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JP-7857123-B2 - Information processing device, control method, program, and storage medium

JP7857123B2JP 7857123 B2JP7857123 B2JP 7857123B2JP-7857123-B2

Inventors

  • 松崎 秦
  • 加藤 正浩
  • 加藤 将大

Assignees

  • パイオニア株式会社
  • パイオニアスマートセンシングイノベーションズ株式会社

Dates

Publication Date
20260512
Application Date
20220315

Claims (11)

  1. An acquisition means for acquiring measurement data, which is a collection of data representing multiple measurement points measured by a measuring device installed on a ship , A normal calculation range setting means sets a normal calculation range for generating a set of points of the measured points to be used to calculate the normal of each of the measured points, based on the measured distance indicated by the measurement data. A normal calculation means that calculates the normal of each of the points to be measured based on the normal calculation range, A quay wall determination means for determining the point to be measured that represents the quay wall based on the aforementioned normal, An information processing device having
  2. The information processing apparatus according to claim 1, wherein the normal calculation range setting means increases the normal calculation range as the measurement distance increases.
  3. The aforementioned quay determination means is A clustering means that performs clustering of the measured points based on the normal vector, A determination means for determining whether each of the clusters of the points to be measured formed by the clustering is a candidate for the quay, based on the degree of variation of the normal within the cluster, An information processing apparatus according to claim 1 or 2, having the following features.
  4. The aforementioned quay determination means is A clustering means that performs clustering of the measured points based on the normal vector, A determination means for estimating a plane that approximates each of the clusters of the measured points formed by the clustering, and determining whether or not the clusters need to be merged based on the distance between these planes, An information processing apparatus according to any one of claims 1 to 3.
  5. The aforementioned quay determination means is A clustering means that performs clustering of the measured points based on the normal vector, A determination means for determining whether each of the clusters of the points to be measured formed by the clustering is a candidate for the quay, based on the number of points to be measured forming the cluster and the area of the cluster, An information processing apparatus according to any one of claims 1 to 4.
  6. The aforementioned quay determination means is A clustering means that performs clustering of the measured points based on the normal vector, A determination means for determining that, among the clusters of measurement points that are candidates for the upper surface of the quay formed by the aforementioned clustering, the cluster that is located within a predetermined range and at the lowest position is the cluster representing the upper surface. An information processing apparatus according to any one of claims 1 to 5.
  7. The information processing device according to claim 6, wherein the determination means determines that the cluster of measurement points that are candidates for the side surface of the quay formed by the clustering , which is located at a lower position than the cluster representing the upper surface and is closest to the measuring device, is the cluster representing the side surface.
  8. The quay wall determination means includes a classification means that classifies each of the points to be measured based on the normal vector whether it is a wall point where the quay wall was measured or a non-wall point where something other than the quay wall was measured. The information processing apparatus according to any one of claims 1 to 7, wherein the classification means reclassifies the non-wall points that exist between the wall points as wall points based on the shortest distance between the non-wall points and the wall points.
  9. A control method performed by a computer, We acquire measurement data, which is a collection of data representing multiple measurement points measured by measuring devices installed on the ship . Based on the measurement distance indicated by the measurement data, a normal calculation range is set for generating a set of points of the measured points to be used for calculating the normal of each of the measured points. Based on the normal calculation range, the normals of each of the points to be measured are calculated. Based on the aforementioned normal, the measurement point representing the quay wall is determined. Control method.
  10. We acquire measurement data, which is a collection of data representing multiple measurement points measured by measuring devices installed on the ship . Based on the measurement distance indicated by the measurement data, a normal calculation range is set for generating a set of points of the measured points to be used for calculating the normal of each of the measured points. Based on the normal calculation range, the normals of each of the points to be measured are calculated. A program that causes a computer to perform a process to determine the point to be measured, which represents a quay, based on the aforementioned normal .
  11. A storage medium storing the program described in claim 10.

Description

This disclosure relates to the processing of measurement data. Technologies for assisting with ship docking (berthing) have been known for some time. For example, Patent Document 1 describes a method for controlling the ship's attitude in an automatic docking system that automatically docks a ship, such that light emitted from a lidar is reflected by objects surrounding the docking position and received by the lidar. Japanese Patent Publication No. 2020-59403 This is a schematic diagram of the flight support system.This is a block diagram showing the hardware configuration of an information processing device.This is an example of a flowchart illustrating the processing overview in the embodiment.This figure shows an overview of the calculation process for docking parameters.(A) An example of a ship coordinate system based on the hull of the target vessel is shown. (B) A perspective view of the structure with the normal vectors clearly indicated.(A) A front view of the target vessel and quay when the quay to be detected is relatively far away. (B) A front view of the target vessel and quay when the quay to be detected is relatively close.(A) This shows the arrangement of measured points within a 1m square, illustrating the relationship between the distance between points at a 30m point and the radius for calculating the normal. (B) This shows a linear equation corresponding to the measured distance x of the point of interest, where "y" is the radius for calculating the normal.(A) This diagram shows the normals to each measurement point on a flat quay wall side indicated by arrows. (B) This diagram shows the normals to each measurement point on an uneven quay wall side indicated by arrows.(A) to (C) are diagrams that clearly show the side points of the quay where fenders are installed.This diagram shows an overview of the inter-plane distances used in the same-plane merging process.This diagram illustrates the overview of the area-specific non-wall surface removal process.(A) An overview of the first pseudo-area calculation method is shown. (B) An overview of the second pseudo-area calculation method is shown.(A) A perspective view of the quay wall is shown when there are three candidate clusters for the side walls and three candidate clusters for the top walls. (B) A perspective view of the quay wall is shown, with the final candidate walls corresponding to the top and side walls clearly indicated.This is a cross-sectional view of the quay wall, clearly indicating the upper surface area.(A) (B) This figure shows the procedure (b) to (d) for selecting candidate wall clusters for the top and side surfaces, respectively.(A) A diagram showing the classification results of the measurement points on the quay. (B) A diagram showing the classification results of the measurement points after boundary point determination processing.(A) (B) This figure shows an overview of the boundary point determination process.This is an example of a flowchart for normal vector calculation.This is an example of a flowchart for determining the orientation of a wall.This is an example of a flowchart for distributed non-wall surface removal and same-surface integration processes.This is an example of a flowchart for area-based non-wall surface removal processing.This is an example of a flowchart for the optimal wall selection process.This is an example of a flowchart for boundary point detection processing.This is a diagram illustrating the overview of the first application example.This is a diagram illustrating the overview of the first application example.This figure shows an overview of the second application example.This figure shows an overview of the second application example.This is a diagram illustrating the overview of the third application example.This is a diagram illustrating the overview of the third application example.This table shows an example of how to calculate the confidence level for detecting a quay wall. According to a preferred embodiment of this disclosure, the information processing device includes: acquisition means for acquiring measurement data, which is a set of data representing multiple points to be measured by a measuring device; normal calculation range setting means for setting a normal calculation range for generating a set of points to be measured for calculating the normal of each of the points to be measured, based on the measurement distance indicated by the measurement data; and normal calculation means for calculating the normal of each of the points to be measured based on the normal calculation range. According to this embodiment, the information processing device can suitably calculate the normal of each of the points to be measured by the measuring device. In one embodiment of the above-described information processing device, the normal calculation range setting means increases the normal calculation range as the measurement distance increases. In this embodiment, the information processi