JPH11115886A - Vessel docking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately provide a distance to the predetermined stop position of a vessel and direction of the vessel by receiving the image data and the distance data from a transmitter, and displaying the image data and the distance data received by a receiver. SOLUTION: A first image pickup device 8 of a first ground device 5 picks up a first datum reference unit of a vessel and outputs the image data to a transmitter 11, and the transmitter 11 sends the image data corresponding to the first datum reference unit input from the first image pickup device 6 as an image data of a first channel CH1 through a transmission antenna 14 by radio transmission. A first distance meter 9 of the first ground device 5 detects the distance data to the first datum reference unit of the vessel and outputs it to a CPU 10. The CPU 10 converts the distance data and the speed data input from the first distance meter 9 to a numerical display, and outputs it as the image data to a transmitter 11, and sends the image data corresponding to the distance data of a third channel CH3 and the speed data as the image data to a device 7 mounted on the vessel by radio transmission.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ship docking device used to guide a ship to a predetermined stop position on a wharf.

[0002]

2. Description of the Related Art Heretofore, in order to guide a ship to a predetermined stop position on a wharf, the ship has been guided by a signal or instruction from a ground guide. However, in order to accurately guide the ship to a predetermined stop position on the wharf, not only did the guide man need skill but also it was difficult to know the distance and direction accurately.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has been made in consideration of the above circumstances, and has been made in consideration of the above circumstances. It is intended to provide a device.

[0004]

In order to achieve the above object, a ship docking apparatus according to the present invention comprises a first position reference device provided at a tip of a ship and a second position reference device provided at a side portion of the ship. A first position reference device, a first imaging device provided on the ground and imaging the first position reference device, and a first measurement device for measuring a distance from a predetermined stop position of the vessel to the first position reference device. A range finder, a second imaging device provided on the ground to image the second position reference device, and a second image sensor for measuring a distance from a predetermined stop position of the vessel to the second position reference device. A range finder, image data captured by the first and second imaging devices, and distance data measured by the first and second rangefinders are transmitted to the vessel. And an image data provided from the transmitter provided on the ship. And a receiver for receiving the distance data, and is characterized in that it comprises a display unit for displaying image data and distance data received by the receiver.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory diagram illustrating a configuration of an embodiment of the present invention, and FIG. 2 is an explanatory diagram illustrating an example of a ground device and an onboard device in FIG. 1. In the figure,
1 is a ship, 2 is a wharf, 3 is a first position reference, 4 is a second
5 is a first ground device, 6 is a second ground device, 7 is a shipboard device, 8 is a first imaging device, 9 is a first distance meter, and 10 is a CPU (central processing unit). ), 11 is a transmitter, 12 is a second imaging device, 13 is a second distance meter, 14
Is a transmitting antenna, 15 is a receiving antenna, 16 is a receiver,
17 is a display device.

FIG. 2 (a) is a configuration explanatory view showing an example of the ground equipment of the present invention. A first ground device 5 is provided on the ground on the center line, which is a route on which the ship normally enters, and the first ground device 5 is provided with a first imaging device 8 and a first distance meter for entering the ship. 9, a first camera unit comprising:
It comprises a PU 10, a transmitter 11, and a terrestrial transmission unit including a transmission antenna 14. In this case, the first imaging device 8 is connected to the first channel CH1 of the transmitter 11, and the first distance meter 9 is connected to the third channel CH3 of the transmitter 11 via the CPU 10. The transmitter 11 is provided with a transmission antenna 14. Second on ground wharf 2
Ground device 6 is provided. The second ground device 6 includes a second imaging device 12 and a second distance meter 1 for monitoring a ship side.
3 comprises a second camera unit. in this case,
The second imaging device 12 is the second channel C of the transmitter 11
H2, the second distance meter 13 is connected to the fourth channel CH4 of the transmitter 11 via the CPU 10.

FIG. 2 (b) is a structural explanatory view showing an example of a shipboard device according to the present invention. A first position reference device 3 is installed at the center of the tip of the ship 1, and a second position reference device 4 is installed at the center of the side of the ship 1. The cabin of the ship 1 is provided with a shipboard device 7, which is composed of a receiving antenna 15, a receiver 16 and a display device 17. In this case, the receiving antenna 15 is provided in the receiver 16, and the output terminal of the receiver 16 is connected to the display device 17.

As shown in FIG. 1B, each of the first position reference device 3 and the second position reference device 4 is a white circular disk having a diameter of about 1 m, and a yellow cross mark M is used as a position reference.
Then, it is made of a material in which glass particles that easily reflect light are embedded, and has a structure that is easy to recognize with an imaging device. Each of the first imaging device 8 and the second imaging device 12 is a high-sensitivity type such as a CCD camera and has a sensitivity that can be visually recognized even in the moonlight at night. The device 3 and the second position reference device 4 are installed at positions where they are captured in the center. The first distance meter 9 and the second distance meter 1
Reference numeral 3 denotes a laser range finder having an accuracy of 50 cm at 100 m, and distance and speed data are processed by the CPU every 0.5 seconds.
It also satisfies the class 1 safety standard. The transmitter 11 can transmit 4CH image data up to a distance of about 2 km at a frequency of 2.4 GHz. On the receiving side, data can be obtained in one second at one screen full scale (four seconds in four screens). The CPU 10
Calculates the position reference, converts the distance data into numerical display, and outputs it to the transmitter 11 as image data. The receiver 16 is connected to a monitor TV of a display device 17 and can change from one screen to four screens. indicate.

That is, the first image pickup device 8 of the first ground device 5 picks up an image of the first position reference device 3 of the marine vessel 1 and transmits image data corresponding to the first position reference device 3 to the transmitter 11. The transmitter 11 outputs the image data corresponding to the first position reference device 3 input from the first imaging device 8 as image data of the first channel CH1 via the transmitting antenna 14 to the onboard device 7. Wirelessly. Onboard equipment 7
The receiver 16 receives image data of the first channel CH1 corresponding to the first position reference unit 3 from the transmitter 11 via the receiving antenna 15 and outputs the image data to the display device 17, and the display device 17 The image data of the first channel CH1 corresponding to the first position reference device 3 input from the receiver 16 is displayed on the monitor television screen. In this case, it can be displayed as one screen on the monitor television screen, or can be displayed as a quarter screen at the upper left. The first distance meter 9 of the first ground device 5 detects distance data of the ship 1 to the first position reference 3 and speed data of the ship 1 and outputs the data to the CPU 10. The CPU 10 converts the distance data and the speed data input from the first distance meter 9 into numerical display and outputs them as image data to the transmitter 11, which transmits the image data corresponding to the distance data and the speed data. The image data of the third channel CH3 is wirelessly transmitted to the onboard apparatus 7 via the transmission antenna 14. Onboard equipment 7
The receiver 16 receives image data of the third channel CH3 corresponding to the distance data and the speed data from the transmitter 11 and outputs the image data to the display device 17, and the display device 17 outputs the distance data input from the receiver 16. The image data of the third channel CH3 corresponding to the data and speed data is displayed as CL on the monitor television screen. In this case, it can be displayed as one screen on the monitor television screen, or can be displayed as a quarter screen at the lower left. The second imaging device 12 of the second ground device 6 outputs the image data corresponding to the second position reference device 4 to the transmitter 11 by imaging the second position reference device 4 of the ship 1. The transmitter 11 wirelessly transmits image data corresponding to the second position reference device 4 input from the second imaging device 12 to the onboard device 7 via the transmission antenna 14 as image data of the second channel CH2. The receiver 16 of the on-board device 7 has a second channel CH2 corresponding to the second position reference 4 from the transmitter 11.
Of the second channel CH2 corresponding to the second position reference unit 4 input from the receiver 16 and received by the display device 17 via the receiving antenna 15 Is displayed on the monitor TV screen. In this case, it can be displayed as one screen on the monitor television screen, or can be displayed as a quarter screen in the upper right part. The second distance meter 13 of the second ground device 6
Detects distance data of the ship 1 to the second position reference device 4 and outputs the data to the CPU 10. The CPU 10 converts the distance data input from the second distance meter 13 into a numerical display and outputs it as image data to the transmitter 11, which transmits the image data corresponding to the distance data to the fourth channel C.
The image data of H4 is wirelessly transmitted to the onboard device 7 via the transmission antenna 14. The receiver 16 of the onboard device 7 receives the image data of the fourth channel CH4 corresponding to the distance data and the speed data from the transmitter 11, and displays the same on the display device 17.
The display device 17 displays the image data of the fourth channel CH4 corresponding to the distance data input from the receiver 16 as SIDE on the monitor television screen.
In this case, it can be displayed on the monitor television screen as one screen, or can be displayed on the lower right as a quarter screen. The update rate of the image data and the distance data is one screen per second.

In order to steer the ship 1 to a predetermined stop position on the wharf, the ship 1 enters while checking the obstacles to the wharf on the ship, and the display device 17 of the onboard device 7 displays the center of the monitor television screen and the second position. The steering is performed so that the center of the cross mark of the first position reference device 3 and the center of the cross mark of the second position reference device 4 match. In this case, the ship 1 can be steered to a predetermined stop position on the wharf while checking the distance data of the CL display and the SIDE display displayed on the monitor television screen on the display device 17 of the onboard device 7. The monitor TV screen of the display device 17 may be displayed on the mobile terminal to check the image data and the distance data.

FIG. 1C shows a display device 1 of a ship 1 at a point A.
FIG. 7 is an explanatory diagram showing an example of a monitor television screen displayed on 7, in which a small image of the ship 1 captured by the first imaging device 8 is shown on a 1/4 screen on the upper left, and 1/4 on the lower left. /
The distance to the ship 1 measured by the first distance meter 9 is displayed as CL 100 m on four screens, and the image of the sea captured by the second imaging device 12 is shown on the upper right quarter screen. The infinity is displayed as a SIDE display on the lower right 1/4 screen because the second distance meter 13 cannot measure.

FIG. 1D shows a display device 1 of a ship 1 at a point B.
FIG. 7 is an explanatory diagram showing an example of a monitor television screen displayed on a screen 7. An image of the ship 1 captured by the first imaging device 8 is slightly enlarged on the upper left quarter screen, and is displayed on the lower left. The distance to the ship 1 measured by the first distance meter 9 is displayed as CL50m on the ４ screen, and the image of the sea captured by the second imaging device 12 is displayed on the upper right の screen. The image is displayed, and infinity is displayed as a SIDE display on the 1/4 screen at the lower right because the measurement cannot be performed by the second distance meter 13.

FIG. 1E shows a display device 1 of a ship 1 at a point C.
FIG. 7 is an explanatory diagram showing an example of a monitor television screen displayed on the screen 7, and an image of the first position reference device 3 of the ship 1 captured by the first imaging device 8 is displayed on the upper left quarter screen. And the center of the cross marking of the first position reference device 3 are projected to coincide with each other.
The distance of the ship 1 to the first position reference device 3 measured in the above is displayed as CL0m, and the 1/4 screen in the upper right portion is the second screen.
The image of the second position reference device 4 of the ship 1 captured by the imaging device 12 is projected with the center of the cross mark of the second position reference device 4 slightly shifted from the center of the screen, On the quarter screen, the ship 1 measured by the second distance meter 13 is displayed.
The distance to the second position reference device 4 is displayed as SIDE5m.

FIG. 1F shows a display device 1 of a ship 1 at a point D.
FIG. 7 is an explanatory diagram showing an example of a monitor television screen displayed on a screen 7. An image of a part of the boat 1 captured by the first imaging device 8 is displayed on a 1/4 screen at the upper left, and is displayed at a lower left. 1
On the ま で screen, the distance to the ship 1 measured by the first rangefinder 9 is displayed as CL15m, and on the upper right quarter screen, the second image of the ship 1 captured by the second imaging device 12 is displayed. Is projected with the center of the screen coincident with the center of the cross marking of the second position reference device 4, and is measured by the second distance meter 13 on the lower right quarter screen. The distance of the ship 1 to the second position reference device 4 is displayed as SIDE0m.

As described above, the image of the target ship is taken from the television camera of the imaging device installed on the wharf, the image is transmitted to the image display device provided in the ship cabin, and the distance is set close to the television camera. The distance from the gauge to the position reference of the target ship is measured and transmitted to the cabin's image display device on the ship, providing the captain or pilot with the distance to the ship's pier and displayed on the image display device on the ship. The ship is guided and steered such that the image center of the image display device and the position reference of the guide target ship match from the image or the distance data.

[0016]

As described above, according to the present invention, it is possible to provide a boat docking apparatus which enables a crew of a boat to accurately know the distance to a predetermined stop position of the boat and the direction of the boat. .

[Brief description of the drawings]

FIG. 1 is a configuration explanatory diagram showing an embodiment of the present invention.

FIG. 2 is a configuration explanatory view showing an example of a ground device and a shipboard device of FIG. 1;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Ship, 2 ... Wharf, 3 ... First position reference device, 4 ... Second
Position reference unit, 5: first ground device, 6: second ground device, 7: shipboard device, 8: first imaging device, 9: first distance meter, 10: CPU (central processing unit) ), 11: transmitter, 12: second imaging device, 13: second rangefinder, 14
... transmitting antenna, 15 ... receiving antenna, 16 ... receiver,
17 Display device.

Claims (1)

[Claims] 1. A first position reference device installed on a tip of a ship, a second position reference device installed on a side of the ship, and an image of the first position reference device provided on the ground A first imaging device that measures a distance from a predetermined stop position of the vessel to the first position reference device, and a second position reference device that is provided on the ground and captures an image of the second position reference device. A second imaging device, a second distance meter for measuring a distance from a predetermined stop position of the ship to the second position reference device, and imaging by the first imaging device and the second imaging device, respectively. A transmitter for transmitting the obtained image data and the distance data measured by the first and second rangefinders to the ship, and image data and distance from the transmitter provided on the ship. A receiver for receiving data, and an image data received by the receiver. Ship docking device characterized by comprising a display unit for displaying data and the distance data.