Docking supporting apparatus, and marine vessel including the apparatus
An apparatus for supporting docking of a marine vessel includes a distance measuring unit which measures a distance between the marine vessel and a candidate docking site, a distance measurement controlling unit which controls the distance measuring unit to measure distances between the marine vessel and at least three measurement points defined around the candidate docking site, a configuration evaluating unit which evaluates the configuration of the candidate docking site based on the distances between the marine vessel and the at least three measurement points, and a docking suitability judging unit which judges, based on the result of the evaluation, whether or not the candidate docking site is suitable for docking of the marine vessel.
1. A docking supporting apparatus for supporting docking of a marine vessel, the apparatus comprising:
a distance measuring unit arranged to measure a distance between the marine vessel and a candidate docking site;
a distance measurement controlling unit arranged to control the distance measuring unit to measure distances between the marine vessel and at least three measurement points defined around the candidate docking site;
a configuration evaluating unit arranged to evaluate a configuration of the candidate docking site based on a regression analysis of the distances between the marine vessel and the at least three measurement points measured by the distance measuring unit and controlled by the distance measurement controlling unit; and
a docking suitability judging unit which judges, based on a result of the evaluation made by the configuration evaluating unit, whether or not the candidate docking site is suitable for docking of the marine vessel.
2. The docking supporting apparatus as set forth in claim 1 , wherein the configuration evaluating unit includes a positional information computing unit arranged to compute positional information of the at least three measurement points, and a regression process computing unit arranged to determine a regression line and a regression error by performing a linear regression process on the positional information of the at least three measurement points computed by the positional information computing unit, and
the docking suitability judging unit is arranged to judge that the candidate docking site is not suitable for docking if the regression error is greater than a predetermined threshold, and judge that the candidate docking site is suitable for docking if the regression error is not greater than the predetermined threshold.
3. The docking supporting apparatus as set forth in claim 1 , further comprising:
an image pickup device arranged to pick up an image of the candidate docking site;
a display device arranged to display the image picked up by the image pickup device; and
a candidate docking position specifying unit arranged to allow an operator to specify a particular point as a candidate docking position in the image displayed on the display device; wherein
the distance measurement controlling unit is arranged to use the candidate docking position specified by the candidate docking position specifying unit and at least two points defined within a predetermined azimuth angular range centering on the candidate docking position as the at least three measurement points.
4. The docking supporting apparatus as set forth in claim 2 , further comprising a target berthing position setting unit arranged to set a target berthing position at a position which is spaced a predetermined offset distance from the regression line determined by the regression process computing unit.
5. The docking supporting apparatus as set forth in claim 4 , wherein the target berthing position setting unit includes a unit arranged to determine the offset distance based on at least a length and a width of the marine vessel.
6. The docking supporting apparatus as set forth in claim 4 , wherein the target berthing position setting unit is arranged to nullify the setting of the target berthing position if the docking suitability judging unit judges that the candidate docking site is not suitable for docking of the marine vessel.
7. The docking supporting apparatus as set forth in claim 4 , further comprising:
a position detecting unit arranged to detect a position of the marine vessel and generate marine vessel positional information;
a map storage unit arranged to store map information on a marine vessel navigable area;
a map display unit arranged to display the map information; and
a display controlling unit arranged to read out a portion of the map information related to the marine vessel positional information generated by the position detecting unit from the map storage unit and cause the map display unit to display the portion of the map information together with the target berthing position set by the target berthing position setting unit.
8. The docking supporting apparatus as set forth in claim 1 , further comprising:
a position detecting unit arranged to detect a position of the marine vessel and generate marine vessel positional information;
a map storage unit arranged to store map information on a marine vessel navigable area;
a map display unit arranged to display the map information; and
a display controlling unit arranged to read out a portion of the map information related to the marine vessel positional information generated by the position detecting unit from the map storage unit and cause the map display unit to display the portion of the map information.
9. The docking supporting apparatus as set forth in claim 8 , further comprising a water depth measuring unit arranged to measure a water depth of a water area around the marine vessel; wherein
the display controlling unit is arranged to cause the map display unit to display information on the water depth measured by the water depth measuring unit.
10. A marine vessel comprising:
a hull; and
a docking supporting apparatus as recited in claim 1 , the docking supporting apparatus being mounted on the hull.
11. A docking supporting apparatus for supporting docking of a marine vessel, the apparatus comprising:
a distance measuring unit arranged to measure a distance between the marine vessel and a candidate docking site;
a distance measurement controlling unit arranged to control the distance measuring unit to measure distances between the marine vessel and at least three measurement points defined around the candidate docking site;
a configuration evaluating unit arranged to evaluate undulations of the candidate docking site based on comparing the at least three measurement points with an imaginary line through the candidate docking site; and
a docking suitability judging unit which judges, based on a result of the evaluation made by the configuration evaluating unit, whether or not the candidate docking site is suitable for docking of the marine vessel.