JP2010003274A - Visual recognition support device and visual recognition support method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce monitoring burden on a ship operator and ensure a safer ship operation by eliminating a difference between the ship operator's visual observation and a display image for facilitating identification of other ships. <P>SOLUTION: A visual recognition support device 1 includes: a radar device for acquiring radar information about an environment around a ship on a covered sea surface and about the situations of other ships; a plane information display 11 for displaying the radar information on a horizontal plane; a superposed image display 34 for displaying a superposed image over a visual scenery according to the radar information; a horizontally rotatable mount unit 22; a rotation angle detection means for detecting the rotation of the mount unit; a display information derivation device for acquiring plane display information from the radar information acquired by the radar device, and acquiring superposed display information by applying optical geometrical corrections to the plane display information or the radar information; and an image source device 12 for displaying images on the plane information display and the superposed image display according to the acquired plane display information and superposed display information upon the rotation of a mount detected by the rotation angle detection means. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to, for example, a visual recognition support device and a visual recognition support method, and more particularly, to a visual recognition support device and a visual recognition support device that support a ship maneuvering decision when maneuvering in a congested area of a ship.

  Conventionally, when maneuvering airplanes, ships, automobiles, and other vehicles, it is the most indispensable element for safety to grasp the surrounding conditions including the approach of other vehicles. Therefore, the pilot had to pay close attention to recognize the surrounding situation in real time. In order to make an accurate situation judgment, the information obtained by visual observation is the most important judgment factor. However, there is a limit to the information that can be obtained by visual observation, and in order to obtain information that becomes a blind spot due to a distance, the rear, an obstacle, etc., it has been necessary to use a radar or a monitoring device. By doing this, the pilot had obtained information for performing safe maneuvering from visual observation and radar, but on the other hand, the pilot had to check the radar while maneuvering, increasing the work load I was doing it. This increase in work burden accumulates pilot fatigue and can be a safety threat if it accumulates.

  In particular, in the case of ship maneuvering, misunderstanding of surrounding conditions and the like can be fatal because it is greatly affected by visibility, tidal currents, and waves that change according to time zones, sea areas, and weather. Depending on the tidal current, the traveling direction of the ship changes greatly, requiring the pilot to be flexible in handling the ship, and the work burden is further increased. In addition, the visible field of view is blocked by nighttime, fog, and waves, so the pilot has to check the radar and the like more frequently, further increasing the work load. As a result, the pilot may overlook when adverse conditions overlap, which may adversely affect the operation.

  In addition, the size of the hulls (size and weight) is obvious, from small vessels such as fishing boats and fishing boats with 2 to 3 crew members, to super large vessels such as military battleships, large passenger ships and oil transport tankers. There is a difference. Since large cockpits have high cockpits, it is difficult to see the sea surface conditions near the ships, especially at night or in fog, and the presence of small ships is difficult to supplement.

  Based on the above, it is necessary to make visual and radar confirmations more efficient and simplified in order to understand the surrounding conditions during operations related to ships and other vehicles. Radar etc. are based on visual recognition of the situation. Therefore, there is a need for a device and a mechanism that realizes that the recognition can be supported. In this respect, in the field of patents, for example, countermeasures as shown in Patent Documents 1, 2, and 3 have been proposed in order to improve situation recognition efficiency.

  The technical idea disclosed in Patent Document 1 is a vehicle in which the movement of a surrounding vehicle is detected by a radar, and the movement of the surrounding vehicle is displayed as a vector on a front window so as to be superimposed on a scene in front and visible to the driver. A display device is provided.

  Further, the technical idea disclosed in Patent Document 2 detects the attitude angle of the pilot's head, detects the relative position of the other machine with respect to the own machine, and based on the detected attitude angle information and relative position information, Other machine position information corresponding to the attitude change of the own machine is projected and displayed as an arrow symbol with the arrow tip pointing in the direction of the other machine, superimposed on the outside by a helmet mounted display mounted on the helmet worn by the pilot It is.

  The technical idea disclosed in Patent Document 3 is based on the input of the movement amount of the infrared image displayed on the head-up display from the image movement amount input device, and based on the input image movement amount, the coordinate converter is the second one. The image signal output from the signal processor is subjected to coordinate conversion and output to the head-up display.

However, in these conventional techniques, there is no guarantee that safety is ensured when the object is difficult to see in the format in which the vector is displayed or the front view is poor due to bad weather. In addition, grasping of an object in the techniques described in the above documents is not suitable for human intuition. Furthermore, in the information display of only the movement amount, in order to acquire more detailed information (distance information, speed information, etc.), it is necessary to turn to another means, and in particular it is necessary to confirm safety in a short time. There was a problem that was inevitably incompatible with the scenes to be performed.
JP 2005-128607 A JP 2002-308195 A JP-A-10-11998

In order to operate safely in a congested sea area at night or in fog, as described above, it is required to make a quick and accurate avoidance decision by recognizing the movements of many ships. Radar is effective as a navigation instrument for grasping the movements of other ships, but when there are many targets in a congested area, inexperienced sailors are actually looking at other ships on the radar. There is a possibility that it will be difficult to take time to identify the ship and make a ship operation decision.

  The present invention provides a visual recognition support apparatus and method that solves the above-described problems of the prior art, reduces the burden of a lookout work using a radar, and contributes to more accurate visual recognition. Objective. More specifically, in monitoring when maneuvering in a congested area of a ship, the burden of the lookout work is reduced by superimposing and displaying the human visual landscape and information on other ships and surrounding conditions on the radar. It is an object of the present invention to provide a visual recognition support apparatus and method that supports accurate determination of boat maneuvering under any circumstances.

  Another object of the present invention is to provide a visual recognition assisting apparatus and method that can be easily operated and reduce the work load, having both of the functions of visual watch and radar ARPA (automatic collision prevention assisting apparatus).

  In order to achieve this object, a visual recognition support apparatus according to an embodiment of the present invention includes a radar information acquisition unit that acquires radar information related to the surrounding environment and / or other ship conditions of a ship, and the acquired radar information. Is converted to a fluoroscopic image from the viewpoint of the operator, and a display unit that displays the converted fluoroscopic image as a superimposed image superimposed on the visual landscape of the operator.

  Here, the radar information acquisition unit refers to a device having a function of grasping a distance and a direction to an object by transmitting an electromagnetic wave toward the object and measuring a reflected wave thereof.

  In addition, the surrounding environment includes land, islands, coasts, ports, breakwaters, lighthouses, buildings, private houses, floating bodies and other things that may exist around the ship, or ocean wave heights and tidal currents and other oceans. Including, but not limited to. The status of other ships refers to the ship's name, speed (knots), cargo, destination, and direction and distance based on the own ship on the periphery of the ship (the distance is not particularly limited). Including, but not limited to, all other situations.

  The perspective image is an image that has been subjected to perspective image processing using a perspective projection method that is a perspective, and shows an image that is accurately projected on the plane of the ship operator's eyes.

  The conversion unit is a device that performs a numerical processing function for performing coordinate conversion on a perspective image centered on a ship operator's viewpoint with respect to radar information acquired by the radar information acquisition unit, or causes a computer to execute such a function. It refers to a program, a recording medium storing the program, and an information processing device (hereinafter also referred to as “program etc.”) on which the program is mounted.

  A superimposed image is defined as a superimposition of perspective image information obtained by coordinate-converting information from radar echoes into a perspective image from the viewpoint of a ship operator in the narrow sense, but in a broad sense, this perspective image information. On the other hand, GPS (Global Positioning System), Gyrocompass, ARPA (Automatic Collision Prevention Assistance Device), AIS (Ship Automatic Identification Device), some or all of radar echoes and other ship symbols, etc. This refers to a piece of auxiliary information such as a line that is superposed on one another to form one piece of image information. Here, the GPS is also called a global measurement system or a global positioning system, and indicates a satellite positioning system for checking a current position on the earth. The gyrocompass is a tool for knowing the azimuth using the action (gyro effect) in which the rotation axis of the top rotating at high speed always points to one point in the sky.

  The display unit is a device for displaying an image displayed on the image source for superimposed display of the main system unit so as to overlap with the external landscape image. For example, it includes an optical design for manufacturing the device, a mirror, a lens, a combiner, and a filter for making the display easy to see. Moreover, not only a combiner but the folding-type transparent screen superimposed on the window surface from which visual scenery is obtained, or visual scenery may be sufficient, for example.

  According to the present invention related to the above aspect, since the surrounding situation including other ships acquired by a radar or the like is displayed after being converted into a perspective image from the viewpoint of the operator, there is a difference between visual and display images. Not only can the other ship visually observed and the other ship grasped by the radar or the like be easily identified, but also the object can be lifted without omission when the visibility is limited at night or in fog.

In addition to the above configuration, the present invention according to another aspect is characterized in that ARPA information and / or AIS information based on the radar information is further displayed.

  Here, AIS (Automatic Identification System: automatic vessel identification device) is used to transmit information related to vessel operations such as vessel name, vessel type, identification signal, position, course, speed, navigational state, safety information, etc. VHF) radio waves are automatically transmitted and received between ships and between onshore facilities, etc., and by sharing such information, it is possible to prevent collision between ships, grasp the movement of ships, reduce labor of crew, etc. Shows a system that is aimed at planning. In addition, ARPA (Automatic Radar Plotting Aid: Automatic Collision Prevention Assistance Device) identifies a tracking item as a tracking target of another vessel based on a radar image input from its own radar device, and A device having a function of displaying display data as a result of calculating navigation data such as course (course) and speed in the radar indicator from the degree of movement on the display unit and issuing a warning when a danger of collision occurs. In addition, RADAR (Radio Detection And Ranging) determines the target detection and distance, azimuth, moving speed, etc. by emitting radio waves from its own transmitter and receiving the reflected radio waves at the receiver. A wireless device is shown.

  According to the present invention relating to the above aspect, since information from ARPA (automatic collision prevention assistance device) and AIS (automatic vessel identification device) is further displayed in a superimposed manner, details about a specific target among the visual recognition targets Information can be acquired without shifting the viewpoint of the viewing surface. At this time, it is good also as a structure which acquires further information, such as GPS and a gyro compass.

In addition, a visual recognition support device according to still another aspect of the present invention is a radar device that acquires radar information related to the surrounding environment and / or other vessel status of a ship on a covered sea surface, and performs horizontal display of the radar information. Plane information display device, a superimposed image display device that displays a superimposed image on a visual landscape based on the radar information, a gantry unit that can be rotated at least in a horizontal direction, and a rotation that detects the rotation of the gantry unit An angle detection means; a display information deriving unit that obtains planar display information from radar information acquired by the radar device and obtains superimposed display information by applying optical geometric correction to the planar display information or the radar information; and The rotation angle detecting means detects the images on the plane information display and the superimposed image display based on the plane display information and the superimposed display information, respectively. Characterized by comprising an image source device to be displayed in conjunction with the rotation of the platform.

  Here, the radar device refers to a device that can realize the above RADAR function. For example, an external device: a radar interface, an input terminal: LAN, an external device: AIS, an input terminal, External device: A gyrocompass and all the cables necessary for these connections, and a concept including one or more of USB 2.0 and IEEE 1394, respectively.

  In addition, the plane information display device relates to a display, for example, and indicates that the display surface is set in a plane direction, and the operator uses the display surface so as to look down from above. It is desirable that the touch panel can be dimmed at all times with a volume knob, has a bezel as small as possible, and can use a pen-shaped indicator such as a stylus.

  The superimposed image display is a fluoroscopic image obtained by coordinate-converting part or all of information from GPS, gyrocompass, RADAR / ARPA, AIS, radar echo, and other ship symbols into a fluoroscopic image from the viewpoint of the operator. This is a device for displaying a piece of image information by superimposing all or a part of auxiliary information such as information, azimuth lines and auxiliary lines on an external landscape image. For example, it includes an optical design for manufacturing the device, a mirror, a lens, a combiner, and a filter for making the display easy to see. It has the capability of transmissively displaying the perspective image plane in front of the viewpoint with the image of the image source as the field of view. The superimposed display forms an image at a distance of infinity. It consists of a collimator lens, a mirror, a combiner, a filter, and a jig that fixes these optical elements at appropriate relative positions.

  Further, the gantry unit includes, for example, a stand, a rotary gantry, and a housing. A casing is attached to the rotary base mounted on the stand, and a superimposing display device is attached to the casing. The gantry rotates in the pitch and yaw directions around the compass center. Also, a rotation angle detection device for detecting the azimuth angle is attached. The gantry unit is composed of a rotary gantry, a stand, and a housing, and is a part that houses the hardware of the present apparatus.

  The rotation angle detection means means, for example, one having a function capable of detecting the rotation angle of the gantry and outputting it as a digital numerical value. For example, two Hall elements are arranged on the edge of a circular magnet so as to be orthogonal with the rotation center as an angle. From each Hall element, and a pseudo-phase output of a sine wave from one side and a cosine wave from the other is obtained from the other, using the two signals. Shows a device that detects the angle by performing tangent conversion, for example, a device that detects the rotation of the shaft and outputs a signal such as a pulse or absolute position, and looks at an azimuth angle (360 degrees in all directions) or an elevation angle (thing at a high place) The angle between the line of sight and the horizontal plane) and the depression angle (the angle formed between the horizontal plane and the line of sight when looking down at the object) is realized by, for example, a rotary encoder. Not a constant. For example, in the case where the gantry is a stepping motor drive type, an apparatus having a function of grasping a rotation angle based on a specified number of steps is also included.

  The optical geometric correction refers to a function of performing numerical processing / calculation for associating perspective image information with planar position information, for example. In other words, in order to convert the ground coordinates into an eye image, the perspective reference information is obtained by converting the planar reference point data according to a certain coordinate conversion formula that associates a certain point with a corresponding point on the perspective image. Is what you get. Note that not only the planar position information but also the radar information can be directly processed to obtain fluoroscopic image information.

  The display information deriving device is a device having a function for deriving original data for displaying horizontal plane display information and elevation perspective image information on the plane information display and the superimposed image display, respectively. As a result, even if the display device is changed to one with various precisions, the display corresponding to each display device can be made promptly.

  The image source corrects the display original data obtained by the display information deriving device in conjunction with the rotation of the gantry detected by the rotation angle detecting means, and appropriately obtains a display image in a desired direction. Has the function of

  According to the present invention relating to the above aspect, information such as other ships and surrounding conditions based on information physically obtained by the radar is more intuitively grasped by the operator as a fluoroscopic image from the viewpoint of the operator. Since it is converted into an easy-to-use shape and this is superimposed on the visual landscape, the difference between visual and displayed images is almost eliminated, and other ships on the visual observation can be easily identified, as well as at night, fog, etc. It is possible to lift the object without omission when the visibility is limited. Furthermore, since the display unit is rotated and the superimposed image is changed in accordance with the change of the landscape by the configuration in which the plane display and the perspective image display can be changed in conjunction with the rotation of the gantry unit, Identification of other ships and other ships by radar becomes possible not only in one direction.

    Moreover, in this invention which concerns on another aspect, when superimposing the said superimposed image on a visual scenery in addition to the said structure, it is comprised so that it may superimpose on the basis of a horizon. Thus, the presence of a reference line called a horizontal line makes it easier and more reliable to identify and identify the surrounding landscape.

    Furthermore, in this invention which concerns on another aspect, in addition to the said structure, it is comprised so that the superimposition image superimposed on the said visual scenery may be corrected-converted according to the attitude | position of a ship. Thereby, by making it respond | correspond to the attitude | position of a ship, the image close | similar to a human sense which adapts quickly to behaviors, such as a shake, can be obtained.

  Further, in the present invention according to another aspect, in addition to the above configuration, the visual center line of the superimposed image can be rotated by power including manual operation, and the superimposed image display is rotated in conjunction with the rotation. It is configured as Thereby, it becomes possible to grasp | ascertain this visually by rotating toward the object which wants to pay more attention. As the power, there can be various methods other than manual operation such as using a motor, using a spring or a magnetic force.

  Furthermore, in this invention which concerns on another aspect, in addition to the said structure, the imaging means which image | photographs the surrounding landscape of a ship is further provided, a landscape image is taken in response to rotation of the said visual centerline, and the taken-in landscape An image can be displayed as a superimposed image or in the vicinity of the superimposed image. In this case, the imaging means means, for example, a television camera, an electronic camera, or the like that has a function of recording an observation target with an optoelectronic element, a photographic dry plate, a film, etc., and converting it into a signal.

  Thereby, the landscape image which complements the fluoroscopic image obtained by fluoroscopic image conversion is obtained by imaging. In this case, the captured landscape image is not necessarily displayed on the superimposed image display.

  Further, in this case, at least an image outside the visual field range of the device among the landscape images captured in conjunction with the rotation of the visual center line may be displayed in the vicinity of the superimposed image. Thereby, for example, the background situation can be displayed at the same time, and the situation surrounding the surrounding can be grasped without omission.

  In addition, in the present invention according to another aspect, in addition to the above-described configuration, the flat surface information display is omitted in front of the superimposed image displayed on the substantially window surface with a display surface on which the superimposed image is displayed. It arrange | positions horizontally and is comprised so that at least 1 of the plane landscape image which converted the radar plane image, the compass information, the electronic chart information, and the landscape image information into the plane image may be displayed on the plane information display. As a result, since the horizontal image is displayed substantially horizontally and the fluoroscopic image is erected and displayed, it can be brought closer to the human senses, making it easier and more reliable for the operator to visually check and grasp and identify other ships. . In this case, for the landscape image information, the captured landscape does not necessarily have to cover all 360 degrees around.

  Furthermore, in the present invention according to another aspect, in addition to the above-described configuration, at least one of AIS (automatic vessel identification device) information and ARPA (automatic collision prevention assistance device) information relating to the identified vessel in the superimposed image. The other ship safety information including the two is superimposed and displayed as character information. As a result, it is possible to obtain information on a target for which more details are desired by a simple operation. The AIS (automatic vessel identification device) information and the ARPA (automatic collision prevention assistance device) information are as described above.

  Further, in this case, the other ship safety information may be displayed in a space portion in the vicinity of the substantially horizontal line or more in the superimposed image. Thereby, even if another ship exists in the vicinity, the trouble on display can be eliminated and the omission of grasping the object can be prevented. In this case, a case where a part of the horizontal line or lower is applied may be included.

  In addition, in the present invention according to another aspect, in addition to the above-described configuration, the surrounding landscape of the ship is captured as a complementary image including an infrared image, and the captured complementary image is supplemented on the superimposed image to complement the radar superimposed image. It is configured to be displayed overlaid on. Since the radar can be supplemented by a supplementary means that captures even those that do not affect the radar, the degree of capture of objects that can be a safety hazard is improved.

  Further, in this case, a warning display unit that displays a warning on the presence of a target that may hinder the safety of the ship among the radar superimposed image and / or the complementary image may be further provided. By displaying such warnings, the operator's attention is raised more and the safety level is improved.

  Moreover, in this invention which concerns on another aspect, in addition to the said structure, it is further provided with the position adjustment means of the horizontal direction and / or an up-down direction for uniting the said superimposed image, a ship operator's viewpoint, and the surrounding visual scenery. Composed. This position adjustment may be any one of a method for matching by humans, a method for matching devices, a method for matching images, or any combination thereof. Thereby, the fine adjustment by the position adjusting means further accurately and reliably superimposes the surrounding visual scenery.

  Further, the visual recognition support method according to still another aspect of the present invention acquires radar information related to the surrounding environment of the ship and / or other ship conditions from the radar body, and the acquired radar information is a fluoroscopic image from the viewpoint of the operator. The information is converted into information, and the horizontal plane image information of the covered sea surface is displayed on a plane information display device installed on a substantially horizontal plane based on the acquired radar information, and the converted perspective image information is superimposed on the surrounding visual landscape. And displaying on a display device for superimposition.

  By having such a configuration, information such as other ships and surrounding conditions is converted into a form that is easier for the operator to grasp as a fluoroscopic image from the viewpoint of the operator based on information obtained as radar echo signals. Since this is superimposed on the visual landscape and displayed, there is almost no difference between visual and display images, and other ships on the visual can be easily identified.

  Moreover, in this invention which concerns on another aspect, in addition to the said structure, the visual centerline of the said visual scenery can be rotated, and the said horizontal plane image information and / or the said fluoroscopic image information interlock | cooperate according to this rotation. It is configured to rotate. Thereby, it is possible to grasp this visually by turning it toward the target to be paid more attention.

  According to the present invention, in the situation of maneuvering a ship, the surrounding situation information by the radar is converted into a fluoroscopic image from the viewpoint of the operator, and is superimposed and displayed on the viewing landscape. This is particularly useful because it makes it possible not only to visually identify other ships, but also to lift the object without omission in view restrictions such as nighttime or fog. Therefore, the monitoring burden on the operator can be reduced and safer maneuvering becomes possible. Furthermore, in the case of a ship, there is a possibility that other ships or floating bodies with a possibility of collision may exist in all directions of 360 °. For this reason, the radar acquires omnidirectional information, and the maneuvering room has a wider range than other vehicles. However, in the present invention, the radar information can be used directly and can be applied to a wide field of view of the maneuvering room without providing a separate information acquisition source.

  In addition, according to the present invention, information from ARPA (automatic collision prevention assist device) and AIS (automatic vessel identification device) is further displayed in a superimposed manner, so that detailed information about a specific target among the visual targets can be viewed. It can be acquired without shifting the viewpoint of the surface.

  Furthermore, according to the present invention, information such as other ships and surrounding conditions is converted into a form that can be more easily grasped by the operator as a fluoroscopic image from the viewpoint of the operator based on information obtained physically. Since this is superimposed on the visual landscape and displayed, there is almost no difference between visual and displayed images, and other vessels on the sight are not only easily identified, but also leaked when visibility is limited at night or in fog. The object can be lifted up without any problem. In addition to that, the display unit is rotated and the superimposed image changes according to the change in the landscape, so that the operator can not only grasp the surrounding environment so as to match the movement of his body, In applications that require a wide field of view, such as ships, the narrow viewing angle is covered. In addition, this rotation operation is very compatible with the operation of measuring the direction of other ships and targets on the current compass, and can be expected to be accepted by the ship operator without a sense of incongruity.

  In addition, according to the present invention, the existence of a reference line called a horizontal line makes it easier and more reliable to grasp and identify the surrounding landscape. As a result, it is possible for the operator to grasp the surrounding situation more naturally and without difficulty.

  Furthermore, according to the present invention, by making it correspond to the posture of the ship, it is possible to obtain an image closer to a human sense that adapts to the behavior peculiar to the ship such as roll, pitch, and vertical shake. Therefore, even if a change occurs in the attitude of the ship, the situation can be grasped more accurately.

  In addition, according to the present invention, by turning to a target to be paid more attention, the narrowness of the viewing angle is covered in an application requiring a wide field of view as a ship, and this can be grasped visually. It becomes possible. Therefore, it is possible to accurately grasp the surrounding situation by specifying the target object.

  Furthermore, according to this invention, the landscape image which complements the fluoroscopic image obtained by performing fluoroscopic image conversion is obtained by imaging. Therefore, for example, by using radar information for a distant object and using imaging for a nearby object, it is possible to differentiate and grasp a closer object and a distant object. As a result, it is possible to obtain an image that is difficult to capture with radar such as a plastic ship hull in the vicinity of the ship and behind the ship, and it is possible to raise a target that should be noted for safety. In addition, since the landscape image is captured in conjunction with the rotation of the visual center line, visual recognition can be supported centering on the object that is truly desired to be noticed.

  Further, according to the present invention, by displaying at least the image outside the field of view range in the vicinity of the superimposed image in the vicinity of the superimposed image, for example, when the front landscape is noticed, the landscape just behind is displayed and the hack mirror is displayed. Display is possible. In other words, by displaying the surrounding environment together, the operator / monitorer can more accurately construct an image of the surrounding situation.

  Furthermore, according to the present invention, since the horizontal image is displayed substantially horizontally and the fluoroscopic image is erected and displayed, it is closer to the human sense, and it is easier for the operator to see and grasp, and to identify other ships. Be certain. In other words, the plane grasp is displayed horizontally, and the perspective image related to the elevational field of view is displayed elevationally, so that the ship operator / monitorer does not feel a sense shift. Therefore, safer operation is possible. In addition, since the plane information display is arranged substantially horizontally in front of the superimposed image displayed on the substantially window surface, the ship operator / viewer need not change the line of sight greatly, Also, from various information such as radar 360 ° plane information obtained by the plane information display, it is possible to grasp and judge the situation where the ship is placed, the situation of other ships, floating bodies, etc. quickly and accurately.

  In addition, according to the present invention, the safety information of other ships including at least one of AIS (automatic ship identification device) information and ARPA (automatic collision prevention assistance device) information is superimposed and displayed as character information. Detailed information of a target to be noted can be obtained by a simple operation of pointing the target on the support apparatus.

  Further, according to the present invention, the safety information of other ships is displayed in a space portion that is approximately equal to or greater than the vicinity of the horizontal line in the superimposed image, so that there is no problem in displaying even if other ships exist in the vicinity. As a result, it is possible to display the target that should be noted for safety without omission.

  Further, according to the present invention, by capturing the surrounding landscape of the ship as a complementary image including an infrared image, the radar is supplemented by a complementary means that captures what does not affect the radar, and the degree of capture of a target that can be a safety hindrance is improved. It becomes possible. According to this, it is possible to obtain information that is difficult to capture by radar, such as a part that is behind the ship in the vicinity of the ship and plastic hulls, and it is possible to raise a target that should be noted for safety. Targets that cannot be recognized by radar or visual observation even in fog can be captured accurately.

  Furthermore, according to the present invention, the presence of an object that may hinder the safety of the ship is displayed as a warning, so that the operator's attention is further raised and the safety level is improved. Therefore, even if the ship operator / monitoring person leaks the identification of the caution target for some reason, it is possible to compensate for such a failure.

  In addition, according to the present invention, the position adjustment means makes fine adjustments in the horizontal direction and / or the vertical direction in order to match the superimposed image, the viewpoint of the operator, and the surrounding visual landscape. And the accuracy of the extraction of objects that can pose a threat to safety increases.

  In addition, according to the present invention, information such as other ships and surrounding conditions based on information obtained as radar echo signals can be more easily perceived by the operator as a fluoroscopic image from the viewpoint of the operator. Since it is converted and displayed superimposed on the visual landscape, there is almost no difference between visual and displayed images, and other visual vessels can be easily identified. Furthermore, the omnidirectional information of the radar body can be used for a wide field of view in the maneuvering room, and no special information source or device is required. In addition, both plane image information and fluoroscopic image information can be used, which effectively supports the visual observation of the ship operator / monitorer and supports safe operation.

  Further, according to the present invention, it is possible to grasp this visually by turning it toward the target to be more focused, and the narrow viewing angle in applications where a wide field of view called a ship is required. Effectively cover. In other words, it becomes possible to identify the target and actively collect information, and the sense of incongruity for the operator is minimized.

  The best mode for carrying out the present invention will be described below with reference to the drawings. In the following, the range necessary for the description for achieving the object of the present invention is schematically shown, and the range necessary for the description of the relevant part of the present invention will be mainly described. Are according to known techniques.

  FIG. 1 is a schematic diagram showing an overall configuration including a visual recognition device 1 according to an embodiment of the present invention. As shown in the figure, the visual recognition device 1 includes a radar antenna 2, a RADAR / ARPA 3, an interface unit 4, an AIS receiver 5, a GPS receiver or satellite compass 6, a gyro compass 7, and a complementary information device (illustrated). Not).

  The device 1 may be configured, for example, by a built-in PC (personal computer). The device 1 has a built-in program having various functions or a separate storage medium (not shown) loaded with the program. You may implement | achieve as an information processing apparatus which can be started. It is preferable that the system has a capability of performing display in real time without delay and performing an operation corresponding to the operation while the system is operating. Connected via a local area network (hereinafter also referred to as “LAN”), acquisition of radar echo signals, acquisition and release of radar targets, acquisition of acquired radar target information (eg, course, speed, maximum) Approach distance (DCPA), closest approach time (TCPA) included), own ship information acquisition (for example, heading (Heading), longitude and latitude (Lat.Lon.), Ground speed (SOG), ground (Including C.O.G.).

  The RADAR / ARPA 3 has a function of acquiring information related to the surrounding environment of the ship and / or other ship conditions via the radar antenna 2.

  The interface unit 4 plays a role of passing data / signals related to the surrounding situation acquired by the RADAR / ARPA 3 to the visual recognition device 1. For example, the external device: radar interface, input terminal: LAN, external device: AIS, An input terminal, an external device: a gyrocompass, and all cables necessary for these connections are included, and one is provided with one or a plurality of USB2.0 and IEEE1394.

  The AIS receiver 5 is connected to a personal computer through an interface and has a function of acquiring AIS information of other ships.

  The GPS receiver or satellite compass 6 is connected via an interface, and includes GPS information (for example, longitude and latitude (Lat.Lon.), Ground speed (SOG), ground path (COOG). , Including a heading). Note that the GPS information may be acquired from the RADAR / ARPA 3 or acquired from the GPS receiver 6 because the information input to the RADAR / ARPA 3 may be acquired from the GPS receiver 6.

  The gyrocompass 7 is connected via an interface, acquires gyrocompass information (for example, including true north), and can calculate a heading (Heading) related to GPS information from the gyrocompass information. In addition, since the information regarding the heading (Heading) of gyrocompass information and GPS information may be acquired from RADAR / ARPA3 or acquired / calculated from gyrocompass 7 in RADAR / ARPA3. A configuration that can be selected by setting is preferable.

  The complementary information device (not shown) has a function of capturing the surrounding landscape of the ship as a complementary image including an infrared image and displaying the captured complementary image on the superimposing display device 34 described later.

  In addition, based on other ship information from the RADAR / ARPA 3, the device 1 extracts a target that may cause a safety problem by, for example, a function that picks up distance information and speed information that exceed a certain threshold. However, it may be configured to further include a warning display unit (not shown) including a device that displays detailed character information about this with emphasized characters and / or emphasizes various human senses such as voice and smell. Good.

  FIG. 2 is a detailed configuration diagram of the visual recognition device 1 according to an embodiment of the present invention. As shown in the figure, the visual recognition support device 1 includes a main system unit 10 having at least one of a horizontal state display device 11, a superimposing display device image source 12, an operation unit 13, and a balance weight 14, and a housing 21. The gantry unit 20 having at least one of the rotary gantry 22 and the stand 23, and the optical unit 30 having at least one of the combiner 31, the lens 32, the mirror 33, the filter 34, and other mounting jigs (not shown). It comprises.

  The main system unit 10 is connected to the RADAR / ARPA 3 shown in FIG. 1 via a LAN, and acquires the radar echo signal described above, captures and releases the radar target, acquires the captured radar target information, You can get it. The AIS receiver 5, the GPS receiver or the satellite compass 6, and the gyro compass 7 are connected via respective interfaces, and can obtain AIS information and calculate a course related to the gyro compass information and the GPS information.

  The horizontal status display device 11 shows a display screen using liquid crystal, and can display predetermined information related to RADAR / ARPA3 or compass information related to gyrocompass 7. Although the specification is not limited, it is preferable that the input signal is DVI and RGB, and the touch panel can use a pen-shaped indicator such as a stylus. A configuration having a dimmer function and capable of constant light control with a volume knob is more preferable.

  The superimposing display device image source 12 is a device that projects an image source to be displayed on the superimposing display device 34 based on various information obtained from a GPS receiver or satellite compass 6 and gyrocompass 7 such as RADAR / ARPA 3 and AIS receiver 5. And there is no limit to the specs. The balance weight 14 is an adjustment jig for maintaining the center of gravity of the visual recognition device 1 at the center line of the stand 21 when the main system unit 10, the gantry unit 20, and the light source unit 30 are joined, and is limited to its weight. There is no.

  The gantry unit 20 supports the main system unit 10 with a rotary gantry 22 and maintains the entire configuration of the visual recognition device 1 with a stand 23. The rotary mount 22 is one in which the main system unit 10 rotates in the pitch and yaw directions with the compass center 9 as an axis. A rotation angle detection device (not shown) for detecting the azimuth angle is attached. A superimposing display device 34 is attached to the casing 21. Since the rotary mount 22 can rotate, the narrow viewing angle is covered. In addition, this rotation operation is very compatible with the operation of measuring the direction of other ships and targets on the current compass, and can be expected to be accepted by the ship operator without a sense of incongruity. In addition, there is no limitation in the dimension and material which concern on the housing | casing 21, the rotary mount frame 22, and the stand 23. FIG.

  The optical unit 30 copies the video of the superimposing display device image source 12 related to the main system unit 10 by the mirror 33, and reflects the reflected video reflected by the lens 32 by the combiner 31 via the lens 32 and the superimposing display device 34. The background is superposed so that the operator can observe it. The combiner 33 is a transflective plate that has a transmission function and a reflection function, and has a function of superimposing a reflected image and a background.

  FIG. 3 is a detailed diagram illustrating a detailed configuration of the operation unit 13 of the main system unit 10 of the visual recognition device 1 according to the embodiment of the present invention. In the figure, the operation unit 13 includes at least one of a power supply 1301, a grip 1302, a trackball 1304, a superimposed display device dimmer knob 1306, an input changeover switch 1307, and a horizontal status display device dimmer knob 1308, but is not limited thereto. However, other element functions may be provided. Since the grip 1302 or the trackball 1304 can perform the same function for operation, any one of them may be selected, or may be properly used according to the application and the scene as needed.

  FIG. 4 is a system configuration diagram of the visual recognition device 1 according to an embodiment of the present invention. In the drawing, the relationship among the main system unit 10, the gantry unit 20, and the optical unit 30 is shown as a conceptual diagram. The main system unit 10 includes a main system main body 15, a speaker 16, and a microphone 17 in addition to the configuration shown in FIG. The main system main body 15 is connected to the RADAR / ARPA 3, the AIS receiver 5, the GPS receiver or the satellite compass 6 and the gyro compass 7 shown in FIG. 1 through various interfaces. Further, it is connected to a rotation angle detector (not numbered) related to the gantry unit 20 and has a function of detecting an azimuth angle or elevation angle due to rotation of the rotary gantry 22.

  Next, details of functions and operations of this apparatus will be described together with the concept of a display image on the superimposing image display apparatus 34.

  FIG. 5 is a diagram showing a concept of image display displayed on the superimposing image display device 34 of the visual recognition device 1 according to an embodiment of the present invention. In this figure, (1) in determining the viewpoint 8 for viewing the image display device for superimposition 34, own ship specifications (including floor height from the bridge, repeater compass position, radar antenna position, etc.) and From the GPS information (Lat., Lon.), The viewpoint horizontal position (the viewpoint horizontal position is the horizontal line b in the figure) and the viewpoint height are determined, and (2) the cover for the display screen of the horizontal status display device 11 is determined. Mapping (arrangement) radar echo, radar target, AIS information, etc. on the sea surface, (3) Assuming a perspective image plane a, transform radar echo and other ship symbols on the sea surface into a perspective image plane (mapping) (4) Applying the optical geometric correction formula given through the superimposing display device optical unit from the gantry 20 to the display data on the fluoroscopic image plane a, and superimposing display device image source 1 To create a use display data. It should be noted that ambient environment information or other ship conditions (including objects originally present in the air) are pasted below the horizontal line b related to the perspective image plane a.

  FIG. 6 is a diagram illustrating a pattern of the perspective image plane a according to the visual recognition device 1 according to the embodiment of the present invention. As shown in the figure, the perspective image plane a is divided into a case where the sea-to-air is 1: 1 and a case where the sea-to-air is 2: 1 based on the horizontal line b. The sea-to-air ratio of 2 to 1 is suitable for displaying a nearby situation.

  FIG. 7 is a diagram illustrating an optical path diagram related to an image projected from the superimposing display device image source 12 in the visual recognition device 1 according to the embodiment of the present invention. In the figure, in the image projected from the superimposing display device image source 12, incident light a and a ′ are incident on the mirror 33 and reflected light b and b ′ having a reflection angle θ (not shown) are reflected. . The reflected lights b and b ′ enter the lens 32, and the incident lights c and c ′ enter the combiner 31 substantially perpendicularly. The incident lights c and c ′ reflect the reflected lights d and d ′ substantially horizontally with respect to the viewpoint 8. Note that the position of the viewpoint 8 shown in FIG. 6 is not the center of the compass shown in FIG. 5, but the superimposed image viewed from the viewpoint 8 is an image showing a situation several miles away, so the difference is negligible and ignored. You can do it.

  FIG. 8 is a diagram illustrating an image for superimposition that can be viewed with the superimposing display device 34 according to the visual recognition device 1 according to the embodiment of the present invention. As shown in the figure, the superimposing image 341 displayed on the screen related to the superimposing display device 34 is composed of a horizontal line / capture line 3401, bow-tail line 3402, azimuth line / azimuth display 3403, auxiliary line 3404, radar echo. 3405, other ship information / leader line 3406 and other ship symbol 3407 are superimposed. By superimposing and displaying such various auxiliary lines, the ship operator / monitorer can further assist in accurate visual inspection and situation grasping.

  FIG. 9 is a diagram showing a more detailed configuration of the auxiliary line 3404 of FIG. As shown in FIG. 6A, an azimuth / distance auxiliary display image 3404a with an azimuth / distance display auxiliary line, a longitude / latitude auxiliary display image 3404b with a longitude / latitude display auxiliary line, and auxiliary with a fixed grid line A grid auxiliary display image 3404c to which lines are attached is provided. These constitute the auxiliary line function 3404 and are superimposed on the superimposition screen, thereby assisting the operator / monitorer to grasp the situation more accurately. The auxiliary lines are not limited to these, and various auxiliary lines may be employed as long as they improve the convenience of the operator / monitorer.

  10 to 12 are diagrams showing details of the display part related to the other ship information in FIG. 8, particularly the part related to the radar echo 3405, the other ship information / lead-out line 3406, and the other ship symbol 3407. As shown in FIG. 10 (A), a horizontal line is displayed horizontally slightly above the center of the screen. Thereby, the viewer can grasp the proximity relationship of other ships or the like based on the horizontal plane in conformity with his / her sense. In addition to this, as shown in FIG. 10B, character information about the ship is displayed at a position above the horizontal line. This makes it possible to grasp detailed text information (ship name, direction, speed, etc.) without hindering the display of symbols (explained later) of other ships.

  Further, in this case, as shown in FIG. 11, the information on the nearby ship is displayed large, the information on the distant ship is displayed small, the information on the nearby ship is displayed above, and the information on the distant ship is displayed on the horizontal line. The crossing direction of the crossing ship is expressed by right-justified and left-aligned characters, and the ship is expressed by centering (an image of a flag). As a result, the viewer can distinguish between the vicinity and the distance, grasp other ships that are not leaked without being hidden in the character information, and grasp the crossing direction in a form according to his / her sense.

  In addition, as shown in FIG. 12, as a display method of other ship information, the other ship information captured by the capture line or indicated by the pointing device is displayed largely, and the other ship that received the collision warning from RADAR / ARPA3 is displayed. The idea is to display the symbol in red and blink. As a result, other ships or the like to be noticed are more emphasized, so that the possibility of leakage from the supplementary object is reduced, and safe operation is further ensured.

  In addition, as for the display part related to other ship information, other measures are adopted if it further attracts the attention of the operator / monitorer, maintains the attention, or facilitates information acquisition. May be.

  FIG. 13 is a configuration diagram illustrating a configuration in which the visual recognition device 1 having the configuration described above further includes a camera that captures an external situation and / or a camera that captures an operation status. In the same figure, the part which overlaps with the matter especially demonstrated in FIG. 2 is changed with description of FIG. As shown in the figure, by further providing an external situation camera, the external situation is further displayed and the convenience of maneuvering is further improved. Further, by further providing an operation status camera, it is possible to record the maneuvering status, and the convenience of pursuing the cause of the maneuvering in the event of an accident is further improved.

  Next, the operation and use method of the present apparatus configured as described above will be described.

  The vessel operator or the supervisor monitors the surrounding situation in front of the main system unit 10. In this monitoring, the horizontal state display device 11 grasps the surrounding planar position, and the front superimposing display device 34 grasps the positions of obstacles, other ships, etc. ahead. At this time, information on other ships, obstacles, etc. in the fluoroscopic image displayed on the superimposing display device 34 is radar and / or non-radar information such as infrared rays based on RADAR / ARPA3 or a complementary information device (not shown). Therefore, even if the front field of view is not open due to bad weather etc., it is possible to grasp the front object without omission. Further, since the planar positional relationship is visually recognized by the horizontal state display device 11 installed substantially horizontally and the elevational positional relationship is visually recognized by the superimposing display device 34 installed elevationally, the human sense is further increased. Can be grasped without any sense of incongruity. Further, at this time, since the elevation image is a perspective image, a close image is displayed close and a distant image is displayed (small) in the distance, so that a smooth grasp can be made faithful to human senses.

  Here, when the ship operator or the monitor wants to grasp the details of the target object because the specific target is close or approaching at high speed, for example, the superimposing display device 34 is used. This is pointed by, for example, a cursor on the display surface or the display surface of the horizontal state display device 11. As described above, the ARPA information, AIS information, GPS information, etc. of the pointed object are superimposed on the screen that is currently being viewed by the operator (display on the superimposing display device 34 or the horizontal status display device 11). Therefore, the ship operator or the like can grasp more accurate information without taking his eyes off the approaching object. Therefore, there is no need to collect information by turning the eyes from the front to the other as in the past, and further safer maneuvering becomes possible.

  Furthermore, at this time, when it is desired to obtain information on other ships in a direction different from the traveling direction, the superimposed image is linked to display the superimposed image in the facing surface direction by rotating the rotary mount 22. Since it fluctuates, the narrow viewing angle is covered. In addition, this rotation operation is very compatible with the operation of measuring the direction of other ships and targets on the current compass, and can be expected to be accepted by the ship operator without a sense of incongruity. As a result, the convenience of monitoring for the vessel operator / monitorer is improved.

  According to an alternative embodiment of the present invention, the main system unit integrates information from GPS, gyrocompass, ARPA, AIS, and coordinates conversion of radar echoes and other ship symbols into a perspective image from the ship operator's viewpoint. And displayed on the display device for superimposition. In addition, in accordance with the display setting of the ship operator, it is displayed on the azimuth line, auxiliary line, and superimposing display device. The horizontal status display device displays a compass image corresponding to the actual orientation. The main system unit includes a display device for superimposed display, a horizontal status display device, an operation unit used for capturing and releasing radar targets, and changing display settings.

According to another alternative embodiment of the present invention, the display device for superimposition (semi-transmissive display) in front of the compass is equipped with a radar / ARPA.
This is realized as a visual recognition support device that can capture and release radar of other ships from this device side. When the radar echo and the captured other ship symbol are superimposed and displayed on the superimposing display device, the radar echo and the other ship symbol are converted into a fluoroscopic image from the ship operator's viewpoint and displayed. As a result, the other ship on the actual landscape and the superimposed radar echo are displayed so as to overlap each other, so that the other ship on the radar and the other ship on the visual can be easily identified. In ships, there is a relatively large space compared to other vehicle cockpits, etc., so that the entire translucent information display function can be rotated as a pedestal to widen the coverage and cover the narrow viewing angle. . In addition, this rotation operation is very compatible with the operation of measuring the direction of other ships and targets on the current compass, and can be expected to be accepted by the ship operator without a sense of incongruity. Since this apparatus receives information from existing navigation equipment such as radar and GPS, it is not necessary to install new antennas and sensors in each ship.

Next, an embodiment of the present invention will be described. This device uses a transflective display on the front of the compass to display the direction and longitude and latitude so as to overlap the landscape, distance from the ship, and other ship information obtained from ARPA and AIS overlaid with other ships Is displayed. In addition, it is possible to capture the radar target before capturing from this device, release the captured radar target, and check the warning from ARPA.
1. Main system section configuration The main system section integrates information from GPS, gyrocompass, RADAR / ARPA, and AIS, and coordinates the radar echo and other ship symbols into a perspective image from the operator's viewpoint and displays it on the display device for superimposition. To do. In addition, in accordance with the display setting of the ship operator, it is displayed on the azimuth line, auxiliary line, and superimposing display device. The horizontal status display device displays a compass image corresponding to the actual orientation.
The main system unit includes a display device for superimposed display, a horizontal status display device, an operation unit used for capturing and releasing radar targets, and changing display settings.
2. Hardware specifications
2.1 Embedded PC
-It must have the ability to display in real time without delay and to perform operations corresponding to operations while this system is in operation.
2.2 Superimposing display device
Signal input DVI and RGB
Have dimmer function
dimmer
The function must be dimmable at all times with a volume knob
dimmer
The adjustment knob can be attached to the specified position. The bezel must be as small as possible.
2.3 Horizontal status display device
Signal input DVI and RGB
Have dimmer function
dimmer
The function is that it can always be dimmed with a volume knob. The bezel must be as small as possible. The touch panel must be capable of using a pen-shaped indicator such as a stylus.
2.4 Operation unit
The viewpoint height adjuster (spring return origin automatic return), the enlargement / reduction adjuster (spring return origin automatic return), and the information amount adjuster are a slider type and a rotation type.

As for the slider type, a spare one for spring return and one for holding type are prepared.
The software implementation of each operation unit is assumed to be in a usable state by connecting each operation element and switching the operation right.
3. General software specifications
3.1 Basic environment
3.2 RADAR / ARPA
Connection and operation

Enables the following operations to RADAR / ARPA via a radar interface via LAN.
-Acquisition of radar echo signal-Acquisition and release of radar target-Acquisition of acquired radar target information (course, speed, closest approach distance (DCPA), closest approach time (TCPA))
・ Obtain ship information (heading, longitude (Lat. Lon.), Ground speed (SOG), ground path (COG))
・ Operation of EBL (electronic cursor), VRM (variable distance ring)
3.3 Connection with AIS receiver and acquisition of information ・ Connect to AIS receiver or PC that emits the same simulation signal via interface to acquire AIS information of other ships.
3.4 Obtaining the rotation direction of the device with an accuracy of 0.1 degree for 360 degrees in all directions, based on the connection with the frame part azimuth angle detection device and the acquisition of information, and the output from the azimuth angle detection device (rotation angle detector) thing.
3.5 Connection with other devices
3.5.1 GPS receiver connection and information acquisition ・ GPS information based on GPS receiver and interface (latitude (Lat. Lon.), Ground speed (SOG), ground path (COG)),
Get the course (Heading, satellite compass))
3.5.2 Gyrocompass connection and information acquisition ・ Connect to the gyrocompass via the interface to obtain gyrocompass information (true north) ・ Has the ability to calculate Heading from true north information About overlay display
4.1 Display concept for superposition
(1) Own ship specifications (Bridge floor height, repeater compass position, radar antenna position), GPS information (Lat.,
Lon.) Determines the viewpoint horizontal position and viewpoint height.
(2) Mapping (arranging) radar echo, radar target, and AIS information to the sea surface
(3) Assume a perspective image plane. Then, the radar echo and other ship symbols on the sea surface are converted (mapped) on the perspective image plane.
(4) Applying the optical geometric correction formula (table) given from the gantry to the display data on the fluoroscopic image plane when using the superimposing display device optical unit, the superimposing display device image source display data Create
4.2 Display content for superimposition The content displayed on the superimposition display device has a hierarchical structure.
・ Horizontal line, catching line, bow tail line, bearing line, bearing display, auxiliary line, radar echo, other ship information, leader line, other ship symbol Functional specification 5-1 setting (1) Setting file and various setting parameters are all described in the text format setting file. Each function is set to a set value by reading when starting or when necessary.
(2) Setting item: Enter the following information as an initial setting item.-Ship name: Used for organizing.-Bridge height: Height from sea level to the bridge floor at standard draft. The sum of the eye height when using the visual recognition support device from the floor of the bridge is the eye point (EP) height.
-Position of RADAR antenna: Used to correct the ship position on the position of the visual recognition support device-GPS antenna position: Used to correct the radar echo position on the position of the visual recognition support device 5-2 Selection of information source (1) Heading : The heading can be selected from the setting screen while the gyrocompass, satellite compass, and RADAR / ARPA are connected at the same time. (2) Current position: The latitude and longitude coordinates of the current position are GPS receivers (or satellite compass) , RADAR / ARPA can be connected at the same time and you can select which one to use from the menu. (3) AIS information: Other ship information by AIS is obtained from the AIS receiver or the PC that simulates the signal. (1) Outline: When viewing the front through a transflective display device of the optical unit with a viewpoint at a predetermined position of the visual recognition support device, the following basic display and easy measurement can be taken. Auxiliary display for, the radar return is perspective view so as to overlap on the sea surface. Each display function is shown below. According to the rotation of the visual recognition support device, the azimuth angle of the device is detected, and the display corresponding to the azimuth angle is updated in real time.
(2) Color tone: It has a function to adjust the color tone of all displays at once. Green, red, white, yellow, and blue systems are prepared in advance.
5-4 Basic display (1) Display horizontal lines and horizontal lines.
・ Thickness, color, line type, and shade (transparency) can be adjusted. (2) Capture line ・ A line on the central front extension line of the visual recognition support device is called a “capture line” and is always displayed in the front center.
・ Thickness, color, line type, and shading (transparency) can be adjusted. (3) Bow tail line ・ Display the bow tail line based on the azimuth of the visual recognition support device ・ Thickness, color, line type, Adjustable shade (transparency) (4) Azimuth scale • A direction scale is displayed on the horizontal line.
・ As for the direction scale, the relative direction with the true direction and the heading as zero degrees can be selected.
・ Direction scale can be selected from 360-degree display and 32-point display.
・ In case of clock display, the direction scale can be selected from true direction (360 degree display, 32 point display) and relative direction with the heading as zero degree.
-Thickness, color, and shade (transparency) can be adjusted. (5) Direction display-Direction display is displayed every 10 degrees in the case of degree display.
・ In the case of a point display and true orientation, 16 orientations are displayed like N, NNE, NE.
・ Display and non-display, font, character size, color, shading (transparency) can be adjusted. It is possible to change the line thickness or color shade (transparency) as the distance from the ship increases. ・ Respond to the operation of the viewpoint height adjuster and enlargement / reduction adjuster in real time.・ Auxiliary display is also updated (1) Direction / distance display / Own ship's visual recognition support device Displays azimuth lines and equidistant circles around the center of the compass ・ Direction according to the rotation of the visual recognition support device Lines can be rotated to stay on the surface of the sea. • Display / non-display, line type, font, character size, color, shade (transparency) can be adjusted. (2) Longitude and latitude display.・ The longitude and latitude follow the movement of the ship,・ Latitude and latitude values can be displayed. ・ Latitude and latitude intervals can be set. ・ Display / non-display, line type, font, character size, color, and shade (transparency) can be adjusted. 5-6 Radar Echo ・ Radar echo is acquired by calling RADAR / ARPA using radar dll via radar interface connected by LAN cable.
・ Radar echo is a PPI display centered on the ship's radar antenna (displayed from directly above), so it is assumed that the echo is attached to the sea surface and converted to a perspective image from the viewpoint and displayed. . Converts radar echoes in the “field of view” range on the perspective image plane. 5-7 Radar capture / cancellation / cancellation of color / shading (transparency). Other ship overlapped with capture line. , (2) -3: Right grip pointing stick, or (3) -3: Move the cursor with the trackball, (2) -1: A trigger (3) -1: Other than pressing the left button on the trackball For ships, display AIS information. Also started ARPA capture, course, speed, TCPA,
Display as soon as DCPA is identified.
5-8 Other ship symbol display: Other ships that are broadcasting AIS signals or capturing ARPA display the other ship symbol superimposed on the radar echo.
・ Symbol conforms to IEC60872-1 and other related IEC and IMO standards ・ Other ship symbol can be selected from screen pasting and sea surface pasting 5-9 Other ship information display: Select other ship information display from the following Yes (1) Direct overlay display ・ Display directly beside other ship symbols ・ Display information items can be set ・ Information display position (up, down, left and right, up and down, 8 directions in total) can be set ・ Display information items Can be set-The font, thickness, color, and shading (transparency) of the characters that display information can be adjusted.-All of them overlap or the display can be adjusted closer to the distance. (2) Drawer display ・ Pull out a lead line from the other ship symbol or obliquely and display other ship information above the horizontal line ・ Display information items can be set Set the display position・ The display information items can be set. ・ The font, thickness, color, and shading (transparency) of the characters that display information can be adjusted.・ Can be displayed by automatically shifting the position so that information does not overlap each other (3) Drawer display (directly above)
・ Other ship information is displayed above the other ship symbol. ・ Leader lines are all perpendicular to the horizontal line. ・ Horizontal display of information, vertical / diagonal display, and vertical writing display can be set. The display position (up / down / left / right, diagonally up, total of 8 directions) can be set. -Display information items can be set. Enables adjustment of thickness, color, and shade (transparency). ・ Adjusts font, thickness, color, and shade (transparency) of characters that display information in conjunction with distance. The display position can be displayed nearer or further away from the horizontal line.
・ The display method of information can be set to right-justified, left-justified, or center-aligned (co-ship / counter-go ship) according to the crossing direction of the crossing ship. (4) Common items The information of other ships is displayed in large size. ・ The symbol of other ships that received a collision warning from RADAR / ARPA is displayed in red and blinks.
5-10 Adjustment of viewpoint height ・ Since other ships gather near the horizontal line in the bow direction, it is difficult to recognize the information and positional relationship of other ships near the horizontal line.
・ There is a viewpoint height adjuster that can change the viewpoint height with one variable adjuster.
• The viewpoint height changes interactively immediately according to the adjustment of the adjuster. In addition, when the hand is released, it automatically returns to the height of the bridge. ・ It is possible to set the relationship between the operation and operation of the adjuster. 5-11 Enlarging / reducing (compressing) the displayed image
An enlargement / reduction adjuster that can temporarily enlarge / reduce the field of view with one variable adjuster is provided. Image enlargement / reduction is performed by changing the ratio of the positional relationship between the viewpoint and the perspective image plane.

• The viewpoint height changes interactively immediately according to the adjustment of the adjuster. In addition, when the hand is released, it automatically returns to the basic position. ・ It is possible to set the relationship between the operation and operation of the adjuster. 5-12 Adjustment of the display information amount.・ It is possible to set the relationship between the operation and operation of the adjuster. ・ Adjustment is determined from the three directions of bow direction, DCPA, and TCPA. 5-13 Update rate (1) Display is updated in real time as much as possible (2) The rotation of the visual recognition support device, the use of the viewpoint height adjuster, and the use of the enlargement / reduction adjuster should be interactively updated according to the operation. At that time, priority is given to updating with respect to a change in viewpoint, and updating of display information can be temporarily suspended.
(3) Update priority ・ Capture line, bow-tail line, horizontal line, bearing scale (large scale), bearing display (more than 30Hz required)
・ Other ship information indicated by pointing device or overlapped with capture line (requires 10Hz or more)
・ Alarm ・ Other ship symbol ・ Other ship information
・ Radar echo (more than 2Hz)
・ Other ship information ・ Other operation display (above 1Hz or more)
5-14 Optical correction-A virtual perspective image plane is set between the viewpoint and the landscape image. At that time, the relationship between the coordinates of the perspective plane and the coordinates of the superimposing display device image source is given by the superimposing display device optical unit in the form of a mathematical expression (including a determinant) or a table. The function is to generate a converted image so that is displayed and output it to the image source.
5-15 display image: 5-16 position adjustment function having the following functions for image position adjustment: enlargement / reduction of display image, left / right and up / down movement of display image position 5-17 horizontal status display device (1) input changeover switch By selecting, the compass screen or radar screen is displayed.
(2) It has the following functions for image position adjustment:-Enlargement / reduction of display image-Left / right and up / down movement of display image position (3) In addition to compass rose, two or more types of compass screens can be selected. 18 Operation / warning sound output / function to generate warning sound when set event (alarm, other ship information selection, etc.) occurs.
・ The warning sound is prepared in the form of a file.
・ Enables output / non-output and audio file selection by setting.

  As described above in detail, according to the present invention, since it is displayed after being converted into a fluoroscopic image from the viewpoint of the operator, there is almost no difference between visual and display images, and with other ships on the radar. Easily identified from other ships on the sight. Therefore, the monitoring burden on the operator can be reduced, and safer navigation can be achieved.

  The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

  For example, in the above description, the situation of grasping the surrounding situation at the time of ship navigation in the ocean has been described as an example. However, the technical idea according to the present invention is not only at the time of ship operation but also vehicle operation, aircraft operation. It can also be applied to grasping the surrounding safety situation. In addition, for example, the idea that horizontal information is displayed almost horizontally and elevation information is displayed on the surface is ergonomically that all current vehicles and aircraft display elevation. In view of the fact that the human sense is distorted, there are immeasurable applicability and value even in other industries.

  In addition, for example, in the above, an aspect in which information by infrared rays is superimposed and displayed as complementary information has been exemplarily shown. However, for example, near ultraviolet pulse laser (wavelength 380 to 200 nm) irradiation, far ultraviolet pulse laser ( The present invention can also be applied to the case of using information using irradiation light, or information acquired from all or part of fluorescence, water Raman scattered light, and elastic scattered light.

  Further, the above is merely an example of an embodiment for realizing the technical idea according to the present invention, and the technical idea according to the present invention can be applied to other embodiments. is there.

  Furthermore, even when the apparatus, method, and system produced using the present invention are mounted on the secondary product and commercialized, the value of the present invention is not reduced at all.

  As mentioned above, in order to grasp the surrounding conditions during ship operation, the efficiency of visual and radar confirmation is simplified and simplified. By superimposing human visual landscapes and information on other ships and surroundings on the radar in supervision during ship maneuvering, the burden of lookout work can be reduced and ship operation judgments can be made accurately under any circumstances. The present invention that assists in performing the operation supports not only the ship but also the accurate judgment of the surrounding situation during the general operation of the vehicle used in the ocean and water systems.

  Therefore, the present application can be widely applied to floating bodies and vehicles used in the ocean and water systems, as a matter of course, and in a wide range of industries such as these manufacturing industries, shipping industry, transportation industry, and travel industry. It is highly available.

It is a schematic diagram showing the whole composition containing visual recognition device 1 concerning one embodiment of the present invention. It is a detailed block diagram of the visual recognition apparatus 1 which concerns on one Embodiment of this invention. It is detail drawing which shows the operation part 13 of the main system part 10 of the visual recognition apparatus 1 which concerns on one Embodiment of this invention. It is a system configuration figure of visual recognition device 1 concerning one embodiment of the present invention. It is a figure which shows the concept of the image display displayed on the image display apparatus for superimposition of the visual recognition apparatus 1 which concerns on one Embodiment of this invention. 1 is a diagram showing a pattern of a fluoroscopic image plane a according to a visual recognition device 1 according to an embodiment of the present invention. It is a figure which shows the optical path figure which concerns on the image projected from the display apparatus image source 12 for superimposition of the main system part 10 in the visual recognition apparatus 1 which concerns on one Embodiment of this invention. It is a figure which shows the image for superimposition which can be visually recognized on the display apparatus for superimposition which concerns on the visual recognition apparatus 1 which concerns on one Embodiment of this invention. It is a figure which shows the further detailed structure of the auxiliary line 3404 of FIG. 8 which concerns on one Embodiment of this invention. It is a figure which shows the detail of the display part which concerns on the other ship information of FIG. 8 which concerns on one Embodiment of this invention, especially the part which the radar echo 3405, the other ship information and leader line 3406, and the other ship symbol 3407 get involved. It is a figure which shows the detail of the display part which concerns on the other ship information of FIG. 8 which concerns on one Embodiment of this invention, especially the part which the radar echo 3405, the other ship information and leader line 3406, and the other ship symbol 3407 get involved. It is a figure which shows the detail of the display part which concerns on the other ship information of FIG. 8 which concerns on one Embodiment of this invention, especially the part which the radar echo 3405, the other ship information and leader line 3406, and the other ship symbol 3407 get involved. It is a block diagram which shows the structure further provided with the camera which images an external condition in the visual recognition apparatus 1 which concerns on another one Embodiment of this invention, and / or the camera which images an operation condition.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Visual recognition assistance apparatus, 2 ... Radar antenna, 3 ... RADAR / ARPA, 5 ... AIS receiver, 6 ... GPS receiver / satellite compass, 7 ... Gyrocompass, 10 ... Main system part, 11 ... Horizontal condition display apparatus, 12 ... Display device image source for superposition, 20 ... gantry unit, 22 ... Rotating gantry, 30 ... Optical unit

Claims (16)

A radar information acquisition unit that acquires radar information related to the surrounding environment of the ship and / or other ship conditions, a conversion unit that converts the acquired radar information into a perspective image from the viewpoint of the operator, and the converted perspective image And a display unit that displays the image as a superimposed image superimposed on the ship operator's visual landscape.   The visual recognition assisting device according to claim 1, further comprising ARPA (automatic collision prevention assisting device) information and / or AIS (automatic vessel identification device) information based on the radar information.   A radar device that acquires radar information related to the surrounding environment and / or the status of other ships on the sea surface of the covered area, a plane information display for performing horizontal display of the radar information, and a visual landscape based on the radar information. A superimposed image display for displaying a superimposed image, a gantry unit that can rotate at least in a horizontal direction, a rotation angle detection unit that detects rotation of the gantry unit, and a planar display from radar information acquired by the radar device A display information derivation unit that obtains information and obtains superimposed display information by applying optical geometric correction to the planar display information or the radar information, and the planar information display unit and the planar information display unit based on the obtained planar display information and superimposed display information, respectively. An image source device for displaying an image on the superimposed image display in conjunction with the rotation of the gantry detected by the rotation angle detection means. Visual recognition assistance device according to claim.   The visual recognition assisting apparatus according to claim 1, wherein when the superimposed image is superimposed on a visual landscape, the superimposed image is superimposed with a horizontal line as a reference.   The visual recognition support apparatus according to claim 1, wherein the superimposed image to be superimposed on the visual landscape is corrected and converted according to a posture of the ship.   The visual center line of the superimposed image can be rotated by power including manual operation, and the superimposed image display is rotated in conjunction with the rotation, according to one of claims 1 to 3. The visual recognition assistance apparatus of description.   An imaging means for photographing a landscape around the ship is further provided, a landscape image is captured in conjunction with the rotation of the visual center line, and the captured landscape image can be displayed as a superimposed image or in the vicinity of the superimposed image. The visual recognition support device according to claim 6.   The visual recognition support device according to claim 6, wherein at least an image outside the visual field range of the device is displayed in the vicinity of the superimposed image among landscape images captured in conjunction with the rotation of the visual center line. .   The plane information display is arranged substantially horizontally in front of the superimposed image displayed on the window surface with a display surface for displaying the superimposed image, and a radar plane image and a compass are arranged on the plane information display. The visual recognition support device according to claim 1, wherein at least one of a planar landscape image obtained by converting information, electronic chart information, and landscape image information into a planar image is displayed.   In the superimposed image, other ship safety information including at least one of AIS (automatic collision prevention apparatus) information and ARPA (automatic collision prevention assistance apparatus) information related to the specified ship is superimposed and displayed as character information. The visual recognition assisting device according to claim 1, wherein the visual recognition assisting device is one.   The visual recognition assisting apparatus according to claim 10, wherein the other ship safety information is displayed in a space portion that is substantially equal to or greater than the vicinity of a horizontal line in the superimposed image.   The surrounding landscape of the ship is captured as a complementary image including an infrared image, and the captured complementary image is displayed superimposed on the superimposed image to complement the radar superimposed image. Of these, the visual recognition support device according to item 1.   The visual recognition support according to claim 12, further comprising a warning display unit that displays a warning on the presence of an object that may interfere with safety of the ship in the radar superimposed image and / or the complementary image. apparatus.   The visual recognition according to claim 1, further comprising horizontal and / or vertical position adjustment means for matching the superimposed image, the viewpoint of the operator, and the surrounding visual landscape. Support device.   Radar information related to the surrounding environment of the ship and / or other ship conditions is acquired from the radar main body, the acquired radar information is converted into fluoroscopic image information from the ship operator's viewpoint, and the horizontal surface of the covered sea surface is based on the acquired radar information A visual recognition support method characterized by displaying image information on a plane information display device installed on a substantially horizontal plane, and displaying the converted fluoroscopic image information on a display device for superimposition so as to be superimposed on a surrounding visual landscape. .   16. The visual recognition support according to claim 15, wherein the visual center line of the visual landscape is rotatable, and the horizontal plane image information and / or the fluoroscopic image information is rotated in conjunction with the rotation. Method.

Images