Navigation support equipment, navigation support methods, and navigation support programs

Abstract

[Problem] To measure the distance between a host vessel and an object more accurately. [Solution] A navigation assistance device 10 comprises: a distance measurement unit 21; an attitude measurement unit 22; a vessel-side reference point setting unit 30; and a horizontal distance calculation unit 40. The distance measurement unit 21 uses a ranging coordinate system to perform ranging on a quay, which is an anchorage target of a vessel, and outputs quay ranging information according to the ranging coordinate system. The attitude measurement unit 22 measures the attitude of the vessel. The vessel-side reference point setting unit 30 sets, as a vessel-side reference point, a predetermined position of the vessel in the ranging coordinate system. The horizontal distance calculation unit 40 calculates the horizontal distance between the vessel-side reference point and the quay by using the quay ranging information, which is projected onto a horizontal plane by using the attitude, and the vessel-side reference point.

Description

Technical Field

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

Background Art

[0002] There is known a landing support device that measures the distance between the own ship and an object such as a quay wall using a distance sensor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional landing support device, the distance between the own ship and the object may not be accurately measured.

[0005] Therefore, an object of the present invention is to measure the distance between the own ship and the object more accurately. Therein.

Means for Solving the Problems

[0006] The navigation support device of this invention includes a distance measurement unit, an attitude measurement unit, a ship-side reference point setting unit, and a horizontal distance calculation unit. The distance measurement unit measures the quay wall, which is the docking target of the ship, in a ranging coordinate system and outputs the ranging information of the quay wall in the ranging coordinate system. The attitude measurement unit measures the attitude of the ship. The ship-side reference point setting unit sets a predetermined position of the ship as the ship-side reference point in the ranging coordinate system. The horizontal distance calculation unit calculates the horizontal distance between the ship and the quay wall using the ranging information of the quay wall projected onto the horizontal plane using the attitude and the ship-side reference point.

[0007] In this configuration, even if the vessel experiences motion, the positions of both the quay and the ship's reference point are corrected according to the attitude corresponding to this motion. Therefore, errors in horizontal distance due to motion are suppressed. In particular, when the height of the distance sensor or attitude sensor differs from that of the object, errors in the installation of the distance sensor or attitude sensor and errors in the measurement of the attitude angle can cause large errors in horizontal distance, but this configuration suppresses these errors in horizontal distance.

[0008] Furthermore, the navigation support device of this invention comprises a projection unit, a quay line extraction unit, and a distance calculation unit in its horizontal distance calculation unit. The projection unit projects quay distance measurement information and ship-side reference points onto a horizontal plane using the ship's attitude. The quay line extraction unit extracts quay lines for calculating horizontal distance from the quay distance measurement information projected onto the horizontal plane. The distance calculation unit calculates the horizontal distance using the quay lines and ship-side reference points.

[0009] Furthermore, in the navigation support device of this invention, the attitude includes a rolling component.

[0010] Furthermore, in the navigation support device of this invention, the attitude includes a yawing component.

[0011] Furthermore, in the navigation support device of this invention, the ship-side reference point setting unit sets multiple ship-side reference points. The horizontal distance calculation unit uses the horizontal distances of each of the multiple ship-side reference points to calculate the horizontal distance at any measurement reference point on a straight line passing through the multiple ship-side reference points.

[0012] Furthermore, the navigation support device of this invention includes a draft measuring unit for measuring the draft of a ship. The ship-side reference point setting unit sets the position of the ship-side reference point in the height direction of the ship based on the draft. [Effects of the Invention]

[0013] According to this invention, the distance between the vessel and the object can be measured with greater accuracy. [Brief explanation of the drawing]

[0014] [Figure 1]FIG. 1 is a functional block diagram showing the configuration of a navigation support device according to a first embodiment of the present invention. [Figure 2] FIGS. 2(A) and 2(B) are side views showing the positional relationship among a ship, a distance measurement unit, a quay wall, and a ship-side reference point. [Figure 3] FIGS. 3(A) and 3(B) are diagrams showing an example of the positional relationship between a ship-side reference point and a quay wall line after projection onto a horizontal plane. [Figure 4] FIG. 4 is a graph showing an example of the change in horizontal distance between the case where sway occurs and the case where no sway occurs. [Figure 5] FIG. 5 is a flowchart showing an example of a navigation support method according to the first embodiment of the present invention. [Figure 6] FIG. 6 is a flowchart showing an example of embodying the calculation process of the horizontal distance shown in FIG. 5. [Figure 7] FIGS. 7(A) and 7(B) are plan views showing the positional relationship among a ship, a distance measurement unit, a quay wall, and a ship-side reference point. [Figure 8] FIG. 8 is a functional block diagram showing the configuration of a navigation support device according to a third embodiment of the present invention. [Figure 9] FIG. 9 is a plan view showing the positional relationship among a ship, a distance measurement unit, a quay wall, and a ship-side reference point. [Figure 10] FIG. 10 is a flowchart showing an example of a navigation support method according to the third embodiment of the present invention. [Figure 11] FIG. 11 is a functional block diagram showing the configuration of a navigation support device according to a fourth embodiment of the present invention. [Figure 12] FIG. 12 is a flowchart showing an example of a navigation support method according to the fourth embodiment of the present invention.

MODE FOR CARRYING OUT THE INVENTION

[0015] [First Embodiment] A navigation support technology according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a functional block diagram showing the configuration of a navigation support device according to the first embodiment of the present invention. FIGS. 2(A) and 2(B) are side views showing the positional relationship among a ship, a distance measurement unit, a quay wall, and a ship-side reference point. FIG. 2(A) shows a state in which no rolling-direction fluctuation occurs, and FIG. 2(B) shows a state in which rolling-direction fluctuation occurs (the attitude angle θ in the rolling direction ≠ 0°).

[0016] As shown in FIG. 1, the navigation support device 10 includes a distance measurement unit 21, an attitude measurement unit 22, a ship-side reference point setting unit 30, and a horizontal distance calculation unit 40.

[0017] The navigation support device 10 can be realized, for example, by a navigation support program that realizes a navigation support method, a storage device that stores the navigation support program, and an arithmetic processing device such as a CPU that executes the navigation support program, excluding the optical system part and the radio wave system part. Also, the part of the storage device and the arithmetic processing device can be realized by an IC or the like in which the navigation support program is incorporated.

[0018] The distance measurement unit 21 is a distance measurement device such as LiDAR. The distance measurement unit 21 transmits a detection wave within a three-dimensional detection area and generates distance measurement information from the received signal. More specifically, the distance measurement unit 21 detects the signal level of the reflected wave and extracts, as a feature point, a point (position) where a reflected wave with a predetermined signal level or higher is obtained. The distance measurement unit 21 uses the position coordinates of the feature point represented in a three-dimensional distance measurement coordinate system as the distance measurement information. The position coordinates of the feature point can be calculated by the arrival direction of the reflected wave by the detection wave and half of the time difference between the transmission timing of the detection wave and the reception timing of the reflected wave.

[0019] In the examples of FIGS. 2(A) and 2(B), the distance measurement unit 21 is installed near the upper end of the left side of the ship 80. The distance measurement unit 21 has an xs coordinate axis, a ys coordinate axis, and a zs coordinate axis in a three-dimensional distance measurement coordinate system. The distance measurement unit 21 is installed in a predetermined attitude with respect to the ship 80.

[0020] More specifically, the vessel 80 is given a three-dimensional hull coordinate system, which has xb, yb, and zb coordinate axes. The xb coordinate axis is parallel to the bow-stern direction of the vessel 80, with the bow direction being positive and the stern direction being negative. The yb coordinate axis is parallel to the width direction (starboard-port direction) of the vessel 80, with the port direction being positive and the starboard direction being negative. The zb coordinate axis is parallel to the height direction of the vessel 80, with the upward direction being positive and the downward direction being negative. Note that this setting is just an example and is not limited to this.

[0021] The distance measuring unit 21 is installed such that the xs coordinate axis is parallel to the xb coordinate axis and their respective positive directions coincide. The distance measuring unit 21 is installed such that the ys coordinate axis is parallel to the yb coordinate axis and their respective positive directions coincide. The distance measuring unit 21 is installed such that the zs coordinate axis is parallel to the zb coordinate axis and their respective positive directions are opposite.

[0022] Furthermore, the positional relationship between this ranging coordinate system and the hull coordinate system is just one example; it is not limited to this example, as long as the angular difference (angle) between each coordinate axis of each coordinate system is uniquely defined and known.

[0023] By being installed on the vessel 80 in this manner, the distance measuring unit 21 can extract feature points in a three-dimensional region on the port side of the vessel 80 in the bow-stern direction (parallel to the xb coordinate axis), the port-to-right direction (parallel to the yb coordinate axis), and the height direction of the vessel 80 (parallel to the zb coordinate axis). The distance measuring unit 21 then acquires the position coordinates of the feature points in the distance measuring coordinate system and generates distance measurement information. The distance measuring unit 21 outputs the distance measurement information to the horizontal distance calculation unit 40.

[0024] The attitude measurement unit 22 is implemented, for example, by an attitude sensor equipped on the ship 80. The attitude sensor may use GNSS signal positioning technology or an inertial sensor. Alternatively, the attitude sensor may be a combination of GNSS signal positioning technology and an inertial sensor. Using GNSS signal positioning technology allows for the measurement of the ship's position (position coordinates). Furthermore, using GNSS signal positioning technology allows for highly accurate measurement of the attitude angle in open-sky conditions such as at sea.

[0025] The attitude measurement unit 22 is installed on the vessel 80 at approximately the same position as the distance measurement unit 21. Preferably, the attitude measurement unit 22 is installed so that the coordinate system of the attitude angle to be measured coincides with the distance measurement coordinate system. However, a similar effect can be obtained by acquiring the angle difference between the coordinate system of the attitude measurement unit 22 and the distance measurement coordinate system in advance and correcting using this angle difference.

[0026] The attitude measurement unit 22 measures the attitude angle of the vessel 80. The attitude angle measured by the attitude measurement unit 22 is expressed as the change in angle of each coordinate axis of the hull coordinate system and the ranging coordinate system relative to the absolute coordinate system when the vessel 80 changes from a motionless state to a motionless state.

[0027] In this embodiment, the absolute coordinate system is defined by a coordinate system of three orthogonal axes that do not change with the movement and displacement of the vessel 80, and the position coordinates of the absolute coordinate system of the quay 90, which is not affected by the movement and displacement of the vessel 80, do not change. For example, in the case of Figure 2(A), it is set by two orthogonal axes, the xa and ya coordinate axes, which are parallel to the water surface Wb (more precisely, the water surface Wb in a still water state where no waves are present), and the za coordinate axis which is perpendicular to the water surface Wb. Note that in Figures 2(A) and 2(B), for the sake of simplicity, the direction parallel to the quay line 900 is used as the xa coordinate axis and the direction perpendicular to the quay line 900 is used as the ya coordinate axis, but this is not the only option.

[0028] The attitude measurement unit 22 then measures the attitude angle θ of the ship 80 in the rolling direction, the attitude angle of the ship 80 in the pitching direction, and the attitude angle of the ship 80 in the yawing direction. In this embodiment, the attitude measurement unit 22 only needs to be able to measure at least the attitude angle θ of the ship 80 in the rolling direction. The attitude measurement unit 22 outputs the measured attitude angles to the horizontal distance calculation unit 40.

[0029] The ship-side reference point setting unit 30 sets the ship-side reference point 800. The ship-side reference point 800 is a reference point set on the ship 80 in order to calculate the horizontal distance, which will be described later.

[0030] The ship-side reference point setting unit 30 sets a ship-side reference point 800 at a predetermined height on the port side of the ship 80, for example, as shown in Figures 2(A) and 2(B). The position of the ship-side reference point 800 is set to a position that is approximately the same height as the water surface Wb during the normal operation of the ship 80.

[0031] The position coordinates of the ship-side reference point 800 can be set, for example, as follows: Reflective material is placed in advance at the location that will be the water surface Wb. The distance measurement unit 21 detects this reflective material and calculates its position coordinates in the distance measurement coordinate system. The ship-side reference point setting unit 30 sets these position coordinates as the position coordinates of the ship-side reference point 800.

[0032] The ship-side reference point setting unit 30 outputs the position coordinates of the ship-side reference point 800 to the horizontal distance calculation unit 40.

[0033] The horizontal distance calculation unit 40 includes a projection unit 41, a quay line extraction unit 42, and a distance calculation unit 43.

[0034] The projection unit 41 receives the position coordinates of each feature point obtained in the distance measurement coordinate system (distance measurement information), the position coordinates of the ship-side reference point 800 set in the distance measurement coordinate system, and the attitude angle measured by the attitude measurement unit 22. The projection unit 41 uses the attitude angle to project the position coordinates of each feature point and the position coordinates of the ship-side reference point 800 onto a horizontal plane. That is, the projection unit 41 calculates the position coordinates of each feature point (projected position coordinates of each feature point) and the position coordinates of the ship-side reference point 800 (projected position coordinates of the ship-side reference point 800) projected onto the horizontal plane defined in the absolute coordinate system.

[0035] For example, the projection unit 41 calculates the projected position coordinates of each feature point and the projected position coordinates of the ship-side reference point 800 using the attitude angle θ in the rolling direction. Figures 3(A) and 3(B) show an example of the positional relationship between the ship-side reference point and the quay line after projection onto the horizontal plane. Figure 3(A) shows a state in which no motion in the rolling direction is occurring, similar to Figure 2(A), and Figure 3(B) shows a state in which motion in the rolling direction is occurring (attitude angle θ in the rolling direction), similar to Figure 2(B).

[0036] The projection unit 41 outputs the projected position coordinates of each feature point to the quay line extraction unit 42. The projection unit 41 also outputs the projected position coordinates of the ship-side reference point 800 to the distance calculation unit 43.

[0037] The quay line extraction unit 42 extracts the quay line 900 from the projected position coordinates of multiple feature points. For example, the quay line extraction unit 42 detects multiple feature points that are aligned in a nearly straight line from the projected position coordinates of multiple feature points. The quay line extraction unit 42 calculates the line segment connecting the multiple feature points that are aligned in a nearly straight line as a vector quantity. The quay line extraction unit 42 extracts this line segment represented by the vector quantity as the quay line 900.

[0038] Furthermore, if the quay line extraction unit 42 detects multiple straight lines, it calculates a line segment represented by a vector quantity for each straight line. The quay line extraction unit 42 then uses statistical processing (e.g., maximum likelihood method) on these multiple line segments to extract a single quay line 900 consisting of line segments represented by vector quantities.

[0039] The quay line extraction unit 42 outputs the vector quantity of the quay line 900 to the distance calculation unit 43.

[0040] The distance calculation unit 43 calculates the horizontal distance L89 using the projected position coordinates of the quay line 900 and the ship-side reference point 800, which are vector quantities. For example, the distance calculation unit 43 calculates the horizontal distance L89 using the formula for calculating the distance between a vector (straight line) and a point. Conceptually, as shown in Figures 3(A) and 3(B), the distance calculation unit 43 takes the foot of the perpendicular line drawn from the ship-side reference point 800 to the quay line 900 as the quay reference point 901 and calculates the horizontal distance L89, which is the distance between the ship-side reference point 800 and the quay reference point 901.

[0041] If no rolling motion occurs, as shown in Figure 3(A), the horizontal distance L89n is the sum of the distance L90n between the distance measuring unit 21 projected onto the horizontal plane and the quay reference point 901 (quay line 900), and the distance L80n between the distance measuring unit 21 projected onto the horizontal plane and the ship-side reference point 800.

[0042] When rolling motion occurs, as shown in Figure 3(B), the horizontal distance L89r is the sum of the distance L90r between the distance measuring unit 21 projected onto the horizontal plane and the quay reference point 901 (quay line 900), and the distance L80r between the distance measuring unit 21 projected onto the horizontal plane and the ship-side reference point 800.

[0043] Here, the quay line 900 (quay reference point 901) is not affected by the motion of the vessel 80 in the absolute coordinate system, and its position coordinates do not change. However, the motion of the vessel 80 changes the relationship between the absolute coordinate system and the distance measuring coordinate system, so the position coordinates (distance measuring information) of the quay line 900 (quay reference point 901) in the distance measuring coordinate system change according to the magnitude of the motion. Therefore, the distance L90n between the quay line 900 (quay reference point 901) and the distance measuring unit 21 on the horizontal plane when no motion occurs, and the distance L90r between the quay line 900 (quay reference point 901) and the distance measuring unit 21 on the horizontal plane when motion occurs, change according to the magnitude of the motion.

[0044] Therefore, if the position coordinates of the ship's reference point 800 are defined, for example, in an absolute coordinate system and set so as not to be affected by the motion of the ship 80, the horizontal distance when there is no motion and the horizontal distance when there is motion will differ depending on the magnitude of the motion. In other words, the horizontal distance will include errors due to the motion.

[0045] However, in the navigation support device 10 of the present invention, the ship-side reference point 800 is set in the ranging coordinate system. In this case, even if motion occurs, the position coordinates of the ship-side reference point 800 in the ranging coordinate system do not change according to the magnitude of the motion. That is, regardless of whether or not there is motion, the position coordinates of the ship-side reference point 800 in the ranging coordinate system do not change. On the other hand, when motion occurs, the relationship between the absolute coordinate system and the ranging coordinate system changes.

[0046] Therefore, the distance L80n between the quay line 900 (quay reference point 901) and the distance measuring unit 21 on the horizontal plane when no motion occurs, and the distance L80r between the ship-side reference point 800 and the distance measuring unit 21 on the horizontal plane when motion occurs, change according to the magnitude of the motion. Furthermore, the direction of change of the quay line 900 (quay reference point 901) relative to the distance measuring unit 21 on the horizontal plane is the same as the direction of change of the ship-side reference point 800 relative to the distance measuring unit 21. In other words, on the horizontal plane, the quay line 900 (quay reference point 901) and the ship-side reference point 800 change in the same direction.

[0047] As a result, the change in distance between the quay line 900 (quay reference point 901) and the distance measurement unit 21, and the change in distance between the ship-side reference point 800 and the distance measurement unit 21, act to cancel each other out.

[0048] Therefore, as shown in Figures 3(A) and 3(B), the error between the horizontal distance L89n when no motion occurs and the horizontal distance L89r when motion occurs is suppressed.

[0049] As a result, the navigation support device 10 can suppress the effects of the ship 80's motion and measure the horizontal distance between the ship 80 and the quay line 900 with greater accuracy.

[0050] Figure 4 is a graph showing an example of the change in horizontal distance when motion occurs and when motion does not occur. Figure 4 is a graph created by simulating motion. In Figure 4, the solid line shows the case where the configuration and processing of the present invention are used, and the dashed line shows the case where the configuration and processing of the present invention are not adopted (for example, when the horizontal distance between the distance measuring unit 21 and the quay line 900 (quay reference point 901) is used as is).

[0051] As shown in Figure 4, by adopting the configuration and process of the present invention, the navigation support device 10 can measure the horizontal distance between the ship 80 and the quay line 900 with greater accuracy.

[0052] In particular, as shown in Figures 2(A) and 2(B), when the distance between the distance measuring unit 21 and the water surface Wb is large, the system is greatly affected by errors due to rolling motion. However, by adopting the configuration and processing of the navigation support device 10, the horizontal distance between the vessel 80 and the quay line 900 can be measured with greater accuracy.

[0053] (Navigation support method (horizontal distance calculation method)) Figure 5 is a flowchart illustrating an example of a navigation support method according to the first embodiment of the present invention. Figure 6 is a flowchart illustrating an example of the horizontal distance calculation process shown in Figure 5. Details of each process shown in Figures 5 and 6 are explained in the above-mentioned description of the navigation support device 10, so unless necessary, further explanations will be omitted below.

[0054] As shown in Figure 5, the distance measuring unit 21 of the navigation support device 10 measures the distance around the vessel 80 (the port side of the vessel 80 in the case of Figures 2(A) and 2(B)) in a ranging coordinate system (S11). The attitude measuring unit 22 of the navigation support device 10 measures the attitude of the vessel 80 (S12).

[0055] The ship-side reference point setting unit 30 of the navigation support device 10 sets the ship-side reference point 800 in the distance measurement coordinate system. The horizontal distance calculation unit 40 of the navigation support device 10 calculates the horizontal distance between the ship 80 and the quay 90 (quay line 900) using the attitude, the quay line obtained from the distance measurement information, and the ship-side reference point (S14).

[0056] In the horizontal distance calculation process, as shown in Figure 6, the projection unit 41 of the horizontal distance calculation unit 40 projects the feature points included in the distance measurement information and the ship's reference point onto the horizontal plane using the ship's attitude (S41).

[0057] The quay line extraction unit 42 extracts the quay line 900 from a plurality of feature points projected onto a horizontal plane (S42).

[0058] The distance calculation unit 43 calculates the horizontal distance using the quay line 900 (vector quantity) on the horizontal plane and the position coordinates of the ship-side reference point 800 (S43).

[0059] This process allows for more accurate measurement of the horizontal distance between the vessel 80 and the quay line 900, while suppressing the effects of motion.

[0060] [Second Embodiment] A navigation support technology according to a second embodiment of the present invention will be described with reference to the figures. Figures 7(A) and 7(B) are plan views showing the positional relationship between the vessel, the distance measuring unit, the quay, and the ship's side reference point. Figure 7(A) shows a state in which no yawing motion occurs at the stern, and Figure 7(B) shows a state in which yawing motion occurs at the stern (attitude angle in the yawing direction ≠ 0°).

[0061] The navigation support device according to the second embodiment has the same functional block configuration as the navigation support device 10 according to the first embodiment, but differs in that it suppresses the effects of rolling motion and suppresses yawing motion.

[0062] In the navigation support system according to the second embodiment, the distance measuring unit 21 and the attitude measuring unit 22 are installed near the stern of the vessel 80. The vessel-side reference point setting unit 30 sets the vessel-side reference point 800 near the water surface Wb near the bow.

[0063] In the navigation support system according to the second embodiment, the attitude measurement unit 22 measures at least the attitude angle of the ship 80 in the yawing direction.

[0064] In this case, similar to the first embodiment, when the stern of the vessel 80 moves in the yawing direction, the quay line 900 and the vessel-side reference point 800 move in the same direction on the horizontal plane. Therefore, for example, the horizontal distance L89na shown in Figure 5(A) when no yawing motion occurs and the horizontal distance L89ra shown in Figure 5(B) when yawing motion occurs are approximately the same. As a result, the navigation support device according to the second embodiment, similar to the navigation support device of the first embodiment, can suppress the effects of motion and measure the horizontal distance between the bow of the vessel 80 and the quay line 900 with greater accuracy.

[0065] In particular, as shown in Figures 7(A) and 7(B), the longer the length of the vessel 80, in other words, the longer the distance between the distance measuring unit 21 and the ship's reference point in the bow-stern direction, the greater the impact of errors due to yawing motion. However, by adopting the above-described configuration and processing of the navigation support device, the horizontal distance between the vessel 80 and the quay line 900 can be measured with greater accuracy.

[0066] Furthermore, by considering rolling motion as in the first embodiment, the navigation support device according to the second embodiment can suppress the effects of rolling motion and yawing motion, and measure the horizontal distance between the bow of the vessel 80 and the quay line 900 with even greater accuracy.

[0067] [Third Embodiment] A navigation support technology according to a third embodiment of the present invention will be described with reference to the figures. Figure 8 is a functional block diagram showing the configuration of a navigation support device according to the third embodiment of the present invention. Figure 9 is a plan view showing the positional relationship between the ship, the distance measuring unit, the quay, and the ship-side reference point.

[0068] As shown in Figures 8 and 9, the navigation support device 10A according to the third embodiment differs from the navigation support device according to the second embodiment in that it sets multiple ship-side reference points, sets measurement reference points, and the configuration and processing of the horizontal distance calculation unit 40A. Other configurations and processing of the navigation support device 10A according to the third embodiment are the same as those of the navigation support device according to the second embodiment, and descriptions of the similar parts will be omitted.

[0069] The navigation support device 10A includes a distance measurement unit 21, an attitude measurement unit 22, a ship-side reference point setting unit 30A, a measurement reference point setting unit 31, and a horizontal distance calculation unit 40A. The horizontal distance calculation unit 40A includes a projection unit 41, a quay line extraction unit 42, a distance calculation unit 43A, and a distance ratio calculation unit 44.

[0070] As shown in Figure 9, the ship-side reference point setting unit 30A sets, for example, ship-side reference point 801 and ship-side reference point 802 along the port side of the ship 80. Note that the number of ship-side reference points set may be three or more.

[0071] The measurement reference point setting unit 31 receives operational input from a user or the like and sets an arbitrary position along the port side of the ship 80 as the measurement reference point 803. In other words, the measurement reference point setting unit 31 sets an arbitrary point (position) on the straight line connecting the ship-side reference point 801 and the ship-side reference point 802 as the measurement reference point 803.

[0072] In Figure 9, the measurement reference point 803 is set between the ship-side reference point 801 and the ship-side reference point 802. However, the measurement reference point 803 may be set at a location other than between the ship-side reference point 801 and the ship-side reference point 802.

[0073] The projection unit 41 projects the position coordinates of the characteristic points of the quay 90, the position coordinates of the ship-side reference point 801, the position coordinates of the ship-side reference point 802, and the position coordinates of the measurement reference point 803, which are distance measurement information, onto the horizontal plane.

[0074] Specifically, the projection unit 41 calculates the position coordinates of each feature point projected onto a horizontal plane defined in the absolute coordinate system (projected position coordinates of each feature point), the position coordinates of the ship-side reference points 801 and 802 (projected position coordinates of the ship-side reference points 801 and 802), and the position coordinates of the measurement reference point 803 (projected position coordinates of the measurement reference point 803). The projection unit 41 outputs the position coordinates of the ship-side reference points 801 and 802 (projected position coordinates of the ship-side reference points 801 and 802) and the position coordinates of the measurement reference point 803 (projected position coordinates of the measurement reference point 803) to the distance ratio calculation unit 44.

[0075] The distance ratio calculation unit 44 calculates the horizontal distance LL31 between the ship-side reference point 801 and the measurement reference point 803 on the horizontal plane, and the horizontal distance LL32 between the ship-side reference point 802 and the measurement reference point 803. The distance ratio calculation unit 44 calculates the distance ratio between the horizontal distance LL31 and the horizontal distance LL32. The distance ratio calculation unit 44 outputs the distance ratio to the distance calculation unit 43A.

[0076] The distance calculation unit 43A calculates the horizontal distance L891 at the ship-side reference point 801 and the horizontal distance L892 at the ship-side reference point 802 using the same method as the distance calculation unit 43. The distance calculation unit 43A calculates the horizontal distance L893 at the position of the measurement reference point 803 using the horizontal distances L891 and L892, and the distance ratio of horizontal distances LL31 and LL32.

[0077] By using this configuration and processing, the navigation support device 10A can calculate the horizontal distance from any position on the vessel 80 to the quay line 900. Furthermore, since the calculation of this horizontal distance uses the horizontal distances at multiple ship-side reference points 801 and 802, the navigation support device 10A can measure the horizontal distance between the vessel 80 and the quay line 900 at any position with greater accuracy, while suppressing the effects of motion.

[0078] (Navigation support method (horizontal distance calculation method)) Figure 10 is a flowchart illustrating an example of a navigation support method according to a third embodiment of the present invention. Details of each process shown in Figure 10 are explained in the above-mentioned description of the navigation support device 10A; therefore, unless necessary, further explanations will be omitted below. Additionally, explanations of the same parts as those shown in the flowcharts in Figures 5 and 6 will be omitted below.

[0079] The ship-side reference point setting unit 30A sets multiple ship-side reference points in the distance measurement coordinate system (S13A). The measurement reference point setting unit 31 sets the measurement reference point in the distance measurement coordinate system (S21).

[0080] The distance ratio calculation unit 44 calculates the distance ratio between each ship's reference point and the measurement reference point (S22).

[0081] The distance calculation unit 43A calculates the horizontal distance between multiple ship-side reference points (S45). The distance calculation unit 43A uses the horizontal distances and distance ratios of the multiple ship-side reference points to calculate the horizontal distance at the measurement reference point (S46).

[0082] This process allows for more accurate measurement of the horizontal distance between the vessel 80 and the quay line 900 at any given location, while suppressing the effects of motion.

[0083] [Fourth Embodiment] A navigation support technology according to a fourth embodiment of the present invention will be described with reference to the figures. Figure 11 is a functional block diagram showing the configuration of a navigation support device according to a fourth embodiment of the present invention.

[0084] As shown in Figure 8, the navigation support device 10B according to the fourth embodiment differs from the navigation support device 10 according to the first embodiment in that it includes a draft measurement unit 50.

[0085] The navigation support device 10B includes a draft measurement unit 50. The draft measurement unit 50 is installed on the vessel 80 and measures the draft at the location of the ship-side reference point in the bow-stern direction of the vessel 80. A known method is used for measuring the draft. The draft measurement unit 50 measures the draft of the vessel 80 and outputs it to the ship-side reference point setting unit 30.

[0086] The ship-side reference point setting unit 30 sets the position of the ship-side reference point in the height direction of the ship 80 according to the draft. For example, specifically, the ship-side reference point is set at multiple positions in the height direction of the ship 80. The ship-side reference point setting unit 30 selects the ship-side reference point closest to the water surface Wb from the draft. The ship-side reference point setting unit 30 outputs the position coordinates of the selected ship-side reference point to the projection unit 41.

[0087] With this configuration, the navigation support system 10B can set appropriate ship-side reference points according to the draft. As a result, the navigation support system 10B can measure horizontal distance with greater accuracy.

[0088] (Navigation support method (horizontal distance calculation method)) Figure 12 is a flowchart illustrating an example of a navigation support method according to the fourth embodiment of the present invention. Details of each process shown in Figure 12 are explained in the above-mentioned description of the navigation support device 10B; therefore, unless necessary, further explanations will be omitted below. Also, explanations of the same parts as those shown in the flowchart in Figure 5 will be omitted below.

[0089] The draft measurement unit 50 measures the draft of the vessel 80 (S51). The vessel-side reference point setting unit 30 sets the vessel-side reference point in the distance measuring coordinate system based on the draft (S13B).

[0090] This process allows for more accurate measurement of the horizontal distance between the vessel 80 and the quay line 900, taking into account the draft and suppressing the effects of motion.

[0091] Furthermore, the embodiments described above can be combined as appropriate, and each combination can produce effects corresponding to its respective purpose.

[0092] Furthermore, the above-described embodiment showed the case where the port side of the vessel 80 docks at the quay 90. However, the above configuration and processing can also be applied when the starboard side of the vessel 80 docks at the quay 90. In this case, the distance measuring unit 21 is installed on the starboard side of the vessel 80.

[0093] Furthermore, the above explanation provided an example focusing on a quay. However, the above configuration and processing can be applied to any structure where vessels are moored, such as a pier or other ships.

[0094] Furthermore, the above explanation used a straight line (line segment) as an example of feature information. However, it is also possible to use points, surfaces, and curves as feature information, and the above configuration and processing can be applied to these cases as well. [Explanation of Symbols]

[0095] 10, 10A, 10B: Navigation support equipment 21: Distance measurement unit 22: Posture Measurement Unit 30, 30A: Ship side reference point setting section 31: Measurement reference point setting unit 40, 40A: Horizontal distance calculation section 41: Projection section 42: Wharf Line Extraction Section 43, 43A: Distance calculation unit 44: Distance ratio calculation section 50: Draft measurement unit 80: Ship 90: Wharf 800, 801, 802: Ship side reference point 803: Measurement reference point 900: Wharf Line 901: Quay reference point

Claims

1. A distance measuring unit measures the distance of a quay, which is a target for ship mooring, using a distance measuring coordinate system, and outputs distance information of the quay using the distance measuring coordinate system. An attitude measurement unit for measuring the attitude of the aforementioned vessel, including its yawing component, A ship-side reference point setting unit that sets a predetermined position of the ship as a ship-side reference point in the distance measurement coordinate system, A horizontal distance calculation unit calculates the horizontal distance between the vessel and the quay using the distance measurement information of the quay projected onto a horizontal plane using the aforementioned posture and the ship-side reference point, A navigation support system equipped with [the following features].

2. A distance measuring unit that measures the distance of a quay, which is a target for mooring a ship, using a distance measuring coordinate system, and outputs distance information of the quay using the distance measuring coordinate system, An attitude measurement unit for measuring the attitude of the aforementioned vessel, A ship-side reference point setting unit that sets a predetermined position of the ship as a ship-side reference point in the distance measurement coordinate system, A horizontal distance calculation unit calculates the horizontal distance between the vessel and the quay using the distance measurement information of the quay projected onto a horizontal plane using the aforementioned posture and the ship-side reference point, Equipped with, The aforementioned ship-side reference point setting unit sets multiple ship-side reference points, The horizontal distance calculation unit calculates the horizontal distance at any measurement reference point on a straight line passing through the multiple ship-side reference points, using the horizontal distances of each of the multiple ship-side reference points. Navigation aids.

3. The navigation support device according to Claim 1, The aforementioned ship-side reference point setting unit sets multiple ship-side reference points, The horizontal distance calculation unit calculates the horizontal distance at any measurement reference point on a straight line passing through the multiple ship-side reference points, using the horizontal distances of each of the multiple ship-side reference points. Navigation aids.

4. A navigation support device according to any one of claims 1 to 3, The horizontal distance calculation unit is, A projection unit that projects the distance measurement information of the quay and the ship-side reference point onto a horizontal plane using the aforementioned orientation, A quay line extraction unit extracts a quay line for calculating the horizontal distance from the distance measurement information of the quay projected onto the horizontal plane, A distance calculation unit that calculates the horizontal distance using the aforementioned quay line and the aforementioned ship-side reference point, A navigation support system equipped with [the following features].

5. A navigation support device according to any one of claims 1 to 4, The aforementioned posture includes a rolling component, Navigation aids.

6. A navigation support device according to any one of claims 1 to 5, The vessel is equipped with a draft measuring unit for measuring the draft of the vessel, The aforementioned ship-side reference point setting unit is, Based on the draft, the position of the ship-side reference point in the height direction of the ship is set. Navigation aids.

7. The quay, which is the anchoring target for the ship, is measured using a distance measuring coordinate system, and the distance measurement information of the quay using the distance measuring coordinate system is output. The attitude of the aforementioned vessel, including its yawing component, is measured. In the distance measuring coordinate system, the predetermined position of the vessel is set as the vessel-side reference point. Using the distance measurement information of the quay projected onto the horizontal plane with the aforementioned posture and the ship-side reference point, the horizontal distance between the ship and the quay is calculated. Navigation aid methods.

8. The distance of a quay that is a target for anchoring a ship is measured using a distance measuring coordinate system, and the distance measurement information of the quay using the distance measuring coordinate system is output. The attitude of the aforementioned vessel is measured, In the distance measuring coordinate system, the predetermined position of the vessel is set as the vessel-side reference point. Using the distance measurement information of the quay projected onto the horizontal plane with the aforementioned posture and the ship-side reference point, the horizontal distance between the ship and the quay is calculated. In setting the ship-side reference points, multiple ship-side reference points are set. In calculating the horizontal distance, the horizontal distance at any measurement reference point on a straight line passing through the multiple ship-side reference points is calculated using the horizontal distances of each of the multiple ship-side reference points. Navigation aid methods.

9. The quay, which is the anchoring target for the ship, is measured using a distance measuring coordinate system, and the distance measurement information of the quay using the distance measuring coordinate system is output. The attitude of the aforementioned vessel, including its yawing component, is measured. In the distance measuring coordinate system, the predetermined position of the vessel is set as the vessel-side reference point. Using the distance measurement information of the quay projected onto the horizontal plane with the aforementioned orientation and the ship-side reference point, the horizontal distance between the ship and the quay is calculated. A navigation support program that has a computer perform the necessary processing.

10. The distance of a quay that is a target for anchoring a ship is measured using a distance measuring coordinate system, and the distance measurement information of the quay using the distance measuring coordinate system is output. The attitude of the aforementioned vessel is measured, In the distance measuring coordinate system, the predetermined position of the vessel is set as the vessel-side reference point. Using the distance measurement information of the quay projected onto the horizontal plane with the aforementioned posture and the ship-side reference point, the horizontal distance between the ship and the quay is calculated. In setting the ship-side reference points, multiple ship-side reference points are set. In calculating the horizontal distance, the horizontal distance at any measurement reference point on a straight line passing through the multiple ship-side reference points is calculated using the horizontal distances of each of the multiple ship-side reference points. A navigation support program that has a computer perform the necessary processing.

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