Automatic docking device, automatic docking system, automatic docking method, and automatic docking program

Abstract

The automatic docking device (100) includes a point cloud generator (120) and a navigation scenario generator (140). The point cloud generator (120) converts relative coordinates corresponding to each point of the point cloud corresponding to the distance measurement result by the target radar at the target berth into absolute coordinates based on the result of positioning the position and attitude of the target ship by the GNSS / INS integrated navigation device (200), and generates a target map showing the absolute coordinates and indicating the navigable area at the target berth based on the absolute coordinates corresponding to each converted point. When the target position and target attitude of the target ship at the target berth are specified based on the target map, the navigation scenario generator (140) generates a plan to guide the target ship to arrive at the target position with the target attitude based on the target map and the measured position and attitude of the target ship.

Description

[Technical field]

[0001] The present disclosure relates to an automatic docking device, an automatic docking system, an automatic docking method, and an automatic docking program. [Background technology]

[0002] In conventional technology related to automatic docking of ships, GNSS (Global Navigation Satellite System) positioning is used when the ship's position is far from the docking position. Here, GNSS positioning is susceptible to multipath effects. In addition, there may be many structures around the docking position. Therefore, when the ship approaches the docking position, automatic navigation is switched to one based on LiDAR (Light Detection And Ranging, optical sensor). Patent Document 1 discloses an automatic docking device using LiDAR. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-106753 A Summary of the Invention [Problem to be solved by the invention]

[0004] According to the technology disclosed in Patent Document 1, relative coordinates are used after switching to automatic navigation using LiDAR. Therefore, this technology has a problem that a navigation scenario for automatic docking cannot be generated unless the ship moves to a location where a map can be generated using LiDAR. In addition, this technique requires the user to input the docking position, which means that it is time-consuming to set the docking position every time, especially in the case of a cruiser whose docking position is fixed.

[0005] The present disclosure aims to provide an automatic docking technology for a ship by generating a map showing absolute coordinates and automatically guiding the ship to dock based on the generated map showing the absolute coordinates. [Means for solving the problem]

[0006] The automatic docking device according to the present disclosure comprises: An automatic docking device for controlling automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar that measures the relative position of surrounding objects using electromagnetic waves at a target berth, a point cloud generation unit that converts relative coordinates corresponding to each point of a point cloud corresponding to the distance measurement results at the target berth by the target radar into absolute coordinates based on the results of the positioning and attitude of the target ship by the GNSS / INS integrated navigation system, and generates a target map that is a map showing absolute coordinates, which is a map showing a navigable area at the target berth, based on the absolute coordinates corresponding to each converted point; a navigation scenario generation unit that generates a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship measured by the GNSS / INS integrated navigation system when a target position and a target attitude of the target ship at the target berth are specified based on the target map; Equipped with. Effect of the Invention

[0007] According to the present disclosure, the point cloud generation unit generates a target map, which is a map showing a navigable area in the target berth and is a map showing absolute coordinates, based on the observation results of the target radar. The navigation scenario generation unit generates a plan for guiding the target ship to reach a target position with a target attitude based on the target map. The generated plan may be used to automatically guide the target ship to dock. Thus, according to the present disclosure, in an automatic docking technology for a ship, a map showing absolute coordinates is generated, and automatic docking guidance can be performed based on the generated map showing absolute coordinates. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a configuration example of an automatic docking system 90 according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing an example of a functional configuration of the automatic docking system 90 according to the first embodiment. [Diagram 3] FIG. 2 is a diagram showing an example of a functional configuration of the automatic docking system 90 according to the first embodiment. [Figure 4] 5 is a diagram for explaining the processing of a speed profile unit 131 according to the first embodiment. [Diagram 5] 5 is a diagram for explaining the processing of a radar / body coordinate conversion unit 132 according to the first embodiment. [Figure 6] FIG. 2 is a diagram showing an example of the functional configuration of a position and attitude localization device 300 according to the first embodiment. [Figure 7] FIG. [Figure 8] FIG. 1 is a diagram showing an example of a hardware configuration of an automatic docking device 100 according to a first embodiment. [Figure 9] 4 is a flowchart showing the operation of the position and attitude localization device 300 according to the first embodiment. [Figure 10] FIG. 2 is a diagram for explaining an algorithm for three-degree-of-freedom two-dimensional navigation according to the first embodiment. [Figure 11] 3 is a diagram for explaining an algorithm for six-degree-of-freedom three-dimensional navigation according to the first embodiment. FIG. [Figure 12] 4 is a flowchart showing the operation of the automatic docking system 90 according to the first embodiment. [Figure 13]FIG. 2 is a diagram for explaining a use case 1 according to the first embodiment. [Figure 14] FIG. 2 is a diagram for explaining a use case 1 according to the first embodiment. [Figure 15] FIG. 13 is a diagram for explaining a use case 2 according to the first embodiment. [Figure 16] FIG. 13 is a diagram for explaining a use case 2 according to the first embodiment. [Figure 17] FIG. 13 is a diagram for explaining a use case 2 according to the first embodiment. [Figure 18] FIG. 13 is a diagram for explaining a use case 2 according to the first embodiment. [Figure 19] FIG. 13 is a diagram for explaining a use case 2 according to the first embodiment. [Figure 20] FIG. 13 is a diagram for explaining a use case 2 according to the first embodiment. [Figure 21] FIG. 4 is a diagram showing an example of a hardware configuration of the automatic docking device 100 according to a modified example of the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] In the description of the embodiments and the drawings, the same elements and corresponding elements are given the same reference numerals. Descriptions of elements given the same reference numerals are omitted or simplified as appropriate. Arrows in the drawings primarily indicate data flow or processing flow. In addition, "part" may be read as "device," "circuit," "step," "procedure," "processing," or "circuitry" as appropriate.

[0010] Embodiment 1 Hereinafter, the present embodiment will be described in detail with reference to the drawings. The present embodiment aims to automate the docking of ships, such as large leisure cruisers or tourist boats, at marina piers when returning to port. The ship to which this embodiment relates is equipped with an automatic navigation system. Therefore, the ship can automatically navigate to any point by specifying a WAYPOINT. The ship also has various sensors such as a millimeter wave radar, a GNSS (Global Navigation Satellite System) receiver, and an IMU (Inertial Measurement Unit).

[0011] ***Configuration Description*** FIG. 1 shows a configuration example of an automatic docking system 90 according to this embodiment. The automatic docking system 90 comprises a target ship 20 as shown in FIG. 1. The target ship 20 is a moving body. The target ship 20 is equipped with a millimeter wave radar 50, an automatic docking device 100, and a GNSS / INS (Inertial Navigation System) hybrid navigation device 200. Specific examples of the target ship 20 include a small leisure boat, a general cruiser, or a high-end cruiser with two engines. The target ship 20 may be equipped with any number of millimeter wave radars 50. The automatic docking system 90 is equipped with a millimeter wave radar whose detection capabilities are not impaired even in bad weather, a GNSS / INS hybrid navigation device that can reduce the effects of multipath, and a navigation scenario generation device for automatic navigation control. The millimeter wave radar 50 is, for example, a radar that employs a frequency-continuously modulated wave (FMCW) method in the 76 to 77 GHz band or 77 to 81 GHz band and is capable of measuring distance, velocity, and angular velocity. The millimeter wave radar 50 is also called a millimeter wave sensor.

[0012] In this embodiment, automatic docking is realized in two stages: a map generation stage by the millimeter wave radar 50, and a guidance stage using the position and attitude indicated by the positioning result of the GNSS / INS integrated navigation system 200. Specific examples of guidance control for automatic docking are described in References 1 and 2.

[0013] [Reference 1] International Publication No. 2018-100751 Brochure [Reference 2] JP 2020-059403 A

[0014] In this embodiment, in order to reduce ocean wave motion, spatial stabilization of the millimeter wave radar 50 is performed by using the azimuth and attitude angle indicated by the positioning result of the GNSS / INS hybrid navigation system 200. Spatial stabilization of the millimeter wave radar 50 involves adding the attitude angle indicated by the positioning result of the GNSS / INS hybrid navigation system 200 to the data of the millimeter wave radar 50 and measuring the horizontal direction with the millimeter wave radar 50. The horizontal direction is represented by the X-axis and Y-axis. The map is generated in real time while the docking sequence is being executed. The docking sequence consists of an approach step, a map generation step, a route planning step, and a guidance and control step. In the approach step, the target vessel 20 travels at a low speed, and the relative angle of the target vessel 20 to the shore is assumed to be 45° to 60°. The map is, for example, a linear map that may include obstacles such as other vessels at anchor. The coordinate system of the map is, for example, an absolute coordinate system (UTM (Universal Transverse Mercator) coordinates) that includes obstacles such as other ships. To ensure the accuracy and reliability of the map, as a specific example, the following conditions are satisfied when the map is generated: the measured distance between the millimeter wave radar 50 and the docking berth is 21 m or less, and the docking berth is located within an angle range of -45° to +45° from the center of the antenna of the millimeter wave radar 50. The condition regarding the measured distance corresponds to the distance measurement reference condition. The condition regarding the angle range corresponds to the angle measurement reference condition. In order to automate the route planning, the map format is, as a specific example, a polygonal line approximation point indicating a docking berth and a ship moored at the docking berth, which is a polygonal line approximation point on a horizontal plane as seen from the target ship 20. The map format is composed of node numbers and XY coordinates. In this embodiment, as a countermeasure against satellites not being visible under rivers or bridges, the millimeter wave radar 50 and the GNSS / INS integrated navigation device 200 are combined to ensure positioning accuracy. In this embodiment, the GNSS / INS integrated navigation device 200 uses a millimeter wave radar 50 instead of a GNSS to measure the distance and direction from the target ship 20 to the shore, thereby ensuring positioning accuracy even when a satellite is not visible. In this embodiment, the millimeter wave radar 50 is used to determine whether the vehicle has stopped, preventing the accumulation of internal errors and ensuring positioning accuracy. In this embodiment, the attitude error may be reduced by measuring the absolute direction using a magnetic compass.

[0015] FIG. 2 shows an example of the functional configuration of an automatic docking system 90 according to this embodiment. The automatic docking apparatus 100 includes a target ship 20 as shown in Fig. 2. It also includes a data collection unit 110, a point cloud generation unit 120, a speed and direction detection unit 130, and a navigation scenario generation unit 140. The automatic docking apparatus 100 also stores map data 190. The automatic docking device 100 controls automatic docking of a target ship 20 equipped with a GNSS / INS integrated navigation device 200 and a target radar at a target berth. The target radar is a radar that measures the relative position of surrounding objects using electromagnetic waves. Specific examples of the target radar include LiDAR (Light Detection And Ranging) or a millimeter wave radar 50. The target berth is also called a marina berth. The target berth may be a home berth or a service berth. In addition, the detection capability of LiDAR decreases in bad weather, which may result in situations where automatic navigation is not possible, or there is a risk of collision due to detection errors during automatic navigation. In addition, since positioning using LiDAR detects some object and calculates the vehicle's position relatively, there must be a detectable object in the vicinity. On the other hand, when the millimeter wave radar 50 is used, the processing is simpler than when the LiDAR is used. As a specific example, when the millimeter wave radar 50 is used, there is no need to distinguish between a quay and a ship.

[0016] The data collection unit 110 collects data indicating the results of observation by the millimeter wave radar 50 .

[0017] The point cloud generating unit 120 generates a point cloud based on the data collected by the data collecting unit 110. The point cloud corresponds to a quay, a pier, and an obstacle, as a specific example. The point cloud generating unit 120 includes a point cloud extracting unit 121, a coordinate conversion unit 122, and a map generating unit 123. The point cloud extraction unit 121 extracts a point cloud from the data collected by the data collection unit 110. The coordinates of the extracted point cloud are relative coordinates. The coordinate conversion unit 122 converts the coordinates of the points extracted by the point cloud extraction unit 121 into absolute coordinates. The map generation unit 123 generates a map indicating the absolute coordinates converted by the coordinate conversion unit 122 , and adds data indicating the generated map to the map data 190 . That is, the point cloud generating unit 120 converts the relative coordinates corresponding to each point of the point cloud corresponding to the result of the distance measurement by the target radar at the target berth into absolute coordinates based on the result of the positioning of the position and attitude of the target ship 20 by the GNSS / INS integrated navigation device 200, and generates a target map, which is a map showing the navigable area at the target berth and is a map showing the absolute coordinates, based on the absolute coordinates corresponding to each converted point. The point cloud extracted by the point cloud extracting unit 121 corresponds to the result of the distance measurement by the target radar at the target berth. When the target radar measures the distance at the target berth, the distance between the target ship 20 and the quay of the target berth may be a distance according to the shape of the target berth. When each point of the point cloud is set as a target point, typically, at the time when the target point is measured by the millimeter wave radar 50, the distance between the millimeter wave radar 50 and the target point satisfies the distance measurement reference distance condition, and the angle formed by the center of the millimeter wave radar 50 and the target point satisfies the distance measurement reference angle condition.

[0018] The speed and direction detection unit 130 includes a speed profile unit 131 and a radar / body coordinate conversion unit 132. Body coordinates are also called vehicle body coordinates.

[0019] The navigation scenario generating unit 140 corresponds to a navigation scenario generating device, and includes a target position input unit 141, a route planning unit 142, and a guidance control unit 143. The target position input unit 141 accepts an input of a target position of the target ship 20 after the map data 190 is generated. The target position input unit 141 may accept an input of a target attitude of the target ship 20 at the target position. The target position input unit 141 may automatically calculate the target attitude at the target position based on the accepted target position and the map data 190. The path planning unit 142 generates a plan indicating a path for guiding the target ship 20 from the current position of the target ship 20 to the target position accepted by the target position input unit 141. The plan is a plan for the target ship 20 to reach the target position with a target attitude. At this time, the path planning unit 142 takes into consideration the size of the target ship 20 and the directions in which the target ship 20 can move. In addition, the path planning unit 142 uses the general MAKLINK method as a specific example. The MAKLINK method is a type of graph method that automatically generates a path connecting an obstacle approximated by a convex polygon and a start and a goal. The path planning unit 142 may generate multiple waypoints based on a map generated in real time. Each waypoint indicates the position and attitude of the target ship 20. The guidance control unit 143 controls the target ship 20 in accordance with the plan generated by the route planning unit 142. As a specific example, the guidance control unit 143 controls the position and attitude of the target ship 20 so that the position and attitude of the target ship 20 follow each waypoint indicated by the generated plan. In other words, when a target position and target attitude of the target ship 20 at the target berth are specified based on the target map, the navigation scenario generating unit 140 generates a plan to guide the target ship 20 to reach the target position at the target attitude based on the target map and the position and attitude of the target ship 20 measured by the GNSS / INS integrated navigation device 200. The navigation scenario generating unit 140 also guides the target ship 20 according to the generated plan.

[0020] The map data 190 is data of a map showing the surroundings of the target ship 20 in absolute coordinates, and is data showing the location where the target ship 20 is anchored.

[0021] The GNSS / INS combined navigation system 200 transmits positioning data indicating the position and attitude of the target ship 20 to the automatic docking device 100. In addition, the GNSS / INS combined navigation system 200 receives information indicating the speed and direction of the target ship 20 as feedback. The GNSS / INS hybrid navigation device 200 corrects the positioning results of the GNSS / INS hybrid navigation device 200 based on the speed and direction observed by the millimeter wave radar 50.

[0022] FIG. 3 shows an example of the functional configuration of an automatic docking system 90 according to this embodiment. As shown in FIG. 3, the millimeter wave radar 50 includes a synthesizer 51, an oscillator 52, a millimeter wave transmitting / receiving antenna 53, a mixer 54, a signal processing unit 55, and a symbol acquisition and tracking unit 56.

[0023] A synthesizer 51 generates a chirp signal that represents the amplitude of the signal from an oscillator 52 as a function of time.

[0024] The millimeter wave transmitting / receiving antenna 53 includes a transmitting antenna and a receiving antenna. The transmitting antenna transmits a chirp signal, which, when reflected by an object, generates a reflected chirp signal that is captured by the receiving antenna.

[0025] The mixer 54 generates an intermediate frequency signal by appropriately combining the transmission signal and the reception signal.

[0026] The signal processor 55 detects the beat frequency by performing a Fourier transform process on the intermediate frequency signal. Since the beat frequency correlates with the distance, the distance to the target is calculated based on the beat frequency. Furthermore, the Fourier transform process also provides phase information, and the velocity Doppler can be calculated based on the obtained phase information, so the relative velocity with respect to the target is also calculated based on the result of the Fourier transform process.

[0027] The symbol acquisition and tracking unit 56 calculates the correlation between the symbolized target and the symbol candidate indicated by the scan result based on the intensity of the radar echo (reflecting object). When a symbol candidate highly correlated with the symbolized target is found, the symbol acquisition and tracking unit 56 maintains tracking of the target by setting a prediction gate for the next scan based on the speed information of the found symbol candidate. Each radar echo is assigned information indicating each symbol ID, Doppler angle of arrival, Doppler speed, echo strength, and distance calculated from the integral of the speed from the previous frame.

[0028] The velocity profile unit 131 randomly selects two points from the symbols output by the symbol acquisition and tracking unit 56, and calculates the Doppler velocity Vs and the Doppler arrival angle α, which are coefficients of y=Vs·cos(x-α), by the least squares method. In this case, the velocity profile unit 131 selects the coefficient with the largest number of points whose residuals for the fitted curve are within a threshold, as a specific example. As a fitting method, the A Random Sample Consensus (RANSAC) algorithm shown in Reference 3 is known as a specific example. By fitting the velocity profile in this way, it is possible to complement the roughness of the angular resolution and the roughness of the velocity resolution of the millimeter wave radar 50, and therefore it is possible to improve the accuracy of each of the velocity and angle.

[0029] [Reference 3] M. Fischler, R. Bolles. “Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography.” Communications of the ACM, 1981.

[0030] Fig. 4 shows a concrete example of the result of actually fitting the symbols. In Fig. 4, each point represents a symbol, and the curve represents the fitting result. Although the symbols have a relatively large variation, the value on the X-axis at the extreme value of the fitting result is obtained as the Doppler arrival angle, and the value on the Y-axis at the extreme value is obtained as the Doppler velocity. Therefore, it can be seen that, although the angular resolution and velocity resolution of the millimeter wave radar 50 are both coarse, the variation in angle and the variation in velocity can each be reduced.

[0031] The radar / body coordinate conversion unit 132 performs coordinate conversion as shown in Fig. 5. In Fig. 5, the X-axis and Y-axis are the X-axis and Y-axis of the body coordinate system, and the center of the IMU 40 is located at a position where the X-axis and Y-axis are perpendicular to each other. The radar / body coordinate conversion unit 132 converts the velocity Vs and azimuth angle α of the phase shift center of the radar antenna into the body coordinate system of the moving body, and converts from polar coordinates to Vb (X-axis velocity) and ω (Z-axis angular velocity) on the XY axes as shown in [Equation 1]. Here, β indicates the angle formed by the nose and the center line of the antenna. ly indicates the Y-axis lever arm between the nose and the center of the antenna. lx indicates the X-axis lever arm between the center of the antenna and the center of the IMU 40. The center of the XY axes is the center of the IMU 40. A specific example of the model of the target ship 20 is the Ackermann model. The radar / body coordinate conversion unit 132 outputs data indicating the coordinate-converted velocity and angular velocity to the GNSS / INS integrated navigation device 200.

[0032]

number

[0033] The automatic docking device 100 may include a moving average unit. In the case where the automatic docking device 100 includes a moving average unit, the radar / body coordinate conversion unit 132 uses the result calculated by the moving average unit. The moving average unit reduces random angle measurement errors by taking a moving average over multiple epochs. Below, a specific example will be shown in which the moving average unit adopts a moving average of five epochs as each of the Doppler velocity Vs and the Doppler arrival angle α as shown in [Mathematical Expression 2]. As a specific example, when the millimeter wave symbol is updated in units of 10 Hz, the moving average unit holds data for the past four epochs, calculates a moving average of a total of five data items, including the current epoch and the past four epochs, by the calculation shown in [Mathematical Expression 2], and outputs the calculated value in units of 10 Hz.

[0034]

number

[0035] The point cloud generation unit 120 converts the point cloud in relative coordinates into a point cloud in absolute coordinates, and adds data indicating a map made up of the converted point cloud to the map data 190. The point cloud generation unit 120 may update at least a part of the map data 190 based on the map made up of the converted point cloud. The target position input unit 141 receives input of a target position from a higher-level system or a user. The route planning unit 142 sends data indicating each waypoint along the planned route to the guidance control unit 143. The guidance control unit 143 guides and controls the target ship 20 so that the target ship 20 passes through each waypoint indicated by the data received from the route planning unit 142 in order. It should be noted that the areas occupied by other ships may be taken into consideration in both the map generation and the setting of each waypoint.

[0036] 3, the GNSS / INS hybrid navigation device 200 includes a GNSS antenna 29, a GNSS receiver 30, an IMU 40, a strapdown calculation unit 220, a satellite observation data estimation unit 230, and an error estimation unit 240. The GNSS / INS hybrid navigation device 200 appropriately uses the technology disclosed in Reference 4. The GNSS / INS hybrid navigation device 200 is also called a GNSS / INS hybrid positioning device.

[0037] [Reference 4] JP 2012-193965 A

[0038] The IMU 40 is also called an inertial sensor, and measures acceleration in three axial directions and angular velocity in three axial directions. The three axial directions refer to the length, width, and height directions of the moving body. Hereinafter, the acceleration in the three axial directions is referred to as "three-dimensional acceleration," and the angular velocity in the three axial directions is referred to as "three-dimensional angular velocity." The IMU 40 includes an acceleration sensor 41 and an angular velocity sensor 42. The target ship 20 and the IMU 40 are integrally formed as a rigid body. The acceleration sensor 41 measures the acceleration. The angular velocity sensor 42 measures the angular velocity of the azimuth angle. The GNSS receiver 30 receives the signal received by the GNSS antenna 29 . The strap-down calculation unit 220 calculates the velocity, position, attitude, and direction based on the data acquired by the acceleration sensor 41 and the data acquired by the angular velocity sensor 42. A specific example of the strap-down calculation unit 220 is described in Reference 4. The satellite observation data estimation unit 230 estimates observation data obtained by the GNSS. The error estimation unit 240 estimates an error included in the GNSS positioning data based on the data received from the automatic docking device 100 or the magnetic direction sensor 60 and the position, speed, and attitude calculated by the strapdown calculation unit 220. The error estimation unit 240 includes a high-precision positioning calculation unit 241. The high-precision positioning calculation unit 241 estimates the error using, as a specific example, a Kalman filter, and corrects the position, speed, and attitude of the target ship 20 based on the estimation result. The GNSS receiver 30, the IMU 40, and the positioning processor constitute the GNSS / INS integrated navigation device 200. The positioning processor is a processor that executes calculations for positioning. The GNSS receiver 30 receives positioning augmentation information from a quasi-zenith satellite or wireless communication. The GNSS receiver 30 performs correction processing on the positioning signal received from the GNSS satellite based on the positioning augmentation information, and performs centimeter-level high-precision position location.

[0039] The magnetic direction sensor 60 is a relatively simple sensor that uses the Earth's geomagnetism to determine the direction, as a specific example. The GNSS / INS hybrid navigation device 200 may correct the positioning result of the GNSS / INS hybrid navigation device 200 based on the direction observed by the magnetic direction sensor 60. The switch 61 is a switch that switches between the output of the magnetic direction sensor 60 and the output of the radar / body coordinate conversion unit 132. The switch 61 is switched by a higher-level system or a user. The target ship 20 may be equipped with a magnetic direction sensor 60 for measuring the direction instead of the millimeter wave radar 50. Below, a case where the GNSS / INS integrated navigation system 200 uses the output of the magnetic direction sensor 60 will be described. The GNSS / INS hybrid navigation device 200 uses an angular velocity calculated from the time change in the orientation measured by the magnetic orientation sensor 60, instead of the speed and angular velocity measured by the millimeter-wave radar 50. The orientation data output from the magnetic orientation sensor 60 is converted into angular velocity data by executing the calculation shown in [Equation 3]. Here, ΔΨ indicates the angular velocity data at time t+1, Ψt indicates the orientation data at time t, and Ψt+1 indicates the orientation data at time t+1. ΔΨ corresponds to the angular velocity calculated from the time change in the orientation measured by the magnetic orientation sensor 60.

[0040]

number

[0041] When the magnetic direction sensor 60 is used, the speed error cannot be corrected as compared to when the millimeter wave radar 50 is used. However, the high-precision positioning calculation unit 241 corrects the angular velocity error of the strapdown operation unit 220. Therefore, according to this embodiment, it is possible to avoid the phenomenon in which the direction value drifts due to gyro error or the like, and therefore it is possible to locate the position of the target ship 20 with relatively high accuracy.

[0042] There are few magnetic objects such as steel towers, buildings, and automobiles around the target ship 20. Therefore, by using the magnetic direction sensor 60 instead of the millimeter wave radar 50, it is possible to obtain the same effect as when the millimeter wave radar 50 is used. The automatic docking system 90 may use the millimeter wave radar 50 and the magnetic direction sensor 60 in combination.

[0043] Note that the millimeter wave radar 50 cannot capture the pier at all times from the approach to docking. Therefore, when the positional relationship between the millimeter wave radar 50 and the docking berth satisfies certain conditions, a map is generated, and a route plan is generated based on the generated map and the position of the ship. After that, the ship is docked based on each waypoint indicated by the route plan and the self-location and attitude calculation by the GNSS / INS integrated navigation device 200. Specific examples of the certain conditions are that the measured distance between the millimeter wave radar 50 and the docking berth is 21 m or less, and that the docking berth is located within an angle range of -45° to +45° from the antenna center of the millimeter wave radar 50. By inputting the velocities on each of the X-axis and Y-axis in the body coordinate system that can be detected by the millimeter wave radar 50 to the GNSS / INS hybrid navigation device 200, the accuracy of the velocity and attitude calculations by the GNSS / INS hybrid navigation device 200 can be improved. By assigning absolute coordinates to the range points measured by the millimeter wave radar 50 based on the position, speed, and attitude indicated by the positioning results of the GNSS / INS integrated navigation device 200, a three-dimensional map showing the absolute coordinates in real time is generated. The navigation scenario generating unit 140 generates a navigation scenario that indicates a route that avoids obstacles and has a relatively short travel distance, based on a three-dimensional map that is generated in real time. In addition, the navigation scenario generator 140 updates and modifies the navigation scenario each time based on the position and attitude indicated by the positioning results of the GNSS / INS integrated navigation device 200.

[0044] The GNSS / INS hybrid navigation device 200 functions as a position and attitude localization device 300. The position and attitude localization device 300 locates the position of a moving object to which a GNSS receiver 30, a millimeter wave radar 50, an acceleration sensor 41, and an angular velocity sensor 42 are attached. The position and attitude localization device 300 locates each of the position, attitude, and direction of the moving object using data acquired from the GNSS receiver 30, data acquired from the IMU 40, and data acquired from the millimeter wave radar 50. The position and attitude localization device 300 is also called a self-position and attitude localization device.

[0045] Fig. 6 shows an example of a functional configuration of the position and attitude localization device 300. The position and attitude localization device 300 includes an initial value calculation unit 310, a localization unit 320, a Kalman filter unit 330, a strapdown calculation unit 220, and a storage unit 390, as shown in Fig. 6.

[0046] The initial value calculation unit 310 controls the Kalman filter unit 330 to calculate the initial value of the azimuth angle. Specifically, first, the initial value calculation unit 310 calculates the azimuth angle of the target ship 20 as the first navigation azimuth angle based on the angular velocity of the azimuth angle measured by the angular velocity sensor 42. Next, the initial value calculation unit 310 calculates the amount of change in the two-dimensional coordinates by integrating the velocity and angular velocity measured by the millimeter wave radar 50 based on the calculated first navigation azimuth angle. Next, the initial value calculation unit 310 calculates the two-dimensional coordinate value of the target ship 20 as the first navigation coordinate value by adding the calculated amount of change to the two-dimensional position initial value. The two-dimensional position initial value is the initial position of the navigation coordinate system. Next, the initial value calculation unit 310 calculates a correction value for correcting the first navigation azimuth angle using a first Kalman filter based on the calculated first navigation coordinate value and the two-dimensional coordinate value included in the coordinate value measured by the GNSS receiver 30. Next, the initial value calculation unit 310 corrects the first navigation azimuth using the calculated correction value, and outputs the corrected first navigation azimuth as an azimuth initial value. That is, the initial value calculation unit 310 calculates an azimuth initial value, which is an initial value of the azimuth of the target ship 20, based on the measurement value of the angular velocity sensor 42, the measurement value of the millimeter wave radar 50, and the positioning result of the GNSS receiver 30. More specifically, the initial value calculation unit 310 calculates the first navigation azimuth based on the angular velocity measured by the angular velocity sensor 42, calculates a two-dimensional first navigation coordinate value based on the calculated first navigation azimuth, the velocity and angular velocity measured by the millimeter wave radar 50, and the two-dimensional position initial value, and corrects the first navigation azimuth based on the calculated two-dimensional first navigation coordinate value and the positioning result of the GNSS receiver 30 to calculate the azimuth initial value.

[0047] Here, the coordinate system will be explained with reference to FIG. The initial position of the navigation coordinate system is the center position of the IMU 40 when the power is turned on. In normal cases, (0,0) is set as the "initial value of the two-dimensional position" and (0,0,0) is set as the "initial value of the three-dimensional position". 7, the X-axis, Y-axis, and Z-axis of the body coordinate system at the initial attitude angle of the target ship 20 are set to be the X-axis, Y-axis, and Z-axis of the navigation coordinate system, respectively. At this time, the position of the target ship 20 in the two-dimensional navigation coordinate system is the amount of movement of the target ship 20, and is calculated by adding up the amount of movement of the X-axis and Y-axis in the body coordinate system. Also, the position of the target ship 20 in the three-dimensional navigation coordinate system is the amount of movement of the target ship 20, and is calculated by adding up the amount of movement of the target ship 20 on the X-axis, Y-axis, and Z-axis in the body coordinate system. As shown in Figure 7, the body coordinate system is a coordinate system with the center of the IMU 40 as the origin, the forward direction of the target ship 20 as the X-axis, the rightward direction relative to the forward direction of the target ship 20 as the Y-axis, and the vertical downward direction of the target ship 20 as the Z-axis.

[0048] The location unit 320 includes a traveling location unit 321, a stopped location unit 322, and a stop determination unit 323. The location unit 320 locates the position of the target ship 20 based on the measurement value of the angular velocity sensor 42, the initial azimuth angle value, the measurement value of the acceleration sensor 41, and the positioning result of the combined navigation of the GNSS receiver 30. More specifically, the location unit 320 calculates an amount of change in azimuth angle based on the angular velocity of the azimuth angle measured by the angular velocity sensor 42, calculates a second navigation azimuth angle based on the calculated amount of change in azimuth angle and the initial azimuth angle value, calculates a three-dimensional second navigation coordinate value based on the calculated second navigation azimuth angle, the acceleration measured by the acceleration sensor 41, and the three-dimensional position initial value, and corrects the second navigation coordinate value based on the calculated three-dimensional second navigation coordinate value and the positioning result of the GNSS receiver 30, thereby locating the position of the target ship 20. The initial three-dimensional position value is the initial position in the navigation coordinate system. The traveling orientation unit 321 controls the Kalman filter unit 330 and the strapdown calculation unit 220 while the target ship 20 is traveling to orient (calculate) the position, attitude, and direction of the target ship 20. The traveling orientation unit 321 is also called an orientation value calculation unit. The stop-time location unit 322 controls the Kalman filter unit 330 and the strapdown calculation unit 220 when the target ship 20 is stopped to locate the position, attitude, and azimuth of the target ship 20. The stop-time location unit 322 is also called an azimuth angle correction unit. The stop determination unit 323 determines whether the target vessel 20 has stopped or started sailing.

[0049] Specifically, the orientation unit 320 first calculates the amount of change in the azimuth angle based on the angular velocity of the azimuth angle measured by the angular velocity sensor 42, and calculates the azimuth angle of the target ship 20 as the second navigation azimuth angle based on the calculated amount of change in the azimuth angle and the output initial azimuth angle value. Next, the orientation unit 320 converts the three-dimensional acceleration measured by the acceleration sensor 41 into a three-dimensional acceleration of the navigation coordinate system based on the calculated second navigation azimuth angle. Next, the orientation unit 320 integrates the converted three-dimensional acceleration to calculate the amount of change in the three-dimensional coordinates, and calculates the three-dimensional coordinate value of the target ship 20 as the second navigation coordinate value by adding the calculated amount of change to the three-dimensional position initial value. Next, the orientation unit 320 calculates a correction value for correcting the second navigation coordinate value using a second Kalman filter based on the calculated second navigation coordinate value and the three-dimensional coordinate value measured by the GNSS receiver 30. Next, the orientation unit 320 corrects the second navigation coordinate values ​​using the calculated correction values, and outputs the corrected second navigation coordinate values ​​as position orientation values ​​that have positioned the position of the target ship 20. Furthermore, when the moving target ship 20 stops moving, the orientation unit 320 calculates an azimuth angle correction value for correcting the currently calculated second navigation azimuth angle using a third Kalman filter based on the previously calculated second navigation azimuth angle and the currently calculated second navigation azimuth angle, and corrects the currently calculated second navigation azimuth angle using the calculated azimuth angle correction value to calculate the corrected second navigation azimuth angle. Here, the third Kalman filter calculates a correction value that makes the previously calculated second navigation azimuth angle and the currently calculated second navigation azimuth angle coincide with each other as an azimuth angle correction value. The third Kalman filter generates an observation equation that represents the difference between the previously calculated second navigation azimuth angle and the currently calculated second navigation azimuth angle, and calculates the azimuth angle correction value using the generated observation equation. Furthermore, when the stopped target ship 20 resumes movement, the orientation unit 320 first calculates a new second navigation azimuth based on the corrected second navigation azimuth and the amount of change in the new azimuth angle, and converts the new three-dimensional acceleration measured by the acceleration sensor 41 into a three-dimensional acceleration in the navigation coordinate system based on the calculated new second navigation azimuth. Next, the orientation unit 320 integrates the converted three-dimensional acceleration to calculate the amount of change in the three-dimensional coordinates, and calculates a new second navigation coordinate value by adding the calculated amount of change to the previously calculated second navigation coordinate value. Next, the orientation unit 320 calculates a position correction value for correcting the new second navigation coordinate value based on the calculated new second navigation coordinate value and the new three-dimensional coordinate value measured by the GNSS receiver 30 using a second Kalman filter, corrects the new second navigation coordinate value using the calculated position correction value, and outputs the corrected new second navigation coordinate value as a new position orientation value. The location unit 320 determines that the target ship 20 has stopped moving when the speed measured by the millimeter wave radar 50 is less than a predetermined speed threshold. After determining that the target ship 20 has stopped moving, the location unit 320 determines that the target ship 20 has resumed moving when the speed measured by the millimeter wave radar 50 is equal to or greater than the speed threshold.

[0050] The Kalman filter unit 330 generates at least one of an observation equation and a state equation, and calculates correction values ​​for various data using the generated at least one of the observation equation and the state equation. The Kalman filter unit 330 includes a first Kalman filter 331, a second Kalman filter 332, and a third Kalman filter 333 as a plurality of Kalman filters having different observation equations. The satellite observation data estimation unit 230 executes the processing included in the Kalman filter unit 330 . The error estimating unit 240 corresponds to a first Kalman filter 331, a second Kalman filter 332, and a third Kalman filter 333.

[0051] The strapdown calculation unit 220 calculates the velocity, position, attitude, and direction based on the acceleration data 393 and the angular velocity data 394. A specific example of the strapdown calculation unit 220 is described in Patent Document 1.

[0052] The storage unit 390 stores GNSS data 391, velocity / angular velocity data 392, acceleration data 393, and angular velocity data 394. The GNSS data 391 consists of data observed by the GNSS receiver 30 . The velocity and angular velocity data 392 is made up of data indicating the velocity and angular velocity observed by the millimeter wave radar 50 . The acceleration data 393 is made up of data observed by the acceleration sensor 41 . Angular velocity data 394 consists of data observed by angular velocity sensor 42 .

[0053] When the position and attitude locating device 300 uses the output of the magnetic direction sensor 60 instead of the output of the millimeter wave radar 50, the position and attitude locating device 300 uses the orientation data instead of the velocity and angular velocity data 392. That is, in this case, the position and attitude locating device 300 uses the angular velocity calculated from the time change of the orientation measured by the magnetic direction sensor 60 instead of the velocity and angular velocity measured by the millimeter wave radar 50.

[0054] 8 shows an example of a hardware configuration of the automatic docking device 100 according to this embodiment. The automatic docking device 100 is composed of a computer. The automatic docking device 100 may be composed of multiple computers.

[0055] As shown in the figure, the automatic docking device 100 is a computer including hardware such as a processor 11, a memory 12, an auxiliary storage device 13, an input / output IF (Interface) 14, and a communication device 15. These hardware components are appropriately connected via signal lines 19.

[0056] The processor 11 is an integrated circuit (IC) that performs arithmetic processing and controls the hardware of the computer. Specific examples of the processor 11 include a central processing unit (CPU), a digital signal processor (DSP), and a graphics processing unit (GPU). The automatic docking device 100 may include a plurality of processors replacing the processor 11. The plurality of processors share the role of the processor 11.

[0057] The memory 12 is typically a volatile storage device, and a specific example is a RAM (Random Access Memory). The memory 12 is also called a primary storage device or a main memory. Data stored in the memory 12 is saved in the auxiliary storage device 13 as necessary.

[0058] The auxiliary storage device 13 is typically a non-volatile storage device, and specific examples thereof include a ROM (Read Only Memory), an HDD (Hard Disk Drive), or a flash memory. Data stored in the auxiliary storage device 13 is loaded into the memory 12 as necessary. The memory 12 and the auxiliary storage device 13 may be integrated into one unit.

[0059] The input / output IF 14 is a port to which an input device and an output device are connected. A specific example of the input / output IF 14 is a Universal Serial Bus (USB) terminal. Specific examples of the input device are a keyboard and a mouse. A specific example of the output device is a display.

[0060] The communication device 15 is a receiver and a transmitter, and is, for example, a communication chip or a network interface card (NIC).

[0061] Each part of the automatic docking device 100 may appropriately use the input / output IF 14 and the communication device 15 when communicating with other devices.

[0062] The auxiliary storage device 13 stores an automatic docking program. The automatic docking program is a program that causes a computer to realize the functions of each part of the automatic docking device 100. The automatic docking program is loaded into the memory 12 and executed by the processor 11. The functions of each part of the automatic docking device 100 are realized by software.

[0063] Data used when executing the automatic docking program and data obtained by executing the automatic docking program are appropriately stored in the storage device. Each part of the automatic docking device 100 appropriately uses the storage device. As a specific example, the storage device is composed of at least one of the memory 12, the auxiliary storage device 13, a register in the processor 11, and a cache memory in the processor 11. Note that the terms "data" and "information" may have the same meaning. The storage device may be independent of the computer. The functions of the memory 12 and the auxiliary storage device 13 may be realized by other storage devices.

[0064] The automatic docking program may be recorded in a computer-readable non-volatile recording medium. Specific examples of the non-volatile recording medium include an optical disk and a flash memory. The automatic docking program may be provided as a program product.

[0065] ***Explanation of Operation*** 9 is a flowchart showing an example of the operation of the position and attitude localization device 300. The operation of the position and attitude localization device 300 will be described with reference to FIG.

[0066] (Step S11) The initial value calculation unit 310 calculates an initial value of the azimuth angle by three-degree-of-freedom two-dimensional navigation when the target ship 20 departs.

[0067] (Step S12) The traveling orientation unit 321 locates the position, attitude, and orientation of the target ship 20 using six-degree-of-freedom three-dimensional navigation, using the initial azimuth angle or the most recently determined azimuth angle, until the target ship 20 stops.

[0068] (Step S13) If the target ship 20 is stationary, the position and attitude location device 300 proceeds to step S14, otherwise, the position and attitude location device 300 proceeds to step S12.

[0069] (Step S14) The stationary orientation unit 322 orients the position, attitude, and direction of the target ship 20 by six-degree-of-freedom three-dimensional navigation based on an extended ZUPT (Zero Velocity Update) algorithm while the target ship 20 is stationary. An overview of the extended ZUPT algorithm is disclosed in Patent Document 1.

[0070] (Step S15) If the target ship 20 is stationary, the position and attitude location device 300 proceeds to step S14, otherwise, the position and attitude location device 300 proceeds to step S12.

[0071] Fig. 10 shows an algorithm for three-degree-of-freedom two-dimensional navigation according to the first embodiment. This algorithm is the same as the algorithm shown in Fig. 7 of Patent Document 1. Fig. 10 will be described below. Note that the initial value calculation unit 310 includes an input correction unit 311, an orientation update unit 312, a coordinate conversion unit 313, a latitude and longitude update unit 314, and an output correction unit 315.

[0072] The input correction unit 311 corrects the velocity (velocity vector) indicated by the velocity / angular velocity data 392 by adding the correction value calculated by the Kalman filter unit 330 to the velocity indicated by the velocity / angular velocity data 392 . Furthermore, the input correction unit 311 adds the correction value calculated by the Kalman filter unit 330 to the angular velocity of the “azimuth angle” indicated by the angular velocity data 394, thereby correcting the angular velocity of the azimuth angle.

[0073] The azimuth update unit 312 calculates the amount of change in the azimuth angle by integrating once the angular velocity of the azimuth angle corrected by the input correction unit 311. The azimuth update unit 312 calculates a new azimuth angle by adding the calculated amount of change in the azimuth angle to the initial value of the azimuth angle or the azimuth angle previously calculated by the output correction unit 315. Here, the initial value of the azimuth angle may be any appropriate value.

[0074] The coordinate conversion unit 313 converts the velocity corrected by the input correction unit 311 from a value in the sensor coordinate system to a value in the navigation coordinate system using a predetermined conversion formula based on the attitude and orientation calculated by the orientation update unit 312. This results in a two-dimensional velocity in the navigation coordinate system. The two-dimensional velocity is composed of a velocity in the latitude direction and a velocity in the longitude direction.

[0075] The latitude and longitude update unit 314 integrates the two-dimensional velocity obtained by the coordinate conversion unit 313 once to calculate the amount of change in the two-dimensional coordinate. The two-dimensional coordinate consists of a latitude component and a longitude component. The latitude and longitude update unit 314 calculates new two-dimensional coordinate by adding the calculated amount of change in the two-dimensional coordinate to the initial value of the two-dimensional coordinate or to the two-dimensional coordinate previously calculated by the output correction unit 315. As a specific example, the latitude and longitude update unit 314 uses the two-dimensional coordinate values ​​measured by the GNSS receiver 30 before the target ship 20 departs, i.e., when the target ship 20 is stopped, as the initial values ​​of the two-dimensional coordinates.

[0076] First, the Kalman filter unit 330 calculates the difference between the two-dimensional coordinates indicated by the GNSS data 391 and the two-dimensional coordinates calculated by the latitude and longitude update unit 314 as a "coordinate residual." Next, the Kalman filter unit 330 calculates the difference between the two-dimensional velocity indicated by the GNSS data 391 and the two-dimensional velocity obtained by the coordinate conversion unit 313 as a "velocity residual." Next, the Kalman filter unit 330 executes the first Kalman filter 331 using the calculated coordinate residual and velocity residual as input, thereby calculating a velocity correction value, an angular velocity correction value, a two-dimensional coordinate correction value, and an azimuth angle correction value.

[0077] The output correction unit 315 corrects the two-dimensional coordinate values ​​calculated by the latitude and longitude update unit 314 by adding the correction value calculated by the Kalman filter unit 330 to the two-dimensional coordinate values, and outputs the corrected two-dimensional coordinate values. Furthermore, the output correction unit 315 corrects the azimuth angle by adding the correction value calculated by the Kalman filter unit 330 to the azimuth angle calculated by the azimuth update unit 312, and outputs the corrected azimuth angle.

[0078] As described above, in the 3-DOF 2D navigation, the velocity measured by the millimeter wave radar 50 is used instead of the acceleration measured by the acceleration sensor 41, so that an integral error is not carried over to the velocity. Also, even if the initial value of the azimuth angle is inappropriate, an appropriate value for the azimuth angle can be obtained immediately. This is because the angular velocity measured by the millimeter wave radar 50 is used instead of the angular velocity measured by the angular velocity sensor 42. Therefore, with three-degree-of-freedom two-dimensional navigation, only one integral calculation is required to obtain the two-dimensional coordinate, the effect of errors in the initial value of the azimuth angle used in the coordinate conversion of the velocity is relatively small, and the two-dimensional coordinate value and the azimuth angle can each be appropriately corrected using a Kalman filter.

[0079] 11 shows an algorithm for six-degree-of-freedom three-dimensional navigation according to the first embodiment. This algorithm is the same as the algorithm shown in FIG. 9 of Patent Document 1. FIG. 11 will be described below. The orientation unit 320 includes an input correction unit 324 and an output correction unit 325.

[0080] The input correction unit 324 corrects the three-dimensional acceleration by adding the correction value calculated by the Kalman filter unit 330 to the three-dimensional acceleration indicated by the acceleration data 393. Furthermore, the input correction unit 324 corrects the three-dimensional angular velocity indicated by the angular velocity data 394 by adding the correction value calculated by the Kalman filter unit 330 to the three-dimensional angular velocity.

[0081] The strapdown calculation unit 220 calculates the position, attitude, and orientation of the target ship 20 using the three-dimensional acceleration corrected by the input correction unit 324 and the three-dimensional angular velocity corrected by the input correction unit 324.

[0082] The output correction unit 325 corrects the position calculated by the strapdown calculation unit 220 by adding a correction value calculated by the Kalman filter unit 330 to the position calculated by the strapdown calculation unit 220, and outputs the corrected position as the position of the location result. In addition, the output correction unit 325 corrects the attitude calculated by the strapdown calculation unit 220 by adding a correction value calculated by the Kalman filter unit 330 to the attitude calculated by the strapdown calculation unit 220, and outputs the corrected attitude as the attitude angle of the orientation result. Furthermore, the output correction unit 325 corrects the orientation calculated by the strapdown calculation unit 220 by adding the correction value calculated by the Kalman filter unit 330 to the orientation calculated by the strapdown calculation unit 220, and outputs the corrected orientation as the azimuth angle of the location result.

[0083] The stoppage determination unit 323 determines whether the target vessel 20 is stopped or not based on the speed calculated from the observation results of the millimeter wave radar 50.

[0084] When the target ship 20 is not stopped, the Kalman filter unit 330 calculates the difference between the position indicated by the GNSS data 391 and the position calculated by the strapdown calculation unit 220 as a "position residual." Next, the Kalman filter unit 330 calculates the difference between the velocity indicated by the velocity / angular velocity data 392 and the velocity calculated by the strap-down calculation unit 220 as a “velocity residual”, and calculates the difference between the angular velocity indicated by the velocity / angular velocity data 392 and the angular velocity calculated by the strap-down calculation unit 220 as an “angular velocity residual”. Next, the Kalman filter unit 330 executes the second Kalman filter 332 using the calculated position residual and velocity residual as input values ​​to calculate a correction value for three-dimensional acceleration, a correction value for three-dimensional angular velocity, a correction value for position, and a correction value for attitude.

[0085] In step S14, the third Kalman filter 333 to which the extended ZUPT algorithm is applied is executed in the six-degree-of-freedom three-dimensional navigation.

[0086] Fig. 12 is a flowchart showing an example of a process for generating a navigation scenario in the automatic docking system 90. The process for generating a navigation scenario will be described with reference to Fig. 12. The operation procedure of each device provided in the automatic docking system 90 corresponds to an automatic docking method. Also, a program for realizing the operation of each device provided in the automatic docking system 90 corresponds to an automatic docking program.

[0087] (Step S101) Each millimeter wave radar 50 measures the distance around the millimeter wave radar 50 and measures the Doppler velocity in the X-axis and Y-axis.

[0088] (Step S102) Each millimeter wave radar 50 inputs the results of measuring the distance around the respective millimeter wave radar 50 to the automatic docking device 100.

[0089] (Step S103) The automatic docking device 100 inputs the Doppler velocity measurement results obtained by each millimeter wave radar 50 to the GNSS / INS integrated navigation system 200.

[0090] (Step S104) The GNSS / INS integrated navigation system 200 calculates the position, velocity, and attitude of the target ship 20 at time t.

[0091] (Step S105) The GNSS / INS integrated navigation system 200 inputs the calculated position, speed and attitude of the target ship 20 to the automatic docking device 100.

[0092] (Step S106) The point cloud generator 120 generates a three-dimensional map indicating absolute coordinates as map data 190 based on the data input from each millimeter wave radar 50 and the data input from the GNSS / INS integrated navigation system 200.

[0093] (Step S107) If the target coordinates and the target attitude are set, the automatic docking system 90 proceeds to step S108, otherwise, the automatic docking system 90 returns to step S101.

[0094] (Step S108) Based on the generated 3D map and the current position, speed and attitude of the target ship 20, the route planning unit 142 generates a route plan and attitude change plan that avoids obstacles and is reasonable as a navigation scenario until the target coordinates are reached at the target attitude.

[0095] (Step S109) The route planning unit 142 compares the planned position and planned attitude in the generated navigation scenario with the currently measured position and attitude of the target ship 20.

[0096] (Step S110) The route planning unit 142 modifies the navigation scenario based on the comparison result in step S109.

[0097] (Step S111) If there is an obstacle at the target coordinates, the automatic docking system 90 proceeds to step S112, otherwise, the automatic docking system 90 proceeds to step S113.

[0098] (Step S112) The path planning unit 142 resets the coordinates and the attitude that can avoid an obstacle near the target coordinates as the target coordinates and the target attitude, respectively.

[0099] (Step S113) If the target vessel 20 reaches the target coordinates and the target attitude in the navigation scenario, the automatic docking system 90 proceeds to step S114. Otherwise, the automatic docking system 90 returns to step S101.

[0100] (Step S114) The automatic docking system 90 finishes generating the navigation scenario.

[0101] FIG. 13 is a diagram for explaining the operation sequence of the automatic docking system 90 in use case 1. Use case 1 is, as a specific example, a case in which a high-end cruiser with two engines docks at a service berth. Use case 1 corresponds to the most easily realizable basic use case. A specific example of use case 1 will be explained with reference to FIG. 13. In this example, the general MAKLINK method is used. 13, the area of ​​the symbol map corresponding to the center of the antenna, the area of ​​the symbol map corresponding to the area within ±45 degrees from the center of the antenna, the LOS of the center of the antenna, and the antenna coverage area within ±45 degrees are shown. LOS is an abbreviation for Line Of Sight.

[0102] (1) Start of approach The target vessel 20 begins its docking approach to the marina berth.

[0103] (2) Start map generation The target vessel 20 starts generating a map at a point where the distance from the marina berth is 15 m. The target vessel 20 generates a map while proceeding parallel to the shore of the marina berth.

[0104] (3) Map generation completed The target vessel 20 travels straight for about one to two boat lengths while generating a map, and then generation of the map is completed.

[0105] (4) Route planning The target ship 20 carries out a route plan based on the generated map and the position and attitude of the target ship 20. It is assumed that a target position and a target attitude of the target ship 20 have been set.

[0106] (5) Automatic docking The target ship 20 performs automatic docking based on the executed route plan.

[0107] FIG. 14 is a diagram for explaining the operation sequence of the automatic docking system 90 in use case 1, and is a diagram showing specific examples of waypoints and maps. In this example, target coordinates and target attitude are shown, and other ships exist as obstacles in the marina berth. In this example, the map shows multiple nodes. A line connecting two adjacent nodes shows a no-navigation line. The no-navigation line shows the edge of an area where the target ship 20 cannot enter, and corresponds to the boundary between the navigable area and the no-navigable area. Each node shows the observation result of the millimeter wave radar 50, and shows a quay, a pier, or a part of an obstacle as a specific example. In FIG. 14, the area on the target ship 20 side of the no-navigation line is the navigable area.

[0108] If the target ship 20 detects a difference in the map shape during automatic docking, it immediately stops automatic docking. The difference in the map shape is the difference between the no-navigation line shown on the map generated before automatic docking is performed and the no-navigation line based on the result of observation by the millimeter wave radar 50 during automatic docking. As a specific example, the difference in the map shape occurs when another ship that was anchored before automatic docking is performed starts to move. Here, in this embodiment, since the map is an absolute coordinate system, it is possible to always verify the similarity between the past map and the current map, and also to detect the difference in the map shape. On the other hand, in the existing technology, since the map is a relative coordinate system, it is not possible to verify the similarity between the past map and the current map. The no-navigation line may be a three-dimensional surface. After the host system or the user has confirmed that the area around the target ship 20 is safe, the automatic docking system 90 updates the map based on the observation results from the millimeter wave radar 50 and resumes operation sequence (4). That is, while the target ship 20 is being guided, the target radar measures the distance at the target berth, and the GNSS / INS integrated navigation system 200 measures the position and attitude of the target ship 20. The point cloud generation unit 120 generates an updated map based on the results of the distance measurement at the target berth by the target radar and the results of the positioning of the position and attitude of the target ship 20 by the GNSS / INS integrated navigation system 200 while the target ship 20 is being guided. The updated map is a map showing the navigable area at the target berth and is a map showing absolute coordinates. The navigation scenario generation unit 140 stops guiding the target ship 20 when there is a difference between the navigable area shown in the updated map and the navigable area shown in the target map.

[0109] 15 is a diagram for explaining the operation sequence of the automatic docking system 90 in use case 2. Use case 2 is, as a specific example, a case in which a high-end cruiser with two engines docks at a home berth. Use case 2 corresponds to a standard case during actual operation. The processing flow in use case 2 is similar to the processing flow in use case 1. In use case 1, the target ship 20 can approach the quay quite closely in order to generate a map. However, in use case 2, the target ship 20 may collide with the pier when approaching the quay. Therefore, the user or the upper system, etc., needs to change the docking mode depending on the use case. The user may set a use case using an input / output device. Based on the target position, a use case in the vicinity of the target position may be automatically set by referring to a correspondence table of use cases based on a target position that has been set in advance.

[0110] Figures 16 to 20 are diagrams for explaining, in chronological order, the operation sequence of the automatic docking system 90 in use case 2. A specific example of the operation sequence will be explained using Figures 16 to 20. In this example, a general MAKLINK method is used.

[0111] (1) Start of approach 16, the target ship 20 heads toward a wharf in order to search for the edge of a pier. The docking mode of the target ship 20 is set to a mode corresponding to use case 2.

[0112] (2) Start map generation As shown in FIG. 17, after observing the edge of the pier, the target vessel 20 proceeds in a direction in which the edge of the berth is believed to be present in order to search for the edge of the berth. After the width of the home berth is determined, the target vessel 20 searches within the detected home berth, as shown in Fig. 18. The width of the home berth is calculated based on the observed edge of the pier and the observed edge of the berth. As shown in FIG. 19, the target vessel 20 enters the detected home berth and maps the shape of the home berth. The subsequent processing is the same as that of Use Case 1. Note that Fig. 20 shows the generated map, the target coordinates and the target attitude, and each waypoint indicated by the planned route.

[0113] ***Explanation of the Effects of the First Embodiment*** According to this embodiment, a map showing docking positions is automatically generated in real time, so there is no need to register docking positions in advance. Also, according to this embodiment, even if other ships are anchored at the berth, the ship can dock at any berth while automatically avoiding the other ships. According to this embodiment, since a navigation scenario can be generated using absolute coordinates, in an operation where the docking position is fixed, such as the operation of a cruiser, it is possible to specify the docking coordinates in advance from a higher-level control system or the like. Therefore, the user does not need to set the docking coordinates manually. Note that, when the docking position is changed, the user can also manually set the coordinates of the docking position. According to this embodiment, the docking position can be specified by absolute coordinates, so that the present embodiment can also generate a navigation scenario for an area outside the range of the millimeter wave radar 50 and for which no map has been generated.

[0114] ***Other configurations*** <Variation 1> FIG. 21 shows an example of the hardware configuration of the automatic docking device 100 according to this modified example. The automatic docking device 100 includes a processing circuit 18 in place of the processor 11 , the processor 11 and the memory 12 , the processor 11 and the auxiliary storage device 13 , or the processor 11 , the memory 12 and the auxiliary storage device 13 . The processing circuit 18 is hardware that realizes at least a part of each unit of the automatic docking device 100. The processing circuitry 18 may be dedicated hardware, or may be a processor that executes programs stored in the memory 12 .

[0115] When processing circuitry 18 is dedicated hardware, processing circuitry 18 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The automatic docking device 100 may include a plurality of processing circuits replacing the processing circuit 18. The plurality of processing circuits share the role of the processing circuit 18.

[0116] In the automatic docking device 100, some of the functions may be realized by dedicated hardware, and the remaining functions may be realized by software or firmware.

[0117] Processing circuitry 18 is illustratively implemented in hardware, software, firmware, or a combination thereof. The processor 11, the memory 12, the auxiliary storage device 13, and the processing circuit 18 are collectively referred to as the "processing circuitry." In other words, the functions of the functional components of the automatic docking device 100 are realized by the processing circuitry.

[0118] ***Other embodiments*** Although the first embodiment has been described, it is possible to combine a plurality of parts of the present embodiment. Alternatively, it is possible to partially implement the present embodiment. In addition, the present embodiment may be modified in various ways as necessary, and may be implemented in any combination, either as a whole or in part. The above-described embodiment is essentially a preferred example, and is not intended to limit the scope of the present disclosure, its applications, and uses. The procedures described using the flowcharts and the like may be modified as appropriate. [Explanation of symbols]

[0119] 11 processor, 12 memory, 13 auxiliary storage device, 14 input / output IF, 15 communication device, 18 processing circuit, 19 signal line, 20 target ship, 29 GNSS antenna, 30 GNSS receiver, 40 IMU, 41 acceleration sensor, 42 angular velocity sensor, 50 millimeter wave radar, 51 synthesizer, 52 oscillator, 53 millimeter wave transmitting / receiving antenna, 54 mixer, 55 signal processing unit, 56 symbol capture and tracking unit, 60 magnetic direction sensor, 61 switch, 90 automatic docking system, 100 automatic docking device, 110 data collection unit, 120 point cloud generation unit, 121 point cloud extraction unit, 122 coordinate conversion unit, 123 map generation unit, 130 speed direction detection unit, 131 speed profile unit, 132 radar / body coordinate conversion unit, 140 navigation scenario generation unit, 141 Target position input unit, 142, route planning unit, 143, guidance control unit, 190, map data, 200, GNSS / INS integrated navigation device, 220, strap-down calculation unit, 230, satellite observation data estimation unit, 240, error estimation unit, 241, high-precision positioning calculation unit, 300, position and attitude localization device, 310, initial value calculation unit, 311, input correction unit, 312, orientation update unit, 313, coordinate conversion unit, 314, latitude and longitude update unit, 315, output correction unit, 320, localization unit, 321, while traveling localization unit, 322, while stopping localization unit, 323, stopping judgment unit, 324, input correction unit, 325, output correction unit, 330, Kalman filter unit, 331, first Kalman filter, 332, second Kalman filter, 333, third Kalman filter, 390, memory unit, 391 GNSS data, 392 velocity and angular velocity data, 393 acceleration data, 394 angular velocity data.

Claims

1. An automatic docking device for controlling automatic docking of a target ship, the automatic docking being performed at a target berth, the automatic docking being performed at a target berth being performed by a GNSS / INS (Inertial Navigation System) composite navigation device having a GNSS (Global Navigation Satellite System) receiver for locating a centimeter-class position, and a target radar for measuring the relative positions of surrounding objects by using electromagnetic waves, a point cloud generation unit that converts relative coordinates corresponding to each point of a point cloud corresponding to the distance measurement result at the target berth by the target radar into absolute coordinates based on the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generates a target map that is a map showing absolute coordinates, which is a map showing a navigable area at the target berth, based on the absolute coordinates corresponding to each converted point; a navigation scenario generation unit that generates a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when a target position and a target attitude of the target ship at the target berth are specified based on the target map; An automatic docking device comprising: The target radar is a millimeter wave radar, and the automatic docking device measures the horizontal direction using the attitude angle calculated by the GNSS / INS composite navigation device.

2. 2. The automatic docking device according to claim 1, wherein the GNSS / INS combined navigation system corrects a calculation result of the GNSS / INS combined navigation system based on a speed and a direction observed by the target radar.

3. An automatic docking device for controlling automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar for measuring the relative positions of surrounding objects by using electromagnetic waves at a target berth, a point cloud generation unit that converts relative coordinates corresponding to each point of a point cloud corresponding to the distance measurement result at the target berth by the target radar into absolute coordinates based on the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generates a target map that is a map showing absolute coordinates, which is a map showing a navigable area at the target berth, based on the absolute coordinates corresponding to each converted point; a navigation scenario generation unit that generates a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when a target position and a target attitude of the target ship at the target berth are specified based on the target map; An automatic docking device comprising: the target radar is a millimeter wave radar, and measures a horizontal direction using an attitude angle calculated by the GNSS / INS integrated navigation system; The GNSS / INS integrated navigation system is an automatic docking device that corrects the calculation results of the GNSS / INS integrated navigation system based on the speed and direction observed by the millimeter wave radar.

4. An automatic docking device for controlling automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar for measuring the relative positions of surrounding objects by using electromagnetic waves at a target berth, a point cloud generation unit that converts relative coordinates corresponding to each point of a point cloud corresponding to the distance measurement result at the target berth by the target radar into absolute coordinates based on the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generates a target map that is a map showing absolute coordinates, which is a map showing a navigable area at the target berth, based on the absolute coordinates corresponding to each converted point; a navigation scenario generation unit that generates a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when a target position and a target attitude of the target ship at the target berth are specified based on the target map; An automatic docking device comprising: An automatic docking device in which, when the target radar measures distance at the target berth, the distance between the target ship and the quay of the target berth is a distance that corresponds to the shape of the target berth.

5. An automatic docking device for controlling automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar for measuring the relative positions of surrounding objects by using electromagnetic waves at a target berth, a point cloud generation unit that converts relative coordinates corresponding to each point of a point cloud corresponding to the distance measurement result at the target berth by the target radar into absolute coordinates based on the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generates a target map that is a map showing absolute coordinates, which is a map showing a navigable area at the target berth, based on the absolute coordinates corresponding to each converted point; a navigation scenario generation unit that generates a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when a target position and a target attitude of the target ship at the target berth are specified based on the target map; An automatic docking device comprising: The navigation scenario generation unit guides the target ship according to the generated plan, While the target ship is being guided, the target radar measures distance at the target berth, and the GNSS / INS integrated navigation system calculates the position and attitude of the target ship, the point cloud generation unit generates an updated map, which is a map showing absolute coordinates, showing a navigable area at the target berth based on the result of distance measurement at the target berth by the target radar and the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system while the target ship is being guided; The navigation scenario generation unit is an automatic docking device that stops guiding the target ship when there is a difference between the navigable area indicated by the updated map and the navigable area indicated by the target map.

6. An automatic docking device according to any one of claims 1 to 3 and 5, wherein when the target radar measures the distance at the target berth, the distance between the target ship and the quay of the target berth is a distance according to the shape of the target berth.

7. 6. The automatic docking apparatus according to claim 4, wherein the target radar is a millimeter wave radar.

8. the target radar is a millimeter wave radar, An automatic docking device as described in any one of claims 1 to 5, wherein, when each point of the point cloud is taken as a target point, at the time when the target point is measured by the target radar, the distance between the target radar and the target point satisfies a ranging reference distance condition, and the angle between the center of the target radar and the target point satisfies a ranging reference angle condition.

9. the target vessel is equipped with a magnetic orientation sensor; 6. The automatic docking device according to claim 2, wherein the GNSS / INS combined navigation system corrects a calculation result of the GNSS / INS combined navigation system based on a direction observed by the magnetic direction sensor.

10. The navigation scenario generation unit guides the target ship according to the generated plan, While the target ship is being guided, the target radar measures distance at the target berth, and the GNSS / INS integrated navigation system calculates the position and attitude of the target ship, the point cloud generation unit generates an updated map, which is a map showing absolute coordinates, showing a navigable area at the target berth based on the result of distance measurement at the target berth by the target radar and the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system while the target ship is being guided; An automatic docking device as described in any one of claims 2 to 4, wherein the navigation scenario generation unit stops guiding the target ship when there is a difference between the navigable area indicated by the updated map and the navigable area indicated by the target map.

11. The GNSS / INS integrated navigation device; A millimeter wave radar as the target radar; The automatic docking device according to any one of claims 2 to 5, An automatic docking system equipped with

12. The GNSS / INS composite navigation device A stop determination unit that determines whether the target vessel is stopped or not based on the speed calculated from the observation result of the millimeter wave radar. The automatic docking system according to claim 11, comprising:

13. An automatic docking method is executed by an automatic docking device which is a computer that controls automatic docking of a target ship equipped with a GNSS / INS (Inertial Navigation System) composite navigation device equipped with a GNSS (Global Navigation Satellite System) receiver for locating a centimeter-class position at a target berth, and a target radar that measures the relative positions of surrounding objects using electromagnetic waves, comprising: the automatic docking device converts relative coordinates corresponding to each point of the point cloud corresponding to the distance measurement results at the target berth by the target radar into absolute coordinates based on the results of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation device, and generates a target map which is a map showing absolute coordinates and which shows a navigable area at the target berth based on the absolute coordinates corresponding to each converted point; an automatic docking method for generating a plan for guiding a target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation system, when a target position and a target attitude of the target ship at the target berth are specified based on the target map, the automatic docking device comprising: The target radar is a millimeter wave radar, and the automatic docking method measures the horizontal direction using the attitude angle calculated by the GNSS / INS composite navigation device.

14. An automatic docking method is executed by an automatic docking device which is a computer that controls automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar that measures the relative positions of surrounding objects by using electromagnetic waves at a target berth, comprising: the automatic docking device converts relative coordinates corresponding to each point of the point cloud corresponding to the distance measurement results at the target berth by the target radar into absolute coordinates based on the results of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation device, and generates a target map which is a map showing absolute coordinates and which shows a navigable area at the target berth based on the absolute coordinates corresponding to each converted point; an automatic docking method for generating a plan for guiding a target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation system, when a target position and a target attitude of the target ship at the target berth are specified based on the target map, the automatic docking device comprising: the target radar is a millimeter wave radar, and measures a horizontal direction using an attitude angle calculated by the GNSS / INS integrated navigation system; The GNSS / INS integrated navigation system corrects the calculation results of the GNSS / INS integrated navigation system based on the speed and direction observed by the millimeter wave radar.

15. An automatic docking method is executed by an automatic docking device which is a computer that controls automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar that measures the relative positions of surrounding objects by using electromagnetic waves at a target berth, comprising: the automatic docking device converts relative coordinates corresponding to each point of the point cloud corresponding to the distance measurement results at the target berth by the target radar into absolute coordinates based on the results of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation device, and generates a target map which is a map showing absolute coordinates and which shows a navigable area at the target berth based on the absolute coordinates corresponding to each converted point; an automatic docking method for generating a plan for guiding a target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation system, when a target position and a target attitude of the target ship at the target berth are specified based on the target map, the automatic docking device comprising: An automatic docking method in which, when the target radar measures distance at the target berth, the distance between the target ship and the quay of the target berth is a distance that corresponds to the shape of the target berth.

16. An automatic docking method is executed by an automatic docking device which is a computer that controls automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar that measures the relative positions of surrounding objects by using electromagnetic waves at a target berth, comprising: the automatic docking device converts relative coordinates corresponding to each point of the point cloud corresponding to the distance measurement results at the target berth by the target radar into absolute coordinates based on the results of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation device, and generates a target map which is a map showing absolute coordinates and which shows a navigable area at the target berth based on the absolute coordinates corresponding to each converted point; an automatic docking method for generating a plan for guiding a target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation system, when a target position and a target attitude of the target ship at the target berth are specified based on the target map, the automatic docking device comprising: The automatic docking device guides the target vessel in accordance with the generated plan, While the target ship is being guided, the target radar measures distance at the target berth, and the GNSS / INS integrated navigation system calculates the position and attitude of the target ship, the automatic docking device generates an updated map, which is a map showing absolute coordinates and which shows a navigable area at the target berth, based on the distance measurement result at the target berth by the target radar and the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system while the target ship is being guided; The automatic docking device of this automatic docking method stops guiding the target ship when there is a difference between the navigable area indicated by the updated map and the navigable area indicated by the target map.

17. An automatic docking program executed by an automatic docking device which is a computer that controls automatic docking of a target ship equipped with a GNSS / INS (Inertial Navigation System) composite navigation device equipped with a GNSS (Global Navigation Satellite System) receiver for locating a centimeter-class position at a target berth, and a target radar that measures the relative position of surrounding objects using electromagnetic waves, comprising: a point cloud generation process for converting relative coordinates corresponding to each point of the point cloud corresponding to the distance measurement results at the target berth by the target radar into absolute coordinates based on the results of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generating a target map which is a map showing absolute coordinates and which shows a navigable area at the target berth based on the absolute coordinates corresponding to each converted point; a navigation scenario generation process for generating a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when the target position and target attitude of the target ship at the target berth are specified based on the target map; An automatic docking program for causing the automatic docking device to execute the above, The target radar is a millimeter wave radar, and an automatic docking program measures the horizontal direction using the attitude angle calculated by the GNSS / INS composite navigation device.

18. An automatic docking program executed by an automatic docking device which is a computer that controls automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar that measures the relative positions of surrounding objects by using electromagnetic waves at a target berth, a point cloud generation process for converting relative coordinates corresponding to each point of the point cloud corresponding to the distance measurement results at the target berth by the target radar into absolute coordinates based on the results of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generating a target map which is a map showing absolute coordinates and which shows a navigable area at the target berth based on the absolute coordinates corresponding to each converted point; a navigation scenario generation process for generating a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when the target position and target attitude of the target ship at the target berth are specified based on the target map; An automatic docking program for causing the automatic docking device to execute the above, the target radar is a millimeter wave radar, and measures a horizontal direction using an attitude angle calculated by the GNSS / INS integrated navigation system; The GNSS / INS integrated navigation system includes an automatic docking program that corrects the calculation results of the GNSS / INS integrated navigation system based on the speed and direction observed by the millimeter wave radar.

19. An automatic docking program executed by an automatic docking device which is a computer that controls automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar that measures the relative positions of surrounding objects by using electromagnetic waves at a target berth, a point cloud generation process for converting relative coordinates corresponding to each point of the point cloud corresponding to the distance measurement results at the target berth by the target radar into absolute coordinates based on the results of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generating a target map which is a map showing absolute coordinates and which shows a navigable area at the target berth based on the absolute coordinates corresponding to each converted point; a navigation scenario generation process for generating a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when the target position and target attitude of the target ship at the target berth are specified based on the target map; An automatic docking program for causing the automatic docking device to execute the above, An automatic docking program in which, when the target radar measures distance at the target berth, the distance between the target ship and the quay of the target berth is a distance according to the shape of the target berth.

20. An automatic docking program executed by an automatic docking device which is a computer that controls automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar that measures the relative positions of surrounding objects by using electromagnetic waves at a target berth, a point cloud generation process for converting relative coordinates corresponding to each point of the point cloud corresponding to the distance measurement results at the target berth by the target radar into absolute coordinates based on the results of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generating a target map which is a map showing absolute coordinates and which shows a navigable area at the target berth based on the absolute coordinates corresponding to each converted point; a navigation scenario generation process for generating a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when the target position and target attitude of the target ship at the target berth are specified based on the target map; An automatic docking program for causing the automatic docking device to execute the above, In the navigation scenario generation process, the target ship is guided according to the generated plan; While the target ship is being guided, the target radar measures distance at the target berth, and the GNSS / INS integrated navigation system calculates the position and attitude of the target ship, In the point cloud generation process, while the target ship is being guided, an updated map is generated which is a map showing the navigable area at the target berth and is a map showing absolute coordinates based on the result of distance measurement at the target berth by the target radar and the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system. In the navigation scenario generation process, an automatic docking program stops guiding the target ship if there is a difference between the navigable area indicated by the updated map and the navigable area indicated by the target map.

21. An automatic docking device for controlling automatic docking of a target ship, the automatic docking being performed at a target berth, the automatic docking being performed at a target berth being performed by a GNSS / INS (Inertial Navigation System) composite navigation device having a GNSS (Global Navigation Satellite System) receiver for locating a centimeter-class position, and a target radar for measuring the relative positions of surrounding objects by using electromagnetic waves, a point cloud generation unit that converts relative coordinates corresponding to each point of a point cloud corresponding to the distance measurement result at the target berth by the target radar into absolute coordinates based on the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generates a target map that is a map showing absolute coordinates, which is a map showing a navigable area at the target berth, based on the absolute coordinates corresponding to each converted point; a navigation scenario generation unit that generates a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when a target position and a target attitude of the target ship at the target berth are specified based on the target map; An automatic docking device comprising: the target radar is a millimeter wave radar, An automatic docking device in which, when the target radar measures distance at the target berth, the distance between the target ship and the quay of the target berth is a distance that corresponds to the shape of the target berth.

22. 22. The automatic docking device according to claim 21, wherein the GNSS / INS combined navigation system corrects a calculation result of the GNSS / INS combined navigation system based on a speed and a direction observed by the target radar.

23. An automatic docking device for controlling automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar for measuring the relative positions of surrounding objects by using electromagnetic waves at a target berth, a point cloud generation unit that converts relative coordinates corresponding to each point of a point cloud corresponding to the distance measurement result at the target berth by the target radar into absolute coordinates based on the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generates a target map that is a map showing absolute coordinates, which is a map showing a navigable area at the target berth, based on the absolute coordinates corresponding to each converted point; a navigation scenario generation unit that generates a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when a target position and a target attitude of the target ship at the target berth are specified based on the target map; An automatic docking device comprising: the target radar is a millimeter wave radar, The GNSS / INS integrated navigation system corrects a calculation result of the GNSS / INS integrated navigation system based on the speed and direction observed by the millimeter wave radar, An automatic docking device in which, when the target radar measures distance at the target berth, the distance between the target ship and the quay of the target berth is a distance that corresponds to the shape of the target berth.

24. An automatic docking device for controlling automatic docking of a target ship, the automatic docking being performed at a target berth, the automatic docking being performed at a target berth being performed by a GNSS / INS (Inertial Navigation System) composite navigation device having a GNSS (Global Navigation Satellite System) receiver for locating a centimeter-class position, and a target radar for measuring the relative positions of surrounding objects by using electromagnetic waves, a point cloud generation unit that converts relative coordinates corresponding to each point of a point cloud corresponding to the distance measurement result at the target berth by the target radar into absolute coordinates based on the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generates a target map that is a map showing absolute coordinates, which is a map showing a navigable area at the target berth, based on the absolute coordinates corresponding to each converted point; a navigation scenario generation unit that generates a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when a target position and a target attitude of the target ship at the target berth are specified based on the target map; An automatic docking device comprising: The automatic docking device is configured such that the target radar is a millimeter wave radar, The GNSS / INS integrated navigation system corrects a calculation result of the GNSS / INS integrated navigation system based on the speed and direction observed by the target radar, The navigation scenario generation unit guides the target ship according to the generated plan, While the target ship is being guided, the target radar measures distance at the target berth, and the GNSS / INS integrated navigation system calculates the position and attitude of the target ship, the point cloud generation unit generates an updated map, which is a map showing absolute coordinates, showing a navigable area at the target berth based on the result of distance measurement at the target berth by the target radar and the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system while the target ship is being guided; The navigation scenario generation unit is an automatic docking device that stops guiding the target ship when there is a difference between the navigable area indicated by the updated map and the navigable area indicated by the target map.

25. An automatic docking device for controlling automatic docking of a target ship equipped with a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) composite navigation device and a target radar for measuring the relative positions of surrounding objects by using electromagnetic waves at a target berth, a point cloud generation unit that converts relative coordinates corresponding to each point of a point cloud corresponding to the distance measurement result at the target berth by the target radar into absolute coordinates based on the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system, and generates a target map that is a map showing absolute coordinates, which is a map showing a navigable area at the target berth, based on the absolute coordinates corresponding to each converted point; a navigation scenario generation unit that generates a plan to guide the target ship to reach the target position at the target attitude based on the target map and the position and attitude of the target ship calculated by the GNSS / INS integrated navigation device when a target position and a target attitude of the target ship at the target berth are specified based on the target map; An automatic docking device comprising: the target radar is a millimeter wave radar, The GNSS / INS integrated navigation system is an automatic docking device that corrects a calculation result of the GNSS / INS integrated navigation system based on a speed and a direction observed by the millimeter wave radar, The navigation scenario generation unit guides the target ship according to the generated plan, While the target ship is being guided, the target radar measures distance at the target berth, and the GNSS / INS integrated navigation system calculates the position and attitude of the target ship, the point cloud generation unit generates an updated map, which is a map showing absolute coordinates, showing a navigable area at the target berth based on the result of distance measurement at the target berth by the target radar and the result of calculation of the position and attitude of the target ship by the GNSS / INS integrated navigation system while the target ship is being guided; The navigation scenario generation unit is an automatic docking device that stops guiding the target ship when there is a difference between the navigable area indicated by the updated map and the navigable area indicated by the target map.