JP3777411B2 - Ship navigation support device - Google Patents

Description

  The present invention provides a radar image captured by a radar and a ship automatic identification image (AIS: Automatic Identification System) on a landscape image display screen that displays a landscape image viewed from the ship. The present invention relates to a ship navigation support apparatus that displays at least one of them superimposed.

Conventionally, as a recognition means for recognizing other ships from a ship on the water, in addition to human vision by a bridge supervisor, a radar detection device using a radar mounted on the ship itself, a ship automatic identification device using transmission information from the other ship It has been known.

By the way, in the case of vision, the bridge watcher catches the other ship in three dimensions and perceives the relative position information of the other ship by the direction and distance seen from the own ship, but if the other ship is far away, the depth That is, it is impossible to accurately grasp the distance to the other ship. In the case of radar, the relative position information of the partner ship can be captured by the direction and distance seen from the ship with much better accuracy than the above-mentioned visual relative position information. Therefore, there is a case where it is not possible to capture the other ship with insufficient radio wave reflection intensity. Further, in the case of the ship automatic identification device, the relative position information of the partner ship based on the azimuth and distance viewed from the ship depends on the type and reliability of the information sent from the partner ship.

  On the other hand, from the viewpoint of the frequency of updating information on the other ship, visual information is likely to be continuously collected by the bridge supervisor. Even if the visual information is continuous, the update interval of visual information for other ships is undefined, and in radar, the update interval of information depends on the rotation speed of the radar antenna, and the ship In the automatic identification device, when the partner ship transmits information at an update interval that complies with the regulations, it greatly changes from the update interval during anchoring to the update interval during high-speed navigation depending on the speed and state of the partner ship.

Thus, the visual organ as means for identifying the relative position of the partner ship expressed by the azimuth and distance seen from the ship, various other ship relative position identification means such as radar and ship automatic identification device, Different types of identification means differ in the range of information obtained, the quality of information, and the frequency of information update, so the relative position information on the other ship is collected simultaneously using these means individually. When trying to do this, the relative position information of one partner ship captured by one partner ship identification means corresponds to the relative position information of which partner ship is captured by another partner ship identification means. It may be difficult for a watcher to make a decision, especially in situations where a large number of ships are navigating in a complicated manner within the vision of the bridge watcher. Other vessel that is captured by the identification means, really becomes the same ship for determining whether or not it increasingly difficult, and serves as a very serious problem in terms of ensuring the navigation safety.
Japan Society for Navigation Studies May 22, 2003 Lecture Preprint No.109 "Study on Integration and Display of Navigation Information"

  As an alternative to the visual organ, the present invention employs, for example, a seascape projection device equipped with a camera, a video monitor, etc., and an image obtained by radar on a landscape image obtained by the seascape projection device. At least one of the images obtained by the automatic vessel identification device is coordinate-transformed into the same coordinate system as the landscape image by the seascape projection device by image processing, respectively, and then superimposed to display each image in an integrated manner. The present invention is intended to provide a ship navigation support apparatus that can perform such a process.

  The present invention also relates to which partner ship in the landscape obtained through the maritime landscape projection device, for example, which partner ship in the image obtained by the radar or in the image obtained by the ship automatic identification device, Alternatively, on the same display screen, the identification decision for the other ship, such as whether there is a partner ship that is captured in one of the radar image and the image of the ship automatic identification device but not in the other, is immediately It is intended to provide a ship navigation support device that can be performed in the same manner.

The present invention further maritime landscape projection and landscape image obtained through the device, on the display screen at least hand is displayed superimposed in the image obtained by the image and the ship automatic identification device obtained by the radar In addition, an object of the present invention is to provide a ship navigation support device that can display the predicted route of an arbitrary partner ship in a superimposed manner.

The present invention also includes a landscape image obtained through photographing by the camera of the marine landscape projection device, and at least hand of the resulting image is displayed over the video and marine automatic identification device obtained by the radar On the display screen, if your ship keeps the current speed and aims at the target position on the expected route of any other ship and chooses the shortest distance from the current position, it will interfere with the other ship An object of the present invention is to provide a ship navigation support apparatus that can display a distribution on a predicted route of a target position that has a probability equal to or greater than a set value.

  It is another object of the present invention to provide a ship navigation support device that can display a voyage plan of the ship on the azimuth-distance coordinate plane of the display screen of the seascape projection device. .

  Another object of the present invention is to provide a ship navigation support device that can display nearby sea area information on the azimuth-distance coordinate plane of the display screen of the seascape projection device. .

Vessel traffic support apparatus of the present invention is to set the marine landscape projection device for projecting a sea landscape, a horizontal axis from a horizontal line in the upward direction of the horizontal line based on the landscape on the display screen of the marine landscape projection device, before While the horizontal axis scale representing the landscape direction is superimposed on the landscape, the vertical axis is set perpendicular to the horizontal axis and above the horizontal line, and represents the distance from the ship along the vertical axis. azimuth displaying superimposed axis scale on the landscape - Ru Tei and a distance coordinate plane setting device. The vessel traffic support device, also a bearing and distance of the ship or al of the other vessel captured by the radar and the coordinate transformation the orientation - the distance coordinate plane - orientation set by the distance coordinate plane setting device a radar image display unit for displaying, the position of the other vessel captured by ship automatic identification system determined the orientation and distance of the ship or we coordinate transformation, the position of the other vessel by the ship automatic identification system It includes at least one of a ship automatic identification device position image overlapping display device that is displayed superimposed on the azimuth-distance coordinate plane. Furthermore, in this ship navigation support apparatus, which ship in the marine landscape captured visually is an arbitrary partner ship captured by at least one of the radar and the automatic ship identification apparatus. So that the vertical line drawn on the horizontal axis from the display position of an arbitrary partner ship displayed on the azimuth-distance coordinate plane is displayed on the azimuth-distance coordinate plane. Equipment.

Further, the ship navigation support device of the present invention includes a seascape projection device that projects a seascape, a horizontal line extraction device that extracts a horizontal line in a landscape video on a display screen of the seascape projection device, and the horizontal line extractor set horizontal axis above the horizontal line in the direction of the extracted horizontal lines by, while the horizontal axis scale representing the orientation of the previous SL landscape displayed superimposed on the landscape, above the horizontal line perpendicular to the horizontal axis Ru Tei and a distance coordinate plane setting device - to set the vertical axis, orientation of the longitudinal axis scale representing the distance from the ship along the longitudinal axis displayed superimposed on the landscape. The vessel traffic support device, also a bearing and distance of the ship or al of the other vessel captured by the radar and the coordinate transformation the azimuth - a distance coordinate plane - orientation set by the distance coordinate plane setting device a radar image display unit for displaying, the position of the other vessel captured by ship automatic identification device obtained by the orientation and distance of the ship or we coordinate transformation, the position of the other vessel by the ship automatic identification system It includes at least one of a ship automatic identification device position image overlapping display device that is displayed superimposed on the azimuth-distance coordinate plane. Furthermore, in this ship navigation support apparatus, which ship in the marine landscape captured visually is an arbitrary partner ship captured by at least one of the radar and the automatic ship identification apparatus. So that the vertical line drawn on the horizontal axis from the display position of an arbitrary partner ship displayed on the azimuth-distance coordinate plane is displayed on the azimuth-distance coordinate plane. Equipment.

  In the ship navigation support device, the seascape projection device captures, for example, a camera that images a seascape and outputs a landscape video signal, and the camera captures the landscape video signal transmitted from the camera. And a video monitor that projects a landscape video on the display screen.

In addition, the ship navigation support device of the present invention includes a predicted route calculation device that calculates a predicted route when an arbitrary partner ship displayed on the azimuth-distance coordinate plane maintains the current course and speed, and expected path of the any other vessel obtained by the predicted path calculation device, starting from the display position of the arbitrary other vessel, before Symbol lateral position - distance expected route display device and which displays superimposed on the coordinate plane I have.

Further, the ship navigation support device of the present invention is a predicted route calculation device that calculates a predicted route when an arbitrary partner ship displayed on the azimuth-distance coordinate plane maintains the current course and speed, and An expected time at which the arbitrary partner ship navigates on the predicted route while maintaining the current speed with the arbitrarily selected position on the predicted route as the target position, and the own ship has the current speed A virtual arrival time coincidence probability computing device that computes the probability of matching the time to reach the target position when selecting the shortest distance from the current position while proceeding while aiming for the target position, and the virtual the distribution on the expected path of all of the target position where the virtual arrival time match probability calculated by the arrival time match probability calculation unit is equal to or greater than a set value as other vessel disturbance zone, before Symbol lateral position - heavy on the distance coordinate plane And a partner ship interference zone display device for displaying Te.

Furthermore, vessel traffic support apparatus of the present invention, a planning route input device for inputting sailing plan of the ship, the input planned route by the planned route input device, before Symbol lateral position - distance coordinate plane to And a planned route display device that displays the images in a superimposed manner.

Furthermore, vessel traffic support apparatus of the present invention, a marine information input device for inputting waters information around the data such as charts, before Symbol lateral position waters information input by the waters information input device - Distance coordinates And a sea area information display device that displays the information on the surface.

  According to the ship navigation support apparatus of the present invention, the following effects can be obtained.

Adopting a seascape projection device that projects a seascape as an alternative to the visual organ as a means for identifying the relative position of the other ship, and an image obtained by the radar on the landscape image obtained through the seascape projection device and at least one of an image obtained by the ship automatic identification system, after coordinate transformation to the same coordinate system as image landscape maritime landscape projection device by image processing, and root weight, and displays by integrating each image be able to.

  Also, which partner ship in the image obtained by the radar or the ship automatic identification device matches with the other ship in the landscape obtained through the photographing by the camera, or the image of the radar and the image of the ship automatic identification device. It is possible to immediately make an identification judgment on the other ship on the same display screen, such as whether or not there is another ship that is captured on one side but not on the other.

  Furthermore, on the display screen on which the landscape image obtained through the seascape projection device and at least one of the image obtained by the radar and the image obtained by the ship automatic identification device are displayed in an overlapping manner, an arbitrary partner The expected route of the ship can be displayed.

  In addition, on the display screen on which the landscape image obtained through the seascape projection device and at least one of the image obtained by the radar and the image obtained by the ship automatic identification device are displayed superimposed, While maintaining the current speed, aiming at the target position on the predicted route of any other ship, and selecting the shortest distance from the current position, the probability that the other ship will be obstructed is more than the set value The distribution of the target position on the expected route can be displayed, avoiding the position where there is a high probability that the opponent ship will be obstructed, and allowing the own ship to perform the action to prevent the opponent ship early. .

  Furthermore, the navigation plan of the ship can be displayed on the direction-distance coordinate plane of the display screen, and information for safer navigation can be appropriately provided.

  In addition, nearby sea area information can be displayed on the azimuth-distance coordinate plane of the display screen, and information for safer navigation can be appropriately provided.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a display screen diagram showing an example of a display screen when a marine landscape photographed by a camera from its own ship is projected on the display screen of a video monitor. FIG. 2 is based on the present invention and is displayed on the display screen of FIG. FIG. 3 is a display screen diagram showing an example of a case where an azimuth-distance coordinate, a radar image after coordinate conversion, and a position image after coordinate conversion of the position information of the other ship captured by the ship automatic identification device are displayed in an overlapping manner; FIG. 4 is an explanatory diagram for explaining the basic concept of the opponent ship hindrance zone based on the present invention, and FIG. 4 shows the other ship hindrance zone after coordinate conversion superimposed on the display screen of FIG. 2 based on the present invention. FIG. 5 is a circuit diagram showing an example of a signal processing circuit of the ship navigation support apparatus of the present invention.

  First, in FIG. 1, the display screen 1 of the ship navigation support apparatus of the present invention shows an example of a display screen of a video monitor photographed by a camera installed on the ship 2. The camera is directed to the front of the ship 2 at an appropriate height of the ship 2 such as an appropriate height of the bridge so that the landscape captured by the person on the bridge bridge of the ship 2 can be accurately photographed. It is a camera capable of transmitting video signals installed. Such a camera constitutes a seascape projection device together with a video monitor.

  In the display screen 1 of FIG. 1, a horizontal line 3 is seen in front of the own ship 2, and an image “a” of another ship, that is, an opponent ship, is displayed at a position on the left in front of the bow, and on the right in front of the bow. Images b, c, and d of other opponent ships are displayed at the positions. The landscape displayed on the display screen 1 in FIG. 1 can be considered as directly reflecting the same landscape as that captured by the vision of the ship bridge watcher of the ship 2.

  In FIG. 2, the landscape that is the background of the display screen 1 is exactly the same as the landscape shown in FIG. That is, the horizon 3 is seen in front of the own ship 2, the image a of the other ship is displayed at the left position ahead of the bow, and the image b of another partner ship is displayed at the right position ahead of the bow. , C and d are respectively projected.

As shown in FIG. 2, a horizontal axis x is provided in parallel with the horizontal line 3 above the horizontal line 3 in the landscape that is the background of the display screen 1, and from the own ship 2 along the horizontal axis x. Scales representing the orientation of the viewed landscape are written as 310 (degrees), 320 (degrees), 330 (degrees), and 340 (degrees), for example. From these scales, it can be seen that the direction of the course r in FIG. 2 of the ship 2 is 326.7 degrees. The horizontal axis x may include the horizontal line 3 as long as it is in the direction parallel to the horizontal line 3.

In FIG. 2, a vertical axis y is provided in a direction perpendicular to the horizontal axis x parallel to the horizontal line 3 in the landscape which is the background of the display screen 1 and upward. The vertical axis y is set along the left edge of the display screen 1 in FIG. A scale representing the distance from the ship, for example, 1 (nautical miles), 2 (nautical miles), 3 (nautical miles) and 4 (nautical miles) is written along the vertical axis y. Thus, the horizontal line of the display screen 1 is represented by the horizontal axis x on which the scale representing the landscape direction viewed from the ship 2 as described above is displayed and the vertical axis y on which the scale representing the distance from the ship is displayed. An azimuth-distance coordinate plane is set above 3 .

As shown in FIG. 2, the azimuth-distance coordinate plane of the display screen 1 includes an opponent ship captured by a radar at a time nearest to the time when the images a, b, c, and d of the other ship are captured by the camera, The partner ship captured by the automatic vessel identification device (AIS) at the time closest to the time when the images a, b, c, and d of the partner ship were captured by the camera are as shown by the partner ship position display marks A , B, C, and D. It is displayed with a simple mark. The shape of the other ship position display marks A 1 , B, C and D may be a black circle as shown in the figure as long as the position of the other ship on the direction-distance coordinate plane can be clearly read. It may be a double circle or any other shape that can be easily identified.

Further, in FIG. 2, the position display mark of the other ship that was captured by the radar but not captured by the ship automatic identification device, the position display mark of the other ship captured by both the radar and the ship automatic identification device, In addition, the other ship's position display mark captured by the ship automatic identification device, which was not captured by the radar, can have a different shape, or can be color-coded in a different color, so that It can also be made possible to immediately identify which one of the automatic ship identification devices is used.

In FIG. 2, the ship navigation support apparatus shown in the figure shows that the position display marks A, B, C, and D of each other ship captured by at least one of the radar and the ship automatic identification apparatus are respectively captured by the sea. Each displayed on the azimuth-distance coordinate plane of the display screen 1 so that it can definitely be determined which ship in the landscape corresponds to each other and each partner ship can be identified. Perpendicular lines A ₀ , B ₀ , C ₀ , D ₀ drawn from the display positions of the position display marks A, B, C and D of the other ship to the horizontal axis x of the azimuth-distance coordinate plane are displayed as the azimuth-distance It can be displayed on the coordinate plane.

In FIG. 2, each vertical line A ₀ , B ₀ , C ₀ , D ₀ can be selectively displayed on the display screen 1 individually or all at the same time by screen operation. If such vertical lines A ₀ , B ₀ , C ₀ , D ₀ are displayed on the display screen 1, for example, if the vertical line A ₀ intersects the opponent ship image a, a position display mark on the direction-distance coordinate plane is displayed. It is confirmed that A is the position display mark A of the other ship projected as the other ship image a. From this, the azimuth coordinate and the position coordinate of the position display mark A are read, so that it is displayed as the other ship image a. It is possible to immediately know the direction seen from the ship 2 of the other ship and the distance from the ship 2.

2, perpendicular A ₀ non perpendicular B _0, C _0, the even D _0, likewise, perpendicular B _0, C _0, D ₀ respectively other vessel image b, if intersecting the c and d, orientation - length position indication mark on the coordinate plane B, C and D, other vessel image b, respectively, the position display mark B of the other vessel that is displayed as c and d, it is confirmed to be C 及 beauty D, from this that By reading the azimuth coordinates and position coordinates of the position display marks B, C and D, the azimuth of the partner ship viewed from the ship 2 displayed as the ship images b, c and d and the distance from the ship 2 Can be immediately known.

  As shown in FIG. 2, the ship navigation support apparatus shown in the figure shows that the opponent ship displayed by the position display marks A, B, C, and D displayed on the azimuth-distance coordinate plane of the display screen 1 is the current course. The predicted paths α, β, γ, and δ of each partner ship when the speed is maintained are overlapped on the azimuth-distance coordinate plane of the display screen 1 starting from the position display marks A, B, C, and D, respectively. Is displayed. In the center of the display screen 1, an expected route r of the ship 2 when the ship 2 maintains the current course is displayed.

  In FIG. 2, each of the predicted paths α, β, γ, δ, and r can be selectively displayed on the azimuth-distance coordinate plane of the display screen 1 individually or all at the same time by screen operation. ing. Then, for example, by the predicted route α, it is instantaneously read that the opponent ship displayed by the position display mark A is navigating in the same direction as the course direction of the ship 2 on the direction-distance coordinate plane. In addition, the other ship displayed by the position display marks B, C, and D by the predicted paths β, γ, and δ can be moved to the right of the ship 2 in front of the ship 2 on the direction-distance coordinate plane. From this position, it can be instantaneously read that the ship is sailing across the course of its own ship 2 toward the left.

  Next, the basic concept of the opponent ship disturbance zone before coordinate conversion to azimuth-distance coordinates will be described with reference to FIG. 3 by taking, for example, the opponent ship displayed by the position display mark B in FIG. In FIG. 3, the partner ship displayed by the position display mark B in FIG. 2 is shown as the partner ship B, and the predicted route of the partner ship B is also displayed as the predicted route β in FIG.

In FIG. 3, it is assumed that the partner ship B is navigating along the predicted route β while maintaining the current course and speed. A number of positions selected at an interval from each other on the opponent ship predicted route β at this time are set as target positions β1, β2,. Then, an expected time at which the partner ship B travels on the predicted route β while maintaining the current speed and reaches the target positions β1, β2,. On the other hand, the target position on the expected path β while the ship 2 maintains the current speed .beta.1, .beta.2, ... expected from the current position of the shortest distance aims to βn path r _1, r _2, select ... r _n Then, the time to reach the target positions β1, β2,.

Next, also in FIG. 3, the predicted time when the partner ship B navigates on the predicted route β while maintaining the current speed and reaches each target position β1, β2,. each target position β1 while maintaining, β2, ... expected βn from the current position with the aim of the shortest distance route r _1, r _2, ... each target position in the case advanced by selecting the r _n β1, β2, ... The probability of coincidence with the time to reach βn is obtained by the virtual arrival time coincidence probability calculation device. As a result, at the target position where the calculated virtual arrival time coincidence probability is equal to or higher than the set value, for example, the target positions β5, β6,... Β10, the target positions β5, β6,. Each obstruction zone display circle P having a certain radius is drawn.

FIG. 4 shows the obstruction zone display circle P illustrated in FIG. 3 superimposed on the display screen 1 of FIG. In FIG. 4, the obstruction zone display circle P is displayed through coordinate conversion to the azimuth-distance coordinates, so that the obstruction zone display circles P on the respective expected paths β and δ are both flatly inclined to each other. They are displayed so as to overlap. For example, each obstruction zone display circle P on the predicted route β is displayed as a group as an opponent ship obstruction zone display area P _B , and each obstruction zone display circle P on the predicted route δ is displayed as a group as an opponent ship. It appears as an interfering zone display area P _D.

In FIG. 4, the opponent ship blocking zone display areas P _B and P _D can be selectively displayed on the display screen 1 individually or all at the same time by screen operation. In this way, by displaying the opposing ship disturbance zone display areas P _B and P _D on the azimuth-distance coordinate plane of the display screen 1 in an overlapping manner, the operation of avoiding the disturbance of the own ship 2 with respect to the other ship can be performed at an early stage. It can be done reliably.

  In addition, the ship navigation support apparatus of FIG. 2 includes a planned route input device for inputting a voyage plan of own ship 2, and the planned route input by the planned route input device is selectively displayed by a screen operation. One azimuth-distance coordinate plane can be displayed in an overlapping manner. By doing so, it is possible to clearly know the degree of deviation of the predicted route r of the ship 2 from the input planned route on the azimuth-distance coordinate plane of the same display screen 1 and It is possible to know in detail the situation of the predicted route of the other ship for the planned route of 2.

  Further, the ship navigation support apparatus of FIG. 2 includes a sea area information input device for inputting nearby sea area information from data such as a chart, and the sea area information input by the sea area information input device is selectively operated by a screen operation. It is also possible to display the image on the azimuth-distance coordinate plane of the display screen 1. By doing so, on the azimuth-distance coordinate plane of the same display screen 1, the relationship between the neighboring sea area information and the predicted route r of the ship 2 is properly grasped, and the optimum route is selected. You can navigate safely.

  Next, an example of the signal processing circuit of the ship navigation support apparatus of the present invention will be described. In the ship navigation support device 4 of FIG. 5, the output signal of the camera 5 that captures a landscape on the sea and outputs a landscape video signal is sent to the horizontal line extraction device 6 and to the display video composition device 7. The horizontal line extraction device 6 extracts the horizontal line 3 in the landscape video on the display screen 1 based on the landscape video signal from the camera 5 by image processing, and sends the output signal to the azimuth-distance coordinate plane setting device 9.

  In FIG. 5, an orientation detector 8 that detects the orientation of the camera 5 detects the orientation of the camera 5 and sends an output signal to the orientation-distance coordinate plane setting device 9 and the display image synthesizing device 7. . The azimuth-distance coordinate plane setting device 9 sets the horizontal axis x in the direction of the horizontal line extracted by the horizontal line extraction device 6, and uses the azimuth of the camera 5 detected by the direction detector 8 along the horizontal axis x as a reference. Set the horizontal axis scale representing the orientation of the landscape as seen from the ship 2 to be superimposed on the display screen 1, and set the vertical axis y perpendicular to the horizontal axis x and upward from the horizontal axis x, Along the vertical axis y, the vertical scale indicating the distance from the ship 2 is set to be displayed on the display screen 1 and the output signal is sent to the radar image display device 11 and the display image composition device 7. .

  In FIG. 5, if the camera 5 is installed on, for example, a horizontal base having three degrees of freedom, the horizontal line detection processing speed is improved, and if the inclination of the horizontal plane of the horizontal base can be suppressed to about 1 degree or less, the horizontal line The horizontal line extraction processing by the extraction device 6 can be omitted, and in that case, the horizontal line extraction device 6 is not necessary.

  In FIG. 5, the radar image display device 11 indicates the azimuth and distance of the polar coordinate system viewed from the ship 2 of the partner ship captured by the radar 10 at the time closest to the time when the partner ship was captured by the camera. The signal is processed so that it can be displayed on the azimuth-distance coordinate plane set by the azimuth-distance coordinate plane setting device 9 and displayed on the ship. The image is sent to the automatic identification device position image overlay display device 13, the ship information display device 14, and the display video composition device 7.

  In FIG. 5, the ship automatic identification device position image overlay display device 13 is an orientation viewed from the own ship 2 at the position of the other ship captured by the ship automatic identification device 12 at the time closest to the time when the other ship was captured by the camera 5. And the distance are converted into an azimuth-distance coordinate in an orthogonal coordinate system, and the signal is processed so that it can be displayed on the azimuth-distance coordinate plane set by the azimuth-distance coordinate plane setting device 9 In addition, the output signal is sent to the ship information display device 14, the predicted route display device 18, and the display video composition device 7.

In FIG. 5, the ship information display device 14 is any ship in the marine landscape captured by an arbitrary partner ship captured by at least one of the radar 10 and the automatic ship identification apparatus 12, that is, by the camera 5. So that the vertical lines A ₀ , B ₀ , C drawn from the display mark of any partner ship displayed on the direction-distance coordinate plane of the display screen 1 toward the horizontal axis x can be specified. _The signals are processed so that ₀ and D ₀ are displayed on the azimuth-distance coordinate plane of the display screen 1, and the output signal is sent to the display video composition device 7.

  In FIG. 5, the predicted route calculation device 16 is a display screen 1 based on information from an external information source 15 such as a radar 10, a ship automatic identification device 12, a gyrocompass, and a global positioning system (GPS). Calculates predicted routes α, β, γ, and δ when an arbitrary ship displayed on the azimuth-distance coordinate of the current ship maintains the current course and speed, and calculates the virtual arrival time match probability for the output signal To the device 17 and the expected route display device 18.

  In FIG. 5, the predicted route display device 18 displays the predicted routes α, β, γ, and δ of any partner ship obtained by the predicted route calculation device 16, and display marks A, B, C, and D of any partner ship. The signal is processed so as to be superimposed on the azimuth-distance coordinate plane of the display screen 1, and the output signal is sent to the opponent ship disturbance zone display device 19 and the display video composition device 7.

  In FIG. 5, the virtual arrival time coincidence probability calculating device 17 is based on signals from an external information source 15 such as a radar 10, a ship automatic identification device 12, a gyrocompass and GPS, and a predicted route calculating device 16. Arbitrarily selected positions on β, γ, and δ are set as target positions β1, β2,... βn, and any other ship sails on the predicted paths α, β, γ, and δ while maintaining the current speed. Estimated time to reach the target position β1, β2,... Βn, and when own ship 2 selects the shortest distance from the current position and proceeds toward the target position β1, β2,. , Βn,..., Βn, and the time at which the target positions β1, β2,.

  In FIG. 5, the opponent ship disturbance zone display device 19 includes a virtual arrival time coincidence calculated by the virtual arrival time coincidence probability calculation device 17 based on signals from the virtual arrival time coincidence probability calculation device 17 and the predicted route display device 18. A signal is displayed so that the distribution on the predicted paths α, β, γ, and δ of all target positions whose probabilities are equal to or greater than the set value is displayed as an opponent ship disturbance zone on the azimuth-distance coordinate plane of the display screen 1. After the processing, the output signal is sent to the planned route display device 22 and the display video composition device 7.

  In FIG. 5, the planned route input device 21 receives the information content such as the navigation plan of the ship 2 described in the document 20 such as the route plan, and sends the output signal to the planned route display device 22. The planned route display device 22 displays the planned route input by the planned route input device 21 on the azimuth-distance coordinate plane of the display screen 1 based on signals from the planned route input device 21 and the opponent ship disturbance zone display device 19. The signal is processed so as to be displayed in an overlapping manner, and the output signal is sent to the sea area information display device 25 and the display video composition device 7.

  In FIG. 5, the sea area information input device 24 receives the contents of the sea area information described in the material 23 such as an electronic chart, and sends the output signal to the sea area information display device 25. The sea area information display device 25 displays the sea area information input by the sea area information input device 24 on the azimuth-distance coordinate plane of the display screen 1 based on signals from the sea area information input device 24 and the planned route display device 22. The signal is processed so that the output signal is sent to the display image synthesizing device 7.

  As shown in FIG. 5, the display image synthesizing device 7 includes a camera 5, an orientation detector 8, an orientation-distance coordinate plane setting device 9, a radar image display device 11, a ship information display device 14, a predicted route display device 18, Based on signals from the opponent ship disturbance zone display device 19, the planned route display device 22, and the sea area information display device 25, various display images are synthesized, and the output signals are sent to the video monitor 26, and the synthesized image is sent to the video monitor 26. Is displayed.

  The present invention can be carried out in accordance with various embodiments within the scope of the matters described in the claims, and has a great industrial applicability as an assisting device for safe navigation of a ship.

It is a display screen figure which shows an example of the display screen when the seascape image | photographed with the camera from own ship is projected on the display screen of a video monitor. In accordance with the present invention, the azimuth-distance coordinates, the radar image after the coordinate conversion, and the position image after the coordinate conversion of the position information of the other ship captured by the ship automatic identification device are displayed superimposed on the display screen of FIG. It is a display screen figure which shows an example in the case of having carried out. It is explanatory drawing for demonstrating the fundamental view of the other party obstruction | occlusion zone based on this invention. It is a display screen figure which shows an example at the time of displaying the other party disturbance zone after coordinate conversion on the display screen of FIG. 2 based on this invention. It is a circuit diagram which shows an example of the signal processing circuit of the ship navigation assistance apparatus of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Display screen 2 Own ship 3 Horizontal line 4 Ship navigation support apparatus 5 Camera 6 Horizontal line extraction apparatus 7 Display image composition apparatus 8 Direction detector 9 Direction-distance coordinate plane setting apparatus 10 Radar 11 Radar image display apparatus 12 Ship automatic identification apparatus 13 Ship Automatic identification device Position image overlay display device 14 Ship information display device 15 External information source 16 Predicted route calculation device 17 Virtual arrival time coincidence probability calculation device 18 Predicted route display device 19 Counter ship disturbance zone display device 20 Navigation plan data 21 Plan Route input device 22 Planned route display device 23 Data such as electronic chart 24 Sea area information input device 25 Sea area information display device 26 Video monitor A, B, C, D Counter ship position display mark A ₀ , B ₀ , C ₀ , D ₀ perpendicular P other vessel disturbance zone display circle P _B, P _D other vessel disturbance zone display area a, b, c, d other vessel images alpha, beta gamma, [delta] expected path .beta.1, ..., the target position r ₁ on the βn expected route, ..., the virtual route when r _n ship advances at the shortest distance aiming the target position

Claims (7)

The abscissa scale is set and marine landscape projection device for projecting a landscape of sea, a horizontal axis above the horizontal line in the direction of the horizontal line based on the landscape on the display screen of the marine landscape projection device, represents the orientation of the previous SL landscape Is superimposed on the landscape, and a vertical axis is set above the horizontal axis and above the horizontal line, and a vertical scale representing the distance from the ship is superimposed on the landscape along the vertical axis. azimuth display - with and a distance coordinate plane setting device, the orientation of the bearing and distance of the ship or al of the other vessel captured by the radar and the coordinate transformation - orientation set by the distance coordinate plane setting apparatus - a radar image display unit for displaying the distance coordinate plane, determine the said bearing and distance of ship or these positions of the other vessel captured by ship automatic identification system and coordinate transformation, the by the ship automatic identification system The position of the other ship Again with at least one of a ship automatic identification system position image superimposed display device to be displayed on, further, any other vessel captured by least one device of said radar and said ship automatic identification device, The horizontal axis is drawn from the display position of any other ship displayed on the direction-distance coordinate plane so that it can be specified which ship in the marine landscape captured visually. the perpendicular line, the orientation - characterized in that it comprises a marine vessel information display device which displays the distance coordinate plane, vessel traffic support apparatus. A seascape projection device that projects a seascape, a horizontal line extraction device that extracts a horizontal line in a landscape image on the display screen of the seascape projection device by image processing, and a horizontal line in the direction of the horizontal line extracted by the horizontal line extraction device set more transverse axis upwardly, while the horizontal axis scale representing the orientation of the previous SL landscape displayed superimposed on the landscape, and the vertical axis is set above the horizontal line perpendicular to said horizontal axis, to the longitudinal axis azimuth displaying the ordinate scale represents the distance from the ship along superimposed on the landscape - with and a distance coordinate plane setting unit, and the direction and distance of the ship or al of the other vessel captured by radar the azimuth and coordinate transformation - distance coordinate plane setting orientation set by the device - distance radar image display device for displaying on the coordinate plane, the own ship or al of the position of the other vessel captured by marine automatic identification system Direction and distance Obtained by the coordinate transformation, the position of the other vessel by the ship automatic identification system the orientation - with at least one of a distance coordinate plane in overlapping superimposed ship automatic identification system position image to be displayed by the display device, further, In order to be able to specify which ship in the seascape captured by the visual sense is the other ship captured by at least one of the radar and the ship automatic identification device, It is provided with a ship information display device for displaying a perpendicular line drawn on the horizontal axis from a display position of an arbitrary partner ship displayed on the azimuth-distance coordinate plane on the azimuth-distance coordinate plane. A ship navigation support device. 3. The ship navigation support apparatus according to claim 1, wherein the seascape projection device captures a seascape and outputs a landscape video signal, and the landscape video signal sent from the camera. characterized in that it comprises a video monitor for displaying an scenery image photographed by the camera on the display screen, vessel traffic support apparatus. 3. The ship navigation support apparatus according to claim 1 or 2, wherein an expected path calculation apparatus for calculating an expected path when an arbitrary partner ship displayed on the direction-distance coordinate plane maintains the current course and speed. When the expected path of the expected path calculation wherein any other vessel obtained by the device, starting from the display position of the arbitrary other vessel, before Symbol lateral position - distance expected path display for displaying an overlay on the coordinate plane characterized in that it comprises a device, vessel traffic support apparatus. 3. The ship navigation support apparatus according to claim 1 or 2, wherein an expected path calculation apparatus for calculating an expected path when an arbitrary partner ship displayed on the direction-distance coordinate plane maintains the current course and speed. And an expected time at which the arbitrary partner ship navigates on the predicted route while maintaining the current speed with the arbitrarily selected position on the predicted route as the target position, and the own ship A virtual arrival time coincidence probability calculating device that calculates a probability that the time to reach the target position coincides with the time when the target position is selected and the shortest distance from the current position is advanced while maintaining the current speed; the distribution on the expected path of all of the target position where the virtual arrival time match probability computed by the virtual arrival time match probability calculation unit is equal to or greater than a set value as other vessel disturbance zone, before Symbol lateral position - distance Characterized in that it comprises a mating vessel disturbance zone display for displaying superimposed on coordinate plane, vessel traffic support apparatus. In vessel traffic support device according to claim 1 or 2, and planning route input device for inputting sailing plan of the ship, the input planned route by the planned route input device, before Symbol lateral position - Distance coordinates characterized in that it includes a planning route display device that displays superimposed on the face, vessel traffic support apparatus. In vessel traffic support device according to claim 1 or 2, and waters information input device for inputting waters information around the data such as charts, the waters information input before Symbol lateral position waters information input by the device - wherein the overlapping of the distance coordinate plane and a sea area information display device for displaying, vessel traffic support apparatus.

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