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

Abstract

This information processing device includes an acquisition means and a display processing means. The acquisition means acquires measurement data generated by a measurement device provided to a ship. On the basis of the measurement data, the display processing means performs a process for displaying, on a display device, information regarding the relative positional relationship between the ship and a berthing area, which is the area where the ship should be positioned when the ship is berthed at a berthing location.

Description

[Technical Field]

[0001] This disclosure relates to the procedures for when a vessel is docked. [Background technology]

[0002] Technologies for assisting with ship docking (berthing) have been known for some time. For example, Patent Document 1 describes a method for controlling the attitude of a ship in an automatic docking device that performs automatic ship docking, such that light emitted from a lidar is reflected by objects around the docking position and received by the lidar. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-59403 [Overview of the project] [Problems that the invention aims to solve]

[0004] For ships, safe and smooth docking at berthing locations is crucial, and the realization of docking support systems for ship handling assistance and automated navigation is particularly desired. Furthermore, in order to achieve safe and smooth docking, it is necessary to accurately understand the positional relationship between the docking area (the area where the ship should be located when docking) and the ship itself.

[0005] This disclosure was made to solve the above-mentioned problems, and its main purpose is to provide an information processing device that can accurately grasp the positional relationship between the berthing area and the vessel. [Means for solving the problem]

[0006] requestThe invention described in the request is an information processing device comprising: acquisition means for acquiring measurement data generated by a measuring device installed on a ship; display processing means for performing processing to display on a display device information relating to the relative positional relationship between the ship and a docking area, which is the area where the ship should be located when docking at a docking location, based on the measurement data; shortest opposite shore distance calculation means for extracting the minimum length of the perpendiculars drawn from the contour point of the ship to a straight line along the side of the quay wall of the docking location, and calculating the shortest distance from the ship's hull to the quay wall of the docking location; and proximity part determination means for determining the contour point from which the shortest distance has been calculated as a proximity part corresponding to the part of the ship's hull that is closest to the quay wall of the docking location, wherein the display processing means performs processing to display the shortest distance and the proximity part information on the display device. Furthermore, the invention described in the claim is an information processing device comprising: acquisition means for acquiring measurement data generated by a measuring device installed on a ship; display processing means for performing processing to display on a display device information relating to the relative positional relationship between the ship and a docking area, which is the area where the ship should be located when docking at a docking location, based on the measurement data; object distance calculation means for extracting the minimum distance from the contour point of the ship to the measurement data representing an object other than the quay of the docking location, and calculating the shortest distance from the ship's hull to the object; and proximity part identification means for determining the contour point from which the shortest distance has been calculated as a proximity part corresponding to the part of the ship's hull that is closest to the object, wherein the display processing means performs processing to display the shortest distance and the information relating to the proximity part on the display device.

[0007] MaFurthermore, the invention described in the claim is a control method performed by a computer, comprising: acquiring measurement data generated by a measuring device installed on a ship; performing processing to display information on a display device relating to the relative positional relationship between the ship and a docking area, which is the area where the ship should be located when docking at a docking location, based on the measurement data; extracting the minimum length of the perpendicular line drawn from the contour point of the ship to a straight line along the side of the quay wall of the docking location; calculating the shortest distance from the ship's hull to the quay wall of the docking location; determining the contour point from which the shortest distance has been calculated as the proximity area corresponding to the part of the ship's hull closest to the quay wall of the docking location; and performing processing to display the shortest distance and information relating to the proximity area on the display device. Furthermore, the invention described in the claim is a control method performed by a computer, which acquires measurement data generated by a measuring device installed on a ship, performs processing to display on a display device information relating to the relative positional relationship between the ship and a docking area, which is the area where the ship should be located when docking at a docking location, based on the measurement data, extracts the minimum distance from the contour point of the ship to the measurement data representing an object other than the quay of the docking location, calculates the shortest distance from the ship's hull to the object, determines the contour point from which the shortest distance has been calculated as the proximity area corresponding to the part of the ship's hull that is closest to the object, and performs processing to display on the display device information relating to the shortest distance and the proximity area.

[0008] MaFurthermore, the invention described in the claim is a program which causes a computer to perform a process to display information on a display device that acquires measurement data generated by a measuring device installed on a ship, and based on the measurement data, the minimum length of the perpendiculars drawn from the contour point of the ship to a straight line along the side of the quay wall of the quay, calculates the shortest distance from the ship's hull to the quay wall of the quay, determines the contour point from which the shortest distance has been calculated as the proximity point corresponding to the part of the ship's hull that is closest to the quay wall of the quay, and causes the computer to perform a process to display information on the display device that includes the shortest distance and the proximity point. Furthermore, the invention described in the claim is a program which causes a computer to perform a process to display on a display device information relating to the relative positional relationship between the berthing area, which is the area where the ship should be located when it docks at a berthing location, and the ship, based on the measurement data, extracts the minimum distance from the contour point of the ship to the measurement data representing an object other than the quay of the berthing location, calculates the shortest distance from the ship's hull to the object, determines the contour point from which the shortest distance has been calculated as the proximity area corresponding to the part of the ship's hull that is closest to the object, and causes the computer to perform a process to display on the display device information relating to the shortest distance and the proximity area. [Brief explanation of the drawing]

[0009] [Figure 1A] Block diagram of the flight support system. [Figure 1B] A top view illustrating the field of view of the ship and lidar included in the navigation support system. [Figure 1C] A diagram showing the field of view of a ship and a rider from the rear. [Figure 2] A block diagram showing an example of the hardware configuration of an information processing device. [Figure 3] Functional block diagram related to berthing support processing. [Figure 4A] A diagram showing a rider capturing the quay as it docks. [Figure 4B] A perspective view of a quay wall, clearly showing the straight line of the side where the quay docks. [Figure 5A] A diagram showing an example of a data structure for confidence level information. [Figure 5B] A diagram showing an example of the indicators and confidence levels included in confidence information. [Figure 5C] An overhead view of the target vessel and berthing location, clearly indicating the indicators shown in Figure 5B. [Figure 6A] A diagram showing an example of a hull coordinate system based on the hull of the target vessel. [Figure 6B] A perspective view of a structure with its normal vectors clearly indicated. [Figure 7] A diagram showing an example of a docking area with forward and aft markers. [Figure 8A] A top view clearly showing the origin O, distances df and dr, and the front end FE and rear end RE. [Figure 8B] A diagram showing the unit vector u used to calculate distances df and dr. [Figure 9] A top view showing distances sf, sr, and dq. [Figure 10A] A diagram showing an example of how berthing support information is displayed. [Figure 10B] A diagram showing an example of how berthing support information is displayed. [Figure 10C] A top view showing distance dm, forward distance dmf, and backward distance dmr. [Figure 10D] A top view showing the vertex TP and the line Lz. [Figure 11] A top view showing velocity vq(k), velocity vfr(k), and velocity v(k). [Figure 12A] A diagram showing an example of how berthing support information is displayed. [Figure 12B] A diagram showing an example of how berthing support information is displayed. [Figure 13A] A diagram showing an example of how berthing support information is displayed. [Figure 13B] A diagram showing an example of how berthing support information is displayed. [Figure 14A]A diagram showing an example of how berthing support information is displayed. [Figure 14B] A diagram showing an example of how berthing support information is displayed. [Figure 15A] A diagram showing an example of how berthing support information is displayed. [Figure 15B] A diagram showing an example of how berthing support information is displayed. [Figure 15C] A diagram showing an example of how berthing support information is displayed. [Figure 16] A flowchart illustrating the overview of the docking support process. [Figure 17A] An overhead view of the target vessel with its outline point (Po) clearly indicated. [Figure 17B] A diagram showing the distance from contour point Po to the straight line L on the shoreline, indicated by arrows. [Figure 17C] A diagram clearly showing the point PX closest to the quay and the shortest distance DX to that quay. [Figure 17D] A diagram clearly showing the point PY adjacent to the front end FE, the shortest distance DY to the front end FE, the point PZ adjacent to the rear end RE, and the shortest distance DZ to the rear end RE. [Figure 17E] A diagram showing an example of how berthing support information is displayed. [Figure 18A] This diagram outlines the process of extracting the minimum distance from a contour point Po to a data point representing an obstacle. [Figure 18B] A diagram illustrating the process of determining the point of proximity to an obstacle and the shortest distance to that obstacle. [Figure 18C] A diagram showing an example of how berthing support information is displayed. [Figure 19] A flowchart illustrating an example of the process involved in generating an information display screen. [Modes for carrying out the invention]

[0010] In one preferred embodiment of the present invention, the information processing device includes acquisition means for acquiring measurement data generated by a measuring device installed on a ship, and display processing means for performing processing on a display device to display information relating to the relative positional relationship between the ship and a docking area, which is the area where the ship should be located when docking at a docking location, based on the measurement data.

[0011] The above-described information processing device comprises an acquisition means and a display processing means. The acquisition means acquires measurement data generated by a measuring device installed on the vessel. The display processing means performs processing based on the measurement data to display on a display device information relating to the relative positional relationship between the vessel and the berthing area, which is the area where the vessel should be located when berthing at a berthing location. This makes it possible to accurately grasp the positional relationship between the berthing area and the vessel.

[0012] In one embodiment of the above-described information processing device, the device further includes a marker position acquisition means for acquiring the position of at least one marker that serves as a landmark for the berthing area based on the measurement data, and the display processing means performs processing to display on a display device information relating to the relative positional relationship between the berthing area identified based on the positions of the two markers and the vessel.

[0013] In one embodiment of the above-described information processing device, the display processing means performs processing to display on the display device information relating to the distance from the bow of the vessel to the front end of the berthing area and information relating to the distance from the stern of the vessel to the rear end of the berthing area.

[0014] In one embodiment of the above-described information processing device, the display processing means further performs processing to display information relating to the distance from the vessel to the side of the quay wall of the berthing location on the display device.

[0015] In one embodiment of the above-described information processing device, the display processing means performs processing to display on the display device information relating to the speed at which the vessel moves toward the quay in the docking area and information relating to the speed at which the vessel moves toward the front and rear in the docking area.

[0016] In one embodiment of the above-described information processing device, the display processing means further performs processing to display on the display device information relating to the movement speed of the vessel, which is calculated by combining the speed at which the vessel moves toward the quay in the docking area and the speed at which the vessel moves in the longitudinal direction of the docking area.

[0017] In one embodiment of the above-described information processing device, the display processing means performs processing to display on the display device information relating to the angle indicating the orientation of the vessel with respect to the side of the quay wall of the berthing location.

[0018] In one embodiment of the above-described information processing device, the display processing means performs processing to display on the display device information relating to the predicted position and predicted attitude of the vessel as information relating to the vessel moving within the berthing area, from the current time until a predetermined time has elapsed.

[0019] In one embodiment of the above-described information processing device, the display processing means performs processing to display on the display device information relating to a route for guiding the vessel from its current position to a predetermined berthing position within the berthing area, as information relating to the vessel moving within or around the berthing area.

[0020] In one embodiment of the above-described information processing device, the shortest opposite shore distance calculation means extracts the minimum length of the perpendicular line drawn from the contour point of the vessel to a straight line along the side of the quay wall of the berthing location, and calculates the shortest distance from the vessel's hull to the quay wall of the berthing location; and the proximity location determination means determines the contour point from which the shortest distance has been calculated as the proximity location corresponding to the part of the vessel's hull that is closest to the quay wall of the berthing location, and the display processing means performs processing to display the shortest distance and the information relating to the proximity location on the display device.

[0021] In one embodiment of the above-described information processing device, the device further includes: an object distance calculation means that extracts the minimum distance from the contour point of the vessel to the measurement data representing an object other than the quay of the berthing location, and calculates the shortest distance from the vessel's hull to the object; and a proximity part identification means that determines the contour point from which the shortest distance has been calculated as a proximity part corresponding to the part of the vessel's hull that is closest to the object, and the display processing means performs processing to display the shortest distance and the information relating to the proximity part on the display device.

[0022] In another embodiment of the present invention, a control method executed by a computer acquires measurement data generated by a measuring device installed on the vessel, and processes the data to display on a display device information relating to the relative positional relationship between the vessel and the berthing area, which is the area where the vessel should be located when it docks at a berthing location. This makes it possible to accurately grasp the positional relationship between the berthing area and the vessel.

[0023] In yet another embodiment of the present invention, the program acquires measurement data generated by a measuring device installed on a ship, and causes a computer to perform a process to display information on a display device relating to the relative positional relationship between the ship and a docking area, which is the area where the ship should be located when docking at a docking location, based on the measurement data. By executing this program on a computer, the above-described information processing device can be realized. This program can be stored and used on a storage medium. [Examples]

[0024] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0025] [Overview of the driver assistance system] Figures 1A to 1C show the schematic configuration of the navigation support system according to this embodiment. Specifically, Figure 1A shows a block diagram of the navigation support system, Figure 1B is a top view illustrating the field of view (also called the "measurement range" or "distance-measurable range") 90 of the vessel and the lidar 3 described later, which are included in the navigation support system, and Figure 1C is a rear view showing the field of view 90 of the vessel and the lidar 3. The navigation support system comprises an information processing device 1 that moves together with the vessel, which is a moving object, and a group of sensors 2 mounted on the vessel. Hereafter, the vessel on which the navigation support system is installed will also be called the "target vessel".

[0026] The information processing device 1 is electrically connected to the sensor group 2 and provides operational support for the target vessel based on the outputs of the various sensors included in the sensor group 2. Operational support includes berthing support such as automatic docking. Here, "berthing" includes not only docking the target vessel at a quay but also docking it at a structure such as a pier. Furthermore, hereafter, "berthing location" refers to the general term for structures such as quays and piers that are the target of berthing. The information processing device 1 may be a navigation device installed on the vessel or an electronic control device built into the vessel.

[0027] Sensor group 2 includes various external and internal sensors installed on the ship. In this embodiment, sensor group 2 includes, for example, a Lidar (Light Detection and Ranging, or Laser Illuminated Detection and Ranging) 3.

[0028] The LIDA3 is an external sensor that discretely measures the distance to an object in the external environment by emitting a pulsed laser within a predetermined angular range in the horizontal direction (see Figure 1B) and a predetermined angular range in the vertical direction (see Figure 1C), and generates three-dimensional point cloud data indicating the position of the object.

[0029] LIDA 3 comprises an irradiation unit that irradiates laser light while changing the irradiation direction, a light receiving unit that receives reflected light (scattered light) of the irradiated laser light, and an output unit that outputs scan data based on the received signal output by the light receiving unit. The data measured for each direction of laser light irradiation (scanning position) is generated based on the irradiation direction corresponding to the laser light received by the light receiving unit and the response delay time of the laser light specified based on the received signal described above. Hereafter, the point measured by the irradiation of laser light within the measurement range of LIDA 3, or the data thereof, will also be referred to as the "measured point".

[0030] In the examples shown in Figures 1B and 1C, the target vessel is equipped with four lidars 3: one pointed forward on the port side, one pointed aft on the port side, one pointed forward on the starboard side, and one pointed aft on the starboard side. When the target vessel approaches the berthing location, the forward and aft lidars 3, located on the side of the vessel that is docking alongside the berthing location, generate point cloud data measuring the berthing location. Hereafter, the forward lidar 3 that measures the berthing location will be referred to as the "forward lidar," and the aft lidar 3 that measures the berthing location will be referred to as the "backward lidar." The forward and aft measuring lidars are examples of the "first measuring device" and "second measuring device." Note that the arrangement of lidars 3 is not limited to the examples shown in Figures 1B and 1C.

[0031] Here, point cloud data can be considered as an image (frame) where each measurement direction is represented by a pixel, and the measured distance and reflectance value for each measurement direction are represented by the pixel value. In this case, the direction of laser beam emission (i.e., measurement direction) differs in elevation and depression angles in the vertical arrangement of pixels, and the direction of laser beam emission differs in horizontal angles in the horizontal arrangement of pixels. Hereafter, when the point cloud data is considered as an image, the measured points corresponding to the rows of pixels (i.e., vertical columns) whose horizontal index positions coincide will also be called "vertical lines." Furthermore, when the point cloud data is considered as an image, the horizontal index will be called the "horizontal number," and the vertical index will be called the "vertical number."

[0032] LiDAR 3 is not limited to the scanning type LiDAR described above, but may also be a flash type LiDAR that generates 3D data by diffusing laser light into the field of view of a 2D array sensor. LiDAR 3 is an example of a "measuring device" in the present invention.

[0033] [Configuration of the information processing device] Figure 2 is a block diagram showing an example of the hardware configuration of the information processing device 1. The information processing device 1 mainly consists of an interface 11, a memory 12, a controller 13, and a monitor 14. Each of these elements is interconnected via a bus line.

[0034] Interface 11 performs interface operations related to the exchange of data between the information processing device 1 and external devices. In this embodiment, interface 11 acquires output data from each sensor in the sensor group 2 and supplies it to the controller 13. Interface 11 also supplies signals related to the control of the target vessel, generated by the controller 13, to each component of the target vessel that controls the operation of the target vessel. For example, the target vessel includes a drive source such as an engine or electric motor, a propeller that generates thrust in the direction of travel based on the driving force of the drive source, a thruster that generates thrust in the lateral direction based on the driving force of the drive source, and a rudder, etc., which is a mechanism for freely determining the direction of travel of the vessel. During automatic operation such as automatic docking, interface 11 supplies control signals generated by the controller 13 to each of these components. If the target vessel is equipped with an electronic control device, interface 11 supplies control signals generated by the controller 13 to the electronic control device. Interface 11 may be a wireless interface such as a network adapter for wireless communication, or it may be a hardware interface for connecting to external devices by cables, etc. Furthermore, interface 11 may perform interface operations with various peripheral devices such as input devices, display devices, and sound output devices.

[0035] Memory 12 is composed of various volatile and non-volatile memories such as RAM (Random Access Memory), ROM (Read Only Memory), hard disk drive, and flash memory. Memory 12 stores programs for the controller 13 to execute predetermined processes. Note that the programs executed by the controller 13 may be stored in storage media other than memory 12.

[0036] Furthermore, memory 12 stores information necessary for the processing performed by the information processing device 1 in this embodiment. For example, memory 12 may store map data including information about the location of the docking place. In another example, memory 12 stores information about the downsampling size when downsampling is performed on the point cloud data obtained when the lidar 3 performs one cycle of scanning.

[0037] The controller 13 includes one or more processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a TPU (Tensor Processing Unit), and controls the entire information processing device 1. In this case, the controller 13 performs processing related to the operation support of the target vessel by executing programs stored in memory 12, etc.

[0038] Furthermore, the controller 13 functionally includes a docking location detection unit 15, a docking parameter calculation unit 16, and a display processing unit 17. The docking location detection unit 15 performs processing related to the detection of docking locations based on the point cloud data output by the lidar 3. The docking parameter calculation unit 16 calculates the parameters necessary for docking at the docking location (also called "docking parameters"). Here, the docking parameters include the distance between the target vessel and the docking location (distance to the opposite shore), the approach angle of the target vessel to the docking location, and the speed at which the target vessel approaches the docking location (docking speed). The docking parameter calculation unit 16 also calculates information representing the reliability of docking at the docking location (also called "reliability information") based on the processing results of the docking location detection unit 15 and the docking parameters. The display processing unit 17 performs processing to display the information related to the docking parameters calculated by the docking parameter calculation unit 16 (also called "docking support information") on the monitor 14. The controller 13 functions as an "acquisition means," a "marker position acquisition means," a "display processing means," and a computer or the like that executes the program.

[0039] Furthermore, the processing performed by the controller 13 is not limited to being implemented by software through a program, but may also be implemented by a combination of hardware, firmware, and software. Additionally, the processing performed by the controller 13 may be implemented using a user-programmable integrated circuit, such as an FPGA (Field-Programmable Gate Array) or a microcontroller. In this case, the program executed by the controller 13 in this embodiment may be implemented using this integrated circuit.

[0040] Monitor 14 displays information generated by controller 13.

[0041] [Overview of docking support procedures] Next, an overview of the docking support process performed by the information processing device 1 will be described. Based on the point cloud data of the lidar 3 measured in the direction in which the docking location exists, the information processing device 1 generates a straight line along the side of the docking location (also called the "docking side line L"). In other words, the docking side line L is a straight line along the side of the quay wall of the docking location. Then, based on the docking side line L, the information processing device 1 calculates docking parameters such as the distance to the opposite shore.

[0042] Figure 3 is a functional block diagram of the docking location detection unit 15 and the docking parameter calculation unit 16 related to docking support processing. Functionally, the docking location detection unit 15 includes a normal vector calculation block 20, a field of view / detection surface identification block 21, a normal number identification block 22, a mean / variance calculation block 23, and a docking status determination block 24. Functionally, the docking parameter calculation unit 16 includes a nearest point search block 26, a straight line generation block 27, a distance calculation block 28, an entry angle calculation block 29, a docking speed calculation block 30, and a reliability information generation block 40.

[0043] The normal vector calculation block 20 calculates the normal vector of the surface formed by the berthing location (also called the "berthing surface") based on the point cloud data generated by the lidar 3 in the direction in which the berthing location exists. In this case, the normal vector calculation block 20 calculates the normal vector based on, for example, the point cloud data generated by the lidar 3, which includes the berthing side of the target vessel in its measurement range. Information regarding the measurement range of the lidar 3 and the direction of the berthing location may be pre-registered in, for example, memory 12.

[0044] In this case, the normal vector calculation block 20 preferably performs downsampling of the point cloud data and removal of data obtained by the reflection of laser light from the water surface (also called "water surface reflection data").

[0045] In this case, first, the normal vector calculation block 20 removes data located below the water surface position from the point cloud data generated by the lidar 3, treating it as water surface reflection data (i.e., false detection data). The normal vector calculation block 20 estimates the water surface position based, for example, on the average value in the height direction of the point cloud data generated by the lidar 3 when there are no objects other than the water surface in the surrounding area. Then, the normal vector calculation block 20 performs downsampling on the point cloud data after the water surface reflection data has been removed, which is a process that integrates the measured points for each grid space of a predetermined size. Finally, the normal vector calculation block 20 calculates a normal vector for each measured point indicated by the downsampled point cloud data using multiple surrounding measured points. Note that downsampling may be performed before removing the data reflected from the water surface.

[0046] The field of view / detection surface identification block 21 identifies the surface of the docking location that is within the field of view angle of the Lidar 3 (also called the "inner surface of the field of view") and the surface of the docking location detected based on the normal vector calculated by the normal vector calculation block 20 (also called the "detection surface"). In this case, the field of view / detection surface identification block 21 determines whether the upper surface and / or the side surface of the docking location are included in the inner surface of the field of view and the detection surface.

[0047] The normal vector number identification block 22 extracts the vertical normal vector and the normal vector perpendicular to it (i.e., the horizontal direction) from the normal vector calculated by the normal vector calculation block 20, and calculates the number of vertical normal vectors and the number of horizontal normal vectors. Here, the normal vector number identification block 22 considers the vertical normal vector to represent the normal to the measured point on the upper surface of the docking location, and the horizontal normal vector to represent the normal to the measured point on the side of the docking location, and calculates the number of each as an indicator of the reliability of the docking location.

[0048] The mean and variance calculation block 23 extracts the vertical normal vector and the normal vector perpendicular to it (i.e., horizontal) from the normal vectors calculated by the normal vector calculation block 20, and calculates the mean and variance of the vertical normal vector and the mean and variance of the horizontal normal vector.

[0049] The docking status determination block 24 obtains the processing results of the field of view / detection surface identification block 21, the normal number identification block 22, and the mean / variance calculation block 23, which are identified or calculated based on the same point cloud data, as determination results representing the detection status of the docking location at the time the point cloud data was generated. The docking status determination block 24 then supplies the processing results of the field of view / detection surface identification block 21, the normal number identification block 22, and the mean / variance calculation block 23 as determination results of the detection status of the docking location to the docking parameter calculation unit 16.

[0050] The nearest neighbor search block 26 searches for the nearest neighbor point closest to the target vessel, line by line, from the measured points that make up the point cloud data. For example, as shown in Figure 4A, when the lidar 3 is detecting a quay where the vessel is docked, the nearest neighbor point, which is the point closest to the vessel, will be the edge between the top and side surfaces of the quay. The set of points obtained by the nearest neighbor search for each vertical line will be a collection of points near the edge of the quay.

[0051] The line generation block 27 generates a shoreline line L, which is a straight line along the side of the shoreing location, based on the nearest neighbor determined by the nearest neighbor search block 26. Through this process, the line generation block 27 can generate a shoreline line L, for example, as shown in Figure 4B. Figure 4B is a perspective view of a quay wall with the shoreline line clearly indicated.

[0052] The opposite shore distance calculation block 28 calculates the opposite shore distance, which corresponds to the shortest distance between the target vessel and the berthing location, based on the berthing side line L generated by the line generation block 27. Here, if there are multiple lidars 3 that can measure the berthing location, the opposite shore distance calculation block 28 generates a berthing side line L by combining the point cloud data of multiple lidars 3 and calculates the shortest distance to each lidar 3 as the opposite shore distance. Alternatively, a berthing side line L may be generated for each point cloud data of lidar 3, and the shortest distance between each berthing side line L and each lidar 3 may be calculated as the opposite shore distance. Furthermore, the opposite shore distance calculation block 28 may calculate the opposite shore distance as the shortest distance from a reference point such as the vessel's center position to the berthing side line L. Note that instead of considering the shortest distance for each lidar 3 as the opposite shore distance, the opposite shore distance calculation block 28 may define the opposite shore distance as the shorter of the shortest distances for each lidar 3, or define the opposite shore distance as the average of these shortest distances.

[0053] The approach angle calculation block 29 calculates the approach angle of the target vessel to the berthing location based on the berthing side line L generated by the line generation block 27. Specifically, the approach angle calculation block 29 calculates the approach angle using the function "atan2", which finds the arctangent from two arguments that define the tangent. More specifically, the approach angle calculation block 29 calculates the approach angle from the direction vector of the berthing side line L by calculating the function atan2.

[0054] The berthing speed calculation block 30 calculates the berthing speed, which is the speed at which the target vessel approaches the berthing location, based on the distance to the opposite shore calculated by the distance to the opposite shore calculation block 28. For example, the berthing speed calculation block 30 calculates the berthing speed as the change in the distance to the opposite shore (shortest distance) over time.

[0055] The reliability information generation block 40 generates reliability information based on the processing results of the docking status determination block 24, the straight line generation block 27, the opposite bank distance calculation block 28, and the approach angle calculation block 29.

[0056] Here, we will explain the first specific example of generating confidence information. The confidence information generation block 40 generates flags for each element such as the field of view at the time of detection of the docking location, the surface detection of the docking location, the number of normal vectors, and the variance, and generates confidence information from the vector of the generated flags. Hereafter, a flag of "1" will indicate that the confidence level of the corresponding element is high, and a flag of "0" will indicate that the confidence level of the corresponding element is low.

[0057] Figure 5A shows an example of the data structure of confidence information generated by the confidence information generation block 40. As shown in Figure 5A, the confidence information has the following items: "Top view", "Side view", "Linear view", "Distance", and "Angle". The item "Top view" has the sub-items "Field of view angle", "Detection", "Normal number", and "Variance", and the item "Side view" has the sub-items "Field of view angle", "Detection", "Normal number", and "Variance". The item "Linear view" has the sub-item "Absolute value", the item "Distance" has the sub-items "Amount of change" and "Rate of change", and the item "Angle" has the sub-item "Amount of change".

[0058] Here, the reliability information generation block 40 registers a flag in the "Field of View Angle" sub-item of the "Top Surface" item, which is set to "1" if the top surface of the docking location is within the field of view, and to "0" if the top surface is outside the field of view. The reliability information generation block 40 also registers a flag in the "Detection" sub-item of the "Top Surface" item, which is set to "1" if the top surface of the docking location is a detection surface, and to "0" if the top surface is not a detection surface. The reliability information generation block 40 also registers a flag in the "Number of Normals" sub-item of the "Top Surface" item, which is set to "1" if the number of normal vectors to the top surface of the docking location is equal to or greater than a predetermined threshold (e.g., 10), and to "0" if the number is less than the threshold. Furthermore, the reliability information generation block 40 registers a flag in the "Variance" sub-item of the "Upper Surface" item, where "1" is set if the variance of the x, y, and z components of the normal vector to the upper surface of the docking location is all less than a predetermined threshold (e.g., 1.0), and "0" is set if any of the variances is equal to or greater than the threshold. The reliability information generation block 40 also registers flags in each sub-item of the "Side" item, which are determined by the same rules as for each sub-item of the "Upper Surface" item.

[0059] Furthermore, the reliability information generation block 40 registers a flag in the "Absolute Value" sub-item of the "Line" item that represents the reliability of the berthing side line L generated by the generation method described later. For example, if there are riders 3 at the front and rear of the target vessel, the reliability information generation block 40 registers a flag that is "1" if the difference for each component between the direction vector of the berthing side line L generated by the generation method described later and the direction vector of the line connecting the nearest points of the riders 3 at the front and rear of the target vessel is all less than a threshold, and "0" if any of the differences are greater than or equal to the threshold.

[0060] Furthermore, the reliability information generation block 40 registers a flag in the "Change Amount" sub-item of the "Distance" item, which is set to "1" if the change amount of the distance to the opposite bank calculated by the opposite bank distance calculation block 28 from one time point in the previous period is less than a predetermined threshold (e.g., 1.0 m), and to "0" if the change amount is equal to or greater than the threshold. Furthermore, the reliability information generation block 40 registers a flag in the "Rate of Change" sub-item of the "Distance" item, which is set to "1" if the rate of change of the distance to the opposite bank calculated by the opposite bank distance calculation block 28 from one time point in the previous period is less than a predetermined threshold (e.g., ±10%), and to "0" if the rate of change is equal to or greater than the threshold. Furthermore, the reliability information generation block 40 registers a flag in the "Change Amount" sub-item of the "Angle" item, which is set to "1" if the change amount of the approach angle calculated by the approach angle calculation block 29 from one time point in the previous period is less than a predetermined threshold (e.g., 1.0 degrees), and to "0" if the change amount is equal to or greater than the threshold.

[0061] The thresholds mentioned above are set to conforming values ​​pre-stored in, for example, memory 12. Furthermore, confidence information may be generated for each Writer 3.

[0062] Next, a second specific example related to the generation of confidence information will be explained. Figure 5B is a diagram showing an example of the indicators and confidence levels included in the confidence information. Figure 5C is an overhead view of the target vessel and berthing location with the indicators shown in Figure 5B clearly indicated. Here, markers M0 and M1, which are reference points for berthing, are provided on the quay where the berthing takes place. The information processing device 1 detects these markers M0 and M1 based on the point cloud data of the lidar 3 and performs various processes such as generating the berthing side line L using the measured points (neighborhood point set) near the edge of the berthing location that exist between markers M0 and M1. Hereafter, the measured points near the edge of the berthing location that exist between markers M0 and M1 will also be called "target points". If markers M0 and M1 are not detected, for example, all of the neighboring point set will be considered as target points.

[0063] The index "c3" is an index based on the score of the target point, and here it is represented as a linear function with the variable x being the score of the target point. The index "c2" is an index based on the standard deviation of the target point, and here it is represented as a linear function with the variable x being the standard deviation of the target point. The index "c1" is an index that indicates whether both the forward and aft sides of the quay could be measured by the two Rider 3 units, and here it is represented as "1.0" if both sides could be measured and "0.0" if only one side could be measured. The index "c0" is an index based on the distance between the ends of the target point (both ends in the direction along the straight line Ls of the quay side), and is represented as a linear function with the variable x being the distance between the ends as described above. Furthermore, indices c0 to c3 are calculated to be limited to the range of 0 to 1.

[0064] The calculation confidence score "c" is the confidence score based on the above-mentioned indicators c0 to c3. Here, it is a weighted average of indicators c0 to c3 using weight coefficients "w0" to "w3" corresponding to the importance of indicators c0 to c3. An example of the setting values ​​for the weight coefficients w0 to w3 is also shown in the figure. Since each indicator c0 to c3 is in the range of 0 to 1, the calculation confidence score c, which is their weighted average, is also calculated as a numerical value in the range of 0 to 1.

[0065] The overall reliability "r" is the side detection reliability "q s " which is the reliability regarding the detection of the side surface of the quay wall, and the top surface detection reliability "q u " which is the reliability regarding the detection of the top surface of the quay wall, and the marker detection reliability "m0" which is the reliability regarding the detection of marker M0, and the marker detection reliability "m1" which is the reliability regarding the detection of marker M1, and is based on the operation reliability c. Here, for each reliability q s 、q u 、m0、m1、c, the weighting coefficients "w qs ", "w qu ", "w m0 ", "w m1 ", "w c " corresponding to the importance are used, and it is the weighted average value of the reliabilities q s 、q u 、m0、m1、c. Also, an example of the set values of the weighting coefficients w qs 、w qu 、w m0 、w m1 、w c is shown. Note that the information processing device 1 may calculate, for example, the side detection reliability q s based on the item "side" of the reliability information shown in FIG. 5A, and calculate the top surface detection reliability q u based on the item "top surface" of the reliability information in the same figure. Also, the information processing device 1 may calculate the marker detection reliability m0 and the marker detection reliability m1 based on, for example, the number of measured points of the point cloud data by the respective lidars 3 of the markers M0 and M1. And the side detection reliability q s 、the top surface detection reliability q u 、the marker detection reliability m0、the marker detection reliability m1 are all calculated so as to be in the range of 0 to 1. Also, when detecting both the front and rear quay walls, the side detection reliability q s0 of the front quay wall, the side detection reliability q s1 of the rear quay wall, the top surface detection reliability q u0 of the front quay wall, the top surface detection reliability q u1 of the rear quay wall are calculated. The side detection reliability q s 、the top surface detection reliability q uSince the marker detection confidence m0, marker detection confidence m1, and calculation confidence c are all in the range of 0 to 1, the overall confidence score r, which is their weighted average, is also calculated as a value in the range of 0 to 1. Therefore, the closer the overall confidence score r is to 1, the higher the reliability of the calculated docking parameters, and the closer the overall confidence score r is to 0, the lower the reliability of the calculated docking parameters.

[0066] In other words, the confidence information generated by the second specific example includes each indicator and confidence level calculated using the method described above.

[0067] Next, specific examples of the processing of the normal vector calculation block 20, the normal number determination block 22, and the mean / variance calculation block 23 will be explained with reference to Figures 6A and 6B.

[0068] Figure 6A shows an example of a hull coordinate system based on the hull of the target vessel. As shown in Figure 6A, the forward direction of the target vessel is the "x" coordinate, the side direction of the target vessel is the "y" coordinate, and the height direction of the target vessel is the "z" coordinate. The measurement data from the coordinate system based on LIDA 3, measured by LIDA 3, is converted to the hull coordinate system shown in Figure 6A. The process of converting point cloud data from a coordinate system based on a LIDA installed on a moving object to the coordinate system of the moving object is disclosed, for example, in International Publication WO2019 / 188745.

[0069] Figure 6B is a perspective view of the quay where the vessel docks, clearly showing the measurement points (represented by the LIDA 3) and the normal vectors calculated based on those measurement points. In Figure 6B, the measurement points are indicated by circles, and the normal vectors are indicated by arrows. This example shows that both the top and side surfaces of the quay were measured by the LIDA 3.

[0070] As shown in Figure 6B, the normal vector calculation block 20 calculates normal vectors for the measurement points on the side and top surfaces of the quay wall. Since normal vectors are vectors perpendicular to the target plane or curved surface, they are calculated using multiple measurement points that can form a surface. Therefore, a grid with predetermined lengths for length and width, or a circle with a predetermined radius, is set up, and the calculation is performed using the measurement points located within it. In this case, the normal vector calculation block 20 may calculate a normal vector for each measurement point, or it may calculate normal vectors at predetermined intervals. The normal number identification block 22 then determines that normal vectors whose z component is greater than a predetermined threshold are normal vectors oriented in the vertical direction. It is assumed that the normal vectors are unit vectors. Furthermore, normal vectors whose z component is less than a predetermined threshold are determined to be normal vectors oriented in the horizontal direction. The normal number identification block 22 then identifies the number of vertical normal vectors (5 in this case) and the number of horizontal normal vectors (4 in this case). Furthermore, the mean / variance calculation block 23 calculates the mean and variance of the vertical normal vector and the mean and variance of the horizontal normal vector. Note that for edge areas, the measurement direction will be diagonal because the surrounding measurement points are on the top or side.

[0071] [Details on how to display docking support information] Next, we will explain how to display docking support information.

[0072] (1st display method) Figure 7 shows an example of a docking area where forward and rearward markers are provided.

[0073] This display method describes the case where a vessel is docked at a berthing point (SBP) equipped with two markers having high reflectivity characteristics, such as retroreflective plates, as shown in Figure 7. In the following explanation of this display method, unless otherwise specified, the marker located on the forward side of the vessel docked at the berthing point (SBP) will be referred to as the forward marker FM, and the marker located on the aft side of the vessel will be referred to as the aft marker RM. In this display method, the distance L from the origin O, which corresponds to the reference point of the vessel, to the bow of the vessel is also described. f And the distance L from the origin O to the stern of the vessel in question. r Let's explain the case where and are known. The origin O can be set, for example, to the center position or center of gravity position of the target vessel.

[0074] The controller 13 obtains the point cloud data FMG that constitutes the forward marker FM and the point cloud data RMG that constitutes the rear marker RM, respectively, by, for example, extracting points to be measured with a predetermined intensity or higher from the point cloud data generated by the lidar 3. Furthermore, the controller 13 determines the coordinate position M of the forward marker FM in the ship's coordinate system based on the centroid position of each point to be measured included in the point cloud data FMG. f [m fx m fy m fz ] T The controller 13 also obtains the coordinate position M of the rear marker RM in the ship coordinate system, based on the centroid position of each measured point included in the point cloud data RMG. r [m rx m ry m rz ] T The controller 13 obtains the coordinate position M. f and M r Based on this, the rectangular area between the front end FE and the rear end RE (see Figure 8A) is identified as the docking area. Furthermore, the controller 13 determines the coordinate position M f and M r Based on the docking side line L and the distance d from the origin O of the hull coordinate system to the forward end of the docking area, f and the distance d from the origin O to the rear end of the shore-docking area.r The berthing area is the area where the target vessel should be located when berthing at the berthing location. Figure 8A shows the origin O and the distance d. f and distance d r This is a top view clearly showing the front end FE and the rear end RE.

[0075] Here, the distance d f and distance d r A specific example of the process for calculating the distance d will be explained with reference to Figures 8A and 8B. Figure 8B shows the distance d f and distance d r This figure clearly shows the unit vector "u" used in the calculation.

[0076] The controller 13 generates the shoreline straight line L shown in the following equation (1).

[0077]

number

[0078] Here, "[x0y0z0] T '' indicates the centroid of the measured point shown by the edge point cloud of the docking location, and "[abc] T " indicates the direction vector, and "t" indicates the parameter. For example, when performing principal component analysis, the eigenvector corresponding to the largest eigenvalue becomes the direction vector of the shoreline line L.

[0079] The controller 13 then calculates a unit vector u that is perpendicular to the docking side line L in a two-dimensional plane, as shown in equation (2) below. The unit vector u is represented as a vector originating from the origin O, as shown in Figure 8B.

[0080]

number

[0081] Coordinate position M f The dot product of the (x,y) component and the unit vector u is given by the coordinate position M fThis corresponds to the projection onto the vector u. Therefore, the distance "d" shown in Figure 8B f The following equation (3) holds true for ".

[0082]

number

[0083] Therefore, the controller 13 is at a distance d f This is calculated based on the following formula (4).

[0084]

number

[0085] Furthermore, the controller 13 uses a method similar to the one described above to determine the distance d r This is calculated based on the following formula (5). According to the above formula (4) and the following formula (5), when the origin O is between FE and RE as shown in Figure 8A, the distance d f distance d r Both are positive values. Also, according to equation (4) above and equation (5) below, when the origin O is located in front of FE, the distance d f The distance d is a negative value. r This will be a positive value. Also, according to the above formula (4) and the following formula (5), when the origin O is located behind RE, the distance d f d is a positive value for distance d r This will result in a negative value.

[0086]

number

[0087] The controller 13, based on the direction vector of the docking side line L, determines the angle Ψ, which represents the inclination of the docking side line L with respect to the x-axis direction of the ship's coordinate system. q To calculate the angle Ψ. In other words, the angle Ψ qThis corresponds to the angle indicating the orientation of the target vessel relative to the side of the quay wall at the berthing location. Furthermore, the controller 13 uses distance d f and L f And, angle Ψ q By applying the above to the following formula (6), the distance s from the bow of the target vessel to the forward end FE of the berthing area can be calculated. f The controller 13 calculates the distance d. r and L r And, angle Ψ q By applying the above to the following formula (7), the distance s from the stern of the target vessel to the rear end RE of the berthing area can be calculated. r The controller 13 also generates a perpendicular line in the xy-plane from the origin O to the docking side line L, and calculates the distance d, which is the length of that perpendicular line. q Calculate the distance d. q This corresponds to the distance from the vessel to the side of the quay where it will dock.

[0088]

number

number

[0089] According to the process described above, for example, the distance s shown in Figure 9 can be obtained. f , distance s r and distance d q The following is calculated. Figure 9 shows the distance s f , distance s r and distance d q This is a top view clearly showing the top view.

[0090] The controller 13 adjusts each distance (distance d) according to the relative positional relationship between the current position of the target vessel and the docking area. f , distance d r , distance s f , distance s r and distance d qPerform a process for generating an information display screen including the information related to , and displaying the generated information display screen on the monitor 14. And according to such a process, for example, an information display screen including approach shore support information as shown in FIG. 10A or FIG. 10B can be displayed on the monitor 14. FIGS. 10A and 10B are diagrams showing display examples of approach shore support information.

[0091] In the display examples shown in FIGS. 10A and 10B, the relative positional relationship among the target ship, the shore approach location, and the shore approach area can be grasped.

[0092] According to the display example shown in FIG. 10A, the distance d f is 14.12 meters, the distance d r is 12.85 meters, the distance s f is 6.83 meters, the distance s r is 2.84 meters, and the distance d q is 8.81 meters can be grasped. Also, according to the display example shown in FIG. 10A, the information related to each distance other than the distance s r is displayed in a normal display mode. Also, according to the display example shown in FIG. 10A, since the information related to the distance s r is displayed in an alert display mode different from the normal display mode, it can be grasped that the stern of the target ship is approaching the rear end RE of the shore approach area. Also, according to the display example shown in FIG. 10A, the controller 13 may change the display mode of the information related to the distance s r from the normal display mode to the alert display mode when the distance s r becomes less than or equal to a predetermined value.

[0093] The display mode for alerts may be set as a display mode in which at least one of the display elements such as the color of characters, the size of characters, the color of an arrow (line segment), and the thickness of the arrow (line segment) is emphasized compared to the normal display mode. Specifically, for example, an arrow (line segment) included in the information display screen may be set to be displayed with a line width larger than the predetermined line width in the normal display mode while being displayed with the predetermined line width in the display mode for alerts. Also, for example, a predetermined display element included in the information display screen may be set to be displayed in red in the display mode for alerts that strongly prompts attention while being displayed in blue in the normal display mode.

[0094] According to the display example shown in FIG. 10B, the distance d f is 6.44 meters, the distance d r is 25.27 meters, the distance s f is -5.68 meters, the distance s r is 15.27 meters, and the distance d q is 7.08 meters can be grasped. Also, according to the display example shown in FIG. 10B, due to the distance s f being a negative value, the information related to the distance s f is displayed in red, which is the display mode for alerts that strongly prompts attention, so it can be grasped that the bow of the target ship exceeds the front end FE of the shore approach area. Also, according to the display example shown in FIG. 10B, when the distance s f becomes less than or equal to a predetermined value, the display mode of the information related to the distance s f may be changed from the normal display mode to the display mode for alerts.

[0095] According to the above-described processing, the display processing means performs processing for displaying, on the display device, information related to the distance from the bow of the ship to the front end of the shore approach area and information related to the distance from the stern of the ship to the rear end of the shore approach area. Also, according to the above-described processing, the display processing means performs processing for displaying, on the display device, information related to the distance from the ship to the side surface of the shore wall of the shore approach location.

[0096] If there are three or more markers in the area where docking is to be performed, then only the markers at both the front and rear ends indicating the docking area should be used.

[0097] Furthermore, for example, even if only one marker SM is installed at the berthing location SBP, the forward distance d corresponds to the distance from the marker SM to the forward end FE. mf And the rear distance d, which corresponds to the distance from the marker SM to the rear end RE. mr If the data is pre-registered in the map data, then the distance d f and distance d r It is possible to calculate this.

[0098] Specifically, the controller 13, for example, when the target vessel approaches the berthing location SBP, refers to the map data stored in memory 12 to determine the forward distance d mf and rear distance d mr The controller 13 also obtains a distance d that corresponds to the distance from the origin O to the marker SM in a direction parallel to the straight line L of the docking side. m The controller 13 calculates the distance d. m and forward distance d mf By applying this to the following formula (8), the distance d f The controller 13 calculates the distance d. m and rear distance d mr By applying this to the following formula (9), the distance d r Calculate the distance d. m , forward distance d mf and rear distance d mr This can be represented, for example, as shown in Figure 10C. Figure 10C shows the distance d m , forward distance d mf and rear distance d mr This is a top view clearly showing the top view.

number

number

[0099] Furthermore, if, for example, the latitude and longitude of each of the four vertices TP constituting the berthing area are pre-registered in the map data, and the target vessel is equipped with a GNSS (Global Navigation Satellite System) signal receiver, the controller 13 performs the following processing to generate the information display screen, using each distance (distance d f , distance d r , distance s f , distance s r and distance d q You may also calculate ).

[0100] The controller 13 sets a ship coordinate system with the origin O being the latitude and longitude of the target ship identified based on the GNSS signal, and converts the latitude and longitude of each of the four vertices TP that constitute the berthing area into coordinate positions in the ship coordinate system. The controller 13 also generates a straight line Lz that passes through the coordinate positions of two of the four vertices TP that constitute the berthing area, TPA and TPB, which are close to the quay where the ship is berthed. Then, using the straight line Lz as the berthing side line L, the controller 13 performs the same processing as described above to generate the information display screen for each distance (distance d f , distance d r , distance s f , distance s r and distance d q ) can be calculated. Figure 10D is a top view showing the vertex TP and the line Lz.

[0101] (Second display method) The controller 13 performs the same processing as described in the first display method, thereby reducing the distance d q , distance d f and distance d r The controller 13 calculates the distance d. q , distance d f and distance d r Based on the temporal changes, the speed v corresponds to the speed at which the target vessel moves toward the quay in the berthing area (berthing speed).q And a speed v corresponding to the speed at which the target vessel moves in the longitudinal direction within the berthing area. fr And are calculated respectively. Also, the controller 13 controls the speed v q and velocity v fr By combining these, the speed v corresponding to the target vessel's moving speed is calculated.

[0102] Specifically, the controller 13 determines the distance d at time t(k-1). q The distance d between (k-1) and time t(k), which is one time step after time t(k-1). q By applying (k) and the following formula (10), the velocity v at time t(k) can be obtained. q (k) is calculated. Also, the controller 13 calculates the distance d at time t(k-1). f (k-1) and distance d r (k-1) and the distance d at time t(k) f (k) and distance d r By applying (k) and the following formula (11), the velocity v at time t(k) is obtained. fr (k) is calculated. Also, the controller 13 uses the following formula (10) to calculate the speed v q (k) and the velocity v calculated using the following formula (11) fr By applying (k) and to the following equation (12), the velocity v(k) at time t(k) is calculated. Note that in the following equations (10) and (11), "1 / (τs+1)" represents a first-order lag low-pass filter constructed using the time constant "τ" and the Laplace operator "s".

[0103]

number

number

number

[0104] According to the process described above, for example, a velocity v as shown in Figure 11 can be obtained. q (k), velocity v fr (k) and velocity v(k) are calculated. Figure 11 shows velocity v q (k), velocity v fr This is a top view showing (k) and velocity v(k).

[0105] Controller 13 controls speed v q And, velocity v fr Then, an information display screen containing information related to speed v is generated, and processing is performed to display the generated information display screen on monitor 14. Through this processing, for example, an information display screen containing berthing support information, as shown in Figure 12A or Figure 12B, can be displayed on monitor 14. Figures 12A and 12B are diagrams showing examples of berthing support information display.

[0106] According to the display examples shown in Figures 12A and 12B, the relative positional relationship between the target vessel, the berthing location, and the berthing area can be understood.

[0107] According to the example shown in Figure 12A, velocity v q The speed is 1.21 m / s, and the velocity v fr It can be determined that the speed is 0.62 m / s and that the velocity v is 1.36 m / s. Also, according to the display example shown in Figure 12A, the velocity v q Information related to each speed other than is displayed in the usual display format. Also, according to the display example shown in Figure 12A, speed v q Because the information related to is displayed in an alert display mode that differs from the normal display mode, it is possible to understand that the speed at which the target vessel is moving to the left of the berthing area is excessive. Also, according to the display example shown in Figure 12A, the controller 13 displays the speed v q If the speed v exceeds a predetermined value, q The display mode of the information related to can be changed from the normal display mode to the alert display mode. Alternatively, the controller 13 can change the display mode of the distance d q Velocity v q When the ratio exceeds a predetermined value, the speed vq The display method of the information related to this may be changed from the normal display method to an alert display method.

[0108] According to the example shown in Figure 12B, velocity v q The speed is 0.59 m / s, and the velocity v fr It can be determined that the speed is 2.06 m / s and that the velocity v is 2.14 m / s. Also, according to the display example shown in Figure 12B, the velocity v fr Information related to each speed other than is displayed in the usual display format. Also, according to the display example shown in Figure 12B, speed v fr Since the information related to is displayed in an alert format, it is possible to understand that the speed at which the target vessel is moving forward of the berthing area is excessive. Also, according to the display example shown in Figure 12B, the controller 13 displays the speed v fr If the current speed v exceeds a predetermined value, fr The display mode of the information related to can be changed from the normal display mode to the alert display mode. Alternatively, the controller 13 can change the display mode of the distance d f Velocity v fr The ratio and distance d r Velocity v fr If either of the ratios exceeds a predetermined value, the speed v fr The display method of the information related to this may be changed from the normal display method to an alert display method.

[0109] According to the process described above, the display processing means performs processing to display on the display device information relating to the speed at which the vessel moves toward the quay in the berthing area, and information relating to the speed at which the vessel moves toward the longitudinal direction in the berthing area. Furthermore, according to the process described above, the display processing means performs processing to display on the display device information relating to the speed at which the vessel approaches the berthing location.

[0110] In this display method, the controller 13 controls, for example, the speed v q , velocity v frThe system may calculate a risk level, which is an indicator of the danger a target vessel faces when approaching a berthing location, based on at least one of the speed v and the overall length of the target vessel, and perform processing to display information related to the calculated risk level. Furthermore, the processing related to calculating the risk level may be based on information disclosed in, for example, https: / / www.meiwakaiun.com / meiwaplus / tips / tips-vol62 / and http: / / www.srcj.or.jp / pdf / SRC%20News%20No26.pdf.

[0111] (3rd display method) The controller 13 performs the same processing as described in the first display method, thereby determining the angle Ψ q The controller 13 calculates the angle Ψ. q The system generates an information display screen containing the relevant information and performs processing to display the generated information display screen on monitor 14. Through this processing, for example, an information display screen containing berthing support information, as shown in Figure 13A or Figure 13B, can be displayed on monitor 14. Figures 13A and 13B are diagrams showing examples of berthing support information display.

[0112] As shown in the examples in Figures 13A and 13B, the relative positional relationship between the target vessel, the berthing location, and the berthing area can be understood. Furthermore, as shown in the examples in Figures 13A and 13B, the straight line corresponding to the berthing side line L is indicated by a dashed line.

[0113] According to the example shown in Figure 13A, the angle Ψ q It can be determined that the angle is 9.21°. Also, according to the example shown in Figure 13A, the angle Ψ q The information related to this is displayed in the usual format.

[0114] According to the example shown in Figure 13B, the angle Ψ q It can be determined that the angle is 29.02°. Also, according to the display example shown in Figure 13B, the angle Ψ qBecause the information related to this is displayed in an alert display mode that differs from the normal display mode, it is possible to recognize that the angle of the target vessel relative to the berthing location is excessive. Also, according to the display example shown in Figure 13B, the controller 13 displays the angle Ψ q When the angle Ψ exceeds a predetermined value, q The display mode of the information related to can be changed from the normal display mode to the alert display mode. Alternatively, the controller 13 can change the display mode of the distance d q Angle Ψ q When the ratio exceeds a predetermined value, the angle Ψ q The display method of the information related to this may be changed from the normal display method to an alert display method.

[0115] According to the process described above, the display processing means performs processing to display on the display device information relating to the angle indicating the orientation of the vessel with respect to the side of the quay wall at the berthing location.

[0116] (4th display method) The controller 13 performs the same processing as described in the first display method, thereby reducing the distance d f , distance d r , distance d q and angle Ψ q The controller 13 calculates the velocity v by performing the same processing as described in the second display method. The controller 13 also calculates the distance d f and distance d r and distance d q And, angle Ψ q Based on the speed v and other factors, the controller 13 calculates the predicted position and attitude of a target vessel moving within the berthing area from the current time until a predetermined time has elapsed. The controller 13 also generates an information display screen containing the information related to the predicted position and attitude of the target vessel calculated as described above, and performs processing to display the generated information display screen on the monitor 14. Through this processing, for example, an information display screen containing berthing support information, as shown in Figure 14A or Figure 14B, can be displayed on the monitor 14. Figures 14A and 14B are diagrams showing examples of the display of berthing support information.

[0117] As shown in the display examples in Figures 14A and 14B, the relative positional relationship between the target vessel, the berthing location, and the berthing area can be determined. Furthermore, as shown in the display examples in Figures 14A and 14B, the position and orientation of the target vessel within the berthing area at the current time, and the predicted position and orientation of the target vessel at a time later than the current time, can be determined.

[0118] As shown in the example display in Figure 14A, the predicted position and orientation of the target vessel at a time later than the current time are displayed in a normal manner. Therefore, it is possible to understand that the target vessel will move to a position that does not extend beyond the edge of the berthing area at a predetermined time after the current time has elapsed.

[0119] As shown in the display example in Figure 14B, the predicted position and attitude of the target vessel at a time later than the current time are displayed in an alert format, so it is possible to understand that the target vessel may reach the edge of the berthing area during the period from the current time until a predetermined time has elapsed.

[0120] According to the process described above, the display processing means performs processing to display on the display device information relating to the predicted position and predicted attitude of a vessel moving within the berthing area, from the current time until a predetermined time has elapsed.

[0121] (5th display method) The controller 13 performs the same processing as described in the first display method, thereby reducing the distance d f , distance d r , distance d q and angle Ψ q The controller 13 calculates the velocity v by performing the same processing as described in the second display method. The controller 13 also calculates the distance d f and distance d r and distance d q And, angle Ψ qBased on the speed v and other factors, the controller 13 calculates a recommended movement path for a target vessel moving within or around the berthing area, which is a route to guide the target vessel from its current position to a predetermined berthing position within the berthing area. The controller 13 also generates an information display screen containing information related to the recommended movement path calculated as described above, and performs processing to display the generated information display screen on the monitor 14. Through this processing, for example, an information display screen containing berthing support information, as shown in Figures 15A, 15B, or 15C, can be displayed on the monitor 14. Figures 15A, 15B, and 15C are diagrams showing examples of berthing support information displays.

[0122] As shown in the display examples in Figures 15A to 15C, the relative positional relationship between the target vessel, the berthing location, and the berthing area can be understood. Furthermore, as shown in the display examples in Figures 15A to 15C, the recommended movement path is displayed as an arrow (line segment), allowing the steering direction to be determined when moving the target vessel to the berthing area. Additionally, as shown in the display examples in Figures 15A to 15C, multiple passing points on the recommended movement path are displayed as circles, allowing the speed at which the target vessel will move to the berthing area to be determined based on the number and spacing of these circles.

[0123] In this display method, for example, if the steering direction of the target vessel deviates from the recommended travel path shown in Figure 15A, the recommended travel path can be corrected (recalculated) to display a new recommended travel path as shown in Figure 15B. Furthermore, in this display method, for example, if the steering direction of the target vessel deviates significantly from the recommended travel path shown in Figure 15A, causing difficulties in docking the target vessel, the recommended travel path can be corrected (recalculated) to display a new recommended travel path as shown in Figure 15C.

[0124] According to the process described above, the display processing means performs processing to display on a display device information relating to a route for guiding a vessel moving within or around the berthing area from its current position to a predetermined berthing position within the berthing area.

[0125] [Processing flow] Figure 16 is a flowchart illustrating the overview of the docking support process in this embodiment. The information processing device 1 repeatedly executes the processes shown in the flowchart of Figure 16.

[0126] First, the information processing device 1 acquires point cloud data in the direction of the berthing location (step S11). In this case, the information processing device 1 acquires, for example, point cloud data generated by a lidar 3 that includes the berthing side of the target vessel within its measurement range. The information processing device 1 may also further downsample the acquired point cloud data and remove data reflected from the water surface.

[0127] Next, the docking location detection unit 15 of the information processing device 1 calculates normal vectors based on the point cloud data acquired in step S11 (step S12). Furthermore, in step S12, the docking location detection unit 15 calculates the number of normal vectors and the variance of the normal vectors. Also, based on the processing results of step S12, the docking location detection unit 15 identifies the inner surface of the field of view and the detection surface (step S13).

[0128] Next, the docking parameter calculation unit 16 performs a nearest neighbor search for each vertical line based on the point cloud data acquired in step S11 to determine the nearest neighbor point for each vertical line (step S14).

[0129] Next, the docking parameter calculation unit 16 generates a docking side line L using the nearest neighbor points for each vertical line obtained in step S14 (step S15).

[0130] Next, the docking parameter calculation unit 16 uses the docking side line L calculated in step S15 to calculate the docking parameters, which are the distance to the opposite shore, the approach angle, and the docking speed (step S16). Specifically, in step S16, the docking parameter calculation unit 16 calculates the distance d as the distance to the opposite shore. q Calculate the angle Ψ as the entry angle. q Calculate the speed v as the docking speed. qThe parameter is calculated. The display processing unit 17 also generates an information display screen containing information related to the parameter calculated in step S16 by performing processing related to at least one of the first to fifth display methods (step S17), and displays the generated information display screen on the monitor 14. In this embodiment, the necessity of displaying each piece of information on the information display screen generated in step S17 may be selected according to the user's instructions.

[0131] The berthing parameter calculation unit 16 generates confidence information (step S18) based on the results of identifying the inner surface of the field of view and the detection surface in step S13 and the calculation results of the berthing parameters in step S16. Subsequently, the information processing device 1 controls the vessel based on the confidence information (step S19). As a result, the information processing device 1 can accurately perform vessel control related to berthing based on a confidence level that accurately reflects the berthing situation.

[0132] The information processing device 1 then determines whether or not the target vessel has docked (step S20). In this case, the information processing device 1 determines whether or not the target vessel has docked based, for example, on the output signals of the sensor group 2 or user input via the interface 11. If the information processing device 1 determines that the target vessel has docked (step S20; Yes), it terminates the flowchart process. On the other hand, if the information processing device 1 determines that the target vessel has not docked (step S20; No), it returns to step S11.

[0133] [Differentiation] The controller 13 may determine the part of the hull closest to the quay (proximity part) and the shortest distance from that proximity part to the quay, and use this information to assist in maneuvering the ship when docking or undocking.

[0134] In this case, the controller 13 determines the aforementioned proximity point and shortest distance by following steps 1 to 3 below. (Step 1) Calculate the distance from multiple points representing the outline of your ship (also called "outline points Po") to the straight line L on the side of the docking area. (Step 2) Extract the minimum value from the distance from the calculated contour point Po to the straight line L on the shore side. (Step 3) The extracted minimum value is determined to be the shortest distance to the quay, and the contour point Po that corresponds to the minimum is determined to be the area close to the quay.

[0135] Figure 17A is an overhead view of the target vessel with its contour points Po clearly indicated. For example, memory 12 stores contour data, which is position data indicating the contour position of the target vessel. The contour data is data in which multiple (24 in this case) contour points Po representing the contour of the target vessel are recorded as coordinates in the vessel coordinate system. Here, the forward (forward) direction of the target vessel is "X b "Coordinates, the side direction of the target vessel is "Y" b The coordinates, the vertical direction of the target vessel is "Z b The coordinate system is defined as follows. Then, the measurement data of the coordinate system based on Lida 3, measured by Lida 3, is converted to the ship's coordinate system. The process of converting point cloud data of a coordinate system based on a Lida installed on a moving object to the coordinate system of the moving object is disclosed, for example, in International Publication WO2019 / 188745.

[0136] Figure 17B is a diagram that clearly shows the distance from contour point Po to the straight line L of the shoreline using arrows. These distances are calculated by determining the length of the perpendicular from each contour point Po to the straight line L of the shoreline, as in the method described above. Here, arrows indicating the aforementioned distances for 24 contour points Po are clearly shown. Figure 17C is a diagram that clearly shows the point PX adjacent to the quay and the shortest distance DX to that quay.

[0137] Furthermore, the controller 13 uses the same method as in (Steps 1) to (Steps 3) above to calculate the portion PY of the contour point Po that is close to the front end FE, the shortest distance DY from the contour point Po to the front end FE, the portion PZ of the contour point Po that is close to the rear end RE, and the shortest distance DZ from the contour point Po to the rear end RE. Figure 17D is a diagram that clearly shows the portion PY that is close to the front end FE, the shortest distance DY to the front end FE, the portion PZ that is close to the rear end RE, and the shortest distance DZ to the rear end RE.

[0138] The controller 13 then generates an information display screen that includes information related to the adjacent points PX, PY, and PZ, and information related to the shortest distance DX, DY, and DZ, and displays the generated information display screen on the monitor 14. Through this process, for example, an information display screen including berthing support information, as shown in Figure 17E, can be displayed on the monitor 14. Figure 17E is a diagram showing an example of the display of berthing support information.

[0139] According to the display example shown in Figure 17E, the positions corresponding to the proximity points PX, PY, and PZ on the target vessel can be identified. Furthermore, according to the display example shown in Figure 17E, it can be determined that the shortest distance DX is 5.56 meters, the shortest distance DY is 5.92 meters, and the shortest distance DZ is 3.72 meters. Therefore, with the modified display, the parts of the vessel closest to the quay, forward end, and aft end of the berthing area, and the distance to each, can be identified, which will be useful for safer and smoother ship handling support.

[0140] Furthermore, if there are obstacles such as other vessels located near the berthing area, the controller 13 determines the proximity point, which is the part of the hull closest to the obstacle, and the shortest distance from the proximity point to the obstacle, according to the following steps 4 to 5. Note that when the controller 13 performs the following steps 4 to 5, it may, for example, treat objects other than the quay at the berthing location as obstacles. (Step 4) Calculate the distance from contour point Po to each data point representing the obstacle, and extract the minimum distance from contour point Po to one data point representing the obstacle. (Step 5) The smallest of the extracted minimum values ​​is determined as the shortest distance to the obstacle, and the contour point Po from which this shortest distance was calculated is determined as the area adjacent to the obstacle.

[0141] Figure 18A shows an overview of the process for extracting the minimum distance from a contour point Po to a data point representing an obstacle. In Figure 18A, among the 24 contour points Po, the distance from the first contour point to a data point representing another vessel and the distance from the second contour point to the data point representing the same other vessel are shown as dashed lines. In addition, in Figure 18A, among the 24 contour points Po, the minimum distance from the first contour point to a data point representing another vessel and the minimum distance from the second contour point to the data point representing the same other vessel are shown as solid lines.

[0142] Figure 18B shows an overview of the process for determining the proximity point to an obstacle and the shortest distance to the obstacle. According to the process shown in Figure 18B, the shortest distance DW to the obstacle is determined by extracting the smallest distance from each of the 24 contour points Po to the obstacle, and the contour point from which the shortest distance DW is calculated is determined as the proximity point, which corresponds to the part of the hull closest to the obstacle.

[0143] The controller 13 then generates an information display screen that includes information related to the adjacent area PW and information related to the shortest distance DW, and displays the generated information display screen on the monitor 14. Through this process, for example, an information display screen including berthing support information, as shown in Figure 18C, can be displayed on the monitor 14. Figure 18C is a diagram showing an example of the display of berthing support information.

[0144] According to the display example shown in Figure 18C, the position corresponding to the nearest point PW on the target vessel can be determined. Also, according to the display example shown in Figure 18C, the shortest distance DW can be determined to be 6.39 meters. Therefore, in a modified version, if there is an obstacle such as another vessel near the berthing area, the part of the vessel closest to the obstacle and the distance to the obstacle can be determined, which will be useful for safer and smoother ship handling support.

[0145] Next, we will explain the processing flow for each of the processes described above. Note that each process included in the processing flow described below may be executed, for example, in step S17 of Figure 16. Figure 19 is a flowchart showing an example of the process related to the generation of the information display screen in this modified example.

[0146] First, the controller 13 determines whether or not it was able to detect at least one marker installed at the docking location based on the point cloud data output from the lidar 3 (step S31).

[0147] If the controller 13 determines that it was able to detect a marker installed at the berthing location (step S31: Yes), it obtains the coordinate position of the marker and information relating to the berthing area at the berthing location, and then performs the process described in step S33 below. On the other hand, if the controller 13 determines that it was not able to detect a marker installed at the berthing location (step S31: No), it refers to the map data stored in the memory 12 to determine whether or not it is possible to obtain information relating to the latitude and longitude of the berthing area corresponding to the berthing location from the map data (step S32).

[0148] If the controller 13 determines that information relating to the latitude and longitude of the shoreing area can be obtained from the map data (step S32: Yes), it obtains the information and then performs the process described in step S33 below. On the other hand, if the controller 13 determines that information relating to the latitude and longitude of the shoreing area cannot be obtained from the map data (step S32: No), it performs the process described in step S35 below.

[0149] Based on the processing result of step S31 or step S32, the controller 13 determines the distance d f , distance d r Then, processing is performed to calculate the velocity v (step S33).

[0150] Next, the controller 13 uses the contour point Po to perform a process to determine the shortest distance DY and DZ, and the adjacent points PY and PZ (step S34).

[0151] Next, the controller 13 uses the contour point Po to perform processing to determine the shortest distance DX and the adjacent area PX (step S35).

[0152] Next, the controller 13 determines whether or not obstacles have been detected around the target vessel based on the point cloud data output from the lidar 3 (step S36).

[0153] If the controller 13 determines that an obstacle has been detected around the target vessel (step S36: Yes), it uses the contour point Po to perform a process to determine the shortest distance DW and the adjacent area PW (step S37), and then performs the process described in step S38 below. On the other hand, if the controller 13 determines that no obstacle has been detected around the target vessel (step S36: No), it skips the process in step S37 and performs the process described in step S38 below.

[0154] The controller 13 generates an information display screen (step S38) that includes information relating to at least one parameter obtained through the processing in steps S31 to S37, and displays the generated information display screen on the monitor 14.

[0155] Furthermore, according to this modified version, the necessity of displaying each piece of information on the information display screen generated in step S38 may be selected according to the user's instructions.

[0156] According to the process described above, the acquisition means acquires measurement data generated by a measuring device installed on the vessel. According to the process described above, the marker position acquisition means acquires the positions of two markers that serve as landmarks for the berthing area, which is the area where the vessel should be located when berthing at a berthing location, based on the measurement data. According to the process described above, the display processing means performs processing to display on a display device information relating to the relative positional relationship between the berthing area identified based on the positions of the two markers and the vessel.

[0157] As described above, according to this embodiment, information relating to the relative positional relationship between the berthing area and the target vessel can be displayed on the monitor 14 in the manner shown in each display example. Therefore, according to this embodiment, the positional relationship between the berthing area and the vessel can be accurately grasped.

[0158] Furthermore, the controller 13 can calculate the docking parameters even if no marker is provided at the docking location. Therefore, according to this embodiment, the controller 13 can calculate the distance d in the first display method even if no marker is provided at the docking location. q , v in the second display method q , angle Ψ in the third display method qThis information can be displayed on monitor 14. Furthermore, if the latitude and longitude of each of the four vertices constituting the berthing area are pre-registered in the map data, and the target vessel is equipped with a GNSS signal receiver, the controller 13 can display the same information on monitor 14 as shown in each of the display examples in the first to fifth display methods, even if no marker is provided at the berthing location.

[0159] In the embodiments described above, the program can be stored using various types of non-transitory computer-readable media and supplied to a control unit, which is a computer. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic storage media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical storage media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memory (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, RAMs (Random Access Memory)).

[0160] Although the present invention has been described above with reference to embodiments, the present invention is not limited to the above embodiments. Various modifications to the structure and details of the present invention can be made that are understandable to those skilled in the art within the scope of the present invention. That is, the present invention naturally includes the full disclosure, including the claims, and various modifications and alterations that those skilled in the art could make in accordance with the technical idea. Furthermore, each disclosure of the above-mentioned patent documents and other references is incorporated herein by reference. [Explanation of symbols]

[0161] 1. Information Processing Device 2 Sensor Groups 3 Riders

Claims

1. Acquisition means for acquiring measurement data generated by a measuring device installed on a ship, Based on the aforementioned measurement data, a display processing means performs processing to display on a display device information relating to the relative positional relationship between the berthing area, which is the area where the vessel should be located when berthing at the berthing location, and the vessel itself. A means for calculating the shortest distance to the opposite shore, which extracts the minimum length of the perpendicular line drawn from the contour point of the vessel to a straight line along the side of the quay wall of the berthing location, and calculates the shortest distance from the vessel's hull to the quay wall of the berthing location. The system includes a proximity part determination means that determines the contour point from which the shortest distance has been calculated as the proximity part corresponding to the part of the ship's hull that is closest to the quay wall of the docking location, The display processing means is an information processing device that performs processing for displaying the shortest distance and the information relating to the adjacent part on the display device.

2. The system further includes a marker position acquisition means that acquires the position of at least one marker that serves as a landmark for the docking area based on the aforementioned measurement data. The information processing apparatus according to claim 1, wherein the display processing means performs processing to display on a display device information relating to the relative positional relationship between the docking area identified based on the position of the at least one marker and the vessel.

3. The information processing apparatus according to claim 2, wherein the display processing means performs processing to display on the display device information relating to the distance from the bow of the vessel to the front end of the berthing area and information relating to the distance from the stern of the vessel to the rear end of the berthing area.

4. The information processing apparatus according to claim 3, wherein the display processing means further performs processing to display information relating to the distance from the vessel to the side of the quay wall of the berthing location on the display device.

5. The information processing apparatus according to claim 2, wherein the display processing means performs processing to display on the display device information relating to the speed at which the vessel moves toward the quay in the berthing area and information relating to the speed at which the vessel moves toward the front and rear in the berthing area.

6. The information processing apparatus according to claim 5, wherein the display processing means further performs processing to display on the display device information relating to the movement speed of the vessel, which is calculated by combining the speed at which the vessel moves toward the quay in the docking area and the speed at which the vessel moves toward the front and rear in the docking area.

7. The information processing apparatus according to claim 2, wherein the display processing means performs processing to display on the display device information relating to the angle indicating the orientation of the vessel with respect to the side of the quay wall of the berthing location.

8. The information processing apparatus according to claim 2, wherein the display processing means performs processing to display on the display device information relating to the predicted position and predicted attitude of the vessel as information relating to the vessel moving within the berthing area, from the current time until a predetermined time has elapsed.

9. The information processing apparatus according to claim 2, wherein the display processing means performs processing to display on the display device information relating to a route for guiding the vessel from its current position to a predetermined berthing position within the berthing area, as information relating to the vessel moving within or around the berthing area.

10. Acquisition means for acquiring measurement data generated by a measuring device installed on a ship, Based on the aforementioned measurement data, a display processing means performs processing to display on a display device information relating to the relative positional relationship between the berthing area, which is the area where the vessel should be located when berthing at the berthing location, and the vessel itself. An object distance calculation means extracts the minimum distance from the outline point of the vessel to the measurement data representing an object other than the quay at the docking location, and calculates the shortest distance from the vessel's hull to the object; The system includes a means for determining the contour point from which the shortest distance has been calculated as a proximity point corresponding to the part of the ship's hull that is closest to the object, The display processing means is an information processing device that performs processing for displaying the shortest distance and the information relating to the adjacent part on the display device.

11. A control method performed by a computer, We acquire measurement data generated by measuring devices installed on the ship. Based on the aforementioned measurement data, processing is performed to display information on a display device regarding the relative positional relationship between the berthing area, which is the area where the vessel should be located when berthing at the berthing location, and the vessel itself. The minimum length of the perpendicular line drawn from the outline point of the vessel to the straight line along the side of the quay wall at the berthing location is extracted, and the shortest distance from the vessel's hull to the quay wall at the berthing location is calculated. The contour point from which the shortest distance was calculated is determined as the proximity point corresponding to the part of the vessel's hull that is closest to the quay wall of the docking location. A control method for performing processing to display information relating to the shortest distance and the adjacent part on the display device.

12. A control method performed by a computer, We acquire measurement data generated by measuring devices installed on the ship. Based on the aforementioned measurement data, processing is performed to display information on a display device regarding the relative positional relationship between the berthing area, which is the area where the vessel should be located when berthing at the berthing location, and the vessel itself. The minimum distance from the outline point of the vessel to the measurement data representing an object other than the quay at the docking location is extracted, and the shortest distance from the vessel's hull to the object is calculated. The contour point from which the shortest distance has been calculated is determined as the proximity point corresponding to the part of the ship's hull that is closest to the object. A control method for performing processing to display information relating to the shortest distance and the adjacent part on the display device.

13. Acquire measurement data generated by a measuring device installed on a ship, Based on the aforementioned measurement data, the computer is instructed to perform a process to display information on a display device relating to the relative positional relationship between the berthing area, which is the area where the vessel should be located when it docks at the berthing location, and the vessel itself. The minimum length of the perpendicular line drawn from the outline point of the vessel to the straight line along the side of the quay wall at the berthing location is extracted, and the shortest distance from the vessel's hull to the quay wall at the berthing location is calculated. The contour point from which the shortest distance was calculated is determined as the proximity point corresponding to the part of the vessel's hull that is closest to the quay wall of the docking location. A program that causes the computer to perform a process of displaying the information relating to the shortest distance and the adjacent part on the display device.

14. Acquire measurement data generated by a measuring device installed on a ship, Based on the aforementioned measurement data, the computer is instructed to perform a process to display information on a display device relating to the relative positional relationship between the berthing area, which is the area where the vessel should be located when it docks at the berthing location, and the vessel itself. The minimum distance from the outline point of the vessel to the measurement data representing an object other than the quay at the docking location is extracted, and the shortest distance from the vessel's hull to the object is calculated. The contour point from which the shortest distance has been calculated is determined as the proximity point corresponding to the part of the ship's hull that is closest to the object. A program that causes the computer to perform a process of displaying the information relating to the shortest distance and the adjacent part on the display device.

15. A storage medium storing the program according to claim 13 or 14.

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