PIONEER SMART SENSING INNOVATIONS CORPORATION

A permanent magnet ( 21 ) is provided to the mirror ( 20 ). The mirror ( 20 ) can oscillate with respect to a reference plane ( 101 ), by using a first axis ( 201 ) and a second axis ( 202 ) not being parallel to the first axis ( 201 ) as oscillation axes. The first electromagnet ( 30 ) causes the mirror ( 20 ) to oscillate with respect to the first axis ( 201 ). The second electromagnet ( 40 ) causes the mirror ( 20 ) to oscillate with respect to the second axis ( 202 ). Then, at least either (A) or (B) indicated below is established in the actuator ( 10 ). (A) The first electromagnet ( 30 ) is not line-symmetric with respect to the first axis ( 201 ) as viewed from a direction perpendicular to the reference plane ( 101 ). (B) The second electromagnet ( 40 ) is not line-symmetric with respect to the second axis ( 202 ) as viewed from a direction perpendicular to the reference plane ( 101 ).

An actuator includes a mirror and an electromagnet. The mirror is provided with a permanent magnet and is capable of oscillating about a first axis and a second axis as oscillation axes with respect to a reference plane. The second axis is non-parallel to the first axis. The electromagnet has a yoke and a coil and applies a magnetic flux to the permanent magnet. Both ends of the yoke face each other at least partially across a gap. When viewed from a direction perpendicular to the reference plane, a center Cg of the gap does not overlap a center Cm of the permanent magnet. A current I 1 for causing the mirror to oscillate with respect to the first axis and a current I 2 for causing the mirror to oscillate with respect to the second axis are superimposed and flowed through the coil.

The controller 13 of the information processing device 1 is configured to acquire measurement data of a feature measured by a lidar 3 provided on a ship and measurement data of a water surface. In addition, the controllers 13 is configured to acquire information regarding a height of the feature from a river map DB 10 . Then, the controller 13 is configured to acquire highest point information IH regarding a height of the highest point of the ship from a reference position of the ship. Then, the controller 13 is configured to calculate a ship highest point height based on the measurement data of the feature, the measurement data of the water surface, the information regarding the height of the feature, and the highest point information IH.

An information processing device includes a predicted position acquisition means, an estimated position calculation means, a reliability calculation means, and a velocity calculation means. The predicted position acquisition means acquires a predicted position of a ship. The estimated position calculation means calculates an estimated position of the ship in which the predicted position is updated, based on a matching between data based on an output of an external sensor provided on the ship and map data. The reliability calculation means calculates a reliability of the matching. The velocity calculation means calculates a velocity of the ship at a first process time based on the estimated position at the first process time, an estimated position at a second process time immediately before the first process time, and a time constant set depending on at least the reliability.

Some of electromagnetic waves being emitted from an emission unit ( 110 ) and being reflected by a movable reflection unit ( 120 ) are reflected or scattered by a target object such as an object existing outside a sensor device ( 10 ). Some other of the electromagnetic waves being emitted by the emission unit ( 110 ) and being reflected by the movable reflection unit ( 120 ) are reflected or scattered by a structure ( 200 ) positioned closer to the movable reflection unit ( 120 ) than the target object is. A detection unit ( 122 ) detects deflection angles of the movable reflection unit ( 120 ) in a first direction (X) and a second direction (Y). An amendment unit ( 150 ) amends a detection result by the detection unit ( 122 ), based on a receiving result of the electromagnetic waves by a receiving unit ( 130 ), the electromagnetic waves being reflected or scattered by the structure ( 200 ).

The controller 13 of the information processing device 1 acquires predicted water level information D 1 regarding a predicted water level at water level prediction points subjected to prediction of a water level on one or more candidate routes serving as candidates for an operation route of a ship. Then, the controllers 13 calculate, based on the predicted water level information D 1 , a predicted bridge water level which is a predicted water level at an expected passing time when the ship passes each bridge passing point, which is a point of each bridge passed by the ship existing on the candidate routes. Then, the controller 13 determines the suitability of each of the candidate routes as the operation route, based on the predicted bridge water level.

The controller 13 of the in-vehicle device 1 acquires point cloud data outputted by a lidar 2 . Then, the controller 13 generates processed point cloud data obtained by down-sampling the point cloud data. The controller 13 matches the processed point cloud data with voxel data VD which represents a position of an object with respect to each voxel that is a unit area and thereby associates a measurement point of the processed point cloud data with the each voxel. Then, the controller 13 changes the size of the subsequent down-sampling based on the associated measurement points number Nc which is the number of measurement points associated with the each voxel among the measurement points of the processed point cloud data.

The information processing device includes an acquisition means and a display processing means. The acquisition means acquires measurement data generated by a measurement device provided on a ship. The display processing means performs a process for displaying information relating to a relative positional relationship between the ship and a berthing area on a display device based on the measurement data, the berthing area being an area where the ship should be positioned when the ship is berthed to a berthing place.

The information processing device comprises an acquisition means, a marker position acquisition means and a search range setting means. The acquisition means acquires measurement data generated by a measuring device provided on a ship. The marker position acquisition means acquires a position of at least one marker provided to a berthing place, based on the measurement data. The search range setting means sets a search range of a point cloud of an edge portion of the berthing place, based on the position of the at least one marker.

The controller 13 of the information processing device 1 functions as an acquisition unit, an extraction unit, and a straight line calculation unit. The acquisition unit acquires point cloud data, which is a set of data generated by a lidar 3 provided in a target ship, identified by a pair of a horizontal number being an index representing a position in a horizontal direction, and a vertical number being an index representing a position in a vertical direction. The extraction unit extracts, for each horizontal number, i.e., for each vertical line, the data representing a nearest neighbor point nearest to the target ship among data representing measured points of a berthing place. The straight line calculation unit calculates a berthing side straight line Ls alongside the berthing place, based on a neighbor point set, which is a set of data representing the nearest neighbor point.