WO2022044608A1 - 船舶航行支援装置、船舶航行支援方法、および、船舶航行支援プログラム - Google Patents
船舶航行支援装置、船舶航行支援方法、および、船舶航行支援プログラム Download PDFInfo
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- WO2022044608A1 WO2022044608A1 PCT/JP2021/026771 JP2021026771W WO2022044608A1 WO 2022044608 A1 WO2022044608 A1 WO 2022044608A1 JP 2021026771 W JP2021026771 W JP 2021026771W WO 2022044608 A1 WO2022044608 A1 WO 2022044608A1
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- ship navigation
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- 238000000034 method Methods 0.000 title claims description 62
- 238000005259 measurement Methods 0.000 claims abstract description 193
- 238000004364 calculation method Methods 0.000 claims description 86
- 238000012545 processing Methods 0.000 claims description 84
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000004873 anchoring Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 19
- 238000007476 Maximum Likelihood Methods 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 2
- 238000010606 normalization Methods 0.000 description 2
- 239000013585 weight reducing agent Substances 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/14—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating inclination or duration of roll
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/30—Monitoring properties or operating parameters of vessels in operation for diagnosing, testing or predicting the integrity or performance of vessels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Definitions
- the present invention relates to a ship navigation support technique used when a ship is moored.
- Patent Document 1 describes a ship berthing support device.
- the distance between the ship and a plurality of points on the quay is measured by using the distance measuring means.
- the distance measured by the distance measuring means as shown in the prior art includes an error. Then, this error occurs with each measurement of the distance and increases sequentially.
- an object of the present invention is to suppress an error that occurs in movement or the like when a ship is moored.
- the ship navigation support device of the present invention includes a measurement unit and a feature information update unit.
- the measuring unit obtains measurement information for the target by using the distance measurement result for the area including the target where the ship is moored.
- the feature information update unit updates the feature information for the target by using the initial feature information for the target or the feature information before the update for the target and the measurement information.
- the distance measurement result of the target object is reflected in the updated feature information.
- FIG. 1 is a functional block diagram showing a configuration of a ship navigation support device according to an embodiment of the present invention.
- FIG. 2 is a functional block diagram showing the configuration of the provisional initial information setting unit.
- FIG. 3 is a functional block diagram showing the configuration of the measurement unit.
- FIG. 4 is a functional block diagram showing the configuration of the feature information update unit.
- FIG. 5 is a diagram showing an example of a method of designating provisional initial information.
- FIG. 6 is a graph showing an example of setting an example of the weighting coefficient.
- FIG. 7 is a functional block diagram showing an example of a specific application example of the configuration of the ship navigation support device according to the embodiment of the present invention.
- FIG. 8 is a diagram for explaining the concept of updating the quay line.
- FIG. 10 (A), 9 (B), and 9 (C) are views showing the updated state of the quay line.
- 10 (A) and 10 (B) are flowcharts showing schematic processing of the ship navigation support method.
- 11 (A) is a flowchart showing a specific processing flow regarding the update of the feature information shown in FIG. 10 (A)
- FIG. 11 (B) is a specific flow regarding the update of the quay line shown in FIG. 10 (B). It is a flowchart which shows a typical processing flow.
- FIG. 12 is a flowchart showing another specific processing flow regarding the update of the feature information.
- FIG. 13 is a flowchart showing another specific processing flow regarding the update of the feature information.
- FIG. 14 (A) is a flowchart showing the processing of the ship navigation support method including the generation of navigation support information
- FIG. 14 (B) shows the processing of FIG. 14 (A) as a more specific target (quay).
- FIG. 15 is a functional block diagram showing a configuration of a ship navigation support device in a mode of calculating and updating a quay line and a quay reference point.
- 16 (A), 16 (B), and 16 (C) are diagrams showing the updated state of the quay line and the quay reference point.
- FIG. 17 is a flowchart showing a schematic process of a method of updating the quay line and the quay reference point.
- FIG. 18 is a flowchart showing a method of updating the quay reference point.
- FIG. 19 is a flowchart showing a process of setting provisional initial information from the past position coordinates of the feature information of the target object.
- FIG. 1 is a functional block diagram showing a configuration of a ship navigation support device according to an embodiment of the present invention.
- FIG. 2 is a functional block diagram showing the configuration of the provisional initial information setting unit.
- FIG. 3 is a functional block diagram showing the configuration of the measurement unit.
- the ship navigation support device 10 includes a provisional initial information setting unit 20, a measurement unit 30, and a calculation unit 40.
- the ship navigation support device 10 executes a ship navigation support program and a storage device that stores a program (ship navigation support program) that realizes a ship navigation support method, excluding the optical system part and the radio wave system part, for example. It can be realized by an arithmetic processing device such as a CPU. Further, the part of the storage device and the arithmetic processing unit can be realized by an IC or the like in which a navigation support program is incorporated.
- the provisional initial information setting unit 20 accepts the designation of provisional initial information for the characteristic information of the target at which the ship is moored or berthed (berthed).
- the provisional initial information setting unit 20 outputs the provisional initial information to the calculation unit 40.
- the target is a quay
- the feature information is the vector quantity of the quay line and the position coordinates of the quay reference point
- the provisional initial information is the provisional quay line (vector quantity) and the provisional quay reference. It is a point (position coordinate).
- the measuring unit 30 measures the distance to the area including the target where the ship is moored or berthed (berthed).
- the measurement unit 30 obtains measurement information for the target object by using the distance measurement result.
- the measurement unit 30 outputs the measurement information to the calculation unit 40.
- the measurement information is a vector quantity of a line segment (straight line).
- the calculation unit 40 includes an initial feature information setting unit 41 and a feature information update unit 42.
- the provisional initial information is input to the initial feature information setting unit 41.
- the measurement information is input to the initial feature information setting unit 41 and the feature information update unit 42.
- the initial feature information setting unit 41 sets the initial feature information using the provisional initial information and the measurement information.
- the initial feature information includes, for example, an initial quay line (vector quantity), an initial quay reference point (position coordinates), and the like.
- the initial feature information setting unit 41 sets this measurement information as the initial feature information. If there is a plurality of measurement information for the target object, the initial feature information setting unit 41 sets the initial feature information from the plurality of measurement information. As an example, the initial feature information setting unit 41 detects measurement information (maximum likelihood measurement information) whose position and direction with respect to the ship are most similar to the provisional initial information among a plurality of measurement information. The initial feature information setting unit 41 sets the maximum likelihood measurement information as the initial feature information. By performing such processing, the ship navigation support device 10 can suppress an error in the initial feature information as compared with manually inputting the initial feature information by the user or the like. The initial feature information setting unit 41 outputs the initial feature information to the feature information update unit 42.
- the feature information update unit 42 updates the feature information using the measurement information. For example, the feature information updating unit 42 updates to new feature information by using the measurement information at substantially the same time as the setting timing of the initial feature information. Further, the feature information updating unit 42 sequentially updates the feature information using the obtained measurement information. A more detailed configuration and processing of the feature information updating unit 42 will be described later.
- the ship navigation support device 10 can suppress an error included in the information (positional relationship, distance, direction, etc. between the ship and the target) that the ship wants to acquire when moving to the target.
- the ship navigation support device 10 can suppress an error included in the distance, direction, etc. between the ship and the quay line or the quay reference point in the movement (berthing, berthing) when the ship is moored.
- the provisional initial information setting unit 20 includes a camera 21, an operation input unit 22, and a provisional initial information setting unit 23.
- the camera 21 is connected to the operation input unit 22.
- the camera 21 is, for example, a monocular camera, and images an area including a target object (for example, a quay).
- the camera 21 outputs the captured image to the operation input unit 22.
- the operation input unit 22 is realized by, for example, a touch panel or the like.
- the operation input unit 22 displays the input image.
- the operation input unit 22 receives an operation input from the user and detects an operation position (operation locus) on the image.
- the operation input unit 22 outputs the operation position (operation locus) to the provisional initial information setting unit 23.
- the provisional initial information setting unit 23 converts the operation position (operation trajectory) into the vector quantity of the three-dimensional coordinate system set in the image, and sets it as the provisional initial information.
- the provisional initial information setting unit 23 outputs the provisional initial information to the calculation unit 40.
- FIG. 5 is a diagram showing an example of a method of designating provisional initial information.
- an image including the target quay 90 is displayed on the display screen.
- the operation input unit 22 detects the operation locus (the locus corresponding to the provisional quay line 920 in FIG. 5). More specifically, the operation input unit 22 detects a pixel group (pixel coordinate group) operated by a finger in the image as a locus. The operation input unit 22 outputs this locus to the provisional initial information setting unit 23.
- the provisional initial information setting unit 23 sets this locus as the provisional quay line 920.
- the provisional quay line 920 is represented by, for example, a vector quantity set by an orientation and a distance relative to the position of the ship.
- the provisional quay line 920 corresponds to the provisional initial information.
- the provisional initial information setting unit 23 outputs the provisional quay line 920 to the initial feature information setting unit 41 of the calculation unit 40.
- the measurement unit 30 includes a distance measurement unit 31, a posture measurement unit 32, and a measurement information generation unit 33.
- the ranging unit 31 is realized by, for example, LIDAR or the like.
- the ranging unit 31 may be another ranging device such as an optical system or a radio wave system such as LADAR.
- the ranging unit 31 performs three-dimensional ranging on the area including the target object, and detects a plurality of feature points.
- the ranging unit 31 outputs a plurality of feature points to the measurement information generation unit 33.
- the posture measuring unit 32 is realized by, for example, a posture sensor equipped on a ship.
- the attitude sensor may be one using GNSS signal positioning technology or one using an inertial sensor. Further, the attitude sensor may be a combination of a GNSS signal positioning technique and an inertial sensor. If the positioning technology of the GNSS signal is used, the position (position coordinates) of the ship can also be measured. In addition, if the GNSS signal positioning technology is used, the attitude can be measured with high accuracy in an open sky situation such as at sea.
- the posture measuring unit 32 measures the posture of the ship.
- the attitude measurement unit 32 outputs the attitude of the ship to the measurement information generation unit 33.
- the measurement information generation unit 33 converts (projects) a plurality of feature points obtained in three-dimensional coordinates into a two-dimensional coordinate system on a horizontal plane. At this time, the measurement information generation unit 33 uses the posture of the ship to raise a plurality of feature points of the three-dimensional coordinate system to the two-dimensional coordinate system on the horizontal plane even if the ship is swinging, for example. Can be converted to precision.
- the measurement information generation unit 33 applies a predetermined conversion process (for example, Hough transform process, etc.) to a plurality of feature points arranged at two-dimensional coordinates on the horizontal plane, and generates measurement information.
- the measurement information generation unit 33 outputs the generated measurement information to the initial feature information setting unit 41 and the feature information update unit 42 of the calculation unit 40.
- the process of converting a plurality of feature points obtained in three-dimensional coordinates into a two-dimensional coordinate system on a horizontal plane can be omitted.
- the calculation unit 40 includes an initial feature information setting unit 41 and a feature information update unit 42.
- the description of the initial feature information setting unit 41 is described above and is omitted.
- the initial feature information setting unit 41 sets the initial feature information using the provisional initial information and the measurement information, and outputs the initial feature information to the feature information update unit 42.
- FIG. 4 is a functional block diagram showing the configuration of the feature information update unit.
- the feature information updating unit 42 includes a difference calculation unit 421, a weighting coefficient setting unit 422, and a feature information calculation unit 423.
- the difference calculation unit 421 calculates the difference between the feature information and the measurement information. More specifically, when the initial feature information is input to the difference calculation unit 421, the difference calculation unit 421 calculates the difference between the initial feature information and the measurement information according to this timing. Further, when the feature information updated by the feature information calculation unit 423 is fed back to the difference calculation unit 421, the difference calculation unit 421 determines the difference between the fed back feature information and the measurement information according to the feedback timing. Is calculated.
- the measurement information according to the timing shown here means, for example, the measurement information obtained at the time immediately after the timing.
- the difference calculation unit 421 calculates the difference between the initial feature information or the fed-back feature information (feature information before update) and the measurement information for each of the plurality of measurement information.
- the difference calculation unit 421 outputs the difference from each measurement information to the weighting coefficient setting unit 422.
- the weighting coefficient setting unit 422 sets the weighting coefficient according to the difference for each measurement information.
- FIG. 6 is a graph showing an example of setting an example of the weighting coefficient. As shown in FIG. 6, the weighting coefficient is set so that the weighting coefficient w becomes smaller as the absolute value of the difference becomes larger.
- the weighting coefficient setting unit 422 outputs the weighting coefficient w for each measurement information to the feature information calculation unit 423.
- the feature information calculation unit 423 inputs the measurement information and the weighting coefficient w.
- the feature information calculation unit 423 calculates the feature information by using the measurement information and the weighting coefficient w for the measurement information. More specifically, the feature information calculation unit 423 normalizes the weighting coefficient w.
- the normalization here is to reset the weighting coefficient w so that all the weighting coefficients are added and become 1. In addition, this normalization processing may be performed by the weighting coefficient setting unit 422.
- the feature information calculation unit 423 multiplies the normalized weighting factor w by the measurement information.
- the feature information calculation unit 423 outputs the result of adding the measurement information multiplied by the weighting coefficient w as new feature information (feature information after update).
- the updated feature information is generated by adding the measurement information using the distance measurement result. As a result, the accumulation of errors due to overlapping updates is suppressed.
- the measurement information is multiplied by the weighting coefficient.
- the weighting coefficient is set so that the larger the difference from the feature information before the update, the smaller the influence on the feature information after the update. Therefore, the feature information after the update suppresses the influence of the error included in the feature information before the update, and is highly accurate with respect to the actual feature information.
- the ship navigation support device 10 can generate the feature information with high accuracy with respect to the actual feature information and while suppressing the update error.
- FIG. 7 is a functional block diagram showing an example of a specific application example of the configuration of the ship navigation support device according to the embodiment of the present invention. Note that FIG. 7 is basically the same as the figure in which FIGS. 1, 2, 3, and 4 are combined, and is different in that the target object, the feature information, and the like are embodied. In the following, only the parts that require additional explanation will be described, and the parts that can be understood in the above explanation will be omitted.
- FIG. 8 is a diagram for explaining the concept of updating the quay line. 9 (A), 9 (B), and 9 (C) are diagrams showing the updated state of the quay line.
- the ship navigation support device 10e includes a provisional quay information setting unit 20e, a measurement unit 30e, and a calculation unit 40e.
- the provisional quay information setting unit 20e corresponds to the above-mentioned provisional initial information setting unit 20.
- the measuring unit 30e corresponds to the measuring unit 30.
- the calculation unit 40e corresponds to the calculation unit 40.
- the provisional quay information setting unit 20e includes a camera 21, an operation input unit 22, and a provisional quay line setting unit 23e.
- the provisional quay line setting unit 23e corresponds to the provisional initial information setting unit 23, and sets the provisional quay line (see the provisional quay line 920 in FIG. 5 above) using the operation input result.
- the provisional quay line setting unit 23e outputs the provisional quay line to the calculation unit 40e.
- the measurement unit 30e includes a distance measurement unit 31, a posture measurement unit 32, and a measurement line generation unit 33e.
- the measurement line generation unit 33e corresponds to the measurement information generation unit 33, and generates a linear measurement line by using a plurality of feature points obtained by distance measurement and the posture of the ship 100.
- the measurement line is represented by the distance ⁇ from the reference point (for example, the sensor position) 111 of the ship 100 and the direction ⁇ of the measurement line with respect to the position of the ship 100.
- the distance ⁇ is the length of the perpendicular line drawn from the ship 100 to the measurement line
- the azimuth ⁇ is the angle formed by the reference direction and the extension direction of the perpendicular line in a predetermined coordinate system.
- the measurement line generation unit 33e outputs the measurement line to the calculation unit 40e.
- the calculation unit 40e includes an initial quay line setting unit 41e and a quay information update unit 42e.
- the initial quay line setting unit 41e corresponds to the initial feature information setting unit 41
- the quay information update unit 42e corresponds to the feature information update unit 42.
- the quay information updating unit 42e includes a difference calculation unit 421, a weighting coefficient setting unit 422, and a quay line calculation unit 423e.
- the quay line calculation unit 423e corresponds to the feature information calculation unit 423.
- the provisional quay line and the measurement line are input to the initial quay line setting unit 41e. If there is only one measurement line, the initial quay line setting unit 41e sets this measurement line as the initial quay line. If there are a plurality of measurement lines, the initial quay line setting unit 41e sets the maximum likelihood measurement line in the plurality of measurement lines to the initial quay line. For example, the initial quay line setting unit 41e sets the maximum likelihood measurement line to, for example, a measurement line having a parameter most similar to the parameters (distance ⁇ , direction ⁇ ) of the provisional quay line. The initial quay line setting unit 41e outputs the initial quay line to the quay information updating unit 42e.
- the initial quay line and the measurement line are input to the difference calculation unit 421 of the quay information update unit 42e.
- the difference calculation unit 421 calculates the difference from the initial quay line for each of the measurement lines. At this time, the difference calculation unit 421 calculates the difference for each parameter. That is, the difference calculation unit 421 calculates the difference ⁇ of the distance ⁇ and the difference ⁇ of the direction ⁇ with respect to the initial quay line for one measurement line.
- a plurality of measurement lines 931 (T1), 932 (T1), 933 (T1), 933 (T1) measured at the timing T1 immediately after that. T1), 934 (T1) are obtained.
- the measurement line 931 (T1) is obtained at the timing T1 and is generated from a plurality of feature points 81 (T1) arranged in a straight line.
- the measurement line 932 (T1) is obtained at timing T1 and is generated from a plurality of linearly arranged feature points 82 (T1)
- the measurement line 933 (T1) is obtained at timing T1 and linearly.
- the measurement line 934 (T1) is generated from the plurality of feature points 83 (T1) arranged side by side, and is generated from the plurality of feature points 84 (T1) arranged in a straight line at the timing T1.
- the difference calculation unit 421 outputs the difference for each measurement line to the weighting coefficient setting unit 422.
- the difference calculation unit 421 calculates the difference ⁇ 1 (T1) between the distance ⁇ 1 (T1) of the measurement line 931 (T1) and the distance ⁇ (T0) of the immediately preceding quay line 920 (T0).
- the difference calculation unit 421 calculates the difference ⁇ 1 (T1) between the direction ⁇ 1 (T1) of the measurement line 931 (T1) and the direction ⁇ (T0) of the immediately preceding quay line 920 (T0).
- the difference calculation unit 421 calculates the difference ⁇ 2 (T1) and the difference ⁇ 2 (T1) with respect to the measurement line 932 (T1), and the difference ⁇ 3 (T1) with respect to the measurement line 933 (T1).
- the difference ⁇ 3 (T1) is calculated, and the difference ⁇ 4 (T1) and the difference ⁇ 4 (T1) are calculated with respect to the measurement line 934 (T1). Then, the difference calculation unit 421 outputs these differences to the weighting coefficient setting unit 422.
- the weighting coefficient setting unit 422 sets the weighting coefficient according to the difference. More specifically, the weighting coefficient setting unit 422 sets the first weighting coefficient w ⁇ for the distance ⁇ according to the difference ⁇ with respect to the distance ⁇ . The weighting coefficient setting unit 422 sets the second weighting coefficient w ⁇ for the direction ⁇ according to the difference ⁇ with respect to the direction ⁇ . The weighting coefficient setting unit 422 outputs the first weighting coefficient w ⁇ and the second weighting coefficient w ⁇ to the quay line calculation unit 423e.
- the quay line calculation unit 423e normalizes the first weighting coefficient w ⁇ to each using the number of measurement lines to be added.
- the quay line calculation unit 423e normalizes the second doubled coefficient w ⁇ to each using the number of measurement lines to be added.
- the quay line calculation unit 423e multiplies the distance ⁇ by the normalized first weighting coefficient w ⁇ for each measurement line, and adds these multiplied values. For example, in the example of FIG. 8, the quay line calculation unit 423e multiplies the distance ⁇ 1 (T1) of the measurement line 931 (T1) by the first weighting coefficient w ⁇ 1 and the distance ⁇ 2 (T1) of the measurement line 932 (T1). Multiply T1) by the first weighting coefficient w ⁇ 2, multiply the distance ⁇ 3 (T1) of the measurement line 933 (T1) by the first weighting coefficient w ⁇ 3, and multiply the distance ⁇ 4 (T1) of the measurement line 934 (T1) by the first. By multiplying the single multiplication factor w ⁇ 4 and adding these multiplication values, the distance ⁇ (T1) of the quay line 920 (T1) at the timing T1 is calculated.
- the quay line calculation unit 423e multiplies the normalized second multiplication factor w ⁇ by the azimuth ⁇ for each measurement line, and adds these multiplied values. For example, in the example of FIG. 8, the quay line calculation unit 423e multiplies the direction ⁇ 1 (T1) of the measurement line 931 (T1) by the second multiplication factor w ⁇ 1, and the direction ⁇ 2 (the direction ⁇ 2 of the measurement line 932 (T1)). T1) is multiplied by the second multiplication coefficient w ⁇ 2, the orientation ⁇ 3 (T1) of the measurement line 933 (T1) is multiplied by the second overlap coefficient w ⁇ 3, and the orientation ⁇ 4 (T1) of the measurement line 934 (T1) is multiplied by the second. By multiplying by the double coefficient w ⁇ 4 and adding these multiplication values, the direction ⁇ (T1) of the quay line 920 (T1) at the timing T1 is calculated.
- the quay line 920 is sequentially updated as shown in FIGS. 9 (A), 9 (B), and 9 (C).
- the measurement lines 931 (T1), 932 (T1), 933 (T1), 934 (T1) at the timing T1 and the quay line 920 (T0) at the immediately preceding timing T0 are used.
- the quay line 920 (T1) at the timing T1 is generated, and the quay line 920 is updated.
- the timing T2 is formed by the measurement lines 931 (T2), 932 (T2), 933 (T2), 934 (T2) of the timing T2 and the quay line 920 (T1) at the immediately preceding timing T1.
- the quay line 920 (T2) is generated in, and the quay line 920 is updated.
- the timing T3 is formed by the measurement lines 931 (T3), 932 (T3), 933 (T3), 934 (T3) of the timing T3 and the quay line 920 (T2) at the immediately preceding timing T2.
- the quay line 920 (T3) is generated in, and the quay line 920 is updated.
- the ship navigation support device 10e can sequentially update the quay line 920 and suppress the accumulation of errors due to the update.
- this configuration and processing as shown in FIGS. 9 (A), 9 (B), and 9 (C), even if the ship 100 moves, the distance measurement results at each timing can be obtained. Since the quay line 920 is updated by using it, the influence of the error due to the movement can be suppressed.
- FIG. 10 (A) and 10 (B) are flowcharts showing the schematic processing of the ship navigation support method.
- FIG. 10B shows a case where the process of FIG. 10A is set for a more specific target (quay).
- the arithmetic processing unit (ship navigation support device) sets the initial feature information of the target object (S11).
- the arithmetic processing unit generates measurement information of the area including the target object (S12).
- the arithmetic processing unit updates the feature information by calculating new feature information from the initial information of the feature information of the target object or the feature information before the update and the measurement information (S13).
- the arithmetic processing unit sets the initial quay line (S11e) as shown in FIG. 10 (B).
- the arithmetic processing unit generates a measurement line in the area including the quay (S12e).
- the arithmetic processing unit updates the quay line by calculating a new quay line from the initial quay line or the quay line before the update and the measurement line (S13e).
- FIG. 11A is a flowchart showing a specific processing flow for updating the feature information shown in FIG. 10A.
- FIG. 11B is a flowchart showing a specific processing flow regarding the update of the quay line shown in FIG. 10B.
- the arithmetic processing unit acquires the feature information before the update including the initial feature information (S31).
- the arithmetic processing unit acquires a plurality of measurement information (S32).
- the arithmetic processing unit calculates the difference between the measurement information and the feature information (S33).
- the arithmetic processing unit sets a weighting coefficient according to the difference for each measurement information (S34).
- the arithmetic processing unit calculates the updated feature information using the weighting coefficient and the measurement information (S35).
- the arithmetic processing unit acquires the quay line before the update including the initial quay line (S31e).
- the arithmetic processing unit acquires a plurality of measurement lines (S32e).
- the arithmetic processing unit calculates the difference between the measurement line and the quay line (S33e).
- the arithmetic processing unit sets a weighting coefficient according to the difference for each measurement line (S34e).
- the arithmetic processing unit calculates the updated quay line using the weighting coefficient and the measurement line (S35e).
- FIG. 12 is a flowchart showing another specific processing flow regarding the update of the feature information.
- the process shown in FIG. 12 is different from the process shown in FIG. 11A in the process of adjusting the weighting coefficient.
- the other processes shown in FIG. 12 are the same as the processes shown in FIG. 11 (A), and the description of the same parts will be omitted.
- the arithmetic processing unit adjusts the weighting coefficient according to the navigation state of the ship (S391). For example, in the arithmetic processing unit, the farther the ship is from the target object, the smaller the weight reduction method depending on the magnitude of the difference. Further, the arithmetic processing unit reduces the method of reducing the weight depending on the magnitude of the difference as the navigation speed of the ship, more specifically, for example, the approach speed to the target becomes faster. It should be noted that this adjustment content is an example, and for example, the weight reduction method may be reduced as the navigation state in which the error included in the distance measurement result and the measurement information becomes larger.
- the ship navigation support devices 10 and 10e can update the feature information (for example, the quay line) more accurately.
- FIG. 13 is a flowchart showing another specific processing flow regarding the update of the feature information.
- the process shown in FIG. 13 is different from the process shown in FIG. 11A in the measurement information selection process.
- the other processes shown in FIG. 13 are the same as the processes shown in FIG. 11 (A), and the description of the same parts will be omitted.
- the arithmetic processing unit excludes measurement information whose difference does not satisfy the condition (S392).
- This condition is, for example, that the difference exceeds the threshold value, more specifically, the difference ⁇ of the distance ⁇ exceeds the threshold value for distance, or the difference ⁇ of the direction ⁇ exceeds the threshold value for direction.
- the ship navigation support devices 10 and 10e can obtain measurement information from the calculation of the feature information, such as a shape that is clearly far from the target and a shape that is clearly different from the target, which adversely affects the calculation of the feature information. Can be excluded.
- the feature information (quay line) can be continuously updated even if the measurement information (measurement line) is hardly obtained at a certain timing.
- the ship navigation support devices 10 and 10e may adopt an averaging process such as a moving average for the feature information.
- the feature information calculation unit 423 of the calculation unit 40 performs weighted average processing of the feature information before the update and the calculated feature information, and calculates the feature information after the update.
- the quay line calculation unit 423e of the calculation unit 40e performs a weighted average processing of the quay line before the update and the calculated quay line to calculate the quay line after the update.
- FIG. 14A is a flowchart showing the processing of the ship navigation support method including the generation of navigation support information.
- FIG. 14B shows a case where the process of FIG. 14A is set for a more specific target (quay).
- the process shown in FIG. 14 (A) differs in that the process of generating navigation support information is added to the process shown in FIG. 10 (A), and the process shown in FIG. 14 (B) is different from the process shown in FIG. 10 (B).
- FIGS. 14 (A) and 14 (B) are the same as the processes shown in FIGS. 10 (A) and 10 (B), respectively, and the description of the same parts will be omitted.
- the arithmetic processing unit (ship navigation support device) generates navigation support information from the feature information (S14).
- the arithmetic processing unit when the feature information is a quay line, as shown in FIG. 14 (B), the arithmetic processing unit generates a quay line distance from the calculated (updated) quay line (S14e).
- the quay line distance is obtained, for example, by the quay line distance ⁇ .
- the mode of calculating and updating the quay line was shown. However, it is also possible to calculate and update other feature information about the quay. In the following, as other feature information, a mode in which a quay reference point is calculated and updated is shown.
- the quay reference point is a point that is used as a reference when the ship 100 berths, and is a point on the quay line.
- FIG. 15 is a functional block diagram showing a configuration of a ship navigation support device in a mode of calculating and updating a quay line and a quay reference point.
- the ship navigation support device 10f shown in FIG. 15 has a provisional quay reference point setting unit 232f, a quay reference point information setting unit 233f, a position measurement unit 34, and a position measurement unit 34 with respect to the ship navigation support device 10e shown in FIG. The difference is that the quay reference point calculation unit 424f is further provided.
- Other configurations of the ship navigation support device 10f are the same as those of the ship navigation support device 10e, and the description of the same parts will be omitted.
- the ship navigation support device 10f includes a provisional quay information setting unit 20f, a measurement unit 30f, and a calculation unit 40f.
- the provisional quay information setting unit 20f includes a camera 21, an operation input unit 22, a provisional quay line setting unit 231f, a provisional quay reference point setting unit 232f, and a quay reference point information setting unit 233f.
- the provisional quay line setting unit 231f has the same function as the provisional quay line setting unit 23e.
- the measurement unit 30f includes a distance measurement unit 31, a posture measurement unit 32, a measurement line generation unit 33f, and a position measurement unit 34.
- the measurement line generation unit 33f has the same function as the measurement line generation unit 33e.
- the position measurement unit 34 has, for example, a GNSS positioning function and measures the position of the ship 100.
- the calculation unit 40f includes an initial quay line setting unit 41f and a quay information update unit 42f.
- the initial quay line setting unit 41f has the same function as the initial quay line setting unit 41e.
- the quay information updating unit 42f includes a difference calculation unit 421, a weighting coefficient setting unit 422, a quay line calculation unit 423f, and a quay reference point calculation unit 424f.
- the quay line calculation unit 423f has the same function as the quay line calculation unit 423e.
- the renewal of the quay line is the same as the above-mentioned ship navigation support device 10e, and the description thereof will be omitted.
- the provisional quay reference point setting unit 232f sets the provisional quay reference point using the operation input result. For example, the provisional quay reference point setting unit 232f detects the coordinates of the operation position on the screen and sets the provisional quay reference point. The provisional quay reference point setting unit 232f outputs the provisional quay reference point to the quay reference point information setting unit 233f.
- the quay reference point information setting unit 233f calculates the direction ⁇ of the provisional quay reference point with respect to the ship 100 by using the provisional quay reference point, the attitude of the ship 100, and the position of the ship 100. Then, the quay reference point information setting unit 233f sets the provisional quay reference point including this direction ⁇ as the initial quay reference point. The quay reference point information setting unit 233f outputs the direction ⁇ of the initial quay reference point with respect to the ship 100, which is expressed using the direction ⁇ , to the quay reference point calculation unit 424f of the calculation unit 40f.
- the updated quay line, initial quay reference point, position of ship 100, and attitude of ship 100 are input to the quay reference point calculation unit 424f.
- the quay reference point calculation unit 424f calculates the change amount ⁇ of the azimuth ⁇ by using the change amount of the position of the ship 100 and the change amount of the attitude from the update timing of the previous quay reference point.
- the quay reference point calculation unit 424f corrects the initial quay reference point or the direction ⁇ before the update with the change amount ⁇ , and updates the direction ⁇ .
- the quay reference point calculation unit 424f calculates the intersection of the straight line indicated by the updated direction ⁇ and the updated quay line.
- the quay reference point calculation unit 424f calculates the coordinates of the updated quay reference point from the distance between the intersection and the ship 100 and the position of the ship 100. As a result, the quay reference point calculation unit 424f updates the quay reference point.
- the quay reference point can be updated together with the quay line.
- 16 (A), 16 (B), and 16 (C) are diagrams showing the updated state of the quay line and the quay reference point.
- the initial quay line 920 (T0) is updated to the quay line 920 (T1), and accordingly, the initial quay reference point 929 (T0) is changed to the quay reference point 929 (T1). Will be updated.
- the update of the quay reference point at this time that is, the azimuth ⁇ (T1) of the quay reference point 929 (T1) is the directional ⁇ (T0) of the initial quay reference point 929 (T0) due to the change in the position of the ship. It is obtained by correcting with the amount of change ⁇ v01 and the amount of change in direction ⁇ d01 due to the change in posture. Then, by obtaining the direction ⁇ (T1) of the quay reference point 929 (T1) and the quay line 920 (T1), the position coordinates of the quay reference point 929 (T1) can also be calculated.
- the quay line 920 (T1) is updated to the quay line 920 (T2), and accordingly, the quay reference point 929 (T1) is updated to the quay reference point 929 (T2).
- the update of the quay reference point at this time that is, the directional control ⁇ (T2) of the quay reference point 929 (T2) is the directional change amount of the quay reference point 929 (T1) directional ⁇ (T1) due to the change in the position of the ship. It is obtained by correcting with ⁇ v12 and the amount of directional change due to the change in posture ⁇ d12. Then, by obtaining the direction ⁇ (T2) of the quay reference point 929 (T2) and the quay line 920 (T2), the position coordinates of the quay reference point 929 (T2) can also be calculated.
- the quay line 920 (T2) is updated to the quay line 920 (T3), and accordingly, the quay reference point 929 (T2) is updated to the quay reference point 929 (T3).
- the update of the quay reference point at this time that is, the directional control ⁇ (T3) of the quay reference point 929 (T3) is the directional change amount of the quay reference point 929 (T2) directional ⁇ (T2) due to the change in the position of the ship. It is obtained by correcting with ⁇ v23 and the amount of directional change due to the change in posture ⁇ d23. Then, by obtaining the direction ⁇ (T3) of the quay reference point 929 (T3) and the quay line 920 (T3), the position coordinates of the quay reference point 929 (T3) can also be calculated.
- FIG. 17 is a flowchart showing a schematic process of how to update the quay line and the quay reference point.
- the arithmetic processing unit (ship navigation support device) sets the initial quay line and the initial quay reference point (S11f).
- the arithmetic processing unit generates an actual quay line and a measurement line in a region including the actual quay reference point (S12f).
- the arithmetic processing unit updates the quay line using the measurement line (S13f).
- the arithmetic processing unit updates the quay reference point using the position, attitude, and updated quay line of the ship 100 (S14f).
- FIG. 18 is a flowchart showing a method of updating the quay reference point.
- the arithmetic processing unit (ship navigation support device) acquires the updated quay line (S41).
- the arithmetic processing unit acquires the direction of the quay reference point before the update, for example, the quay reference point with respect to the ship 100 (S42).
- the arithmetic processing unit acquires the movement amount (position change amount) and posture change amount of the ship 100 (S43).
- the arithmetic processing device updates the quay reference point (direction) using the direction of the quay reference point before the update, the amount of movement of the ship 100 (the amount of change in position), and the amount of change in attitude (S44).
- the arithmetic processing unit updates the quay reference point (position coordinates) using the updated quay reference point (direction) and the updated quay line (S45).
- the ship navigation support device 10f can suppress an error in updating the quay reference point as well as updating the quay line.
- provisional initial information (provisional quay line)
- provisional initial information (provisional quay line) is set by the user's operation input.
- provisional initial information from past data on the feature information of the target.
- FIG. 19 is a flowchart showing a process of setting provisional initial information from the past position coordinates of the feature information of the target object.
- a mode in which the characteristic information of the target object is the quay line and the provisional initial information is the provisional quay line will be described.
- the arithmetic processing unit stores the past position coordinates of the quay line.
- the arithmetic processing unit reads out the past position coordinates of the quay line (S61).
- the arithmetic processing unit acquires the position coordinates of the ship (own ship) (S62).
- the acquisition of the position coordinates of the ship can be realized by using, for example, the above-mentioned GNSS signal positioning technique.
- the arithmetic processing unit calculates the relative position of the quay line with respect to the ship using these position coordinates (S63).
- the arithmetic processing unit sets a provisional quay line from a relative position (S64). For example, the arithmetic processing unit converts the relative position into a vector quantity set by the distance and direction with respect to the ship, and sets the provisional quay line.
- the mode in which the past position coordinates of the quay line are used is shown.
- a reference station on the quay line use a ship as a mobile station, detect a relative position using DGPS, RTK technology, or the like, and set a provisional quay line. It is also possible to receive the coordinates of the quay line from the outside and set the provisional quay line.
- the mode of setting the initial information from the measurement information is shown based on the provisional initial information.
- the provisional initial information may be set as the initial information as it is.
- the provisional initial information may be used as it is as the initial information because the error is small.
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Abstract
Description
図1に示すように、船舶航行支援装置10は、暫定初期情報設定部20、計測部30、および、演算部40を備える。船舶航行支援装置10は、例えば、光学系の部分、電波系の部分を除き、船舶航行支援方法を実現するプログラム(船舶航行支援プログラム)が記憶される記憶デバイスと、船舶航行支援プログラムを実行するCPU等の演算処理装置と、によって実現可能である。また、記憶デバイスと演算処理装置との部分は、航行支援プログラムが組み込まれたIC等によって実現することも可能である。
図2に示すように、暫定初期情報設定部20は、カメラ21、操作入力部22、および、暫定初期情報設定部23を備える。
図5は、暫定初期情報の指定方法の一例を示す図である。図5に示すように、表示画面には、目標物である岸壁90を含む画像が表示される。画面に表示された実岸壁線910に沿うように、ユーザが指でタッチパネルを操作すると、操作入力部22は、操作の軌跡(図5における暫定の岸壁線920に対応する軌跡)を検出する。より具体的には、操作入力部22は、軌跡として、画像における指で操作された画素群(画素の座標群)を検出する。操作入力部22は、この軌跡を、暫定初期情報設定部23に出力する。
図3に示すように、計測部30は、測距部31、姿勢計測部32、および、計測情報生成部33を備える。
演算部40は、上述のように、初期特徴情報設定部41、および、特徴情報更新部42を備える。初期特徴情報設定部41の説明は、上述しており、省略する。初期特徴情報設定部41は、暫定初期情報と計測情報とを用いて、初期特徴情報を設定し、特徴情報更新部42に出力する。
図4は、特徴情報更新部の構成を示す機能ブロック図である。図4に示すように、特徴情報更新部42は、差分算出部421、重付係数設定部422、および、特徴情報算出部423を備える。
図7は、本発明の実施形態に係る船舶航行支援装置の構成の具体的な適用例の一例を示す機能ブロック図である。なお、図7は、図1、図2、図3、図4を組み合わせた図を基本的には同様のものであり、目標物や特徴情報等が具体化した点で異なる。以下では、追加の説明が必要な箇所のみを説明し、上述の説明で理解可能な箇所の説明は省略する。図8は、岸壁線の更新概念を説明するための図である。図9(A)、図9(B)、図9(C)は、岸壁線の更新状態を示す図である。
上述の説明では、各処理をそれぞれに個別の機能部で実行する態様を示した。しかしながら、上述の処理は、船舶航行支援プログラムとして記憶され、演算処理装置で実行することによって、実現することが可能である。この場合、次の各図に示すフローにしたがって処理を実行すればよい。なお、以下の説明における具体的な処理の内容において、上述されている内容については、詳細な説明を省略する。
上述の説明では、特徴情報の更新、出力、例えば、岸壁線の更新、出力までを行う態様を示した。しかしながら、船舶航行支援装置10,10eは、得られた特徴情報(例えば、岸壁線)を用いて、更なる航行支援情報を生成できる。図14(A)は、航行支援情報の生成を含む船舶航行支援方法の処理を示すフローチャートである。図14(B)は、図14(A)の処理を、より具体的な目標物(岸壁)に対して設定した場合を示す。なお、図14(A)に示す処理は、図10(A)に示す処理に、航行支援情報の生成処理を追加した点で異なり、図14(B)に示す処理は、図10(B)に示す処理に、岸壁線距離の生成を追加した点で異なる。図14(A)、図14(B)の他の処理は、それぞれに、図10(A)、図10(B)に示す処理と同様であり、同様の箇所の説明は省略する。
上述の具体的な説明では、岸壁線を算出して更新する態様を示した。しかしながら、岸壁に関する他の特徴情報を算出して更新することも可能である。以下では、他の特徴情報として、岸壁基準点を算出して、更新する態様を示す。なお、岸壁基準点とは、船舶100が着岸するときに基準とする点であり、岸壁線上の点である。
暫定岸壁基準点設定部232fは、操作入力結果を用いて、暫定岸壁基準点を設定する。例えば、暫定岸壁基準点設定部232fは、画面上の操作位置の座標を検出し、暫定岸壁基準点に設定する。暫定岸壁基準点設定部232fは、暫定岸壁基準点を、岸壁基準点情報設定部233fに出力する。
上述の説明では、各処理をそれぞれに個別の機能部で実行する態様を示した。しかしながら、上述の処理は、船舶航行支援プログラムとして記憶され、演算処理装置で実行することによって、実現することが可能である。この場合、次の各図に示すフローにしたがって処理を実行すればよい。なお、以下の説明における具体的な処理の内容において、上述されている内容については、詳細な説明を省略する。
上述の説明では、暫定初期情報(暫定岸壁線)を、ユーザの操作入力によって設定した。しかしながら、目標物の特徴情報に対する過去のデータから、暫定初期情報を設定することも可能である。
20:暫定初期情報設定部
20e、20f:暫定岸壁情報設定部
21:カメラ
22:操作入力部
23:暫定初期情報設定部
23e:暫定岸壁線設定部
30、30e、30f:計測部
31:測距部
32:姿勢計測部
33:計測情報生成部
33e、33f:計測線生成部
34:位置計測部
40:演算部
40e:演算部
40f:演算部
41:初期特徴情報設定部
41e、41f:初期岸壁線設定部
42:特徴情報更新部
42e、42f:岸壁情報更新部
81、82、83、84:特徴点
90:岸壁
100:船舶
231f:暫定岸壁線設定部
232f:暫定岸壁基準点設定部
233f:岸壁基準点情報設定部
421:差分算出部
422:重付係数設定部
423:特徴情報算出部
423e、423f:岸壁線算出部
424f:岸壁基準点算出部
910:実岸壁線
920:岸壁線
929:岸壁基準点
931、932、933、934:計測線
Claims (22)
- 船舶の停泊目標である目標物を含む領域に対する測距結果を用いて、前記目標物に対する計測情報を得る計測部と、
前記目標物に対する初期の特徴情報または前記目標物に対する更新前の特徴情報と前記計測情報とを用いて、前記目標物に対する特徴情報を更新する特徴情報更新部と、
を備える、船舶航行支援装置。 - 請求項1に記載の船舶航行支援装置であって、
前記特徴情報更新部は、
前記初期の特徴情報または前記更新前の特徴情報と複数の前記計測情報のそれぞれとの差分を算出する差分算出部と、
前記差分を用いて、前記複数の計測情報のそれぞれに対する重付係数を設定する重付係数設定部と、
前記重付係数と前記複数の計測情報とを用いて、更新後の特徴情報を算出する特徴情報算出部と、
を備える、船舶航行支援装置。 - 請求項2に記載の船舶航行支援装置であって、
前記重付係数設定部は、
前記重付係数として、
前記目標物と前記船舶との距離に対して設定される第1重付係数と、
前記船舶を基準とする前記目標物の方位に対して設定される第2重付係数と、を設定し、
前記特徴情報算出部は、前記第1重付係数と前記第2重付係数とを用いて、前記更新後の特徴情報を算出する、
船舶航行支援装置。 - 請求項2または請求項3に記載の船舶航行支援装置であって、
前記特徴情報算出部は、
更新前の特徴情報と、算出した特徴情報と、を用いて、前記更新後の特徴情報を算出する、
船舶航行支援装置。 - 請求項1乃至請求項4のいずれかに記載の船舶航行支援装置であって、
前記計測部は、
前記目標物を含む領域の三次元測距を行う測距部と、
前記三次元測距の結果を用いて、前記計測情報を生成する計測情報生成部と、
を備える、船舶航行支援装置。 - 請求項5に記載の船舶航行支援装置であって、
前記測距部は、光学測距計を備える、
船舶航行支援装置。 - 請求項5または請求項6に記載の船舶航行支援装置であって、
前記計測部は、
前記船舶の姿勢を計測する姿勢計測部を備え、
前記計測情報生成部は、
前記三次元測距の結果と前記姿勢とを用いて、前記計測情報を生成する、
を備える、船舶航行支援装置。 - 請求項1乃至請求項7のいずれかに記載の船舶航行支援装置であって、
前記目標物の特徴情報は、前記船舶と前記目標物との位置関係によって決まるベクトル量である、
船舶航行支援装置。 - 請求項8に記載の船舶航行支援艘装置であって、
前記目標物は、岸壁であり、
前記目標物の特徴情報は、前記ベクトル量からなる岸壁線を含む、
船舶航行支援装置。 - 請求項9に記載の船舶航行支援装置であって、
前記目標物の特徴情報は、岸壁基準点の座標を含む、
船舶航行支援装置。 - 請求項10に記載の船舶航行支援装置であって、
前記計測部は、
前記船舶の位置を計測する位置計測部を備え、
前記特徴情報更新部は、
前記船舶の姿勢および位置と、前記岸壁線とを用いて、前記岸壁基準点を更新する、
船舶航行支援装置。 - 請求項1乃至請求項11のいずれかに記載の船舶航行支援装置であって、
前記目標物の特徴情報に対する暫定初期情報の指定を受ける暫定初期情報設定部と、
前記暫定初期情報と前記計測情報とを用いて、前記目標物に対する初期の特徴情報を設定する初期特徴情報設定部と、
を備える、船舶航行支援装置。 - 船舶の停泊目標である目標物を含む領域に対する測距結果を用いて、前記目標物に対する計測情報を得て、
前記目標物に対する初期の特徴情報または前記目標物に対する更新前の特徴情報と前記計測情報とを用いて、前記目標物に対する特徴情報を更新する、
船舶航行支援方法。 - 請求項13に記載の船舶航行支援方法であって、
前記初期の特徴情報または前記更新前の特徴情報と複数の前記計測情報のそれぞれとの差分を算出し、
前記差分を用いて、前記複数の計測情報のそれぞれに対する重付係数を設定し、
前記重付係数と前記複数の計測情報とを用いて、更新後の特徴情報を算出する、
船舶航行支援方法。 - 請求項14に記載の船舶航行支援方法であって、
前記重付係数として、
前記目標物と前記船舶との距離に対して設定される第1重付係数と、
前記船舶を基準とする前記目標物の方位に対して設定される第2重付係数と、を設定し、
前記第1重付係数と前記第2重付係数とを用いて、前記更新後の特徴情報を算出する、
船舶航行支援方法。 - 請求項14または請求項15に記載の船舶航行支援方法であって、
更新前の特徴情報と、算出した特徴情報と、を用いて、前記更新後の特徴情報を算出する、
船舶航行支援方法。 - 請求項13乃至請求項16のいずれかに記載の船舶航行支援方法であって、
前記目標物の特徴情報に対する暫定初期情報の指定を受けつけ、
前記暫定初期情報と前記計測情報とを用いて、前記目標物に対する初期の特徴情報を設定する、
船舶航行支援方法。 - 船舶の停泊目標である目標物を含む領域に対する測距結果を用いて、前記目標物に対する計測情報を得て、
前記目標物に対する初期の特徴情報または前記目標物に対する更新前の特徴情報と前記計測情報とを用いて、前記目標物に対する特徴情報を更新する、
処理を、演算処理装置に実行させる、船舶航行支援プログラム。 - 請求項18に記載の船舶航行支援プログラムであって、
前記初期の特徴情報または前記更新前の特徴情報と複数の前記計測情報のそれぞれとの差分を算出し、
前記差分を用いて、前記複数の計測情報のそれぞれに対する重付係数を設定し、
前記重付係数と前記複数の計測情報とを用いて、更新後の特徴情報を算出する、
処理を、演算処理装置に実行させる、船舶航行支援プログラム。 - 請求項19に記載の船舶航行支援プログラムであって、
前記重付係数として、
前記目標物と前記船舶との距離に対して設定される第1重付係数と、
前記船舶を基準とする前記目標物の方位に対して設定される第2重付係数と、を設定し、
前記第1重付係数と前記第2重付係数とを用いて、前記更新後の特徴情報を算出する、
処理を、演算処理装置に実行させる、船舶航行支援プログラム。 - 請求項19または請求項20に記載の船舶航行支援プログラムであって、
更新前の特徴情報と、算出した特徴情報と、を用いて、前記更新後の特徴情報を算出する、
処理を、演算処理装置に実行させる、船舶航行支援プログラム。 - 請求項19乃至請求項20のいずれかに記載の船舶航行支援プログラムであって、
前記目標物の特徴情報に対する暫定初期情報の指定を受けつけ、
前記暫定初期情報と前記計測情報とを用いて、前記目標物に対する初期の特徴情報を設定する、
処理を、演算処理装置に実行させる、船舶航行支援プログラム。
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JP2007106397A (ja) * | 2005-09-15 | 2007-04-26 | Yamaha Motor Co Ltd | 着岸支援装置およびそれを備えた船舶 |
JP2012161444A (ja) * | 2011-02-07 | 2012-08-30 | Hitachi Medical Corp | X線ct装置 |
JP2019079352A (ja) * | 2017-10-25 | 2019-05-23 | 新日鐵住金株式会社 | 情報処理装置、情報処理方法及びプログラム |
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JP2007041499A (ja) * | 2005-07-01 | 2007-02-15 | Advanced Telecommunication Research Institute International | 雑音抑圧装置、コンピュータプログラム、及び音声認識システム |
JP2007106397A (ja) * | 2005-09-15 | 2007-04-26 | Yamaha Motor Co Ltd | 着岸支援装置およびそれを備えた船舶 |
JP5000244B2 (ja) | 2005-09-15 | 2012-08-15 | ヤマハ発動機株式会社 | 着岸支援装置およびそれを備えた船舶 |
JP2012161444A (ja) * | 2011-02-07 | 2012-08-30 | Hitachi Medical Corp | X線ct装置 |
JP2019079352A (ja) * | 2017-10-25 | 2019-05-23 | 新日鐵住金株式会社 | 情報処理装置、情報処理方法及びプログラム |
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