0043] 4. Variations From the above description, many improvements and other aspects of the present disclosure will be apparent to those skilled in the art. Therefore, the above description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the present disclosure. Details of the structure and / or function thereof can be substantially changed without departing from the spirit of the present disclosure.

[0044] 4.1. First Modification 9 is a block diagram showing a first modified example of a ship maneuvering assistance system according to one embodiment of the present disclosure. The ship maneuvering assistance system 5B according to this modified example includes a cloud server 10c that includes all of the components except for the memory 32, receiving unit 34, and transmitting unit 36 ​​provided in the cloud server 10a, and all of the components except for the sixth acquisition unit 26 provided in the client computer 10b, and has the same structure as the ship maneuvering assistance system 5A, except that the cloud server 10c does not include the client computer 10b. Therefore, the same reference numerals are used to refer to the same parts, and similar descriptions will not be repeated.

[0045] 9, a cloud server 10c serving as an information processing device according to this modification includes a processor 12c. The processor 12c includes a first acquisition unit 21, a second acquisition unit 22, a third acquisition unit 23, a fourth acquisition unit 24, a fifth acquisition unit 25, a nautical chart data generation unit 30, a memory 39, a transmission unit 40, a reception unit 42, and a control unit 50. This type of cloud server 10c can also adequately support the operation of the ship Vb.

[0046] In this modified example, unlike the embodiment described above, in the cloud server 10c, the nautical chart data 80 generated by the nautical chart data generation unit 30 is directly transmitted to the ship maneuvering support screen generation unit 38. Therefore, in this modified example, unlike the embodiment described above, the nautical chart data storage process, the first request signal reception process, and the second acquisition process are not executed. Except for this point, the process executed by the cloud server 10c according to this modified example is the process executed by the cloud server 10a described above with reference to Figure 7, followed by the process executed by the client computer 10b described above with reference to Figure 8.

[0047] An example of processing executed by the cloud server 10c will be described with reference to Fig. 10. Fig. 10 is a flowchart showing an example of processing executed by a first modified example of the cloud server as an information processing device according to an embodiment of the present disclosure.

[0048] First, step S3-1 is executed to acquire shape data of quay Q in port H from the LiDAR 60 on board the support vessel Va. Next, step S3-2 is executed to acquire a first GNSS signal from the antenna 62 on board the support vessel Va. These steps S3-1 and S3-2 correspond to the first acquisition process. Next, step S3-3 is executed to generate nautical chart data 80 based on the shape data of quay Q acquired in step S3-1 and the first GNSS signal acquired in step S3-2. This step S3-3 corresponds to the nautical chart data generation process. Next, step S3-4 is executed to transmit the nautical chart data 80 generated in step S3-3 to the ship maneuvering support screen 100. This step S3-4 corresponds to the nautical chart data transmission process.

[0049] Next, step S3-5 is executed to acquire shape data of the ship Vb from the HDD 70 on board the ship Vb. Next, step S3-6 is executed to acquire direction data of the ship Vb from the compass 72 on board the ship Vb. Next, step S3-7 is executed to acquire a second GNSS signal from the antenna 74 on board the ship Vb. These steps S3-5 to S3-7 correspond to the third acquisition process.

[0050] Next, step S3-8 is executed to generate a ship maneuvering support screen 100 including a current status image 102 based on the nautical chart data 80 acquired in step S3-5, the shape data of the ship Vb acquired in step S3-6, the orientation data of the ship Vb acquired in step S3-6, and the second GNSS signal acquired in step S3-7. This step S3-8 corresponds to the current status image generation process.

[0051] Next, step S3-9 is executed to store the ship maneuvering assistance screen 100 generated in step S3-5 in the memory 39. This step S3-9 corresponds to the current status image storage process. Next, step S3-10 is executed to determine whether an operation instruction input by the operating device 77 on the ship Vb has been received as a second request signal requesting transmission of the ship maneuvering assistance screen 100 stored in the memory 39. This step S3-10 corresponds to the second determination process, and the process of receiving the second request signal in step S3-10 corresponds to the second request signal reception process. Next, based on the reception status of the second request signal received in step S3-10, in other words, if the determination in step S3-10 is "YES," step S3-11 is executed to transmit the ship maneuvering assistance screen 100 stored in the memory 39 in step S3-9 to the display 76 on the ship Vb. This step S3-11 corresponds to the current status image transmission process. Finally, step S3-12 is executed to autonomously control the operation of the propulsion device 78 of the ship Vb based on the nautical chart data 80 generated in step S3-3, the shape data of the ship Vb acquired in step S3-5, the orientation data of the ship Vb acquired in step S3-6, and the second GNSS signal acquired in step S3-7. This step S2-9 corresponds to the operation control process. Note that if the determination in step S3-10 is "NO," step S3-10 is repeatedly executed until a second request signal is received.

[0052] Steps S3-1 and S3-2 may be executed in a different order or in parallel. Step S3-3 is executed after steps S3-1 and S3-2 are executed. Step S3-4 is executed after step S3-3 is executed. Steps S3-5 through S3-7 may be executed in a different order or in parallel. Steps S3-5 through S3-7 may be executed before steps S3-1 through S3-4 are executed, or may be executed in parallel with steps S3-1 through S3-4, or may be executed after steps S3-1 through S3-4 are executed. Step S3-8 is executed after steps S3-4 through S3-7 are executed. Step S3-9 is executed after step S3-8 is executed. Step S3-10 may be executed in parallel with steps S3-1 through S3-9. Step S3-11 is executed after steps S3-9 and S3-10 have been executed, and step S3-12 is executed after steps S3-4 through S3-7 have been executed.

[0053] 4.2. Second Modification 11 is a block diagram showing a second modified example of a ship maneuvering assistance system according to an embodiment of the present disclosure. A ship maneuvering assistance system 5C according to this modified example has the same structure as the ship maneuvering assistance system 5B described above, except that, instead of the cloud server 10c described with reference to FIGS. 9 and 10, a computer 10d has the same structure as the cloud server 10c and executes the same processing, and the computer 10d is located on the ship Vb. Therefore, the same reference numerals are used for the same parts, and similar descriptions will not be repeated.

[0054] As shown in Figure 11, a computer 10d serving as an information processing device according to this modification is disposed on board a ship Vb. The computer 10d includes a processor 12d. The processor 12d includes a first acquisition unit 21, a second acquisition unit 22, a third acquisition unit 23, a fourth acquisition unit 24, a fifth acquisition unit 25, a nautical chart data generation unit 30, a memory 39, a transmission unit 40, a reception unit 42, and a control unit 50. This type of computer 10d can adequately assist in the operation of the ship Vb.

[0055] 4.3. Other Variations In the above embodiment, the client computer 10b is located on the ship Vb. However, the present invention is not limited to this, and the client computer 10b may be located on the support ship Va, on the quay Q of the port H, in a remote location from the quay Q, or in another location.

[0056] In the above embodiment and modified example, a case has been described in which a LiDAR 60 is provided as the distance sensor on the support vessel Va. However, this is not limited to this case, and the distance sensor on the support vessel Va may be an optical sensor other than the LiDAR 60, a millimeter wave sensor, or an ultrasonic sensor. Alternatively, the distance sensor may detect the distance to the quay Q based on image data captured by a camera. Furthermore, the support vessel Va may include, for example, multiple distance sensors of the above-mentioned types.

[0057] In the above embodiment and modified example, a case has been described in which the shape data of the quay wall Q is three-dimensional, and in the nautical chart data generation process, two-dimensional nautical chart data 80 is generated based on the three-dimensional shape data of the quay wall Q and the first GNSS signal. However, this is not limited to this case, and for example, the shape data of the quay wall Q may be two-dimensional, and the two-dimensional nautical chart data 80 may be generated from this two-dimensional shape data of the quay wall Q, or the shape data of the quay wall Q may be three-dimensional, and the three-dimensional nautical chart data 80 may be generated from this three-dimensional shape data of the quay wall Q, etc.

[0058] In the above embodiments and variations, the case where the shape data of the ship Vb is pre-stored on the HDD 70 on the ship Vb has been described. However, this is not limited to this case, and the shape data of the ship Vb may be pre-stored on an HDD located in a location other than the ship Vb, or on an SSD or other storage device. The third acquisition unit 23 may then acquire the shape data of the ship Vb pre-stored in a storage device other than the HDD 70 from that storage device. Alternatively, the shape data of the ship Vb may not be pre-stored in a storage device, but may be generated, for example, when it is transmitted to the third acquisition unit 23.

[0059] In the above embodiment and modified example, the case where the bearing data of the ship Vb is detected by the compass 72 on the ship Vb has been described. However, this is not limited to this case, and the bearing data of the ship Vb may be detected, for example, based on image data captured by an artificial satellite AS, or may be detected in other ways. The fourth acquisition unit 24 may also acquire the bearing data of the ship Vb detected by a device other than the compass 72 from that device.

[0060] In the above embodiment and modified example, the antenna 62 serving as the first GNSS receiver receives the first GNSS signal from the satellite AS in a manner that allows positioning with an error of 10 cm or less. However, this is not limited to this, and the first GNSS receiver may receive the first GNSS signal from the satellite AS in a manner other than that allowing positioning with an error of 10 cm or less. The second acquisition unit 22 may then acquire this first GNSS signal from the first GNSS receiver. Note that the same applies to the antenna 74 serving as the second GNSS receiver and the fifth acquisition unit 25, and therefore their description will not be repeated here.

[0061] In the above embodiments and variations, a case has been described in which the operation of the propulsion device 78 of the ship Vb is autonomously controlled by the control unit 50 based on the nautical chart data 80, the shape data of the ship Vb, the orientation data of the ship Vb, and the second GNSS signal. However, this is not limited to this case, and for example, the client computer 10b and the cloud server 10c may not each be equipped with a control unit 50, and the operation of the propulsion device 78 of the ship Vb may not be autonomously controlled. In such a case, for example, the operation of the propulsion device 78 may be manually controlled based on an operation instruction received as input by the operating device 77.

[0062] In the above embodiment and modified example, a case has been described in which the ship maneuvering assistance screen 100 is generated based on the nautical chart data 80 and the current status image 102, and this ship maneuvering assistance screen 100 is stored in the memory 39 and then transmitted to the display 76 on the ship Vb. However, this is not limited to this case, and the ship maneuvering assistance screen 100 does not have to be generated. In such a case, the nautical chart data 80 itself may be stored in the memory 32 and then transmitted to the display 76 on the ship Vb, or the current status image 102 itself may be stored in the memory 39 and then transmitted to the display 76 on the ship Vb.

[0063] The support vessel Va described in the above embodiments and modifications may be a carrier vessel, a fishing vessel, or any other vessel as long as it is equipped with a distance sensor and a first GNSS receiver. Similarly, the main vessel Vb may be a carrier vessel, a fishing vessel, or any other vessel as long as it is equipped with a second GNSS receiver.

[0064] In the above first modified example, a case has been described in which the nautical chart data 80 generated by the nautical chart data generation unit 30 in the cloud server 10c is directly transmitted to the ship maneuvering support screen generation unit 38. However, this is not limited to this case, and the cloud server 10c may be provided with a memory 32, similar to the cloud server 10a according to the above embodiment, and store the nautical chart data 80 in this memory 32, and transmit the nautical chart data 80 stored in the memory 32 to the ship maneuvering support screen generation unit 38 based on the first request signal. The same applies to the computer 10d according to the above second modified example, and therefore the description thereof will not be repeated here.

[0065] 5. Summary In order to solve the above problem, an information processing device according to one embodiment of the present disclosure is an information processing device that assists in the operation of a ship, and is equipped with a processor, which performs a first acquisition process that acquires an output signal of a distance sensor on a support ship different from the ship and an output signal of a first GNSS receiver on the support ship, and a nautical chart data generation process that generates nautical chart data for the port in which the ship is navigating based on the output signal of the distance sensor and the output signal of the first GNSS receiver.

[0066] According to the above configuration, nautical chart data for the harbor is generated based on the output signals of the distance sensor on the support vessel and the first GNSS receiver on the support vessel, so accurate nautical chart data can be generated, and sufficient ship maneuvering support can be provided based on this accurate nautical chart data.

[0067] The device may further include a first memory, and the processor may further execute a nautical chart data storage process for storing the nautical chart data in the first memory, a first request signal reception process for receiving a first request signal requesting transmission of the nautical chart data stored in the first memory, and a first determination process for determining whether transmission of the nautical chart data stored in the first memory is requested based on the reception status of the first request signal.

[0068] The above configuration improves convenience. However, even without the above configuration, sufficient assistance in maneuvering a vessel can be provided.

[0069] When the processor determines in the first determination process that transmission of the nautical chart data stored in the first memory has been requested, it may further execute a nautical chart data transmission process that transmits the nautical chart data based on the first request signal to a current status image generation unit that generates a current status image including a ship figure showing the ship in its current position and orientation on a nautical chart image based on the nautical chart data, or to a display on the ship.

[0070] The above configuration further improves convenience. However, even without the above configuration, sufficient assistance in maneuvering a vessel can be provided.

[0071] The distance sensor may include a LiDAR, the output signal of the distance sensor may include quay shape data detected by the LiDAR, and the output signal of the first GNSS receiver may include a first GNSS signal received by the first GNSS receiver from a satellite in a manner that enables positioning with an error of 10 cm or less, and the processor may generate the nautical chart data based on the quay shape data and the first GNSS signal in the nautical chart data generation process.

[0072] According to the above configuration, more accurate nautical chart data can be generated. However, even without the above configuration, sufficient ship maneuvering assistance is possible.

[0073] The quay shape data may be three-dimensional, and the processor may generate the three-dimensional or two-dimensional nautical chart data based on the three-dimensional quay shape data and the first GNSS signal in the nautical chart data generation process.

[0074] According to the above configuration, it is possible to generate more accurate and easier-to-read nautical chart data. However, even without the above configuration, it is possible to sufficiently assist ship maneuvering.

[0075] In order to solve the above problem, an information processing device according to another aspect of the present disclosure is an information processing device that assists in the operation of a ship, and is equipped with a processor, wherein the processor executes a second acquisition process that acquires nautical chart data of the port in which the ship is navigating, generated based on the output signal of a distance sensor on a support ship different from the ship and the output signal of a first GNSS receiver on the support ship; a third acquisition process that acquires shape data of the ship, orientation data of the ship, and the output signal of a second GNSS receiver on the ship; and a current status image generation process that generates a current status image including a ship figure showing the ship in its current position and orientation on a nautical chart image based on the nautical chart data, based on the chart data, shape data of the ship, orientation data of the ship, and output signal of the second GNSS receiver.

[0076] According to the above configuration, a current status image is generated based on nautical chart data of the port through which the ship is navigating, which is generated based on the output signal of a distance sensor on a support ship other than the ship and the output signal of the first GNSS receiver on the support ship, so that an accurate current status image can be generated. This accurate current status image can then be used to provide sufficient ship maneuvering support.

[0077] The device may further include a second memory, and the processor may further execute a current image storage process for storing the current image in the second memory, a second request signal reception process for receiving a second request signal requesting transmission of the current image stored in the second memory, a second determination process for determining whether transmission of the current image stored in the second memory has been requested based on the reception status of the second request signal, and a current image transmission process for transmitting the current image to a display on the ship when it is determined in the second determination process that transmission of the current image stored in the second memory has been requested.

[0078] The above configuration improves convenience. However, even without the above configuration, sufficient assistance in maneuvering a vessel can be provided.

[0079] The output signal of the second GNSS receiver includes a second GNSS signal received by the second GNSS receiver from a satellite in a manner that enables positioning with an error of 10 cm or less, and the processor may generate the current status image based on the nautical chart data, the shape data of the ship, the orientation data of the ship, and the second GNSS signal in the current status image generation process.

[0080] According to the above configuration, a more accurate current status image can be generated. However, even without the above configuration, sufficient assistance in maneuvering a ship can be provided.

[0081] The processor may further perform operation control processing to autonomously control the operation of the ship's propulsion device based on the nautical chart data, the shape data of the ship, the orientation data of the ship, and the output signal of the second GNSS receiver.

[0082] According to the above configuration, it is possible to more fully assist ship maneuvering. However, even without the above configuration, it is possible to fully assist ship maneuvering.

[0083] In order to solve the above problem, a ship steering assistance system according to one embodiment of the present disclosure comprises an information processing device according to the other embodiment described above, the distance sensor and the first GNSS receiver on the support vessel, and the second GNSS receiver on the main vessel.

[0084] According to the above configuration, the information processing device according to the other aspect is provided, so that it is possible to sufficiently assist in maneuvering the ship. [Explanation of symbols]

[0085] 5A, 5B Ship Maneuvering Support System 10a, 10c cloud servers 10b Client Computer 12a-12c processors 21 First acquisition part 22 Second acquisition part 23 Third Acquisition Department 24 4th acquisition part 25 5th acquisition part 26 6th acquisition part 30 Nautical chart data generation unit 34, 42 Receiver 36, 40 Transmitter 38 Ship steering support screen generation unit 50 control section 60 LiDAR 62, 74 Antenna 70 HDD 72 Direction meter 76 Display 77 Controller 78 Propulsion device 80 Nautical Chart Data 100 Navigation support screen 102 Current status image 104 Nautical Chart Images 106 Ship's shape 108 Menu switch section 110a-110e switch button AS satellite Q Quay H port Va support ship Vb Main ship VA-VC Other ship

Claims

1. An information processing device that supports ship operation, a processor; The processor: a first acquisition process for acquiring in advance an output signal of a distance sensor on a support vessel different from the main vessel and an output signal of a first GNSS receiver on the support vessel before the main vessel sails within the port; a nautical chart data generation process for generating nautical chart data for the port in which the ship will navigate based on the output signal of the distance sensor and the output signal of the first GNSS receiver before the ship navigates within the port; An information processing device that executes the above.

2. Further comprising a first memory; The processor: a nautical chart data storage process for storing the nautical chart data in the first memory; a first request signal receiving process for receiving a first request signal requesting transmission of the nautical chart data stored in the first memory; a first determination process for determining whether transmission of the nautical chart data stored in the first memory is requested based on a reception state of the first request signal; The information processing apparatus according to claim 1 , further comprising:

3. An information processing device as described in claim 2, wherein when the processor determines in the first determination process that transmission of the nautical chart data stored in the first memory is requested, the processor further executes a current status image generation unit that generates a current status image including a ship figure showing the ship in its current position and orientation on a nautical chart image based on the nautical chart data, or a nautical chart data transmission process that transmits the nautical chart data to a display on the ship.

4. the distance sensor includes a LiDAR; The output signal of the distance sensor includes shape data of the quay wall detected by the LiDAR, the output signal of the first GNSS receiver includes a first GNSS signal received by the first GNSS receiver from an artificial satellite in a manner enabling positioning with an error of 10 cm or less; The information processing device according to claim 1 , wherein the processor generates the nautical chart data based on the quay shape data and the first GNSS signal in the nautical chart data generation process.

5. The shape data of the quay wall is three-dimensional, The information processing device according to claim 4 , wherein the processor generates the three-dimensional or two-dimensional nautical chart data based on the three-dimensional quay shape data and the first GNSS signal in the nautical chart data generation process.

6. An information processing device that supports ship operation, a processor; The processor: a second acquisition process for acquiring nautical chart data of the port that was generated in advance before the vessel navigates within the port based on the output signal of a distance sensor on a support vessel different from the vessel and the output signal of a first GNSS receiver on the support vessel; a third acquisition process for acquiring shape data of the ship, orientation data of the ship, and an output signal of a second GNSS receiver on the ship; a current status image generation process for generating a current status image including a ship figure showing the ship in its current position and orientation on a nautical chart image based on the nautical chart data, based on the nautical chart data, the shape data of the ship, the orientation data of the ship, and the output signal of the second GNSS receiver; An information processing device that executes the above.

7. Further comprising a second memory; The processor: a current status image storage process for storing the current status image in the second memory; a second request signal receiving process for receiving a second request signal requesting transmission of the current image stored in the second memory; a second determination process for determining whether transmission of the current image stored in the second memory is requested based on a reception state of the second request signal; a current status image transmission process for transmitting the current status image to a display on the ship when it is determined in the second determination process that transmission of the current status image stored in the second memory is requested; The information processing apparatus according to claim 6 , further comprising:

8. the output signal of the second GNSS receiver includes a second GNSS signal received by the second GNSS receiver from an artificial satellite in a manner enabling positioning with an error of 10 cm or less; 8. An information processing device according to claim 6 or 7, wherein the processor generates the current status image based on the nautical chart data, the shape data of the ship, the orientation data of the ship, and the second GNSS signal in the current status image generation process.

9. An information processing device described in any one of claims 6 to 8, wherein the processor further performs an operation control process to autonomously control the operation of the ship's propulsion device based on the nautical chart data, the ship's shape data, the ship's orientation data, and the output signal of the second GNSS receiver.

10. An information processing device according to any one of claims 6 to 9; the distance sensor and the first GNSS receiver on the support vessel; The second GNSS receiver on the ship.

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