JP5117221B2 - Navigation information display device - Google Patents

Description

  The present invention relates to a navigation information display device that provides information useful for navigation of a ship.

  In a fishing boat or the like, in order to advance the ship toward a point discovered by a fish finder or the like and stay at the point, it is necessary to proceed to the point with the bow direction facing the tide. For this reason, it is extremely useful to know the current when navigating a ship.

  Conventionally, a navigation information display device that displays tidal current information on a display screen is known (see Patent Document 1). However, such a navigation information display device does not have a tidal current detecting means, and the tidal current information displayed is inaccurate information manually input by the operator by roughly estimating. Conventionally, as a tidal current detector for detecting a tidal current, a detector that uses ultrasonic waves is known (see Patent Document 2). However, such a tidal current detector is expensive to install on a small boat such as a fishing boat. It is not realistic to combine with the navigation information display device.

JP 2007-64868 A JP 2001-183457 A

  An object of the present invention is to provide an inexpensive navigation information display device that detects and displays tidal current information on a display screen.

  The present invention includes an image display provided with a display screen, a ship position detection device that detects the position of the ship and outputs the ship position information, detects a heading direction of the ship, and serves as direction information. An azimuth detecting device for outputting, a map information storing means for storing map information, a tidal current detecting means for calculating tidal current information including a tidal direction of the current water area based on a temporal change of the own ship position information in a drifting state, A tidal current information storing means for storing the tidal current information calculated by the tidal current detecting means; a tidal current detection instructing means for instructing the tidal current detecting means to calculate tidal current information in a drifting state; and a self-output outputted by the own ship position detecting device. Based on the ship position information, the direction information output by the direction detection device, the map information stored in the map information storage means, and the tidal current information stored in the tidal information storage means, Ship's A navigation information display device comprising: display control means for controlling to display a tidal current display image indicating a current position, a current bow direction, and a tidal current direction of an existing water area on the display screen. is there.

  In such a configuration, the tide information of the current water area is calculated from the temporal change of the ship position information in the drifting state. Since the existing navigation information display device is equipped with its own ship position detection device such as GPS as a standard, the calculation of such tidal currents does not significantly change the hardware configuration of the existing navigation information display device, It can be realized at a very low cost.

  Then, since the tidal current information stored in this way is displayed on the map in the tidal current display image, the operator can select the tidal current direction displayed in the tidal current display image, the current position of the ship, the current bow direction, etc. Based on this information, it is possible to smoothly advance the ship to the target point with the bow direction facing the tidal current.

  The “drifting state” according to the present invention refers to a state where the ship cannot navigate by itself, that is, the engine is stopped or the clutch is disengaged and the propulsive force is completely lost and is being carried by the tidal current. As a specific method for calculating tidal current information by the tidal current detecting means, for example, as shown in FIG. 1, the ship position information output per unit time (for example, one minute) in a drifting state is measured, and the unit time It is possible to calculate a movement vector of the own ship from the own ship position P1 at the start time to the own ship position P2 at the end time, set the direction of the vector as the tidal direction, and the magnitude of the vector as the flow velocity of the tidal current. . In addition, as shown in Fig. 1, the ship in a drifting state does not move in a straight line along the tidal direction, but meanders under the influence of wind and waves. Therefore, if the above unit time for measuring changes in ship position information over time is set longer to mitigate the effects of wind and waves, the tidal current direction and flow velocity can be set within the required error range. Can be calculated within.

  As another method for calculating the tidal current direction, not only the own ship position at the start and end of the unit time but also the tidal current information by statistical processing based on the own ship positions at three or more points including the own ship position in the middle. It is also proposed to calculate According to this calculation method, it is possible to further reduce the influence of waves and winds and calculate more accurate tidal current information. In addition, since the tidal flow information with less error can be obtained in a short time as the flow velocity of the tidal current is faster, the unit time for measuring the temporal change of the own ship position information may be changed according to the drifting speed of the own ship. .

  In the present invention, when the tidal current detecting unit calculates tidal current information based on an instruction from the tidal current detection instructing unit and the tidal current information storing unit stores the tidal current information, the display control unit displays the tidal current display based on the tidal current information. It is proposed to control to display an image on the display screen. According to such a configuration, when the operator instructs the calculation of the tidal current information via the tidal current detection instruction means in the drifting state, the tidal current information of the current water area is calculated and stored, and then the tidal current is displayed on the display screen of the image display. A tidal current display image based on the information is automatically displayed. For this reason, the operator can simultaneously instruct the calculation of the tidal current information and the display of the tidal current display image by the tidal current detection instruction means. In addition, when the tide information in the tide display image is different from the current tide due to a change in the tide, the operator can simply display the tide display image based on the new tide information simply by instructing the calculation of the tide information again. Is possible.

  In the present invention, it is proposed that the tidal current information includes a tidal current flow velocity in the current water area, and that the tidal current display image displays a tidal current direction and a flow velocity in the current water area. According to such a configuration, since the operator can also grasp the flow velocity information of the tidal current from the tidal current display image, the operator can balance the tidal current and the propulsive force relatively easily with the bow facing the tidal current. This makes it easier to keep your ship at the target point.

  In the present invention, the display control means may display, in the tidal current display image, a bow index indicating a current bow direction and a tidal index indicating a current direction of the current water area at a current position of the ship on the map. Proposed. According to such a configuration, the operator can simultaneously confirm the bow direction and the tidal direction in the tidal current display image while confirming the displacement of the current position of the ship on the map. It becomes easy to maneuver to the point.

  In the present invention, a position information storage means for storing position information of a required point is provided, and the display control means controls to mark a point stored in the position information storage means on the map in the tidal current display image. It is proposed. In such a configuration, if the position information of a point such as a fishing reef is stored in the position information storage means, the point is marked on the map of the tidal current display image, so the operator can mark the mark on the map. Can be maneuvered to that point.

  According to the navigation information display device of the present invention, it is possible to detect current flow information in the current water area with an inexpensive configuration without greatly changing the existing hardware configuration. The operator can visually grasp the relationship between the tidal direction and the bow direction based on the tidal current information displayed on the map in the tidal current display image, the current position of the ship, and the bow direction. Proceeding to the target point while facing the tidal current, the ship can be properly maneuvered to stay at that point.

  Embodiments of the present invention are described according to the following examples.

  FIG. 2 is a block diagram illustrating a control circuit of the navigation information display device 1 according to the embodiment. The navigation information display device 1 includes a main control unit 11 composed of a microcomputer. The main control unit 11 is provided with a central processing unit (CPU) 12 for executing overall control of the navigation information display device 1. A measurement information memory (RAM) 13 for reading and writing measurement information and the like is connected to the central processing unit 12 via a data bus (not shown) for exchanging data. The central processing unit 12 is connected to a map information memory (ROM) 14 in which map information is stored via an address bus (not shown) for unilaterally transmitting information for designating an address for reading and writing data. Connected. Further, the central processing unit 12 is connected with a program memory (ROM) 15 in which programs for executing various controls are stored, and a calculation memory (RAM) 16 in which data necessary for calculations are stored. Has been. In addition, the main control unit 11 is provided with a timing device 17, and time information is output from the timing device 17 to the central processing unit 12 as needed.

  Further, the main control unit 11 is provided with an input port (not shown) and an output port (not shown), and the azimuth detecting device 2 and the own ship position detecting device 3 are connected through these ports. Further, the navigation information display device 1 of this embodiment also serves as a fish finder, and a fish finder transmitting / receiving device 4 is connected to the main controller 11.

  The azimuth detecting device 2 is configured such that a magnet rotates by, for example, geomagnetism, and an azimuth detecting device of a type that detects the rotation angle of the magnet as a magnetic flux change by a Hall element, a directional sensor such as a fluxgate sensor, a gyro sensor A detection device may be applied. This azimuth detecting device 2 is attached to an appropriate part of the ship so that the N pole detection direction and the bow direction are parallel to each other.

  The azimuth detecting device 2 generates a sin output or a cos output that changes in accordance with the current azimuth in the bow direction. This output is output as azimuth information to the main control unit 11 via the A / D converter 25 and decoded by the central processing unit 12.

  The own ship position detection device 3 includes a GPS antenna 23 and a GPS arithmetic circuit 24 that connects the GPS antenna 23 and the main control unit 11, and based on a signal received by the GPS antenna 23, longitude and The two-dimensional absolute position of the ship specified by the latitude is detected, and the detected two-dimensional absolute position is output to the input port of the main control unit 11 as own ship position information.

  The fish finder transmission / reception device 4 includes a transmission / reception unit 20 that transmits / receives ultrasonic waves, and a transmission / reception control circuit 21 that connects the transmission / reception unit 20 and the main control unit 11. When a predetermined trigger signal is output to the transmission / reception control circuit 21, the transmission / reception unit 20 transmits an ultrasonic pulse of a predetermined wavelength into water. Then, when an echo wave reflected on the bottom of the water or a school of fish is received by the transmitter / receiver unit 20, the transmit / receive control circuit 21 receives information on the echo wave received by the transmitter / receiver unit 20 (received timing, received intensity, etc.). ) To a digital signal and output to the main control unit 11 as echo wave information.

  When the echo wave information is input from the transmission / reception wave control circuit 21 to the main control unit 11, the central processing unit 12 receives the echo wave information from the own ship position information output from the GPS arithmetic circuit 24 and the time measuring device 17. In association with the output time information, it is stored in the measurement information memory 13 as a set of measurement information. The measurement information memory 13 has a capacity capable of storing measurement information for about 5 hours, and the measurement information is accumulated and stored in the order of measurement. When the measurement information exceeds the storage capacity, old measurement information is sequentially deleted.

  Further, as will be described later, the main control unit 11 detects current flow information (current flow) in the current water area specified by the current direction and flow velocity from the time-dependent change of own ship position information output from the GPS calculation circuit 24 in a predetermined case. Vector) is calculated and stored in the measurement information memory 13. That is, in the present embodiment, the main control unit 11 constitutes the tidal current detecting means according to the present invention, and the measurement information memory 13 constitutes the tidal current information storing means according to the present invention.

  The map information memory 14 constitutes map information storage means according to the present invention, in which 2D map information with a contour line of a required area or 3D map information is stored as vector data.

  Further, a key operation unit 26 for an operator to input various settings is connected to the input port of the main control unit 11. The key operation unit 26 includes a pointing device and a plurality of buttons. The operator can change the display mode, various display settings, and the like of the image display 9 by operating these. The key operation unit 26 constitutes a tidal current detection instruction unit according to the present invention.

  In this embodiment, the point on the map displayed on the display screen 10 is designated via the key operation unit 26, and the two-dimensional absolute coordinates of the point are set as point information (position information). It can be stored in the measurement information memory 13. For this reason, the operator can memorize | store the point information of the said point, when a suitable fishing reef etc. are discovered from the echo wave information of the transmission / reception apparatus 4 for fish finder. That is, in this embodiment, the measurement information memory 13 constitutes the position information storage means according to the present invention.

  A display control circuit 18 is connected to the input / output port of the main control unit 11, and the image display 9 is connected to the display control circuit 18. The image display device 9 includes a horizontally long display screen 10 (see FIG. 3), and is configured by a TFT, an LCD, a CRT, or the like.

  According to the above configuration, the central processing unit 12 reads the information stored in the measurement information memory 13 and the map information in the map information memory 14 as needed, and displays the display selected by operating the key operation unit 26. Various required image data is generated based on the mode and display settings, and display screen information is generated from each of the generated image data and output to the display control circuit 18. When receiving the display screen information from the central processing unit 12, the display control circuit 18 converts the display screen information into an appropriate video signal and outputs it to the image display 9. That is, in this embodiment, the central processing unit 12 and the display control circuit 18 constitute the display control means in the present invention.

  As shown in FIG. 3, the rectangular display screen 10 of the image display 9 includes a left map display area 27 that displays map information and the like by a dividing line 33, and a right echo wave display area 28 that displays echo wave information. It is divided into left and right.

  The navigation information display device 1 according to the present embodiment has two display modes, a wake display mode for displaying a wake and a tide display mode for displaying tide information, which are selected by operating the key operation unit 26. An image according to the displayed display mode is displayed in the map display area 27 of the display screen 10.

  FIG. 3 shows a display example of the display screen 10 of the image display 9 in the wake display mode. In this display example, the rectangular display screen 10 displays a map display area 27 and an echo wave display area 28 side by side. In the map display area 27, a wake image 29 is displayed on the map around the own ship position to which the contour line 32 is attached. The wake image 29 displays the current position of the ship, the current bow direction, and the wake. Specifically, the current position of the ship is displayed by a ship-shaped ship mark 34 attached to the current position of the ship on the map, and the wake is displayed by a wake line 35 displayed on the map. The bow direction on the map is indicated by the direction of the pointed tip of the ship mark 34. In addition, an azimuth mark 36 indicating the N-pole direction of the map is attached to the upper left portion of the wake image 29. In the wake image 29, the position and tip direction of the own ship mark 34 are fixed. When the own ship moves, the wake image 29 is updated so that the surrounding map moves and rotates around the own ship mark 34.

  In the echo wave display area 28 on the right side, an echo wave image 30 in which visualized echo wave information is arranged in the order measured along the width direction of the area 28 is displayed. In the echo wave image 30, newer echo wave information is displayed on the right side, and older echo wave information is on the left side. The vertical axis indicates the water depth reflected by the transmitted ultrasonic wave, and the intensity of the received echo wave is represented by color and shade. In the echo wave image 30, echo waves continuously displayed in the width direction are water bottom echoes 38 reflected from the bottom of the water, and echo waves displayed in a lump above the water bottom echo 38 are fish echoes reflected from the fish school. 37.

  FIG. 4 shows a display example of the display screen 10 in the power flow display mode. In such a display example, the rectangular display screen 10 has a map display area 27 and an echo wave display area 28 as in the wake display mode (see FIG. 3). A tidal current display image 31 is displayed in the map display area 27. On the other hand, an echo wave image 30 is displayed in the echo wave display area 28 as in the wake display mode.

  The tidal current display image 31 displays the current position of the own ship, the current bow direction, the tidal current direction and the current velocity of the current water area on a map around the own ship position to which the contour line 32 is attached. . Specifically, the surrounding map in the tidal current display image 31 is created from the map information in the map information memory 14 based on the current position of the ship. The current position of the own ship is based on the own ship position information output from the own ship position detecting device 3, and is displayed by the ship-shaped own ship mark 34 attached to the current position of the own ship on the map. The bow direction on the map is based on the direction information of the direction detection device 2 and is indicated by the direction of the pointed tip of the ship mark 34. The tidal current direction and the flow velocity are based on tidal current information calculated in advance by the main control unit 11 and stored in the measurement information memory 13, and are indicated by an arrow-shaped tidal current index 40. The tidal current index 40 is based on the own ship position on the map, the direction indicates the tidal current direction, and the length indicates the flow velocity. Further, in the tidal current display image 31, a triangular point mark 41 is displayed at a point related to the point information (position information) stored in the measurement information memory 13, and the N pole of the map is displayed at the upper left of the tidal current display image 31. An orientation mark 36 indicating the direction is attached. In such a tidal current display image 31, the position and angle of the surrounding map are fixed, and when the own ship moves, the tidal current display image 31 is updated so that the own ship mark 34 and the tidal current index 40 move on the surrounding map.

  The procedure for maneuvering the ship to the point with the point mark 41 using the tidal current display image 31 is as follows. First, when the ship's current position is at point A in FIG. 5, from point A to a point on the straight line X passing through the target point mark 41 and parallel to the tidal current index, for example, point B in FIG. The ship is operated so that the ship is located, and the bow direction of the ship is opposite to the tidal current direction at the point B. In such a state, since the propulsive force of the ship is opposite to the tidal current, if the propulsive force is made stronger than the tidal current, the own ship proceeds to the upper right on the straight line X, and if the propulsive force is made weaker than the tidal current, Will proceed on the straight line X downward and to the left. Therefore, the operator adjusts the propulsive force of the ship, for example, operates the ship from point B to point C where the fishing line is hung on the point mark 41, and further balances the propulsive force and the current at the point C. The ship is operated so that the ship stays at the point C.

  Below, the calculation method of the tidal current information in this navigation information display apparatus 1 is demonstrated. The key operation unit 26 includes a power flow display mode key for setting the display mode of the image display 9 to the power flow display mode and a power flow display mode key for setting the display mode to the wake display mode. The tidal current information is calculated when the tidal current display mode key is operated. More specifically, first, as a premise for operating the tidal current display mode key, the operator stops the engine or releases the clutch to make the ship drift. When the tidal current display mode key is operated in such a state, a tidal current measurement time of one minute is started, and the main control unit 11 determines that the ship position information output from the GPS arithmetic circuit 24 during the tidal current measurement time From the change, tidal current information (tidal current vector) in the current water area specified by the tidal current direction and the flow velocity is calculated and stored in the measurement information memory 13. Specifically, the difference between the ship position input at the beginning and end of the tidal current measurement time, that is, the movement vector of the own ship during the tidal current measurement time is calculated, the direction of the movement vector is the tidal direction, the movement vector Is stored in the measurement information memory 13 as the flow velocity of the tidal current. In addition, the past tidal current information memorize | stored in the memory 13 for measurement information is deleted with the memory | storage of this tidal current information.

  When the tidal current measurement time ends and the calculated tidal current information is stored in the measurement information memory 13, the main control unit 11 sets the display mode of the image display 9 as the tidal current display mode and displays the tidal current display image 31 on the display screen. Is displayed. The tidal index 40 displayed in the tidal current display image 31 is based on the latest tidal current information stored in the measurement information memory 13.

  As described above, in the navigation information display device 1 according to the present embodiment, when the tidal current display mode key is operated, first, tidal current information in the current water area is calculated and stored, and then the tidal current display image based on the tidal current information. 31 is displayed on the display screen 10.

  When the wake display mode key is operated in the tide display mode, the tide display mode is shifted to the wake display mode. On the other hand, when the tidal current display mode key is operated in the tidal current display mode, tidal current information is calculated and stored again, and a tidal current display image 31 incorporating a tidal current index 40 based on new tidal current information is displayed. Therefore, when the tidal current information in the measurement information memory 13 is inappropriate, the operator can update the tidal current information by operating the tidal current display mode key again with the ship in a drifting state.

  Thus, in the navigation information display device 1 of the present embodiment, the tidal current indicator 40 indicating the tidal current direction and the velocity of the current water area that has been calculated and stored in advance is displayed on the tidal current display image 31. Based on the above, the bow direction can be made to oppose the tidal direction, and the ship can be appropriately maneuvered to the target point, and the ship can stay at the point.

  Further, in the navigation information display device of the present embodiment, since the tidal current information is calculated based on the GPS own ship position information provided in the general navigation information display device, the hardware of the existing navigation information display device. There is an advantage that the power flow can be detected with a simple and inexpensive configuration without changing the hardware configuration.

  In particular, since the tidal current index 40 in this embodiment indicates not only the tidal current direction but also the tidal current velocity, the operator can grasp the tidal current velocity from the tidal index 40, and the propulsive force and tidal current of the ship. There is an advantage that the ship can be easily balanced and it is easy to keep the ship at the target point.

  Further, since the tidal current index 40 in the present embodiment includes the own ship mark 34 indicating the heading direction and the tidal current index 40 indicating the tidal current information displayed at the own ship position, the operator himself / herself on the map of the tidal current display image. The ship's current position, bow direction and tidal current information can be checked at the same time, and it is easy to navigate to the target point.

  Further, in the present embodiment, since the point mark 41 is displayed on the map of the tidal current display image 31 at the point related to the point information stored in the measurement information memory 13, the tidal current display image 31 is displayed. Since the point mark 41 is displayed at the point related to the point information stored in the measurement information memory 13, the operator can operate the ship using the point mark 41 as a mark.

  The navigation information display device according to the present invention is not limited to the embodiment described above, and various modifications can be made without departing from the spirit of the present invention.

  For example, the navigation information display device 1 of the above embodiment also serves as a fish finder, but the navigation information display device of the present invention is not limited to the one that also serves as a fish finder, and an echo wave image is displayed on the display screen. There is no need to display.

  In the above embodiment, there are two types of display modes of the image display 9: a wake display mode and a tidal current display mode. However, the navigation information display device of the present invention displays at least a tidal current display image. Only the display mode may be used, or three or more display modes may be provided.

  Further, the tidal current display image according to the present invention is not limited to the configuration of the above-described embodiment, and can be appropriately changed. For example, in the above-described embodiment, the tidal current display image is configured such that the map is fixed and the own ship mark moves / rotates as the own ship position changes. Along with this, the map may be updated so as to move and rotate.

  Further, the method of calculating tidal current information according to the present invention is not limited to the configuration of the above embodiment, and can be changed as appropriate. For example, in the above embodiment, the movement vector of the ship at the tidal current measurement time is directly calculated as the tidal current information (tidal current vector), but not only at the first and last own ship position of the tidal current measurement time, The tidal current information may be calculated by statistical processing including the ship position. By performing such statistical processing, the influence of waves and winds can be further alleviated, and more accurate tidal current information can be obtained. Moreover, the tidal current measurement time can be appropriately changed, and the tidal current measurement time may be changed according to the drifting speed of the ship.

It is explanatory drawing which shows an example of the calculation method of tidal current information. 3 is a block diagram showing a control circuit of a navigation information display device 1. FIG. It is an example of a display screen 10 in a wake display mode. It is an example of a display screen 10 in the tidal current display mode. It is explanatory drawing which shows the example of maneuvering based on the tidal current display image.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Navigation information display device 2 Direction detection device 3 Own ship position detection device 4 Fish detector transmission / reception device 9 Image display device 10 Display screen 11 Main control part 26 Key operation part 31 Tidal current display image 34 Own ship mark 40 Tidal current index 41 Point mark

Claims (4)

An image display with a display screen;
Own ship position detection device that detects the position of the ship and outputs it as ship position information;
A bearing detection device that detects the heading of the ship's bow and outputs it as heading information;
Map information storage means for storing map information;
Tidal current detection means for calculating tidal current information including a tidal direction of the current water area based on a temporal change of the ship position information in a drifting state;
Tidal current information storing means for storing the tidal current information calculated by the tidal current detecting means;
A tidal current detection instruction means for instructing the tidal current detection means to calculate tidal current information in a drifting state;
Own ship position information output by the own ship position detection device, azimuth information output by the azimuth detection device, map information stored in the map information storage means, and tidal current information stored in the tidal current information storage means Display control means for controlling the current position of the ship, the current bow direction, and the current direction of the current water area on the map to be displayed on the display screen based on a shall include a,
When the tidal current detecting unit calculates tidal current information based on an instruction from the tidal current detection instructing unit, and the tidal current information storing unit stores the tidal current information, the display control unit displays the tidal current display image based on the tidal current information. A navigation information display device which is controlled to be displayed on a screen . The navigation information display device according to claim 1 , wherein the tidal current information includes a flow velocity of a tidal current in the current water area, and a tidal current direction and a flow velocity in the current water area are displayed in the tidal current display image. An image display with a display screen;
Own ship position detection device that detects the position of the ship and outputs it as ship position information;
A bearing detection device that detects the heading of the ship's bow and outputs it as heading information;
Map information storage means for storing map information;
Tidal current detection means for calculating tidal current information including a tidal direction of the current water area based on a temporal change of the ship position information in a drifting state;
Tidal current information storing means for storing the tidal current information calculated by the tidal current detecting means;
Tidal current detection instruction means for instructing the tidal current detection means to calculate tidal current information in a drifting state;
Own ship position information output by the own ship position detection device, azimuth information output by the azimuth detection device, map information stored in the map information storage means, and tidal current information stored in the tidal current information storage means Display control means for controlling the current position of the ship, the current bow direction, and the current direction of the current water area on the map to be displayed on the display screen based on It is equipped with
The display control means is configured to display, in the tidal current display image, a bow index indicating a current bow direction and a tidal index indicating a tidal current direction in the current water area at a current position of the ship on the map. Navigation information display device. A location information storage means for storing location information of a required point;
Wherein the display control unit, wherein the power flow display image, according to any one of claims 1 to 3, characterized in that controlling so as to mark the point stored in said position information storage unit on a map Navigation information display device.

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