JP2004175187A - Ship operation support device for bringing alongside and separating ship - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a ship operation support device for bringing alongside and separating ship enabling safe and accurate coming alongside and reaving while grasping the positional relation between a hull and a wharf by processing the image of a target on the wharf obtained with a plurality of cameras installed on a ship. <P>SOLUTION: At least three cameras 4a, 4b, 4c which are arranged not to be in a straight line with intervals in the longitudinal direction of a ship are provided on the ship. The relative positional relation between a broadside line 1a and a line for bringing alongside 2a of the wharf 2 is computed by a computing unit based on position information relating to the target 3 like a bit on the wharf 2 of which image is obtained with each set of cameras combining optional two of the three cameras and is indicated on a monitor screen. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a marine vessel maneuvering support device that enables marine vessel maneuvers while confirming the positional relationship between a hull and a quay (or a pier) and the hull movements such as berthing speed (yukiashi) at the time of marine vessel berthing and berthing.
[0002]
[Prior art]
In general, at the time of leaving and berthing of a ship, in a large ship, there is a case where the hull is driven by a tug boat in addition to the operation of the ship under the guidance of a pilot or the use of a side thruster.
For small and medium-sized vessels, careful maneuvering is carried out under the command of the captain.When berthing, the vicinity of the bow should be restrained using mooring lines on the quay bits, and then the stern should be drawn to the quay. And so on.
[0003]
[Problems to be solved by the invention]
By the way, in the conventional ship maneuvering method at the time of berthing and berthing as described above, since the positional relationship between the hull and the quay is not clearly understood, there is a problem that the berthing operation of the ship cannot be performed quickly.
[0004]
Therefore, the present invention processes an image of a target on a quay by a plurality of cameras installed on the ship, and grasps the positional relationship between the hull and the quay, thereby enabling safe and precise separation and berthing. An object of the present invention is to provide a berthing support system.
[0005]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the ship berthing assisting device according to the present invention is provided with a space in the ship length direction to detect a relative positional relationship between the hull and a target near the quay when the ship comes and goes. At least three cameras arranged on board the ship, and based on the positional information on the target near the quay taken by each of these cameras, the relative distance between the berth line along the master's direction and the berthing line An arithmetic unit capable of calculating a positional relationship and a monitor capable of displaying the relative positional relationship on a screen based on the calculation result of the arithmetic unit are provided.
[0006]
Further, the marine vessel maneuvering assistance device of the present invention is characterized in that the three cameras are provided at different height positions so as not to be aligned on a straight line.
[0007]
In addition, the ship maneuvering assisting apparatus for berthing and berthing according to the present invention has six degrees of freedom of the hull based on the positional relationship between a triangular plane formed with the positions of the three cameras as vertices and a fixed target near the quay. A computing device capable of computing the motion of the subject is provided.
[0008]
Further, the marine vessel maneuvering support device of the present invention is characterized in that three camera sets, each of which is a combination of two of the three cameras, are configured as stereo cameras.
[0009]
In the marine vessel maneuvering support device of the present invention described above, the hull geometry with respect to a target near the quay taken by a camera set by a combination of two of the three cameras when the marine vessel berths and berths. The relative positional relationship between the ship's hull line and the berthing line is displayed on the monitor screen as a result of the calculation by the computing unit. Maneuvering using thrusters and the like can be easily performed.
[0010]
In addition, if the three cameras are provided at different heights so as not to be aligned on a straight line, a quay crane or the like temporarily exists between one camera and a target near the quay. Thus, even if the field of view of the camera is hindered, continuity over time of the position information can be ensured by the remaining two cameras.
[0011]
Further, a triangle fixed on the ship is formed with the positions of the three cameras as vertices. Based on the positional relationship between the plane of the triangle and the fixed target near the quay, the motion of the hull with six degrees of freedom is obtained. Is provided, not only the relative positional relationship between the hull and the quay, but also the hull motion can be displayed on the screen based on the calculation results of the arithmetic unit. Is easily performed.
[0012]
Further, when three camera sets, which are combinations of arbitrary two cameras among the three cameras, are arranged as stereo cameras, the camera angles of the cameras can be fixed, A simplification of the structure will result.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
1 is a plan view showing a relationship between an arrangement state on a ship and a quay, and FIG. 2 is an AA arrow of FIG. 1. FIG. 3 is a perspective view of the ship shown in FIG. 1 viewed from the quay side, and FIG. 4 is a block diagram showing a flow of signals in the apparatus.
[0014]
As shown in FIGS. 1 to 3, at the time when the hull 1 separates and docks, the hull (or pier) 2 is spaced apart from each other in the ship length direction so as to detect the relative positional relationship with a target 3 such as a bit. Alternatively, at least three cameras 4a, 4b, 4c arranged on the ship are provided. Also, three cameras 5a, 5b and 5c are similarly provided on the opposite side as shown.
[0015]
An arithmetic unit 8 for calculating the positional relationship between the hull 1 and the quay 2 and the hull motion based on the image processed by the image processing device 6 for each camera is provided in the ship. A monitor 9 for displaying the relative positional relationship between the shore line 1a along the length of the hull 1 in the captain direction and the berthing line 2a and the hull motion is provided in the wheelhouse.
[0016]
Any two of the three cameras 4a, 4b, 4c facing the quay 2 are combined to form three camera sets 4a-4b, 4b-4c, 4a-4c.
[0017]
The three camera sets 4a-4b, 4b-4c, 4a-4c thus combined are all configured as stereo cameras.
[0018]
In the marine vessel maneuvering support device according to the present embodiment described above, the quay 2 is photographed by the three camera sets 4a-4b, 4b-4c, and 4a-4c provided on the hull 1 when the marine vessel leaves and berths. The image processing for the target 3 is performed by the image processing device 6, and based on the signal from the device 6, the arithmetic unit 8 calculates the geometrical position of the hull 1 with respect to the target 3, The calculation of the hull motion is also performed by the calculator 8 based on the geometric positional relationship between the target 3 and the plane of the fixed hull formed by the cameras 4a, 4b, 4c. The relative positional relationship between the shore line 1a of the hull 1 and the berthing line 2a of the quay 2 and the hull motion are displayed on the screen of the monitor 9. Then, while looking at the screen, the ship maneuvering using a pod propeller, a side thruster, or the like (not shown) of the ship can be easily performed using the ship control device 10 that receives a signal from the arithmetic unit 8.
[0019]
In addition, since the three cameras 4a, 4b, and 4c are arranged on the ship at different intervals in the captain direction and at different heights, the quay crane and the like temporarily move one camera and the target on the quay. Even if it is present between the camera sets 3 and 3 and hinders the field of view of the same camera, the temporal continuity of information acquisition can be ensured by the remaining two camera sets.
[0020]
Since the three camera sets 4a-4b, 4b-4c, and 4a-4c are arranged as stereo cameras, the camera angles of the cameras can be fixed, and the structure can be simplified. become.
[0021]
Further, although not shown, by slightly increasing the number of cameras, for example, four cameras may be installed to configure six camera sets. In this way, any two cameras are combined. The number of camera sets increases exponentially, and if the least squares method or the like is applied to the calculation results regarding the relative positional relationships, the measurement accuracy can be dramatically improved. In addition, reliability against obstacles that hinder the field of view of the camera and malfunctions of the camera can be increased.
[0022]
As described above, according to the marine vessel maneuvering support apparatus of the present invention, it is possible to safely operate the marine vessel while confirming the positional relationship between the hull 1 and the quay (or pier) 2 when the marine vessel leaves and berths. Become.
[0023]
【The invention's effect】
As described above in detail, the following effects can be obtained by the marine vessel maneuvering support device of the present invention.
(1) At the time of berthing and berthing of a ship, calculation of the geometrical position of the hull with respect to a target near the quay taken by a combination of two of at least three cameras provided on the ship is performed by a computing unit. As a result of the calculation, the relative positional relationship between the ship's hull side line and the berthing line and the hull movement such as the hull berthing speed are displayed on the monitor screen as a result of the calculation. Maneuvering using side thrusters and the like can be easily performed.
(2) If the above three cameras are arranged at different intervals in the captain direction with different heights, a quay crane temporarily exists between one camera and the target near the quay. Even if the camera obstructs the field of view, the continuity of information acquisition over time can be ensured by the camera set of the remaining two cameras.
(3) If the three cameras are arranged so as not to be aligned on a straight line, the geometrical relationship between the triangular plane formed by the three cameras and the fixed target near the quay is assumed. By calculating the position, information on the hull motion with six degrees of freedom can be obtained, and this can be displayed on a monitor or the like, so that safer maneuvering can be performed.
(4) If three camera sets, each of which is a combination of any two of the three cameras, are arranged as a stereo camera, the camera angle of each camera can be fixed, and the structure can be improved. Will be simplified.
(5) By slightly increasing the number of cameras from three, the number of camera sets obtained by combining any two cameras increases exponentially, and the hull and quay are connected using each camera set. By calculating the relative positional relationship and applying the least squares method or the like to the calculation result, the measurement accuracy can be dramatically improved. In addition, there is an advantage that it is easy to cope with a failure that hinders the field of view of the camera or a failure of the camera.
[Brief description of the drawings]
FIG. 1 is a plan view showing a relationship between a ship provided with a marine vessel maneuvering support device for detaching and approaching shore as one embodiment of the present invention and a quay.
FIG. 2 is a view as viewed in the direction of arrows AA in FIG. 1;
FIG. 3 is a perspective view of the ship of FIG. 1 viewed from the quay side.
FIG. 4 is a block diagram showing a signal flow in the device.
[Explanation of symbols]
1 Hull 1a Port side line 2 Quay (or pier)
2a berthing line 3 target 4a-4c, 5a-5c camera 6 image processing unit 8 arithmetic unit 9 monitor 10 ship control unit

Claims (4)

In order to detect the relative positional relationship between the hull and the target near the quay when the ship comes off and on the shore, the ship is provided with at least three cameras arranged on the ship at intervals from each other in the master's direction. A computing unit capable of computing the relative positional relationship between the shoreline along the ship's direction and the berthing line, based on the positional information on the target near the quay taken, And a monitor capable of displaying a relative positional relationship on a screen. 2. The marine vessel maneuvering support system according to claim 1, wherein the three cameras are provided at different heights so as not to be aligned on a straight line. apparatus. 3. The marine vessel maneuvering support apparatus according to claim 2, wherein the six hulls of the hull are free from a positional relationship between a triangular plane formed with the positions of the three cameras as vertices and a fixed target near the quay. A marine vessel maneuvering support device for detaching and approaching a shore, comprising an arithmetic unit capable of calculating a degree of motion. The marine vessel maneuvering support device according to any one of claims 1 to 3, wherein three camera sets obtained by combining two of the three cameras are each configured as a stereo camera. A marine vessel maneuvering support device for detaching and approaching a shore.

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