JP5102886B2 - Image display system, image display method, and program - Google Patents

Description

  The present invention relates to an image display system, an image display method, and a program.

  Navigation technology is used in various fields such as route guidance to a destination and presentation of work procedures during work. Since navigation technology is a technology that assists in facilitating certain actions, a mechanism that can be understood as intuitively as possible has been demanded. As one of such mechanisms, navigation technology using a technology called augmented reality that superimposes data managed by computers such as text and images on the real environment and gives supplementary information to the real environment. Exists. For example, various navigation techniques have been developed in the field of ships.

In the past, navigating using nautical charts has been used for ship operations, and currently navigating using radar devices and GPS. By the way, in the case of a ship that operates in the coastal area, the above equipment is used to avoid troubles due to obstacles under the sea surface, such as landing on a reef. Moreover, not only in coastal areas, but also in the ocean, information from equipment is used to avoid contact with other ships due to dense fog or the like.
Although it is possible to increase the avoidance of contact with grounding and other ships using these devices, a mechanism that can detect and avoid danger more intuitively is desired. For example, Non-Patent Document 1 discloses a mechanism for three-dimensional display by combining a ship automatic identification system (AIS) and an electronic chart. However, after all, sailors are required to understand the graph display as shown in FIG.

Junji Fukudo and three others, "Interim Report on Collision Avoidance System as Fail-Safe", [online], [Search February 10, 2010], Internet <http://www.nmri.go.jp /main/publications/paper/pdf/2A/03/00/PNM2A030043-00.pdf>

  However, in order to be able to understand intuitively in an environment where the situation is constantly changing, such as ship operations, the timing of obtaining information and the type of information are almost realistic and can be perceived immediately. It was requested to present in such a state. An object of this invention is to provide useful information when a ship navigates so that a crew member etc. can grasp | ascertain a situation intuitively.

  Therefore, the present invention provides a position information acquisition device that acquires ship position information, an information storage device that stores an electronic chart including a seabed shape and a tide table, an image display device, and an image provided to the image display device An image display system comprising: an image display system including the position information of the ship acquired by the position information acquisition apparatus, the tide table, and information relating to a water depth indicated by an electronic chart. The depth of the ship below the sea level is obtained based on the position information, the depth below the sea surface, and the seafloor topographic image data indicated by the electronic chart, A virtual space image of a seabed shape under the sea surface at a depth is created and provided to the image display device, and the image display device outputs a seafloor shape virtual space image provided by the image providing device from the image display device. Landscape Superimposed and displayed.

  ADVANTAGE OF THE INVENTION According to this invention, when a ship sails, a crew member etc. can provide a situation in which a crew member etc. can grasp | ascertain intuitively.

FIG. 1 is a diagram illustrating an example of a system configuration of the image display system according to the first embodiment. FIG. 2 is a diagram illustrating an example of a hardware configuration of the image providing apparatus. FIG. 3 is a diagram illustrating an example of a hardware configuration of the image display apparatus. FIG. 4 is a diagram illustrating an example of a software configuration of the image providing apparatus. FIG. 5 is a diagram illustrating an example of a software configuration of the image display apparatus. FIG. 6 is a diagram illustrating an example in which a sea-bottom-shaped virtual space image is superimposed and displayed below the sea surface of the landscape from the display device. FIG. 7 is a diagram illustrating an example of a system configuration of the image display system according to the embodiment. FIG. 8 is a diagram illustrating an example of a system configuration of the image display system according to the third embodiment. FIG. 9 is a diagram illustrating an example of a system configuration of the image display system according to the fourth embodiment. FIG. 10 is a diagram illustrating an example of a system configuration of the image display system according to the fifth embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Embodiment 1>
The first embodiment will be described below.
FIG. 1 is a diagram illustrating an example of a system configuration of the image display system according to the first embodiment. As shown in FIG. 1, the image display system according to the first embodiment includes a GPS compass (or GPS receiver) 2 that acquires ship position information, an electronic chart including a seabed shape, and an tide table. 5, an image display device 4, an image providing device 1 that provides an image to the image display device 4, a gyrocompass 7 that acquires the direction of the ship, and a navigation control device 6 that controls the navigation of the ship. Connected through.
A GPS compass (or GPS receiver) 2 that is an example of a position information acquisition device acquires position information (longitude and latitude) of a ship. Note that, as an example of the position information acquisition device, a GPS compass or a GPS receiver may be used. However, for the sake of simplification of description, a GPS compass will be described below as an example.
The gyro compass 7 that is an example of the orientation acquisition device acquires the orientation of the ship.
The image providing device 1 obtains the depth below the sea level of the ship position based on the ship position information acquired by the GPS compass 2 and the tide table and the electronic chart stored in the information storage device 5. . The tide table is data in which the time in a certain position information is associated with the level of the sea level measured with reference to the basic level surface, and is issued by the Japan Coast Guard and the like. Electronic charts are, for example, digitized sea map data issued by the Japan Coast Guard, etc., and include navigational charts and special maps, basic sea maps, coastal topographic maps, and coastal sea areas. There are various classifications according to purposes, such as land condition maps and marine geological maps. In the electronic chart, for example, information on the water depth measured with reference to the basic level surface, waterway conditions, currents and tides, signs, coastal conditions, etc. are described. A submarine topographic map showing the submarine topography with contour lines, a three-dimensional overhead map of the submarine topography, and the like are included. The image providing apparatus 1 may obtain the depth by calculation based on the position information, the tide table, and information on the water depth indicated by the electronic chart, or the position information, the tide table, and the electronic You may obtain | require the said depth from the table etc. in which the information regarding the water depth which a chart shows is managed. Further, the image providing device 1 is based on the position information, the calculated depth below the sea surface, and the electronic chart stored in the information storage device 5, and the seabed below the sea surface at the depth of the position of the ship. A virtual space image having a shape is created and provided to the image display device 4. For example, the information storage device 5 stores a three-dimensional bird's-eye view map showing the seabed topography, and based on the position information and the depth below the sea surface, a 3D image of the seabed topography at the corresponding position and depth. Are extracted or calculated from a chart such as a three-dimensional bird's-eye view map to create a virtual space image of the seabed shape below the sea level at the depth of the position of the ship. Note that the image providing apparatus 1 converts the coordinates of the image into a viewpoint image from a windshield or the like of a ship, which will be described later, and provides the image to the image display apparatus 4. The image providing apparatus 1 is also an example of a computer.
As will be described later, the image display device 4 has a display device such as a transmissive liquid crystal film attached to a windshield or the like of a ship. It is displayed superimposed on the sea surface of the scenery from glass.
In addition to the information described above, the information storage device 5 has own ship information acquired from a predetermined device or the like as disclosed in the above-mentioned prior art documents or calculated based on the predetermined information. It shall be remembered. As an example of own ship information, position information, exercise information including course and speed, draft information, cargo information, number of passengers, time information, and the like are stored.

FIG. 2 is a diagram illustrating an example of a hardware configuration of the image providing apparatus 1.
As illustrated in FIG. 2, the image providing apparatus 1 has a configuration in which a control device 11, a storage device 12, and a communication device 13 are connected via a bus 14 as a hardware configuration. The control device 11 is a CPU or the like, and realizes the function of the image providing device 1 by executing processing based on a program stored in the storage device 12 or the like. The storage device 12 is a storage device such as a RAM, a ROM, and an HDD, and stores a program, and stores data used when the control device 11 executes processing based on the program. The communication device 13 is a device that controls communication between the image providing device 1 and other devices in the image display system.

FIG. 3 is a diagram illustrating an example of a hardware configuration of the image display device 4.
As shown in FIG. 3, the image display device 4 has a configuration in which a control device 21, a storage device 22, a communication device 23, and a display device 24 are connected via a bus 25 as a hardware configuration. Have. The control device 21 is a CPU or the like, and realizes the function of the image display device 4 by executing processing based on a program stored in the storage device 22 or the like. The storage device 22 is a storage device such as a RAM, a ROM, and an HDD, and stores a program, and stores data used when the control device 21 executes processing based on the program. The communication device 23 is a device that controls communication between the image display device 4 and other devices in the image display system. The display device 24 is a transmissive liquid crystal film or the like attached to a windshield or the like of a ship, and displays an image or the like provided by the image providing device 1 under the control of the control device 21.

FIG. 4 is a diagram illustrating an example of a software configuration of the image providing apparatus 1.
As illustrated in FIG. 4, the image providing apparatus 1 includes an image provision control unit 31 as a software configuration (functional configuration). Based on the ship position information acquired by the GPS compass 2, the tide table stored in the information storage device 5, and the electronic chart, the image provision control unit 31 has a depth below the sea level of the ship position. Ask for. In general, for example, the information on the tide level at the time and position managed in the tide level table is corrected with respect to the information on the water depth measured on the basis of the basic level in the electronic chart, and the position of the ship is corrected. Find the depth below sea level. Then, the image provision control unit 31 obtains the seafloor topographic image data at the position information and the depth based on the position information, the obtained depth below the sea level, and the electronic chart stored in the information storage device 5. By extracting from the seafloor topographic map of the electronic chart, a virtual space image of the seabed shape below the sea surface at the depth of the position of the ship is created and provided to the image display device 4. The image provision control unit 31 converts the coordinates of the image into a viewpoint image from a windshield or the like of a ship, which will be described later, and provides the image to the image display device 4.
The image provision control unit 31 is an image display device 4 (more specifically, the display device 24 of the image display device 4) identified by a relative positional relationship from position information that is a ship reference point acquired by the GPS compass 2. ), The direction of the ship acquired by the gyrocompass 7, the size of the display device 24, and the like, the visual field from the display device 24 is specified. Then, the image provision control unit 31 displays the bottom topographic image data of the position information and the depth in the specified visual field based on the identified visual field, the depth below the sea level, and the electronic chart. By extracting from an electronic chart such as a three-dimensional bird's-eye view map, a virtual space image of the seabed shape below the sea surface at the depth in the field of view may be created. The image providing control unit 31 may create a virtual space image of the seabed shape below the sea surface at the depth in the field of view, or the seabed shape virtual space below the sea surface at the depth of the position of the ship. After creating an image and performing the coordinate conversion, an image in the visual field may be extracted from the image subjected to the coordinate conversion.
Moreover, the image provision control part 31 calculates | requires the draft of the said ship according to the cargo of a ship and / or the number of passengers. For example, the draft of the ship is obtained by correcting the weight of the cargo in the draft information stored in the information storage device 5. And the image provision control unit 31 is based on the draft, the position information, the depth below the sea level, and the electronic chart, and the difference between the depth below the sea level and the draft, that is, the bottom of the hull The distance from the bottom of the ship to the seafloor shape is highlighted, and the distance from the bottom of the hull to the seafloor shape is highlighted. A virtual space image of a seabed shape under the seabed may be created and provided to the image display device. By adopting such a configuration, it is possible to inform the sailors and the like of the shape of the seabed where there is a risk of collision.

FIG. 5 is a diagram illustrating an example of a software configuration of the image display device 4.
As illustrated in FIG. 5, the image display device 4 includes an image display control unit 41 as a software configuration (functional configuration). The image display control unit 41 superimposes and displays the sea-bottom-shaped virtual space image provided by the image providing device 1 below the sea surface of the landscape from the display device 24. FIG. 6 is a diagram illustrating an example in which a sea-bottom-shaped virtual space image is superimposed and displayed below the sea surface of the landscape from the display device 24. For example, in FIG. 6, 51 and 52 are displayed as the seabed rocks superimposed on the scenery from the windshield on the windshield of the bow. In the case where the above-described highlighting is configured, when the seabed rock 51 exists within a predetermined distance from the bottom of the hull, the seabed rock 51 is highlighted compared to the seabed rock 52. As an example of highlighting, a character string such as “Danger of collision!” May be displayed near the rock 52, or the rock 52 may be outlined in red.

  As described above, according to the present embodiment, it is possible to provide useful information when a ship sails so that a sailor or the like can intuitively grasp the situation.

<Embodiment 2>
Hereinafter, Embodiment 2 will be described. In the second embodiment, differences from the first embodiment will be mainly described.
FIG. 7 is a diagram illustrating an example of a system configuration of the image display system according to the second embodiment. As shown in FIG. 7, the image display system according to the second embodiment includes a radar 8 that is an example of a radar device, as compared with the image display system according to the first embodiment.
When the image providing apparatus 1 according to the second embodiment compares an image below the sea level based on the radar echo of the radar 8 and the electronic chart, and detects an obstacle not on the electronic chart below the sea level. The virtual space image of the seabed shape including the obstacle is created and provided to the image display device 4.
According to the configuration of the second embodiment, an obstacle such as a sunken ship or a caisson that is not on the electronic chart can be detected, and the obstacle can be displayed superimposed on the sea surface of the landscape from the display device 24.
Note that the radar 8 in FIG. 7 may be a fish finder. According to such a configuration, a virtual space image of a seabed shape including marine life that becomes a hindrance to navigation of a ship such as a whale is created, and is superimposed and displayed below the sea level of the landscape from the display device 24. Can do.

<Embodiment 3>
Hereinafter, Embodiment 3 will be described. In the third embodiment, differences from the above-described embodiment will be mainly described.
FIG. 8 is a diagram illustrating an example of a system configuration of the image display system according to the third embodiment. As shown in FIG. 8, the image display system of the third embodiment includes a gyro sensor 9 that detects the attitude of the ship as an example of a detection device, as compared with the image display system of the first embodiment. It is.
The image providing apparatus 1 according to the third embodiment is based on the attitude of the ship detected by the gyro sensor 9 so that the sea level of the created virtual space image of the sea floor and the sea level of the landscape from the image display apparatus are horizontal. Coordinate conversion is performed and provided to the image display device 4.
According to the configuration of the third embodiment, even when the ship is shaken, the actual sea surface and the sea surface of the virtual space image of the seabed shape are displayed on the windshield in a consistent manner.

<Embodiment 4>
Embodiment 4 will be described below. In the fourth embodiment, differences from the above-described embodiment will be mainly described.
FIG. 9 is a diagram illustrating an example of a system configuration of the image display system according to the fourth embodiment. As illustrated in FIG. 9, the image display system according to the fourth embodiment includes a receiving device 10 that receives information, as compared with the image display system according to the first embodiment.
The receiving device 10 receives information about other ships in the sea area where the ship is present from, for example, a maritime traffic center.
The image providing apparatus 1 according to the fourth embodiment creates a virtual space image including information on the other ship received by the receiving apparatus 10 and provides the virtual space image to the image display apparatus 4.
The image display device 4 superimposes and displays the sea-bottom-shaped virtual space image provided by the image providing device 1 and the virtual space image including information on the other ships on the landscape from the display device 24. .
According to the configuration of the fourth embodiment, sailors and the like can intuitively recognize information related to other ships such as the size and movement of other ships even during heavy fog.

<Embodiment 5>
Embodiment 5 will be described below. In the fifth embodiment, differences from the above-described embodiment will be mainly described.
FIG. 10 is a diagram illustrating an example of a system configuration of the image display system according to the fifth embodiment. As shown in FIG. 10, the image display system according to the fifth embodiment includes a radar 8 and a receiving device 10 that receives information as compared with the image display system according to the first embodiment. ing.
The receiving device 10 according to the fifth embodiment receives the radar echo of the other ship acquired by the other ship and the position information at which the ship has detected the echo from the other ship.
Then, the image providing apparatus 1 according to the fifth embodiment compares the image based on the echo of the radar 8 with the image based on the echo of the radar of the other ship received by the receiving apparatus 10. A virtual space image including the detected obstacle and the obstacle that could not be detected by the echo of the radar 8 is created, and the created virtual space image is provided to the image display device 4. At this time, since the echo image of the radar of another ship is generated based on the position where the ship has detected the echo, it is aligned with the image detected by the radar 8 of the ship using the received position information. Compare above.
The image display device 4 includes a virtual space image of the seabed shape provided by the image providing device 1, an obstacle detected by the echo of the radar 8, and an obstacle that cannot be detected by the echo of the radar 8. The image is superimposed on the landscape from the display device 24 and displayed.
According to the configuration of the fifth embodiment, obstacles that could not be captured by the ship (ships) can be obtained by receiving the echoes of the radar captured by the other ship and superimposing the radar echoes of the ship. And a virtual space image including the obstacle can be created and displayed.

  According to each embodiment mentioned above, useful information can be provided when a ship sails so that a crew member etc. can grasp a situation intuitively.

The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to such specific embodiments, and various modifications can be made within the scope of the gist of the present invention described in the claims.・ Change is possible.
For example, in the above-described embodiment, a so-called non-human transmissive display such as a window having a transmissive liquid crystal film attached thereto has been described as an example. However, a transmissive display mounted on a human body such as Head Mounted Display is used. May be. The image display device 4 may be a portable transmissive or non-transmissive display held by a sailor or the like. In the case of a non-transmissive display, the non-transmissive display superimposes and displays an image captured by an imaging device and a virtual space image.
In the above-described embodiment, the image display device 4 has been described as an example. However, for example, a projector that projects a virtual space image onto a window or the like with a low-reflection film attached thereto may be used.
In addition, you may implement combining embodiment mentioned above arbitrarily.

1 Image providing device 4 Image display device

Claims (8)

A position information acquisition device for acquiring position information of a ship, an information storage device for storing an electronic chart including a seabed shape and a tide table, an image display device, and an image providing device for providing an image to the image display device; An orientation acquisition device that acquires the orientation of the ship, and an image display system comprising:
The image providing device calculates the depth of the ship below the sea level based on the position information of the ship acquired by the position information acquisition apparatus, the tide table, and information on the water depth indicated by the electronic chart. Further, the position information of the image display device specified based on the position information of the ship acquired by the position information acquisition device, the direction acquired by the direction acquisition device, and the size of the image display device And, based on the identified visual field, the depth below the sea level, and the seafloor topographic image data indicated by the electronic chart, the depth within the visual field. Create a virtual space image of the shape of the seabed under the sea surface and provide it to the image display device,
The image display device is an image display system that displays a sea-bottom-shaped virtual space image provided by the image providing device superimposed on a landscape from the image display device. The image providing device obtains a draft of the ship according to at least one of the information on the cargo of the ship and the number of passengers stored in the information storage device, the draft, the position information, and the sea surface Based on the bottom depth and the electronic chart, the bottom shape of the bottom of the sea surface at the depth of the position of the ship, and the bottom shape where the distance from the bottom of the hull to the bottom shape is within a predetermined distance. create a virtual space image of the highlighted seafloor shape under the sea surface has an image display system according to claim 1, wherein providing to the image display device. A radar device;
The image providing device compares an undersea image based on an echo of the radar device with seafloor topographic image data indicated by the electronic chart, and detects an obstacle not on the electronic chart under the sea surface. 3. The image display system according to claim 1, wherein a virtual space image of the undersea surface including the obstacle is created and provided to the image display device. Further comprising a detection device for detecting the attitude of the ship;
The image providing device performs coordinate conversion based on the attitude of the ship detected by the detection device so that the sea surface of the created seabed-shaped virtual space image is horizontal with the sea surface of the landscape from the image display device. The image display system according to claim 1, wherein the image display system is provided and provided to the image display device. A receiving device for receiving information;
The receiving device receives information of other ships in the sea area where the ship exists from a maritime traffic center,
The image providing device creates a virtual space image including information on the other ship received by the receiving device, and provides the virtual image to the image display device.
The image display device superimposes and displays the sea-bottom-shaped virtual space image provided by the image providing device and the virtual space image including information on the other ship on the landscape from the image display device. The image display system according to any one of claims 1 to 4. A radar device;
A receiving device for receiving information ;
Further comprising a,
The receiving device receives the echo of the radar device of the other vessel acquired by the other vessel from the other vessel,
The image providing device compares the image based on the echo of the radar device with the image based on the echo of the radar device of the other ship received by the receiving device, thereby detecting the failure detected by the echo of the radar device. Creating a virtual space image including an object and an obstacle that could not be detected by the echo of the radar device, providing the created virtual space image to the image display device;
The image display device includes a virtual space image of the seabed shape provided by the image providing device, an obstacle detected by an echo of the radar device, and an obstacle that cannot be detected by an echo of the radar device. The image display system according to claim 1, wherein a virtual space image is displayed superimposed on a landscape from the image display device. A position information acquisition device for acquiring position information of a ship, an information storage device for storing an electronic chart including a seabed shape and a tide table, an image display device, and an image providing device for providing an image to the image display device; An image acquisition method in an image display system including an orientation acquisition device that acquires the orientation of the ship,
Based on the position information of the ship acquired by the position information acquisition apparatus, the tide level table, and information on the water depth indicated by the electronic chart, the image providing apparatus calculates the depth below the sea level of the position of the ship. Further, the position information of the image display device specified based on the position information of the ship acquired by the position information acquisition device, the direction acquired by the direction acquisition device, and the size of the image display device And, based on the identified visual field, the depth below the sea level, and the seafloor topographic image data indicated by the electronic chart, the depth within the visual field. Creating a virtual space image of the shape of the seabed under the sea surface and providing it to the image display device;
The image display device superimposing and displaying a sea-bottom-shaped virtual space image provided by the image providing device on a landscape from the image display device;
An image display method including: A position information acquisition device that acquires position information of a ship, an information storage device that stores an electronic chart including a seafloor shape and a tide table, an image display device, a computer that provides an image to the image display device, and the ship An orientation acquisition device for acquiring the orientation of the image display system including the computer,
The position information of the ship acquired by the position information acquisition device, and the tide level table, and measurement steps on the basis of the information about the depth indicated by the electronic chart to determine the depth of the underwater position of the marine vessel,
Based the position information of the image display apparatus specified based on the position information of the marine vessel that is acquired by the position information acquisition device, and to the orientation obtained by the orientation obtaining unit, to a size of the image display device And a specific step of specifying a visual field from the image display device,
And the field specified in the specifying step, the a depth below sea level obtained in the measurement step, and bathymetric image data indicated by the electronic chart, based on the seabed shape of underwater of the depth within the field of view Providing a virtual space image to an image display device that displays the virtual space image superimposed on a landscape from the image display device;
A program for running

Images