Apparatus, method, and program

Abstract

To provide a device, a method, and a program for detecting a buoy in the travelling direction of an own ship.SOLUTION: A device comprises a first detection unit for detecting a buoy in the travelling direction of an own ship, a specification unit for specifying the end side buoy located at the extreme end in the left and right direction among multiple buoys in response to the detection of multiple buoys by the first detection unit, and an imaging unit for taking the image of the front in the travelling direction. The first detection unit detects the buoy by performing an image recognition on the image captured by the imaging unit. The first detection unit detects the multiple buoys in the multiple images captured by the imaging unit.SELECTED DRAWING: Figure 1

Description

Technical Field

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[0001] The present invention relates to an apparatus, a method, and a program.

Background Art

[0002] Patent Documents 1 to 3 describe that "the relative position between the floating structure 2000 and the shuttle tanker 1000 can be accurately controlled and the relative position can be maintained. Therefore, an accident of the mooring cable breakage can be effectively and surely avoided before reaching the dangerous area where the accident may occur" (paragraph 0080 of Patent Document 1). [Prior Art Documents] [Patent Documents] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2009-227035 [Patent Document 2] Japanese Patent Application Publication No. 2016-531036 [Patent Document 3] Japanese Unexamined Patent Application Publication No. 2008-184050

Summary of the Invention

[0003] In a first aspect of the present invention, there is provided an apparatus including a first detection unit that detects a buoy in the traveling direction of the own ship, and a specifying unit that specifies an end-side buoy located at the most end side in the left-right direction among the plurality of buoys in response to detection of the plurality of buoys by the first detection unit.

[0004] The apparatus according to the first aspect may further include an imaging unit that images the front in the traveling direction, and the first detection unit may detect a buoy by performing image recognition on an image imaged by the imaging unit.

[0005] In the above apparatus, the first detection unit may detect a plurality of buoys in a plurality of images imaged by the imaging unit.

[0006] In the apparatus according to the first aspect, the first detection unit may detect a buoy by a radar, and sequentially use the detected buoy as a reference buoy to detect other buoys located within a first reference range from the reference buoy.

[0007] Any of the above devices may further include a mapping unit that maps the positions of each buoy detected by the detection unit onto a coordinate plane.

[0008] In any of the above-described devices, the identifying unit may identify the end buoy from among the multiple buoys when a plurality of buoys adjacent to each other at intervals within a first reference range are detected.

[0009] In any of the above-described devices, the identifying unit may identify a new buoy as a new end buoy each time the first detection unit detects a new buoy outside of the left and right end buoys that have already been identified.

[0010] In any of the above devices, a setting unit may be further provided for setting the area between the left and right end buoys as a no-passage zone for the vessel.

[0011] The above-described device further includes a second detection unit that detects a ship other than its own in the direction of travel of its own ship, the identification unit identifies a ship among the ships detected by the second detection unit that is outside the left and right end buoys, at a distance within a second reference range from the end buoys, and has its stern facing the end buoy, and the setting unit may expand the no-passing zone to the position of the identified ship in accordance with the identification of the ship by the identification unit.

[0012] Any of the above devices equipped with a setting unit may further include a steering control unit that performs automatic steering control of the vessel to avoid the no-passing zone.

[0013] In any of the above-described devices, the first detection unit may detect the net end provided on the upper edge of the fishing net as a buoy.

[0014] A second embodiment of the present invention provides a method comprising: a first detection step of detecting a buoy in the direction of travel of the vessel; and a selection step of identifying an end buoy located at the furthest end in the left-right direction among the plurality of buoys detected by the first detection unit.

[0015] In a third embodiment of the present invention, a computer is provided that functions as a first detection unit for detecting buoys in the direction of travel of the vessel, and as a identifying unit for identifying the end buoy located at the furthest end in the left-right direction among the plurality of buoys detected by the first detection unit.

[0016] It should be noted that the above summary of the invention does not enumerate all the necessary features of the present invention. Furthermore, subcombinations of these features may also constitute an invention. [Brief explanation of the drawing]

[0017] [Figure 1] The apparatus 1 according to the embodiment is shown. [Figure 2] This indicates the restricted area when multiple buoy Bs are detected. [Figure 3] This indicates the restricted area when multiple buoys B and the end vessel F are detected. [Figure 4] This shows the operation of device 1. [Figure 5] Examples of computer 2200 in which multiple aspects of the invention may be embodied in whole or in part are shown. [Modes for carrying out the invention]

[0018] The present invention will be described below through embodiments of the invention, but these embodiments are not intended to limit the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0019] <1.Device 1> Figure 1 shows the apparatus 1 according to this embodiment. The apparatus 1 is mounted on a ship to assist in the ship's operation and comprises an imaging unit 11, a display unit 12, a detection unit 13, a mapping unit 14, a specific unit 15, a setting unit 16, and a steering control unit 17.

[0020] <1.1. Imaging Unit 11> The imaging unit 11 images the front in the traveling direction of the own ship. The imaging unit 11 may be arranged facing the front of the own ship, and as an example, may be arranged at the front end.

[0021] The imaging unit 11 may always image a moving image, or may image a still image for each reference interval. The imaging unit 11 may supply the captured image to the display unit 12 and the detection unit 13. When the imaging unit 11 images a moving image, the supplied image may be a frame within the moving image, and when the imaging unit 11 images a still image, the supplied image may be a still image.

[0022] <1.2. Display unit 12> The display unit 12 displays various information. For example, the display unit 12 may display the image captured by the imaging unit 11. In addition to or instead of this, the display unit 12 may display an electronic nautical chart around the own ship.

[0023] <1.3. Detection unit 13> The detection unit 13 may be an example of a first detection unit and detects a buoy (also referred to as a floating buoy) in the traveling direction of the own ship. The detection unit 13 may detect a plurality of buoys respectively according to the presence of a plurality of buoys in the traveling direction of the own ship. The detection unit 13 may detect a plurality of types of buoys respectively.

[0024] The detection unit 13 may perform image recognition on the image captured by the imaging unit 11 to detect a buoy. The detection unit 13 may detect a plurality of buoys within a plurality of images (as an example, a plurality of frames in a moving image). For example, the detection unit 13 may detect a first buoy within a first image and a second buoy within a second image to detect two buoys.

[0025] The detection unit 13 may supply the type (as an example, model number) of each detected buoy and the position information to the specifying unit 15. The detection unit 13 may supply the position information indicating the position of each buoy within the image for each image in which a buoy is detected, together with the type of the buoy, to the specifying unit 15.

[0026] Here, a buoy may be any structure that floats on the water surface for various purposes. A buoy may be spherical, or it may be shaped like a plastic bottle or other shapes. Multiple buoys may be connected to each other by connecting members such as ropes or fishing nets. In this embodiment, as an example, the detection unit 13 may detect the net end (aba) provided on the upper edge of a fishing net as a buoy.

[0027] The detection unit 13 may be an example of a second detection unit, and may further detect other ships in the direction of travel of its own ship. The detection unit 13 may detect ships by performing image recognition on images captured by the imaging unit 11. The detection unit 13 may detect one or more ships in multiple images.

[0028] The detection unit 13 may supply the type of each detected vessel (for example, model number, hull identification number, ship number, etc.) and location information to the identification unit 15. For each image in which a vessel is detected, the detection unit 13 may supply the location information indicating the position of each vessel within the image, along with the type of vessel, to the identification unit 15.

[0029] <1.4. Mapping Section 14> The mapping unit 14 maps the position of each buoy detected by the detection unit 13 onto a coordinate plane. The mapping unit 14 may map the position of a buoy each time the detection unit 13 detects it. The coordinate plane may be a horizontal plane, and for example, the position of the ship may be the origin, with the left-right direction and the front-back direction as coordinate axes.

[0030] The mapping unit 14 may determine the relative position of each buoy to the ship based on the position and size of each buoy in the image and the type of buoy. For example, the mapping unit 14 may store the actual size of each buoy in association with each type of buoy and determine the actual size of the buoy from the type of buoy supplied by the detection unit 13. Alternatively, the mapping unit 14 may determine the actual size of the buoy by communicating with a land-based database or the like that stores the actual size of each buoy in association with each type of buoy. The mapping unit 14 may calculate the distance from the ship to the buoy based on the actual size of the identified buoy, the size of the buoy in the image, and the magnification of the imaging unit 11. The mapping unit 14 may calculate the azimuth angle of the buoy with respect to the direction of travel of the ship based on the position of the buoy in the image. The mapping unit 14 may determine the relative position of the buoy to the ship based on the distance from the ship to the buoy and the azimuth angle of the buoy. The mapping unit 14 may sequentially move the position of each buoy in the coordinate plane in accordance with the ship's movement, or it may update the position of each buoy each time position information of a buoy is supplied from the detection unit 13.

[0031] The mapping unit 14 may map the positions of each ship detected by the detection unit 13 onto a coordinate plane in the same manner as buoys. The mapping unit 14 may supply the position coordinates of each buoy and each ship within the coordinate plane to the identification unit 15.

[0032] <1.5. Specific part 15> The identification unit 15 identifies the buoy located at the furthest end in the left-right direction (also referred to as the end buoy) among the multiple buoys detected by the detection unit 13. The identification unit 15 may identify the end buoy among the multiple buoys when multiple buoys adjacent to each other at intervals within a first reference range are detected. The identification unit 15 may calculate the actual distance between buoys from the position coordinates of each buoy supplied by the mapping unit 14, extract multiple buoys adjacent to each other at intervals within the first reference range, and identify the end buoy among these multiple buoys. The first reference range may be any length, for example, a length within the range of 1m to 1km. Note that the end buoy does not have to be the end of a chain of multiple buoys, as long as it is located at the furthest right or left of the multiple buoys. In the area inside the end buoy, the buoys may be connected to each other by fishing nets or the like.

[0033] The identification unit 15 may identify a buoy as a new end buoy each time the detection unit 13 detects a new buoy outside of the left and right end buoys that have already been identified. The identification unit 15 may also identify a buoy as a new end buoy each time a new buoy is detected outside of the end buoys that have already been identified, at a distance within the first reference range from those end buoys.

[0034] When a ship is detected by the detection unit 13, the identification unit 15 may identify a ship (also called an end ship) that is located outside the left and right end buoys, at a distance within the second reference range from the end buoy, and with its stern facing the end buoy. An end ship may be a tugboat pulling and towing multiple buoys. The second reference range may be the same as the first reference range, or it may be larger than the first reference range.

[0035] The identification unit 15 may supply the position coordinates of the end buoy in the coordinate plane to the setting unit 16. The identification unit 15 may supply the position coordinates of each buoy to the setting unit 16, insofar as it distinguishes the end buoy from other buoys. If the identification unit 15 identifies an end vessel, it may also supply the position coordinates of that end vessel to the setting unit 16.

[0036] <1.6. Settings Section 16> The setting unit 16 sets the area between the left and right end buoys as a no-go zone (also called an entry-restricted area or No Go Area) for the vessel. The setting unit 16 may extend the no-go zone to the position of the end vessel when the end vessel is identified by the identification unit 15. The setting unit 16 may instruct the display unit 12 to identify and display the no-go zone. In addition to or instead of this, the setting unit 16 may instruct the steering control unit 17 to avoid the no-go zone.

[0037] <1.7. Steering Control Unit 17> The steering control unit 17 performs automatic steering control of the vessel. The steering control unit 17 may perform automatic steering control to avoid no-passing zones set by the setting unit 16. For example, the steering control unit 17 may steer toward a destination when a destination is set on an electronic chart, and may perform automatic steering control to avoid no-passing zones set by the setting unit 16 and proceed toward the destination.

[0038] According to the above device 1, when multiple buoys are detected in the direction of the ship's movement, the end buoy located at the outermost end in the left-right direction is identified among the multiple buoys. By navigating around the end buoys, the ship can avoid connecting members such as ropes that link the buoys together.

[0039] Furthermore, since the buoys are placed at the upper edge of the fishing net, they can avoid the fishing nets that are positioned in the sea between the buoys.

[0040] Furthermore, since the buoy is detected by image recognition within the image captured in front of the direction of travel, it can be detected with a simpler configuration compared to detecting the buoy using radar or other methods.

[0041] Furthermore, if multiple buoys adjacent to each other within the first reference range are detected, the end buoy is identified among those multiple buoys. Therefore, the end buoy can be identified among multiple buoys that are connected to each other.

[0042] Furthermore, since multiple buoys are detected within multiple captured images, even if multiple buoys are not detected in a single image, multiple buoys in the direction of the ship's movement can be reliably detected.

[0043] Furthermore, each time a new buoy is detected outside the already identified left and right end buoys, that buoy is identified as a new end buoy. Therefore, even if an inner buoy is mistakenly identified as an end buoy, a buoy further out on the edge can be identified as an end buoy.

[0044] Furthermore, since the position of each detected buoy is mapped onto a coordinate plane, it is possible to easily identify the end buoy. Also, even if the buoys are detected separately, the end buoy can be correctly identified among multiple buoys.

[0045] Furthermore, since the area between the left and right end buoys is designated as a no-passage zone for the vessel, it is possible to prevent the vessel from crossing over connecting members such as ropes that link the buoys together.

[0046] Furthermore, as the end vessel is identified outside the left and right end buoys, the no-passing zone is extended to the location of that end vessel, thus preventing the vessel from crossing connecting members such as ropes that connect the end buoy and the end vessel.

[0047] Furthermore, since the ship's automatic steering control is performed to avoid restricted areas, it is possible to automatically prevent the ship from crossing connecting members such as ropes.

[0048] <2. Examples of restricted areas> Figure 2 shows the no-passing zone when multiple buoys B are detected. As shown in this figure, if multiple buoys adjacent to each other are detected at intervals within the first reference range, and an end buoy Be is identified among the multiple buoys, the area between the end buoys Be may be set as a no-passing zone.

[0049] Figure 3 shows the no-passage zone when multiple buoys B and a vessel F at the end are detected. As shown in this figure, if multiple buoys B adjacent to each other are detected at intervals within the first reference range, and a vessel F at the end is identified at an interval within the second reference range from the buoy Be at the end of the buoys B, the no-passage zone may be extended to the said vessel F.

[0050] <3.Operation> Figure 4 shows the operation of device 1. Device 1 may assist in the steering of the ship by performing the processes in steps S11 to S27.

[0051] In step S11, the imaging unit 11 captures an image of the area in front of the ship in the direction of travel. In step S13, the detection unit 13 performs image analysis on the captured image. As a result, a buoy may be detected in the direction of the ship's movement. Alternatively, another ship may be detected in the direction of the ship's movement.

[0052] In step S15, the mapping unit 14 maps the positions of each buoy detected in step S13 onto a coordinate plane. The mapping unit 14 may further map the positions of each ship detected in step S13 onto the coordinate plane.

[0053] In step S17, the identification unit 15 determines whether multiple buoys were detected in step S13. If only one or fewer buoys are detected (step S17; No), the process may proceed to step S11. If multiple buoys are detected (step S17; Yes), the process may proceed to step S19.

[0054] In step S19, the identification unit 15 identifies the end buoy located at the furthest end in the left-right direction from among the multiple detected buoys. In step S21, the setting unit 16 sets the area between the left and right end buoys as a no-passage zone for the vessel.

[0055] In step S23, the identification unit 15 determines whether or not a ship was detected in step S13. If no ship was detected (step S23; No), the process may proceed to step S11. If a ship was detected (step S23; Yes), the process may proceed to step S25.

[0056] In step S25, the identification unit 15 identifies, from among the detected vessels, an end vessel whose stern is facing the end buoy, located outside the left and right end buoys, and within a second reference range from the end buoy.

[0057] In step S27, the setting unit 16 extends the no-passing zone to the end vessel. Once the processing in step S11 is complete, the process may proceed to step S11 described above.

[0058] <4. Variation> In the above embodiment, the device 1 was described as comprising an imaging unit 11, a display unit 12, a mapping unit 14, a setting unit 16, and a steering control unit 17. However, it is possible to omit any of these components. For example, if the device 1 does not include a setting unit 16, the end buoys may be displayed on the electronic chart to prompt the crew to avoid the area between the end buoys.

[0059] Furthermore, although the detection unit 13 was described as detecting buoys by performing image recognition on the image captured by the imaging unit 11, buoys may also be detected by radar. In this case, the detection unit 13 may sequentially use the detected buoys as reference buoys and detect other buoys located within a first reference range from the reference buoy. This may result in the detection of multiple buoys connected at intervals within the first reference range.

[0060] Furthermore, although the detection unit 13 was described as detecting other ships by performing image recognition, other ships may be detected by other methods. For example, the detection unit 13 may detect other ships by radar, or by an Automatic Identification System (AIS).

[0061] Furthermore, various embodiments of the present invention may be described with reference to flowcharts and block diagrams, where a block may represent (1) a stage in a process in which an operation is performed or (2) a section of a device having the role of performing an operation. Specific stages and sections may be implemented by dedicated circuits, programmable circuits supplied with computer-readable instructions stored on a computer-readable medium, and / or processors supplied with computer-readable instructions stored on a computer-readable medium. Dedicated circuits may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include reconfigurable hardware circuits, including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logic operations, flip-flops, registers, memory elements such as field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), etc.

[0062] Computer-readable media may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, computer-readable media having instructions stored therein will comprise a product containing instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital versatile disk (DVD), Blu-ray (RTM) disk, memory stick, integrated circuit card, etc.

[0063] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and traditional procedural programming languages ​​such as the C programming language or similar programming languages.

[0064] Computer-readable instructions may be provided locally or via a wide area network (WAN), such as a local area network (LAN) or the internet, to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, and these instructions may be executed to create means for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

[0065] Figure 5 shows an example of a computer 2200 in which multiple aspects of the present invention may be embodied in whole or in part. A program installed on the computer 2200 can cause the computer 2200 to function as an operation or one or more sections of an apparatus according to an embodiment of the present invention, or to execute such operation or one or more sections, and / or to cause the computer 2200 to execute a process or a stage of such process according to an embodiment of the present invention. Such a program may be executed by the CPU 2212 to cause the computer 2200 to perform a particular operation associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0066] The computer 2200 according to this embodiment includes a CPU 2212, RAM 2214, a graphics controller 2216, and a display device 2218, which are interconnected by a host controller 2210. The computer 2200 also includes input / output units such as a communication interface 2222, a hard disk drive 2224, a DVD-ROM drive 2226, and an IC card drive, which are connected to the host controller 2210 via an input / output controller 2220. The computer also includes legacy input / output units such as a ROM 2230 and a keyboard 2242, which are connected to the input / output controller 2220 via an input / output chip 2240.

[0067] The CPU 2212 operates according to programs stored in the ROM 2230 and RAM 2214, thereby controlling each unit. The graphics controller 2216 retrieves image data generated by the CPU 2212 from a frame buffer provided in RAM 2214 or from itself, and displays the image data on the display device 2218.

[0068] The communication interface 2222 communicates with other electronic devices via a network. The hard disk drive 2224 stores programs and data used by the CPU 2212 in the computer 2200. The DVD-ROM drive 2226 reads programs or data from the DVD-ROM 2201 and provides them to the hard disk drive 2224 via the RAM 2214. The IC card drive reads programs and data from the IC card and / or writes programs and data to the IC card.

[0069] The ROM 2230 stores boot programs and / or programs that depend on the computer 2200's hardware, which are executed by the computer 2200 when activated. The input / output chip 2240 may also connect various input / output units to the input / output controller 2220 via parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0070] The program is provided on a computer-readable medium such as a DVD-ROM 2201 or an IC card. The program is read from the computer-readable medium and installed on a hard disk drive 2224, RAM 2214, or ROM 2230, which are also examples of computer-readable medium, and executed by the CPU 2212. The information processing described within these programs is read by the computer 2200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the manipulation or processing of information in accordance with the use of the computer 2200.

[0071] For example, when communication is performed between a computer 2200 and an external device, the CPU 2212 may execute a communication program loaded into RAM 2214 and, based on the processing described in the communication program, instruct the communication interface 2222 to perform communication processing. Under the control of the CPU 2212, the communication interface 2222 reads transmission data stored in a transmission buffer processing area provided in a recording medium such as RAM 2214, a hard disk drive 2224, a DVD-ROM 2201, or an IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer processing area provided on the recording medium.

[0072] Furthermore, the CPU 2212 may read all or necessary parts of files or databases stored on external storage media such as the hard disk drive 2224, DVD-ROM drive 2226 (DVD-ROM 2201), or IC card into the RAM 2214, and perform various types of processing on the data in the RAM 2214. The CPU 2212 then writes the processed data back to the external storage media.

[0073] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 2212 may perform various types of processing on the data read from RAM 2214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to RAM 2214. The CPU 2212 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 2212 may search among the multiple entries for an entry that matches the condition for which the attribute value of the first attribute is specified, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0074] The programs or software modules described above may be stored on or near computer 2200 on a computer-readable medium. Alternatively, recording media such as hard disks or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as computer-readable media, thereby providing programs to computer 2200 via the network.

[0075] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0076] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before," "prior to," etc., and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," "next," etc. for convenience, it does not mean that it is essential to perform the operations in that order. [Explanation of symbols]

[0077] 1 device 11 Imaging Unit 12 Display section 13 Detection unit 14 Mapping section 15 Specific section 16. Settings section 17 Steering Control Unit 2200 Computers 2201 DVD-ROM 2210 Host Controller 2212 CPU 2214 RAM 2216 Graphics Controller 2218 Display Devices 2220 Input / Output Controller 2222 Communication Interface 2224 Hard Disk Drive 2226 DVD-ROM drive 2230 ROM 2240 Input / Output Chip 2242 keyboard

Claims

1. A first detection unit that detects buoys in the direction of the ship's movement, In response to the detection of multiple buoys by the first detection unit, an identification unit identifies the end buoy located at the furthest end in the left-right direction among the multiple buoys, Equipped with, The identifying unit is a device that identifies a buoy as a new end buoy each time the first detection unit detects a new buoy outside of the left and right end buoys that have already been identified.

2. A first detection unit that detects buoys in the direction of the ship's movement, In response to the detection of multiple buoys by the first detection unit, an identification unit identifies the end buoy located at the furthest end in the left-right direction among the multiple buoys, A setting unit that sets the area between the left and right end buoys as a no-passage zone for the vessel, A device equipped with the following features.

3. It further includes a second detection unit that detects a ship other than its own in the direction of its own ship's movement. The identifying unit identifies, among the ships detected by the second detection unit, ships whose sterns are facing the end buoys at a distance within the second reference range from the end buoys, outside the left and right end buoys. The apparatus according to claim 2, wherein the setting unit expands the no-passing zone to the location of the identified ship in response to the ship being identified by the identification unit.

4. The apparatus according to claim 2, further comprising a steering control unit that performs automatic steering control of the vessel to avoid the aforementioned no-passing zone.

5. It further includes an imaging unit that images the area in front of the direction of travel, The apparatus according to any one of claims 1 to 4, wherein the first detection unit detects a buoy by performing image recognition on an image captured by the imaging unit.

6. The apparatus according to claim 5, wherein the first detection unit detects a plurality of buoys within a plurality of images captured by the imaging unit.

7. The apparatus according to any one of claims 1 to 4, wherein the first detection unit detects a buoy using radar, and sequentially detects other buoys located within a first reference range from the detected buoy, using the detected buoy as a reference buoy.

8. The apparatus according to any one of claims 1 to 4, further comprising a mapping unit that maps the positions of each buoy detected by the first detection unit onto a coordinate plane.

9. The apparatus according to any one of claims 1 to 4, wherein the identifying unit identifies the end buoy among the plurality of buoys in response to the detection of a plurality of buoys adjacent to each other at intervals within a first reference range.

10. The apparatus according to any one of claims 1 to 4, wherein the first detection unit detects a buoy provided on the upper edge of a fishing net.

11. A first detection step in which a computer detects a buoy in the direction of travel of the ship, A computer identifies, in response to the detection of multiple buoys in the first detection step, the end buoy located at the furthest end in the left-right direction among the multiple buoys, Equipped with, In the identification step, each time a new buoy is detected by the first detection step outside the left and right end buoys already identified, the buoy is identified as a new end buoy.

12. A first detection step in which a computer detects a buoy in the direction of travel of the ship, A computer identifies, in response to the detection of multiple buoys in the first detection step, the end buoy located at the furthest end in the left-right direction among the multiple buoys, Setting step: to set the area between the left and right end buoys as a no-passage zone for the vessel, A method for providing this.

13. Computers, A first detection unit that detects buoys in the direction of the ship's movement, In response to the detection of multiple buoys by the first detection unit, the identification unit identifies the end buoy located at the furthest end in the left-right direction among the multiple buoys. To make it function as, The identifying unit is a program that identifies a new buoy as a new end buoy each time the first detection unit detects a new buoy outside of the left and right end buoys that have already been identified.

14. Computers, A first detection unit that detects buoys in the direction of the ship's movement, In response to the detection of multiple buoys by the first detection unit, an identification unit identifies the end buoy located at the furthest end in the left-right direction among the multiple buoys, Setting unit that sets the area between the left and right end buoys as a no-passage zone for the vessel. A program that makes it function as such.

Images