Automatic docking device, automatic docking system, automatic docking method, and non-transitory computer readable medium

An automatic docking device to control, in an object berth, automatic docking of an object vessel that includes a GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation device, and an object radar to perform a ranging of a relative position of an object existing in a surrounding with an electromagnetic wave, the automatic docking device comprising:

• processing circuitry:
• to transform a relative coordinate corresponding to each point of a point cloud corresponding to a result of the ranging in the object berth by the object radar into an absolute coordinate, based on a result of a calculation of a position and an attitude of the object vessel by the GNSS/INS integrated navigation device, and to generate an object map being a map indicating a navigable area in the object berth and indicating an absolute coordinate, based on the absolute coordinate corresponding to the each point transformed;
• and
• to generate a plan to guide the object vessel so as to reach a target position with a target attitude based on the object map, and the position and the attitude of the object vessel calculated by the GNSS/INS integrated navigation device when the target position and the target attitude of the object vessel in the object berth are designated based on the object map,
• wherein the object radar is a millimeter wave radar, and
• wherein the GNSS/INS integrated navigation device corrects a calculation result by the GNSS/INS integrated navigation device based on a velocity and an azimuth observed by the millimeter wave radar.

An automatic docking device to control, in an object berth, automatic docking of an object vessel that includes a GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation device, and an object radar to perform a ranging of a relative position of an object existing in a surrounding with an electromagnetic wave, the automatic docking device comprising:

• processing circuitry:
• to transform a relative coordinate corresponding to each point of a point cloud corresponding to a result of the ranging in the object berth by the object radar into an absolute coordinate, based on a result of a calculation of a position and an attitude of the object vessel by the GNSS/INS integrated navigation device, and to generate an object map being a map indicating a navigable area in the object berth and indicating an absolute coordinate, based on the absolute coordinate corresponding to the each point transformed;
• and
• to generate a plan to guide the object vessel so as to reach a target position with a target attitude based on the object map, and the position and the attitude of the object vessel calculated by the GNSS/INS integrated navigation device when the target position and the target attitude of the object vessel in the object berth are designated based on the object map,
• wherein when the object radar performs the ranging in the object berth, a distance between the object vessel and a quay wall of the object berth is a distance in accordance with a shape of the object berth.

An automatic docking device to control, in an object berth, automatic docking of an object vessel that includes a GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation device, and an object radar to perform a ranging of a relative position of an object existing in a surrounding with an electromagnetic wave, the automatic docking device comprising:

• processing circuitry:
• to transform a relative coordinate corresponding to each point of a point cloud corresponding to a result of the ranging in the object berth by the object radar into an absolute coordinate, based on a result of a calculation of a position and an attitude of the object vessel by the GNSS/INS integrated navigation device, and to generate an object map being a map indicating a navigable area in the object berth and indicating an absolute coordinate, based on the absolute coordinate corresponding to the each point transformed;
• and
• to generate a plan to guide the object vessel so as to reach a target position with a target attitude based on the object map, and the position and the attitude of the object vessel calculated by the GNSS/INS integrated navigation device when the target position and the target attitude of the object vessel in the object berth are designated based on the object map, wherein
• the processing circuitry guides the object vessel in accordance with a plan generated,
• the object radar performs the ranging in the object berth, and the GNSS/INS integrated navigation device performs the calculation of a position and an attitude of the object vessel while the object vessel is being guided,
• the processing circuitry generates an updated map being a map indicating a navigable area in the object berth based on the result of the ranging in the object berth by the object radar, and the result of the calculation of the position and the attitude of the object vessel by the GNSS/INS integrated navigation device, the updated map being a map indicating an absolute coordinate, while the object vessel is being guided, and
• the processing circuitry stops guiding of the object vessel when a difference exists between the navigable area indicated in the updated map, and the navigable area indicated in the object map.

An automatic docking method performed by an automatic docking device being a computer to control, in an object berth, automatic docking of an object vessel that includes a GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation device including a GNSS receiver performing centimeter-level position orientation, and an object radar to perform a ranging of a relative position of an object existing in a surrounding with an electromagnetic wave, the automatic docking method comprising:

• by the automatic docking device, transforming a relative coordinate corresponding to each point of a point cloud corresponding to a result of the ranging in the object berth by the object radar into an absolute coordinate, based on a result of a calculation of a position and an attitude of the object vessel by the GNSS/INS integrated navigation device, and generating an object map being a map indicating a navigable area in the object berth and indicating an absolute coordinate, based on the absolute coordinate corresponding to the each point transformed;
• and
• by the automatic docking device, generating a plan to guide the object vessel so as to reach a target position with a target attitude based on the object map, and the position and the attitude of the object vessel calculated by the GNSS/INS integrated navigation device when the target position and the target attitude of the object vessel in the object berth are designated based on the object map,
• wherein the object radar is a millimeter wave radar.

An automatic docking method performed by an automatic docking device being a computer to control, in an object berth, automatic docking of an object vessel that includes a GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation device, and an object radar to perform a ranging of a relative position of an object existing in a surrounding with an electromagnetic wave, the automatic docking method comprising:

• by the automatic docking device, transforming a relative coordinate corresponding to each point of a point cloud corresponding to a result of the ranging in the object berth by the object radar into an absolute coordinate, based on a result of a calculation of a position and an attitude of the object vessel by the GNSS/INS integrated navigation device, and generating an object map being a map indicating a navigable area in the object berth and indicating an absolute coordinate, based on the absolute coordinate corresponding to the each point transformed;
• and
• by the automatic docking device, generating a plan to guide the object vessel so as to reach a target position with a target attitude based on the object map, and the position and the attitude of the object vessel calculated by the GNSS/INS integrated navigation device when the target position and the target attitude of the object vessel in the object berth are designated based on the object map,
• wherein the object radar is a millimeter wave radar, and
• wherein the GNSS/INS integrated navigation device corrects a calculation result by the GNSS/INS integrated navigation device based on a velocity and an azimuth observed by the millimeter wave radar.

An automatic docking method performed by an automatic docking device being a computer to control, in an object berth, automatic docking of an object vessel that includes a GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation device, and an object radar to perform a ranging of a relative position of an object existing in a surrounding with an electromagnetic wave, the automatic docking method comprising:

• by the automatic docking device, transforming a relative coordinate corresponding to each point of a point cloud corresponding to a result of the ranging in the object berth by the object radar into an absolute coordinate, based on a result of a calculation of a position and an attitude of the object vessel by the GNSS/INS integrated navigation device, and generating an object map being a map indicating a navigable area in the object berth and indicating an absolute coordinate, based on the absolute coordinate corresponding to the each point transformed;
• and
• by the automatic docking device, generating a plan to guide the object vessel so as to reach a target position with a target attitude based on the object map, and the position and the attitude of the object vessel calculated by the GNSS/INS integrated navigation device when the target position and the target attitude of the object vessel in the object berth are designated based on the object map,
• wherein when the object radar performs the ranging in the object berth, a distance between the object vessel and a quay wall of the object berth is a distance in accordance with a shape of the object berth.

An automatic docking method performed by an automatic docking device being a computer to control, in an object berth, automatic docking of an object vessel that includes a GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation device, and an object radar to perform a ranging of a relative position of an object existing in a surrounding with an electromagnetic wave, the automatic docking method comprising:

• by the automatic docking device, transforming a relative coordinate corresponding to each point of a point cloud corresponding to a result of the ranging in the object berth by the object radar into an absolute coordinate, based on a result of a calculation of a position and an attitude of the object vessel by the GNSS/INS integrated navigation device, and generating an object map being a map indicating a navigable area in the object berth and indicating an absolute coordinate, based on the absolute coordinate corresponding to the each point transformed;
• and
• by the automatic docking device, generating a plan to guide the object vessel so as to reach a target position with a target attitude based on the object map, and the position and the attitude of the object vessel calculated by the GNSS/INS integrated navigation device when the target position and the target attitude of the object vessel in the object berth are designated based on the object map, wherein
• the automatic docking device guides the object vessel in accordance with a plan generated,
• the object radar performs the ranging in the object berth, and the GNSS/INS integrated navigation device performs the calculation of a position and an attitude of the object vessel while the object vessel is being guided,
• the automatic docking device generates an updated map being a map indicating a navigable area in the object berth based on the result of the ranging in the object berth by the object radar, and the result of the calculation of the position and the attitude of the object vessel by the GNSS/INS integrated navigation device, the updated map being a map indicating an absolute coordinate, while the object vessel is being guided, and
• the automatic docking device stops guiding of the object vessel when a difference exists between the navigable area indicated in the updated map, and the navigable area indicated in the object map.

A non-transitory computer readable medium storing an automatic docking program executed by an automatic docking device being a computer to control, in an object berth, automatic docking of an object vessel that includes a GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation device including a GNSS receiver performing centimeter-level position orientation, and an object radar to perform a ranging of a relative position of an object existing in a surrounding with an electromagnetic wave, the automatic docking program comprising:

• a point cloud generation process to transform a relative coordinate corresponding to each point of a point cloud corresponding to a result of the ranging in the object berth by the object radar into an absolute coordinate, based on a result of a calculation of a position and an attitude of the object vessel by the GNSS/INS integrated navigation device, and to generate an object map being a map indicating a navigable area in the object berth and indicating an absolute coordinate, based on the absolute coordinate corresponding to the each point transformed;
• and
• a navigation scenario generation process to generate a plan to guide the object vessel so as to reach a target position with a target attitude based on the object map, and the position and the attitude of the object vessel calculated by the GNSS/INS integrated navigation device when the target position and the target attitude of the object vessel in the object berth are designated based on the object map,
• wherein the object radar is a millimeter wave radar.

A non-transitory computer readable medium storing an automatic docking program executed by an automatic docking device being a computer to control, in an object berth, automatic docking of an object vessel that includes a GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation device, and an object radar to perform a ranging of a relative position of an object existing in a surrounding with an electromagnetic wave, the automatic docking program comprising:

• a point cloud generation process to transform a relative coordinate corresponding to each point of a point cloud corresponding to a result of the ranging in the object berth by the object radar into an absolute coordinate, based on a result of a calculation of a position and an attitude of the object vessel by the GNSS/INS integrated navigation device, and to generate an object map being a map indicating a navigable area in the object berth and indicating an absolute coordinate, based on the absolute coordinate corresponding to the each point transformed;
• and
• a navigation scenario generation process to generate a plan to guide the object vessel so as to reach a target position with a target attitude based on the object map, and the position and the attitude of the object vessel calculated by the GNSS/INS integrated navigation device when the target position and the target attitude of the object vessel in the object berth are designated based on the object map,
• wherein the object radar is a millimeter wave radar, and
• wherein the GNSS/INS integrated navigation device corrects a calculation result by the GNSS/INS integrated navigation device based on a velocity and an azimuth observed by the millimeter wave radar.

A non-transitory computer readable medium storing an automatic docking program executed by an automatic docking device being a computer to control, in an object berth, automatic docking of an object vessel that includes a GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation device, and an object radar to perform a ranging of a relative position of an object existing in a surrounding with an electromagnetic wave, the automatic docking program comprising:

• a point cloud generation process to transform a relative coordinate corresponding to each point of a point cloud corresponding to a result of the ranging in the object berth by the object radar into an absolute coordinate, based on a result of a calculation of a position and an attitude of the object vessel by the GNSS/INS integrated navigation device, and to generate an object map being a map indicating a navigable area in the object berth and indicating an absolute coordinate, based on the absolute coordinate corresponding to the each point transformed;
• and
• a navigation scenario generation process to generate a plan to guide the object vessel so as to reach a target position with a target attitude based on the object map, and the position and the attitude of the object vessel calculated by the GNSS/INS integrated navigation device when the target position and the target attitude of the object vessel in the object berth are designated based on the object map,
• wherein when the object radar performs the ranging in the object berth, a distance between the object vessel and a quay wall of the object berth is a distance in accordance with a shape of the object berth.

A non-transitory computer readable medium storing an automatic docking program executed by an automatic docking device being a computer to control, in an object berth, automatic docking of an object vessel that includes a GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) integrated navigation device, and an object radar to perform a ranging of a relative position of an object existing in a surrounding with an electromagnetic wave, the automatic docking program comprising:

• a point cloud generation process to transform a relative coordinate corresponding to each point of a point cloud corresponding to a result of the ranging in the object berth by the object radar into an absolute coordinate, based on a result of a calculation of a position and an attitude of the object vessel by the GNSS/INS integrated navigation device, and to generate an object map being a map indicating a navigable area in the object berth and indicating an absolute coordinate, based on the absolute coordinate corresponding to the each point transformed;
• and
• a navigation scenario generation process to generate a plan to guide the object vessel so as to reach a target position with a target attitude based on the object map, and the position and the attitude of the object vessel calculated by the GNSS/INS integrated navigation device when the target position and the target attitude of the object vessel in the object berth are designated based on the object map, wherein
• the navigation scenario generation process guides the object vessel in accordance with a plan generated,
• the object radar performs the ranging in the object berth, and the GNSS/INS integrated navigation device performs the calculation of a position and an attitude of the object vessel while the object vessel is being guided,
• the point cloud generation process generates an updated map being a map indicating a navigable area in the object berth based on the result of the ranging in the object berth by the object radar, and the result of the calculation of the position and the attitude of the object vessel by the GNSS/INS integrated navigation device, the updated map being a map indicating an absolute coordinate, while the object vessel is being guided, and
• the navigation scenario generation process stops guiding of the object vessel when a difference exists between the navigable area indicated in the updated map, and the navigable area indicated in the object map.