Ship navigation support system and ship navigation support method

Abstract

[Problem] To precisely measure the distance between a target location of ship sailing and an own ship. [Solution] This sailing assistance system 10 comprises a reflection member 30, a distance measurement unit 21, and a target location setting unit 23. The reflection member 30 includes a target location PS90 on an anchor target line of a ship 80, and is installed in a curved shape by bordering the anchor target line. The distance measurement unit 21 is installed in the ship 80, transmits and receives laser light, and performs three-dimensional distance measurement. The target location setting unit 23 sets the target location by using the distance measurement result obtained by means of the laser light reflected by the reflection member 30.

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in a conventional landing support device, for example, it may not be possible to accurately measure the distance between the target position of ship operation such as the quay wall origin and the own ship.

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

Means for Solving the Problems

[0006] The navigation support system of this invention includes a reflection member, a distance measurement unit, and a target position setting unit. The reflection member includes a target position on the ship's berthing target line and is installed in a shape that bends with the berthing target line as a boundary. The distance measurement unit is installed on the ship and performs three-dimensional distance measurement by transmitting and receiving laser light. The target position setting unit sets the target position using the distance measurement result by the laser light reflected by the reflection member.

[0007] In this configuration, since the reflection state of the laser light is different between the region including the target position of the reflection member and other regions, the target position is accurately set from the distance measurement result.

[0008] In the navigation support system of this invention, the anchoring target line is the line where the horizontal and vertical surfaces of the anchoring object on which the vessel is anchored intersect perpendicularly. The reflective member comprises a first flat plate portion installed on the horizontal surface and a second flat plate portion installed on the vertical surface.

[0009] In the navigation support system of this invention, the distance measurement unit scans a laser beam to set multiple distance measuring spots in the scanning direction and the distance direction. The distance measurement unit measures the distance for each of the multiple distance measuring spots. The target position setting unit sets the target position using the brightness and altitude of the multiple distance measuring spots in the positioning result.

[0010] In the navigation support system of this invention, the target position setting unit sets the target position using the altitude difference of a plurality of adjacent ranging spots in a direction perpendicular to the anchoring target line.

[0011] In the navigation support system of this invention, the target position setting unit sets the target position using high-luminance range measuring spots among multiple range measuring spots.

[0012] In the navigation support system of this invention, the target position setting unit sets the target position using the range measurement result by laser light as the provisional target position. The target position setting unit sets the determination target position using a means different from the range measurement result by laser light. If the error between the provisional target position and the determination target position is within a predetermined range, the target position setting unit sets the provisional target position as the target position.

[0013] The navigation support system of this invention comprises a measuring unit that measures the position coordinates of a ship, and a support information generation unit that uses the target position and the ship's position coordinates to generate navigation support information for docking the ship at the target position.

[0014] In the navigation support system of this invention, the support information generation unit sets a docking reference point for the vessel and generates navigation support information based on the positional relationship between the docking reference point and the target position.

[0015] In the navigation support system of this invention, the measurement unit measures the attitude of the ship. The support information generation unit generates navigation support information using the target position, the position coordinates of the ship, and the attitude of the ship.

Effect of the Invention

[0016] According to this invention, the distance between the target position of navigation and the own ship can be accurately measured.

Brief Description of the Drawings

[0017] [Figure 1] FIG. 1 is a functional block diagram showing the configuration of a navigation support system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a plan view showing the positional relationship among a ship, a distance measurement unit, and a quay wall. [Figure 3] FIG. 3 is a perspective view showing an example of the installation mode of a reflecting member. [Figure 4] FIG. 4 is a perspective view showing an example of a plurality of ranging spots SP in the vicinity of a reflecting member. [Figure 5] FIG. 5 is a flowchart showing the main flow of a navigation support method according to this embodiment. [Figure 6] FIG. 6 is a flowchart showing a first example of the setting process of a target position. [Figure 7] FIG. 7 is a flowchart showing a second example of the setting process of a target position. [Figure 8] FIG. 8 is a functional block diagram showing another example of the configuration of a navigation support system according to an embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing a third example of the setting process of a target position of a navigation support method according to this embodiment.

Mode for Carrying Out the Invention

[0018] The 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 system according to an embodiment of the present invention. FIG. 2 is a plan view showing the positional relationship among a ship, a distance measurement unit, and a quay wall. FIG. 3 is a perspective view showing an example of the installation mode of a reflection member.

[0019] (An example of the application mode of the navigation support technology) The navigation support technology according to an embodiment of the present invention is used and effective, for example, in a situation as shown in FIG. 2. The specific setting process of the target position PS90 executed by the navigation support device 20 will be described later. Here, the setting process of the target position PS90 will be schematically described.

[0020] As shown in FIG. 2, the ship 80 is navigating (steering) so as to land on the quay wall 90.

[0021] The quay wall 90 has a shape in which a horizontal plane 901 and a vertical plane 902 are substantially orthogonal, and the vertical plane 902 is in contact with the sea and the water surface (sea surface) WS. The line where the horizontal plane 901 and the vertical plane 902 are orthogonal is the quay wall line 900 (berthing target line).

[0022] On the quay wall 90, a landing reference point is set, for example, like the N flag, and this point is set as the target position PS90 of the navigation. The target position PS90 is set on the quay wall line 900.

[0023] For the ship 80, for example, the left end of the deck 800 is set as the landing reference point on the ship side. The ship 80 is controlled for navigation (steering) so as to align the landing reference point on the ship side with the target position PS90.

[0024] A distance measurement unit 21 is installed on the ship 80. The distance measurement unit 21 performs distance measurement using laser light, for example, LiDAR. The distance measurement unit 21 sets a detection area Ar21 on the quay wall 90 side and performs distance measurement.

[0025] A reflective member 30 is installed at the target position PS90 on the quay 90. The reflective member 30 is made of a material that reflects the laser light transmitted from the distance measuring unit 21 with high reflectivity.

[0026] If the reflective member 30 is within the detection area Ar21 of the distance measurement unit 21, the distance measurement information generated by the distance measurement unit 21 includes the position coordinates and brightness of the reflective member 30. The target position setting unit 23 of the navigation support device 20 of the ship 80 sets the target position PS90 using the reflected signal from the reflective member 30.

[0027] By installing the reflective member 30 at the target position PS90, the distance measurement information for the target position PS90 has different characteristics from the distance measurement information for other positions on the quay 90. Therefore, the target position setting unit 23 can set the target position PS90 more reliably and accurately. The navigation support device 20 can then accurately measure the distance between the docking reference point on the ship and the target position PS90.

[0028] (Navigation support system 10) As shown in Figure 1, the navigation support system 10 comprises a navigation support device 20 and a reflective member 30. The navigation support device 20 is installed on the ship 80.

[0029] The navigation support system 20 can be implemented, for example, by a navigation support program that implements a navigation support method (excluding the optical system and radio wave system parts), a storage device that stores the navigation support program, and a processing unit such as a CPU that executes the navigation support program. Furthermore, the storage device and the processing unit can be implemented by an IC or the like that incorporates the navigation support program. The control unit 200 is composed of such an processing unit or embedded IC.

[0030] The control unit 200 includes a distance measurement unit 21, an attitude measurement unit 22, a target position setting unit 23, and a support information generation unit 24.

[0031] The distance measuring unit 21 is a ranging device such as a LiDAR. The distance measuring unit 21 is installed on the ship 80 with the vertical direction as the scanning direction, that is, so that the optical axis of the laser beam is scanned in the vertical direction.

[0032] The distance measurement unit 21 transmits laser light into the three-dimensional detection area Ar21 and uses the received signal to measure the distance. More specifically, the distance measurement unit 21 transmits laser light while moving (rotating) the optical axis of the laser light along the scanning direction. The distance measurement unit 21 receives the reflected signal of the laser light.

[0033] The distance measurement unit 21 sets up multiple distance measuring spots SP. For example, as shown in Figure 4 below, the multiple distance measuring spots SP are defined by their position in the scanning direction and their position in the distance direction. More specifically, the distance measurement unit 21 determines the position of the distance measuring spot SP in the scanning direction by the angle (rotation angle) at which the laser beam is irradiated. The distance measurement unit 21 also determines the position of the distance measuring spot SP in the distance direction by the time from the transmission of the laser beam to the reception of the reflected signal.

[0034] The distance measurement unit 21 outputs the position coordinates of each distance measuring spot SP, which uses the position of the distance measurement unit 21 as the reference position, and the brightness (intensity) of the received signal for each distance measuring spot SP to the target position setting unit 23 as the distance measurement result for each distance measuring spot SP.

[0035] The attitude measurement unit 22 is an attitude sensor. The attitude sensor uses, for example, GNSS signal positioning technology. Alternatively, the attitude sensor may be a combination of GNSS signal positioning technology and an inertial sensor.

[0036] 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.

[0037] The attitude measurement unit 22 measures the attitude angle of the vessel 80. The attitude measurement unit 22 also measures the absolute position coordinates of the vessel 80. By using GNSS signal positioning technology in the attitude measurement unit 22, the position coordinates of the vessel 80 can also be measured. Furthermore, using GNSS signal positioning technology allows for highly accurate measurement of both the attitude angle and position coordinates in open-sky conditions such as at sea.

[0038] The attitude measurement unit 22 outputs the attitude angle and position coordinates to the support information generation unit 24.

[0039] The target position setting unit 23 sets the target position PS90 using the distance measurement results of multiple distance measurement spots SP. A more specific method for setting the target position PS90 by the target position setting unit 23 will be described later. The target position setting unit 23 outputs the target position PS90 (the position coordinates of the target position PS90) to the support information generation unit 24.

[0040] The support information generation unit 24 generates navigation support information for docking the vessel 80 at the target position PS90 using the attitude angle and position coordinates of the vessel 80 and the position coordinates of the target position PS90. The navigation support information is based on the positional relationship between the docking reference point on the vessel 80 and the target position PS90, and includes, for example, the horizontal distance between the docking reference point on the vessel 80 and the target position PS90, the distance DISq between the docking reference point on the vessel and the quay line 900, and the distance DISp parallel to the quay line 900 between the reference point on the vessel and the target position PS90.

[0041] Furthermore, the docking reference point can be set to a desired position on the vessel 80 by input from the helmsman or other personnel. This setting is achieved by the support information generation unit 24.

[0042] Furthermore, although details will be omitted, it is also possible to set a quay line 900, in which case the navigation support information can include the attitude of the vessel 80 relative to the quay line 900, based on the attitude angle of the vessel 80 and the quay line 900.

[0043] The operator or automated navigation program performs navigation based on this navigation support information. Furthermore, by setting the target position PS90 more reliably and accurately, high-precision navigation becomes possible.

[0044] (Reflective member 30) As shown in Figures 1, 2, and 3, the reflective member 30 comprises a first flat plate portion 31 and a second flat plate portion 32. The first flat plate portion 31 and the second flat plate portion 32 are connected so as to be perpendicular to each other.

[0045] The first flat plate section 31 is positioned on the horizontal surface 901 of the quay wall 90, and the second flat plate section 32 is positioned on the vertical surface 902 of the quay wall 90. The corner where the first flat plate section 31 and the second flat plate section 32 connect is positioned on the quay wall line 900.

[0046] The reflective member 30 is positioned so as to overlap with the target position PS90.

[0047] The exposed surfaces of the first flat plate portion 31 and the second flat plate portion 32 are made of a material that reflects laser light with high reflectivity.

[0048] With this configuration, the reflective member 30 is installed on the quay wall 90 such that it has two orthogonal reflective surfaces.

[0049] (Specific method for setting the target position PS90) Figure 4 is a perspective view showing an example of multiple distance measuring spots SP near a reflective element. In Figure 4, circles represent multiple distance measuring spots SP, including distance measuring spots SPt1 and SPt2. Unhatched circles represent high-luminosity distance measuring spots, and hatched circles represent low-luminosity distance measuring spots. Note that high luminosity and low luminosity here have a relative meaning, not an absolute meaning. Distance measuring spots SPt1 and SPt2 are part of the multiple distance measuring spots SP and are distance measuring spots for setting the target position PS90, which are extracted by the method described later.

[0050] Since the distance measurement unit 21 uses the vertical direction as its scanning direction, multiple distance measuring spots SP aligned in the scanning direction are aligned perpendicular to the quay line 900. In addition, multiple distance measuring spots SP aligned in a direction perpendicular to the scanning direction and the distance direction (the height direction in the measurement system of the distance measurement unit 21) are aligned parallel to the quay line 900.

[0051] The reflective member 30 reflects laser light with a higher reflectivity than the quay wall 90. As a result, the brightness of multiple distance measuring spots SP that overlap the reflective member 30 is higher than the brightness of multiple distance measuring spots SP that do not overlap the reflective member 30 (multiple distance measuring spots SP that overlap only the quay wall 90).

[0052] Furthermore, the altitude difference (difference in position coordinates in the height direction) between multiple distance measuring spots SP can be calculated from the difference in position coordinates in the scanning direction and the difference in position coordinates in the distance direction between the multiple distance measuring spots SP.

[0053] The vertical position coordinates of multiple distance measuring spots SP on the horizontal plane 901 are the same within the margin of error. The vertical position coordinates of multiple distance measuring spots SP on the vertical plane 902 are different for each other, and also different from the vertical position coordinates of multiple distance measuring spots SP on the horizontal plane 901. In other words, the multiple distance measuring spots SP on the horizontal plane 901 and the multiple distance measuring spots SP on the vertical plane 902 have an altitude difference in terms of distance measurement information.

[0054] Therefore, by using distance measurement information including brightness and position coordinates in the height direction, the position coordinates of the reflective member 30 and the quay line 900 can be detected. Then, by detecting the position coordinates of the reflective member 30 and the quay line 900, the target position PS90 can be set.

[0055] Figure 5 is a flowchart showing the main flow of the navigation support method according to this embodiment. Figure 6 is a flowchart showing a first example of the target position setting process.

[0056] The reflective member 30 is pre-installed on the quay wall 90 so as to overlap with the target position PS90.

[0057] As shown in Figure 5, the distance measurement unit 21 performs three-dimensional distance measurement on the detection area Ar21 including the quay 90, as described above (S11). As a result, the distance measurement unit 21 generates distance measurement information including brightness and altitude (position coordinates in the height direction) for multiple distance measurement spots SP.

[0058] The target position setting unit 23 sets the target position PS90 using the brightness and altitude of multiple distance measuring spots SP (S12).

[0059] More specifically, as shown in Figure 6, the target position setting unit 23 calculates the altitude difference between multiple distance measuring spots SP arranged on the scan line (S21).

[0060] If the target position setting unit 23 detects a combination of multiple distance measuring spots SP whose altitude difference is greater than or equal to the altitude difference threshold (S22:YES), it sets two adjacent distance measuring spots SP to be used as estimation distance measuring spots (S23). The target position setting unit 23 repeats this process while moving in the scanning direction until it detects a combination of multiple distance measuring spots SP whose altitude difference is greater than or equal to the altitude difference threshold (S22:NO).

[0061] The target position setting unit 23 calculates the average brightness of the two distance measuring spots SP set as estimation distance measuring spots (S24).

[0062] The target position setting unit 23 sets the target position PS90 (S26) if the average brightness of the estimation distance measuring spots is equal to or greater than the brightness threshold for setting the target position PS90 (S25: YES). Specifically, the target position setting unit 23 sets the position coordinates of the target position PS90 using the position coordinates of the two distance measuring spots SP (distance measuring spots SPt1 and SPt2 in Figure 4) set as the estimation distance measuring spots. For example, the target position setting unit 23 sets the position coordinates of the target position PS90 by using the average value of the position coordinates of the two distance measuring spots SP (distance measuring spots SPt1 and SPt2 in Figure 4).

[0063] Furthermore, if the average brightness of the distance measurement spot for estimation is less than the brightness threshold (S25:NO), the target scanning line for setting the target position PS90 is changed (S27), and the above process is executed.

[0064] Thus, by using the configuration of the navigation support system 10, the navigation support device 20 can set the target position PS90 more reliably and accurately. Furthermore, the navigation support system 10 can set the target position PS90 more reliably and accurately through the simple operation and simple configuration of placing the reflective member 30 at the target position PS90.

[0065] Although not specifically shown in the above explanation, the length of the reflective member 30 in the direction perpendicular to the quay line 900, more specifically, the length L31 of the first flat plate portion 31 of the reflective member 30 in the direction perpendicular to the quay line 900 and the length L32 of the second flat plate portion 32 of the reflective member 30 in the direction perpendicular to the quay line 900, are longer than the distance between adjacent distance measuring spots SP in the scanning direction.

[0066] Therefore, multiple distance measuring spots SP can be set on the first flat plate section 31 on the scanning line, and similarly, multiple distance measuring spots SP can be set on the second flat plate section 32. This makes it easier to distinguish the reflective member 30 from the quay wall 90, and the target position PS90 can be set more reliably and accurately.

[0067] Furthermore, it is preferable that the length W30 of the reflective member 30 in the direction parallel to the quay line 900 is approximately the same as the distance between adjacent distance measuring spots SP in the height direction in the measurement system of the distance measuring unit 21.

[0068] This allows for the more reliable setting of multiple distance measuring spots SP on the reflective member 30, and makes it difficult to set multiple distance measuring spots SP on the reflective member 30 in a direction parallel to the quay line 900. Therefore, the target position PS90 can be set more reliably and accurately.

[0069] As a result, the navigation support device 20 can accurately measure the distance between the ship's reference point on the vessel 80 and the target position PS90. Furthermore, the navigation support device 20 can provide the operator with useful information for navigation.

[0070] Furthermore, the above-described process demonstrated a method of setting the target position PS90 using brightness after determining the altitude difference. In other words, it demonstrated a method of estimating the position of the target position PS90 in a direction parallel to the quay line 900 after estimating the quay line 900.

[0071] However, it is also possible to set the target position PS90 using altitude after brightness. Figure 7 is a flowchart of a second example of the target position setting process.

[0072] As shown in Figure 7, the target position setting unit 23 calculates the brightness of multiple distance measuring spots SP arranged on the scan line (S31).

[0073] The target position setting unit 23 calculates the altitude difference between adjacent distance measuring spots SP (high-luminance distance measuring spots) if the luminance of the distance measuring spots is equal to or greater than the luminance threshold for setting the target position PS90 (S32: YES) (S33).

[0074] Furthermore, if the brightness of multiple distance measurement spots on the scan line is less than the brightness threshold (S32: NO), the target scan line for setting the target position PS90 is changed (S37), and the above process is executed.

[0075] If the target position setting unit 23 detects a combination of multiple distance measuring spots SP whose altitude difference is greater than or equal to a threshold (S34: YES), it sets two adjacent distance measuring spots SP to be used as estimation distance measuring spots (S35).

[0076] Furthermore, the target position setting unit 23 repeats this process while moving in the scanning direction until a combination of multiple distance measuring spots SP with an altitude difference equal to or greater than a threshold is detected (S34:NO).

[0077] The target position setting unit 23 sets the target position PS90 using the estimation distance measurement spot (S36). Specifically, the target position setting unit 23 sets the position coordinates of the target position PS90 using the position coordinates of two distance measurement spots SP (distance measurement spots SPt1 and SPt2 in Figure 4) set as the estimation distance measurement spot. For example, the target position setting unit 23 sets the position coordinates of the target position PS90 by taking the average of the position coordinates of the two distance measurement spots SP (distance measurement spots SPt1 and SPt2 in Figure 4).

[0078] Furthermore, the target position setting unit 23 can also set the target position PS90 using the position coordinates of the target position PS90 that have been set in advance using absolute coordinates.

[0079] Figure 8 is a functional block diagram showing another example of the configuration of a navigation support system according to an embodiment of the present invention.

[0080] As shown in Figure 8, the navigation support system 10A includes a navigation support device 20A. The navigation support device 20A includes a control unit 200A. The control unit 200A differs from the control unit 200 in that the target position setting unit 23 is replaced by a target position setting unit 23A. The other configurations of the control unit 200A are the same as those of the control unit 200.

[0081] The attitude measurement unit 22 outputs the attitude angle and position coordinates of the ship 80 to the target position setting unit 23A.

[0082] The navigation support device 20A, including the target position setting unit 23A, sets the target position PS90 by performing the process shown in Figure 9. Figure 9 is a flowchart showing a third example of the target position setting process of the navigation support method according to this embodiment.

[0083] As shown in Figure 9, the distance measurement unit 21 performs three-dimensional distance measurement and generates distance measurement information for multiple distance measurement spots SP (S11).

[0084] The target position setting unit 23A sets a provisional target position using the brightness and altitude of multiple distance measuring spots SP (S120). More specifically, the target position setting unit 23 sets the target position set by the method shown in Figures 6 and 7 as the provisional target position.

[0085] The target position setting unit 23A stores the position coordinates of the target position, i.e., the position of the N flag, in advance as the target position for determination, by referring to map information, AIS, etc. The target position setting unit 23A stores the position coordinates of the target position for determination in an absolute coordinate system, for example.

[0086] The target position setting unit 23A compares the provisional target position with the determination target position (S14). At this time, the target position setting unit 23 converts the provisional target position to an absolute coordinate system by using the attitude angle and position coordinates of the ship 80. As a result, the target position setting unit 23A can compare the position coordinates of the provisional target position and the position coordinates of the determination target position in a unified absolute coordinate system.

[0087] If the positional error between the provisional target position and the determination target position is within a predetermined error range (S15:YES), the target position setting unit 23A sets the provisional target position to the target position PS90 (S16). If the positional error between the provisional target position and the determination target position is not within a predetermined error range (S15:NO), the navigation support device 20A discards the result and repeats, for example, the various target position PS90 setting processes described above.

[0088] With this configuration and processing, the navigation support device 20A can set the target position PS90 with high reliability.

[0089] In the above-described embodiment, the distance measuring unit 21 was shown with the scanning direction being vertical. However, the distance measuring unit 21 may also be configured to scan in the horizontal direction.

[0090] Furthermore, in the above-described embodiment, the reflective member 30 was shown to be plain, that is, having a uniform reflective surface throughout. However, the reflective member 30 can also be made to have a predetermined pattern, such as a barcode, that is, a surface on which the pattern can be recognized by the difference in brightness. In this case, the distance measurement unit 21 or the target position setting unit 23 may be equipped with an information demodulation unit that demodulates information associated with the pattern.

[0091] 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.

[0092] 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. [Explanation of symbols]

[0093] 10, 10A: Navigation support systems 20, 20A: Navigation support device 21: Distance measurement unit 22: Posture Measurement Unit 23, 23A: Target position setting section 24: Support information generation section 30: Reflective material 31: 1st flat plate part 32:Second flat plate part 80: Ship 90: Wharf 200, 200A: Control Unit 800: Deck 900: Wharf Line 901: Horizontal plane 902: Vertical plane PS90:Target position

Claims

1. A reflective member is installed in a shape that bends with respect to the anchoring target line of a ship, including a target position on the anchoring target line, A distance measuring unit installed on the aforementioned vessel, which transmits and receives laser light to perform three-dimensional distance measurement, A target position setting unit sets the target position using the distance measurement result obtained by the laser light reflected by the reflective member, Equipped with, The aforementioned anchoring target line is a line in which the horizontal plane and the vertical plane of the anchoring object on which the vessel is anchored intersect perpendicularly. The reflective member comprises a first flat plate portion installed on the horizontal surface and a second flat plate portion installed on the vertical surface. Navigation support system.

2. The navigation support system according to Claim 1, The distance measuring unit is The laser beam is scanned to set up multiple distance measuring spots in the scanning direction and distance direction. A distance measurement is performed for each of the aforementioned multiple distance measurement spots. The aforementioned target position setting unit is The target position is set using the brightness and altitude of the plurality of distance measurement spots in the distance measurement result. Navigation support system.

3. The navigation support system according to Claim 2, The aforementioned target position setting unit is The target position is set using the altitude difference of the plurality of adjacent distance measuring spots in a direction perpendicular to the aforementioned anchoring target line. Navigation support system.

4. A navigation support system according to claim 2 or claim 3, The aforementioned target position setting unit is The target position is set using the high-luminance distance measuring spot among the plurality of distance measuring spots. Navigation support system.

5. A navigation support system according to any one of claims 1 to 4, The aforementioned target position setting unit is The target position set using the distance measurement result by the laser light is designated as the provisional target position. The target position for determination is set using a means different from the distance measurement result using the aforementioned laser light. If the error between the provisional target position and the determination target position is within a predetermined range, the provisional target position is set to the target position. Navigation support system.

6. A navigation support system according to any one of claims 1 to 5, A measuring unit for measuring the position coordinates of the aforementioned vessel, A support information generation unit generates navigation support information for docking the vessel at the target position using the target position and the position coordinates of the vessel, A navigation support system equipped with [the following features].

7. The navigation support system according to claim 6, The aforementioned support information generation unit, A docking reference point is set for the aforementioned vessel, Based on the positional relationship between the docking reference point and the target position, the navigation support information is generated. Navigation support system.

8. A navigation support system according to claim 6 or claim 7, The measuring unit measures the attitude of the ship, The support information generation unit generates the navigation support information using the target position, the position coordinates of the vessel, and the attitude of the vessel. Navigation support system.

9. The reflective members are installed in a shape that bends with respect to the anchoring target line of the ship, including the target position on the anchoring target line. Three-dimensional distance measurement is performed by transmitting and receiving laser light from the aforementioned vessel. The target position is set using the distance measurement result obtained by the laser light reflected by the reflective member. The aforementioned anchoring target line is a line in which the horizontal plane and the vertical plane of the anchoring object on which the vessel is anchored intersect perpendicularly. The reflective member comprises a first flat plate portion installed on the horizontal surface and a second flat plate portion installed on the vertical surface. Navigation aid methods.

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