JP2005180949A - Automatic berthing system for vessel - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To providing an automatic alongside-a-pier system for a vessel which is comparably low priced at the time of installation on the ship, capable of safely, quickly and automatically berthing at a pier, by only having to use the automatic berthing system in any port, when the vessel comes alongside a pier. <P>SOLUTION: The automatic coming-alongside-a-pier system characteristically comprises at least two sets of imaging means for imaging the pier area to be approached, including landmark object; a display means for displaying images; a sample image setting means; a specific recognition means for recognizing an image as a land mark object for coming alongside a pier; a trucking recognition means; and a distance derivation means for deriving distance by the turning angle of the imaging means turning toward the landmark object for trucking the object which comes alongside the pier. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

The present invention relates to an automatic ship berthing system that can automatically and safely berth a ship on a quay of a harbor.

  Conventionally, in order to perform ship berthing work well, the distance from the ship to the berthing is measured, or the speed at the time of berthing of the ship is measured, and the ship is berthed smoothly based on these measurement data. It was.

  And conventionally, there have been many examples in which a measuring device that performs the above-described measurement is generally installed on the quay of a harbor where a ship is berthed.

For example, as shown in FIG. 15, one using a laser beam irradiation device that irradiates a laser beam as a measuring instrument is known, and the laser beam irradiation device is installed on a quay of a harbor where a ship is berthed. By irradiating the ship's hull with laser beam berthing and measuring the reflected light, the berthing distance and speed of the ship are measured.
JP 2000-292540 A

  However, when measuring the berthing speed, etc. of a ship using the conventional measuring device, etc., the dedicated measuring device as described above is used for all predicted ports including a port where the ship may be berthed. Must be installed, requiring enormous installation costs.

  And, in case of berthing in a sudden situation or when berthing at a port where the above measuring device is not installed, such as when berthing at a port where berthing is not predicted at all, it is absolutely possible to measure the berthing speed of the ship. In this case, there was a problem that safe and quick ship berthing was impossible.

Thus, the present invention was devised to solve the above-described conventional problems. When a ship is berthed at a quay of a port, any port can be obtained only by a so-called automatic berthing system mounted on the ship side, that is, Automatic ship berthing system that enables safe, quick and automatic berthing even when a conventional measuring device is not installed at the harbour, and can be relatively inexpensive to install on a ship. Is intended to provide.

The automatic ship berthing system according to the present invention is:
At least two imaging means mounted on a ship for capturing an image of a berthing area including a berthing target on the ground;
Display means for displaying an image captured by the imaging means;
A specimen image setting means for designating a region of an image to be the berthing target from an image captured and displayed by one imaging means, and using the image as a specimen image;
Based on the set specimen image, an image that is the same as or similar to the specimen image is identified as the second specimen image from the image captured by the other imaging means, and the other imaging means recognizes the image as a berthing target. Specific recognition means to
Follow-up recognition means that uses the sample image set by one image pickup means and the second sample image specified by the other image pickup means as a berthing target, and makes each of the image pickup means follow-up recognition from the ship moving along the berth,
Distance deriving means for deriving the distance to the berthing target from the rotation angle of the imaging means that rotates toward the berthing target follow-up recognition;
It is characterized by having
Or
At least two imaging means mounted on a ship for capturing an image of a berthing area including a berthing target on the ground;
Display means for displaying an image captured by the imaging means;
A specimen image setting means for designating a region of the image to be the berthing target from an image captured and displayed by one imaging means, and using the image as a specimen image;
Based on the set specimen image, an image that is the same as or close to the specimen image is identified as the second specimen image from the image captured by the other imaging means, and the other imaging means recognizes the image as a berthing target. Specific recognition means to
Follow-up recognition means that uses the sample image set by one image pickup means and the second sample image specified by the other image pickup means as a berthing target, and makes each of the image pickup means follow-up recognition from the ship moving along the berth,
Distance deriving means for deriving the distance to the berthing target from the rotation angle of the imaging means that rotates toward the berthing target follow-up recognition;
Including
The distance deriving means continuously derives the distance to the berthing target by changing the rotation angle of the imaging means that continuously rotates toward the berthing target follow-up recognition.
It is characterized by
Or
Including ship berthing operation means for performing berthing operation of a ship according to a change in distance to an actual berthing target derived by the distance deriving means;
Features
Or
A berthing propulsion device control means for controlling the operation of the berthing propulsion device provided in the ship according to a continuous distance change to the actual berthing target continuously derived by the distance deriving means,
It is characterized by
Or
Two sets of the image pickup means are provided on the bow side and the stern side of the ship, respectively.
It is characterized by
Or
The imaging means are provided on the bow side of the ship, the longitudinal center part of the ship and the stern side, respectively.
It is characterized by
Or
The imaging means is attached to a turntable that can be rotated vertically and horizontally,
It is characterized by
Or
The recognition follow-up means includes an image update means for updating the sample image and the second sample image to the latest new image,
It is characterized by this.

With the automatic berthing system for a ship according to the present invention, when berthing a ship on the quay of a port, it is possible to berth safely and quickly only by a so-called automatic berthing system mounted on the ship, and the installation cost can be reduced. There is an effect.

  Hereinafter, the present invention will be described based on embodiments shown in the drawings.

  FIG. 1 shows an embodiment of the present invention.

  As can be understood from FIG. 1, in this embodiment, for example, two CCD cameras 2, 3, 4, and 5 are provided on the ship 1 on the bow side and the stern side. is set up.

  In the present embodiment, the plurality of CCD cameras 2, 3, 4, and 5 are an embodiment of the image pickup means.

  These CCD cameras 2, 3, 4, and 5 are installed on a turntable 6 as shown in FIG. 1 and the like, and the CCD cameras 2, 3, 4, and 5 mounted on the turntable 6 are vertically and horizontally, that is, The structure is movable in the horizontal and vertical directions.

  In addition, auxiliary propulsion devices 7, 8, 9, and 10 made of screws or the like that enable parallel movement of the hull are attached to both sides of the ship bottom portion of the ship 1.

  Here, the operator existing on the ship 1 images the berthing area 12 including the bow-side berthing target 11 existing on the ground by a predetermined CCD camera, for example, the CCD camera 2.

That is, a predetermined berthing target 11, for example, a berthing area 12 including a hut standing near a harbor is imaged from the imaged berthing area 12 and displayed on a display device 13 such as a display.
By the way, the CCD cameras 2, 3, 4, 5 and the display device 13 are connected to the computer 14, and after imaging the berthing area 12 including the berthing target 11 by the CCD cameras 2, 3, 4, 5. The various berthing operations according to the present invention are automatically performed by the computer 14.

  Therefore, the operations of the specimen image setting means, the specific recognition means, the tracking recognition means, and the distance derivation means are achieved by the computer 14.

  From the predetermined berthing area 12 image displayed on the display device 13, the area of the berthing target 11 is arbitrarily designated as a small area (for example, M × N pixels) by a quick and drag operation of the input device 18 such as a mouse. The area-designated image is set as the sample image 15 (see FIG. 9), and the information is captured and stored in the computer.

  Here, the CPU corresponds to the sample image setting means in the computer 14, and the set sample image information is stored in a storage device such as a hard disk.

  Next, control information is sent from the computer 14 in order to control the captured image of the berthing area 12 captured by the other CCD camera 3 on the bow side.

  In other words, the computer is based on the data of the sample image 15 captured by one CCD camera 2 and set by designating the area (for example, whether the number of pixels is the same or whether the change in luminance in the area is equivalent). 14 performs analysis, and a similar region is searched from the image in the berthing area 12 imaged by the other CCD camera 3. The search is performed, for example, from the left corner to the right corner of the image captured by the CCD camera 3, and further from the right corner to the left corner diagonally below (see FIG. 10).

  When an image similar to or approximate to the sample image 15 is searched in the search, the image is specified and recognized as the second sample image 16.

  At this time, the sample image 15 and the image captured by the CCD camera 3 are compared to obtain a second sample image, and a general formula for obtaining the coordinates thereof is shown in FIG.

By the way, the CCD camera 2 captures the berthing area 12 including the berthing target 11 and the image in which the specimen image 15 is designated. As described above, the information of the image is sent to the computer 14 and the berthing target. It is recognized how far the sample image 15 in which the area 11 is designated is located in the captured image of the berthing area 12, for example, at a position away from the center position (center coordinates X ₀ , Y ₀ ) of the image. (See FIG. 11).

This is because the detection position of the sample image 15 in the plane image of the berthing area 12 is X, Y, and the center coordinates of the image are X ₀ , Y ₀ .

  Then, as the specifications of the CCD camera, if the resolution of the CCD element is a known value R (PX / MM),

  Similarly, if the installation distance from the CCD element to the lens is a known value D (MM),

  Further, the vertical angle θy can be obtained in the same procedure.

  Therefore, these pieces of information are analyzed by the computer 14 and the imaging direction of the CCD camera 2 is

  Here, for the angle control of the CCD camera 2, that is, the rotation control of the turntable 6, for example, it is conceivable to provide stepping motors (pulse motors) on two horizontal and vertical axes.

  The motor rotates by exactly one unit angle every time one pulse is input, so that accurate angle control can be expected.

  Here, assuming that the motor rotation unit angle is a known value R (RAD), pulses of θX / R (orθY / R) times are output from the computer 14 using the aforementioned angle θX (orθY), and the CCD The angle of the camera 2 can be changed.

  The amount of rotation of the CCD camera, that is, the turntable 6 is stored in the computer 14 every time, and the measurement is calculated in consideration of that amount.

  In this way, once the CCD camera 2 sets the berthing target 11 in the berthing area 12 as the sample image 15, the CCD camera 2, that is, the turntable 6 automatically rotates, and the ship 1 moves to berth. Also, the specimen image 15 is constantly controlled so as to be approximately at the center position in the image to be captured. Thus, the follow-up recognition means for recognizing the sample image 15 by following it is achieved by the CPU of the computer 14 or the like.

  Further, the image of the berthing target itself becomes larger as the ship 1 moves along the berth with respect to the sample image, which may be different from the initially set sample image 15.

Therefore, in the present invention, it is preferable that the sample image 15 can be automatically updated to the latest newest sample image 15 as needed. Thus, such an automatic specimen image updating means is also achieved by the CPU or the like in the computer 14.
The second specimen image 16 recognized by the other CCD camera 3 on the bow side is also controlled in the same manner as described above, and the CCD camera 3, that is, the turntable 6 is automatically rotated to move the ship 1 to the berth. Even so, the second specimen image 16 is constantly controlled to be approximately at the center position in the image to be captured.

  Here, the operations of the bow side CCD cameras 2 and 3 are similarly performed for the stern side CCD cameras 4 and 5, and the second side of the stern side berthing target 11 is captured as the sample image 15. Identification as a sample image and follow-up recognition thereof are performed.

Next, the distance measurement from the ship 1 that moves along the berth to the berthing target 11 in the berthing area 12 according to the present invention will be described.
As can be understood from FIG. 4, first, the imaging direction (θb1, θb2) of the berthing target 11 is detected using the two CCD cameras 2 and 3 mounted on the bow side. This imaging direction detection operation has already been described.

  Then, the distance db to the bow target 11 is derived from the principle of triangulation by the imaging direction (θb1, θb2) and the installation interval Lb of the CCD cameras 2 and 3. This general description is shown in FIG.

The two CCD cameras 4 and 5 mounted on the stern side are operated in the same manner as the bow side CCD cameras 2 and 3, and the distance da to the stern side berthing target 11 is derived.

  Here, when db = da holds, the so-called quadrangular portion has a trapezoidal shape, so that the hull of the ship 1 is considered to be parallel to the quay 18.

Furthermore, if θb1 = θb2 holds, the center of the hull of the ship 1 is considered to be at the midpoint between the bow-side berthing target 11 and the stern-side berthing target 11.
Therefore, if the speeds of the auxiliary propulsion devices 7, 8, 9, and 10 are controlled so as to gradually reduce the distance between db and da while maintaining the above relationship, it is possible to correctly berth at the target position.

  As for this speed control, since the speed can be measured from the change in the distance between the ship 1 and the berthing target 11 that move continuously along the berth, the auxiliary propulsion devices 7, 8, 9, 10 are required to control this speed. It will control the speed.

  Here, a general formula for obtaining the berthing speed from the temporal change of the distance is described with reference to FIG.

  Next, FIG. 2 shows an example in which one CCD camera 2 is prepared on the bow side and one CCD camera 4 is also prepared on the stern side. As described above, the effects of the present invention can be achieved even with two CCD cameras 2 and 4, but for the lenses of the CCD cameras 2 and 4 used here, the bow-side berthing target 11 and the stern-side berthing target 11 are used. It is necessary to use a wide-angle lens so that both of them can be accommodated in the same image.

  Moreover, about the Example as shown in FIG. 2, the thing of the type with a short distance from the bow side to the stern side with the comparatively small ship 1 is preferable.

  Further, in FIG. 3, one CCD camera 2 is prepared on the bow side, a dual-purpose CCD camera 19 is prepared at a substantially central portion in the longitudinal direction of the ship 1, and one CCD camera 4 is installed on the stern side. The state of is described. The example of FIG. 3 is considered to be often used for a medium-sized ship 1. As in the case of FIG. 2, a wide-angle lens is used as the lens for the dual-purpose CCD camera 19 in particular.

  Here, the measurement of the distance between the berthing targets 11 in the example of FIG. 2 will be described in FIG. 6, and the measurement of the distance between the berthing targets 11 in the example of FIG. 3 will be described in FIG. It is.

  Next, the flow of the present invention will be described based on the flowchart shown in FIG.

  First, for example, the berthing area 12 including the berthing target 11 is imaged by the CCD camera 2 (step 100).

  At this time, if the berthing target 11 is not set (YES in step 102), the system of the present invention prompts the operator to input, and the operator uses the computer 14 to display a small area of the berthing target 11 in the imaging screen. Is set (step 104).

  When the input is completed, the image in the region is saved as the sample image 15 by the system (step 106).

  Then, the position of the specimen image 15 is measured, and the specimen image 15 is controlled based on the measurement data so that the specimen image 15 is positioned at, for example, about the center position of the imaging screen of the CCD camera 2. It is compared with the image of the berthing target 11 (step 108).

  If the image of the new berthing target 11 coincides with the sample image 15, the CCD camera 2 mounted on the moving ship 1 measures the angle so that the new berthing target 11 is at the center of the screen. When the angle is measured, the turntable 6 is rotated to rotate the angle of the CCD camera 2 (step 116).

  At the same time, the distance from the angle measurement to the berthing target 11 is measured as described above (step 112).

  Then, the berthing movement speed of the ship 1 is measured by the change of the distance per time (step 114).

  Note that the imaging screen of the berthing target 11 is taken again from the CCD camera 2 whose imaging direction has been rotated, and this image is compared with the sample image 15. If the images match, the berthing target 11 comes to the center position of the screen. Thus, the rotation angle of the CCD camera 2 is measured, and the angle is used again for distance measurement and the like.

  Note that the sample image 15 is sequentially updated to a new one so that the problem that the size and the like do not coincide with the sample image as a result of moving closer to the berthing target 11 is different. .

  In this way, the speed of berthing is derived, and finally the ship 1 berths safely and reliably and smoothly (step 118), and the process ends.

  By the way, as described above, the berthing speed of the ship 1 is taken into the computer 14, and the auxiliary propulsion devices 7, 8, 9, 10 constituted by the screw of the ship 1 are controlled by referring to the berthing speed information, It is supposed to work.

  Accordingly, the ship 1 can automatically move along the berth.

Some ships 1 may not have the auxiliary propulsion device. In such a case, referring to the measured berthing speed of the ship 1, the berthing can be smoothly and safely berthed by pulling from both the bow side and the stern side to the berthing target 11 side by a tug boat or the like.

The present invention can be applied not only to ordinary ships but also to special ships such as submarines.

It is explanatory drawing (the 1) explaining schematic structure of the ship automatic berthing system by this invention. It is explanatory drawing (the 2) explaining schematic structure of the ship automatic berthing system by this invention. It is explanatory drawing (the 3) explaining schematic structure of the ship automatic berthing system by this invention. It is explanatory drawing (the 4) explaining schematic structure of the ship automatic berthing system by this invention. It is description (the 1) explaining the method of measuring distance from a ship to a berthing target by this invention. It is description (the 2) explaining the method of measuring distance from a ship to a berthing target by this invention. It is the description (the 3) explaining the method of measuring distance from a ship to a berthing target by this invention. It is a flowchart explaining operation | movement of this invention. It is explanatory drawing (the 1) explaining the operation | movement which searches for a 2nd sample image by this invention. It is explanatory drawing (the 2) explaining the operation | movement which searches for a 2nd sample image by this invention. It is a schematic explanatory drawing explaining the operation | movement which identifies the position of the sample image in a captured image by this invention, and recognizes tracking after that. It is explanatory drawing of the type | formula which compares the sample image 15 and the image imaged with the CCD camera 3, makes it a 2nd sample image, and calculates | requires the coordinate. It is the type | formula which calculates | requires the distance to an actual berthing target, and explanatory drawing. It is a figure explaining the formula which calculates | requires a berthing speed from the time change of distance. It is schematic structure explanatory drawing of a prior art example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Ship 2 CCD camera 3 CCD camera 4 CCD camera 5 CCD camera 6 Turntable 7 Auxiliary propulsion device
8 Auxiliary propulsion devices
9 Auxiliary propulsion devices
10 Auxiliary propulsion devices
11 berthing target 12 berthing area 13 display device 14 computer 15 sample image 16 second sample image 18 input device 19 combined CCD camera

Claims (8)

At least two imaging means mounted on a ship for capturing an image of a berthing area including a berthing target on the ground;
Display means for displaying an image captured by the imaging means;
A specimen image setting means for designating a region of an image to be the berthing target from an image captured and displayed by one imaging means, and using the image as a specimen image;
Based on the set specimen image, an image that is the same as or similar to the specimen image is identified as the second specimen image from the image captured by the other imaging means, and the other imaging means recognizes the image as a berthing target. Specific recognition means to
Follow-up recognition means that uses the sample image set by one image pickup means and the second sample image specified by the other image pickup means as a berthing target, and makes each of the image pickup means follow-up recognition from the ship moving along the berth,
Distance deriving means for deriving the distance to the berthing target from the rotation angle of the imaging means that rotates toward the berthing target follow-up recognition;
A ship automatic berthing system characterized by comprising:
At least two imaging means mounted on a ship for capturing an image of a berthing area including a berthing target on the ground;
Display means for displaying an image captured by the imaging means;
A specimen image setting means for designating a region of an image to be the berthing target from an image captured and displayed by one imaging means, and using the image as a specimen image;
Based on the set specimen image, an image that is the same as or similar to the specimen image is identified as the second specimen image from the image captured by the other imaging means, and the other imaging means recognizes the image as a berthing target. Specific recognition means to
Follow-up recognition means that uses the sample image set by one image pickup means and the second sample image specified by the other image pickup means as a berthing target, and makes each of the image pickup means follow-up recognition from the ship moving along the berth,
Distance deriving means for deriving the distance to the berthing target from the rotation angle of the imaging means that rotates toward the berthing target follow-up recognition;
Including
The distance deriving means continuously derives the distance to the berthing target by changing the rotation angle of the imaging means that continuously rotates toward the berthing target follow-up recognition.
Automatic ship berthing system characterized by that.
Including ship berthing operation means for performing berthing operation of a ship according to a change in distance to an actual berthing target derived by the distance deriving means,
The ship automatic berthing system according to claim 1 or 2, characterized by the above-mentioned.
A berthing propulsion device control means for controlling the operation of a berthing propulsion device provided in a ship according to a continuous distance change to an actual berthing target continuously derived by the distance deriving means,
The automatic ship berthing system according to claim 1 or 2.
Two sets of the image pickup means are provided on each of the bow side and the stern side of the ship,
The automatic ship berthing system according to claim 1, claim 2, claim 3, or claim 4.
The imaging means are provided on the bow side of the ship, the longitudinal center part of the ship and the stern side, respectively.
The automatic ship berthing system according to claim 1, claim 2, claim 3, or claim 4.
The imaging means is attached to a turntable that can be rotated vertically and horizontally,
The automatic ship berthing system according to claim 1, claim 2, claim 3, claim 4, claim 5, or claim 6.
The recognition follow-up means includes an image update means for updating the sample image and the second sample image to the latest new image,
The automatic ship berthing system according to claim 1, claim 2, claim 3, claim 4, claim 5, claim 6, or claim 7.

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