公开(公告)号：EP4053822A1

公开(公告)日：2022-09-07

申请号：EP20881714.8

申请日：2020-10-21

申请人： Yanmar Power Technology Co., Ltd.

发明人： DAKE, Yuichiro ,  HARA, Naohiro ,  FUKUKAWA, Tomoya ,  WAKABAYASHI, Isao ,  YOKOUE, Toshiyuki

IPC分类号： G08G3/00 ,  G09B29/00 ,  G09B29/10 ,  G08G1/0969 ,  G01C21/30 ,  B63B79/40

摘要： This ship docking assistance device is provided with: a position azimuth information acquisition unit; a LIDAR; a map generation updating unit; a high-point acquisition unit; and a position azimuth estimation unit. The LIDAR acquires point-group data (40) three-dimensionally indicating the environment around a ship (2). The map generation updating unit generates a map (41) around the ship 2 on the basis of the point-group data (40). The high-point acquisition unit acquires, from within the point-group data (40), a high point having a prescribed height or more. The position azimuth estimation unit estimates the position and the azimuth of the ship (2) through matching between the position of the high point acquired by the high-point acquisition unit and the position of the high point in the map (41). The map generation updating unit updates the map (41) by placing the point-group data (40) in the map (41) using, as references, the position and the azimuth of the ship (2) estimated by the position azimuth estimation unit.

公开(公告)号：EP3889031A1

公开(公告)日：2021-10-06

申请号：EP19891530.8

申请日：2019-11-26

申请人： Yanmar Power Technology Co., Ltd.

发明人： HARA, Naohiro ,  FUKUKAWA, Tomoya ,  DAKE, Yuichiro

IPC分类号： B63B49/00 ,  G08G3/00

摘要： According to the present invention, a control target controller generates control targets in accordance with a route (56), the control targets being for controlling the location and orientation of a ship (95). The route (56) has a plurality of via points (A1, A2, ...). Each of the via points (A1, A2, ...) has information about a target location and a target orientation for the ship (95). The route (56) is made up of a plurality of partial routes (56s) that sequentially connect the target locations of the via points (A1, A2, ...). The control target controller comprises a transit target point generation part and an arrival determination part. The transit target point generation part can generate, as control targets, transit target points (65) that are in the middle of the partial routes (56s) and have information about a target location and a target orientation for the ship (95). On the basis of the current location and the current orientation of the ship (95), the arrival determination part determines whether the ship (95) has arrived at the transit target points (65).

公开(公告)号：EP4120220A1

公开(公告)日：2023-01-18

申请号：EP21767287.2

申请日：2021-03-04

申请人： Yanmar Power Technology Co., Ltd.

发明人： DAKE, Yuichiro ,  WAKABAYASHI, Isao ,  HARA, Naohiro ,  FUKUKAWA, Tomoya ,  YOKOUE, Toshiyuki ,  MINAMIYAMA, Satoshi

IPC分类号： G08G3/00 ,  G09B29/00 ,  G09B29/12 ,  G01C21/22 ,  G01S17/89

摘要： The present invention comprises: a radar 3 that detects surrounding objects and terrain; and a LIDAR 4 that is capable of detecting the surrounding objects and terrain using a narrower detection range and a higher resolution than the radar 3. The present invention comprises: a second map generation step for generating a high-resolution second map on the basis of information about the surroundings as detected by the LIDAR 4; a first map generation step for generating a wide-area first map on the basis of information about the surroundings as detected by the radar 3; and a composite map generation step for generating a composite map that has the grid width of the first map and the grid width of the second map.