JP5867886B2 - Visual recognition support device - Google Patents

Description

  The present invention relates to a visual recognition support device using an optical device that is mounted on a moving body such as a ship, an aircraft, or a vehicle and observes the surrounding environment.

There has been proposed a method of displaying information on an object superimposed on a landscape being viewed in a telescope that is rotatably installed (Patent Document 1). According to the method described in Patent Document 1, for example, the name of a ranch or hotel being viewed with a telescope is displayed. In addition, an apparatus has been proposed in which a azimuth line indicating the azimuth of a monitoring camera and a course line indicating the course of a monitoring boat are superimposed and displayed on a radar video display screen in a ship (Patent Document 2).
As proposed in Patent Documents 1 and 2, it is easy for the user to grasp the information by displaying a plurality of information in a superimposed manner.

JP 2005-175712 A JP 2001-264423 A

  However, in the case where the object information is not fixed as in the case of an optical instrument that is held in the hand, for example, the information providing system or various kinds of information is superimposed on the optical instrument in order to superimpose the object information as proposed in Patent Document 1. However, there is a problem that the optical equipment becomes larger and the operability is lowered. Further, in Patent Document 1, since it is an information providing system based on data accumulated in advance, it is not possible to observe a surrounding environment that dynamically changes like a moving body.

  Therefore, the present invention can output the azimuth as the observation target following a dynamic change and grasps it without the influence of the accumulation error, as in the case where it is fixed even in an optical instrument that is held by hand, for example. An object of the present invention is to provide a visual recognition support device that can be used.

In the visual recognition support device corresponding to claim 1, an optical device for observing the surrounding environment, a device orientation detection unit for detecting the device orientation of the optical device, a reset unit for resetting the device orientation, and a reset by the reset unit The basic azimuth information acquisition means for acquiring the basic azimuth information of the optical equipment at the time, the basic azimuth of the optical equipment at the time of reset by the reset means as the reference position, the equipment azimuth as the angle detected as displacement data from the reference position, and An azimuth calculating means for calculating the azimuth of the observation target observed by the optical device based on the basic azimuth information, and an object to be observed for obtaining information on the observation object in the observation area including the observation target based on the calculated azimuth of the observation target Object information acquisition means, projection means for displaying information on the object to be observed, and a plurality of objects in the observation area. Characterized in that a display selection means for selecting information about the measured object to be displayed on the projected unit when the measurement object is present. According to the first aspect of the present invention, since the apparatus includes a device orientation detection means suitable for dynamic response and settling, and basic orientation information acquisition means capable of obtaining accurate basic information, When observing the moving surrounding environment such as a moving object or when the main body of the device is used as a moving object, it can be handled by the device orientation detection means, while the accumulated error due to the continued detection of the device orientation detection means In order to calculate the device orientation from the time of reset using the basic orientation information, for example, the orientation from the time of holding the optical device can be calculated, so the optical device is the observation target The azimuth can be output following dynamic changes and can be grasped without any influence of accumulation errors. In addition, since the projection unit is provided, when observing the surrounding environment, it is possible to simultaneously view the azimuth and elevation angle of the observation area or the data on the object to be observed while visually checking the surrounding environment. Moreover, since the observation object information acquisition means is provided, it is possible to acquire data relating to the observation object existing in the observation area. In addition, since a display selection unit is provided, when there are a plurality of objects to be observed, data related to several objects to be observed can be selected and displayed from among data regarding the plurality of objects to be observed. .
According to a second aspect of the present invention, in the visual recognition support device according to the first aspect, the display selection unit selects information in a predetermined range before and after the observation target. According to the second aspect of the present invention, even when the observed object is congested, information about the observed object can be displayed in an easy-to-understand manner.
According to a third aspect of the present invention, in the visual recognition support device according to the first aspect, the reset means resets the device posture angle of the optical device, and detects the device posture angle of the optical device. Means, basic attitude angle information acquisition means for acquiring basic attitude angle information of the optical device at the time of resetting by the reset means, and the elevation angle of the observation target observed by the optical device based on the device attitude angle and the basic attitude angle information And an attitude angle calculation means for calculating the observation object information, and the object information acquisition means acquires information on the observation object in the observation area including the observation target based on the calculated elevation angle of the observation target. According to the third aspect of the present invention, not only the azimuth as the observation target of the optical apparatus but also the elevation angle can be grasped without being affected by errors due to accumulation following the dynamic change. Further, it is possible to acquire data related to the observation object existing in the observation area using the elevation angle data.
According to a fourth aspect of the present invention, there is provided the visual recognition support device according to any one of the first to third aspects, further comprising a fixed taking-in means for taking in the information displayed on the projection means in a fixed manner. The image data storage means for capturing the image data of the information displayed on the projection means by the operation of the means and storing the captured image data is further provided. According to the present invention as set forth in claim 4, the data content can be maintained without maintaining the optical device as the observation target by fixing and maintaining the display of the data relating to the observation object without updating. Can be reconfirmed.
According to a fifth aspect of the present invention, in the visual recognition assistance device according to any one of the first to fourth aspects, the reset means is provided in the optical device. According to the fifth aspect of the present invention, the reset operation can be performed by the optical device.
According to a sixth aspect of the present invention, in the visual recognition support device according to any one of the first to fourth aspects, the reset means is provided on a base that holds the optical device. According to the sixth aspect of the present invention, the reset operation can be performed on the base.
According to a seventh aspect of the present invention, in the visual recognition assistance device according to the sixth aspect, power and / or information is transmitted from the base to the optical device. According to the seventh aspect of the present invention, the functions mounted on the optical device can be minimized, and the optical device can be reduced in size and weight.
According to an eighth aspect of the present invention, in the visual recognition support device according to the fifth aspect of the present invention, the apparatus further includes a device orientation storage unit, wherein the device orientation storage unit sets the operation time of the reset unit of the optical device as a reset time. The azimuth calculation means calculates the azimuth of the observation target based on the displacement data and the basic azimuth information of the optical device at the time of resetting. According to the eighth aspect of the present invention, the displacement data of the azimuth direction of the optical device can be stored with the detection time as the reset time.
According to a ninth aspect of the present invention, in the visual recognition assistance device according to any one of the first to eighth aspects, the optical device is a binocular mounted on a ship and used for observation of the surrounding environment. And According to the ninth aspect of the present invention, it is possible to reduce the monitoring burden at the time of maneuvering and navigation in a ship, and in particular, it is possible to improve safety at night and in dense fog.
According to a tenth aspect of the present invention, in the visual recognition assistance device according to any one of the first to ninth aspects, the optical device further includes a device-side transmission unit that wirelessly transmits a device orientation. And According to the tenth aspect of the present invention, since the data of the optical device is transmitted wirelessly, the calculation of the azimuth can be performed by a device different from the optical device, and the optical device is mounted on the optical device. The function can be reduced and the optical device can be reduced in size and weight.
The present invention according to claim 11 is characterized in that, in the visual recognition support device according to any one of claims 1 to 10, an attitude angle sensor is used as the device orientation detection means. According to the eleventh aspect of the present invention, the device orientation can be detected using the attitude angle sensor.
According to a twelfth aspect of the present invention, in the visual recognition support device according to the fourth aspect, the optical device further includes an imaging unit that images the surrounding environment in the observation area including the observation target, and the imaging data captured by the imaging unit. Is stored in the video data storage means together with the image data. According to the present invention described in claim 12, by storing the display data together with the image of the observation area, it can be displayed by display means other than the optical device, and the stored data is displayed again and confirmed. You can also.

According to the present invention, since the apparatus orientation detection means suitable for dynamic response and settling and the basic orientation information acquisition means capable of obtaining accurate basic information are provided, the mobile body or the like moves. When observing the surrounding environment or when the main body of the device is used as a moving body, it can be dealt with by the device orientation detection means. To calculate the azimuth from the time of reset using the azimuth information, for example, it is possible to calculate the azimuth from the time when the optical instrument is held in the hand, so the azimuth that the optical instrument is the observation target changes dynamically Can be output following the above, and can be grasped without being affected by errors due to accumulation. In addition, since the projection unit is provided, when observing the surrounding environment, it is possible to simultaneously view the azimuth and elevation angle of the observation area or the data on the object to be observed while visually checking the surrounding environment. Moreover, since the observation object information acquisition means is provided, it is possible to acquire data relating to the observation object existing in the observation area. In addition, since a display selection unit is provided, when there are a plurality of objects to be observed, data related to several objects to be observed can be selected and displayed from among data regarding the plurality of objects to be observed. .
Note that when selecting information in a predetermined range before and after the observation target, the display selection unit can easily display information on the observation object even when the observation object is congested.
The reset unit resets the device attitude angle of the optical device. The device attitude angle detection unit that detects the device attitude angle of the optical device and the basic posture angle information of the optical device at the time of resetting by the reset unit are acquired. A basic attitude angle information acquisition means, and an attitude angle calculation means for calculating the elevation angle of the observation target observed by the optical equipment based on the equipment attitude angle and the basic attitude angle information, and the observed object information acquisition means When acquiring information about the observed object in the observation area including the observation target based on the calculated elevation angle of the observation target, not only the orientation that the optical instrument is the observation target but also the elevation angle follows the dynamic change. Therefore, it can be grasped without the influence of errors due to accumulation. Further, it is possible to acquire data related to the observation object existing in the observation area using the elevation angle data.
In addition, there is provided a fixed fetching means for fetching information displayed on the projection means in a fixed manner, fetching image data of information displayed on the projection means by operation of the fixed fetching means, and storing the fetched image data When the video data storage means is further provided, the data related to the object to be observed is fixed without being updated, and the display is maintained and stored, so that the data contents can be restored without maintaining the optical device as the observation target. I can confirm.
Further, when the reset means is provided in the optical device, the reset operation can be performed by the optical device, and the operation becomes easy.
Further, when the reset means is provided on the base for holding the optical device, the reset operation can be performed on the base, and the reset can be performed according to the detachment and holding operation of the optical device.
Further, when power and / or information is transmitted from the base to the optical device, the functions mounted on the optical device can be minimized, and the optical device can be reduced in size and weight.
Further, the apparatus further comprises an apparatus orientation storage means, wherein the apparatus orientation storage means stores the displacement data of the orientation of the optical apparatus with the operation time of the reset means of the optical equipment as the reset time, and the orientation calculation means stores the displacement data and the reset data When calculating the azimuth of the observation target based on the basic azimuth information of the optical device at, the displacement data of the azimuth of the optical device can be stored with the detection time as the reset time.
In addition, when the optical device is a binocular that is mounted on a ship and used for observation of the surrounding environment, it can reduce the monitoring burden when maneuvering and navigating the ship, especially at night and in dense fog. it can.
In addition, when the optical device further includes device-side transmission means for wirelessly transmitting the device orientation, it is configured to transmit the data of the optical device wirelessly, thereby calculating the orientation separately from the optical device. The function mounted on the optical device can be reduced, and the optical device can be reduced in size and weight.
Further, when the attitude angle sensor is used as the apparatus orientation detection means, the apparatus orientation can be detected using the attitude angle sensor.
In addition, when the optical device further includes an imaging unit that images the surrounding environment in the observation area including the observation target, and the imaging data captured by the imaging unit is stored in the video data storage unit together with the image data, By storing the display data, the display data can be displayed by display means other than the optical device, and the stored data can be displayed again and confirmed.

The side view of the ship carrying the visual recognition assistance apparatus by embodiment of this invention Device configuration diagram showing the visual recognition support device Block diagram showing the visual recognition support device with function realizing means Conceptual diagram of main parts of optical equipment used in the visual recognition support device Explanatory drawing which shows the display state in the visual recognition assistance apparatus The block diagram showing the visual recognition assistance apparatus by other embodiment of this invention with the function implementation means The block diagram showing the visual recognition assistance apparatus by further another embodiment of this invention with the function implementation means

Below, one Embodiment of the visual recognition assistance apparatus of this invention is described.
FIG. 1 is a side view of a ship equipped with a visual recognition support device according to the present embodiment, FIG. 2 is an equipment configuration diagram showing the visual recognition support device, and FIG. 3 is a block diagram showing the visual recognition support device with function realizing means. FIG. 4 is a conceptual diagram of a main part of an optical device used in the visual recognition support device, and FIG. 5 is an explanatory diagram showing a display state in the visual recognition support device.

As shown in FIGS. 1 and 2, in this embodiment, the moving object is used in a ship 10, and the visual recognition support device is used in a bridge 6.
The ship 10 includes an AIS (automatic ship identification device) receiver 1, a GPS receiver 2, a gyrocompass 3, a three-axis angle sensor (attitude angle sensor) 4 as a hull attitude angle detection means, and a radar apparatus 5. The AIS receiver 1 can acquire other ship data as an object to be observed such as ship name, ship type, identification number, position, course, speed, navigation state, safety information, and the like. The GPS receiver 2 can acquire current position data regarding the ship. The gyrocompass 3 can acquire the course data of the ship. The triaxial angle sensor 4 can detect attitude angle data of yawing, rolling, and pitching caused by the ship's shaking. The radar device 5 can acquire azimuth data viewed from the own ship and distance data from the own ship with respect to the observation object existing within a certain range from the own ship, the azimuth of the other ship, the distance to the other ship, The reapproach distance and the time required for reapproach can be mainly determined. The course information of the other ship and the speed information of the other ship can also be obtained by plotting information acquired by the radar device 5. It can also be obtained as automatically processed information as ARPA (automatic collision prevention support apparatus) information. The ARPA information includes the direction of the other ship that is the object to be observed, the distance to the other ship, the course of the other ship, the speed, the predicted closest approach distance, the time required for the closest approach, and the like. In the AIS receiver 1, static information such as the ship name is updated every 6 minutes, and dynamic information is updated intermittently at intervals of 2 to 12 seconds depending on the running state. It is also possible to store and use complete information once.
In addition, the support device main body 20 and the optical device 50 are provided on the bridge 6 along with various measurement display devices such as the repeater compass 7. The optical device 50 is binoculars in the present embodiment, but may be an imaging device such as a telescope or a camera. The optical device 50 is held on the base 8 and is used by being detached from the base 8 at the time of observation. The support device main body 20 includes a display device 9.

Next, the function realization means of the visual recognition assistance device will be described with reference to FIG.
FIG. 3 shows the support device main body 20 and the optical device 50.
In the support apparatus main body 20, data is continuously received in real time by the observation object information acquisition unit 11, the basic position information acquisition unit 12, the basic orientation information acquisition unit 13a, and the basic attitude angle information acquisition unit 13b. Here, the observation object information acquisition means 11 is, for example, from the AIS receiver 1, other ship data that becomes an observation object such as ship name, ship type, identification number, position, course, speed, navigation state, safety information, etc. To get. The observation object information acquisition means 11 can acquire ARPA information, radar information, GIS information (ENC (electronic chart) information), tide information, and astronomical information in addition to or together with the AIS information. The basic position information acquisition unit 12 acquires current position data related to the ship from, for example, the GPS receiver 2. The basic azimuth information acquisition means 13a acquires the course data of the own ship from, for example, the gyrocompass 3, and the basic attitude angle information acquisition means 13b acquires, for example, the hull attitude angle data generated by the shaking of the own ship from the triaxial angle sensor 4. . In the basic azimuth information acquisition means 13a, a GPS compass can also be used. The basic posture angle information acquisition unit 13b can obtain the azimuth and the posture angle by using the posture gyro (three axes).

The other ship data as the observation object from the observation object information acquisition means 11 is stored in the observation object information storage means 21. The observed object information storage means 21 may be provided as equipment on the ship 10 side.
The current position data regarding the ship from the basic position information acquisition unit 12 is used in the basic position calculation unit 22 to calculate the position data of the base 8 holding the optical device 50. If the current position data of the ship can be used as the position data of the base 8, the calculation processing by the basic position calculation means 22 is not required. The course data from the basic azimuth information acquisition unit 13a is used in the basic azimuth calculation unit 23 to calculate the azimuth of the base 8, that is, the reference azimuth in the holding state of the optical device 50. If the course data can be used as the azimuth of the base 8, the calculation processing by the basic azimuth calculation means 23 is not required. The posture angle data from the basic posture angle information acquisition unit 13 b is used in the basic posture angle calculation unit 24 to calculate the posture angle of the base 8, that is, the reference posture angle in the holding state of the optical device 50. If the attitude angle data can be used as the attitude angle of the base 8, the calculation process by the basic attitude angle calculation means 24 is not required.
The basic position data obtained by the basic position calculation means 22 is stored in the basic position storage means 25.

In the observed object calculation means 26, new data on the distance to the observed object, the azimuth, and the elevation angle is obtained for the observed object stored in the observed object information storage means 21 based on the data from the output means 33d. calculate.
That is, the azimuth, distance, and elevation angle from the optical device 50 are calculated for the object to be observed. It should be noted that the data regarding the distance to the object to be observed and the direction may be based on information obtained by the radar device 5 or may be obtained by the object information acquiring unit 11 instead of the object calculating unit 26. . Then, the azimuth data, distance data, and elevation / elevation angle data from the basic position regarding the observed object are stored as additional data in the observed object information storage means 21. Note that, as a result of the calculation by the observation object calculation means 26, an observation object whose distance from the basic position is outside the predetermined range is not an observation target in the optical device 50, and therefore, the orientation data from the basic position. Instead of adding the distance data, the deletion processing may be performed from the observed object information storage unit 21.

  The basic azimuth data obtained by the basic azimuth calculation means 23 is stored in the basic azimuth storage means 27a, and the basic attitude angle data obtained by the basic attitude angle calculation means 24 is stored in the basic attitude angle storage means 27b. The basic azimuth data obtained by the basic azimuth calculation means 23 and the basic attitude angle data obtained by the basic attitude angle calculation means 24 are not stored in the basic azimuth storage means 27a and the basic attitude angle storage means 27b. The calculation may be performed by the azimuth calculating means 33a and the attitude angle calculating means 33b and the results may be stored.

  The support apparatus main body 20 includes a reset unit 51b, and the optical device 50 includes a reset unit 51a. The reset units 51a and 51b include, for example, a switch, and the optical device 50 can be detached from the base 8. Detect. In the present embodiment, the reset means 51a and 51b have been described as detecting the separation of the optical device 50 from the base 8, but the device orientation, device posture angle, and device position of the optical device 50 are reset. It only needs to have a function. The reset means 51 b is provided on the base 8.

The reset means 51b sends a signal to the basic azimuth storage means 27a, the basic attitude angle storage means 27b, and the basic position storage means 25 when the separation is detected, and the basic azimuth storage means 27a sends the azimuth data of the base 8 at the time of departure. The basic posture angle storage means 27b stores the posture angle data of the base 8 at the time of separation, and the basic position storage means 25 stores the position data of the base 8 at the time of separation.
When the resetting unit 51a detects separation, the resetting unit 51a sends a signal to the device orientation detection unit 52a, the device posture angle detection unit 52b, and the device position detection unit 52c, and the device direction detection unit 52a, the device posture angle detection unit 52b, and the device position detection. The means 52c starts detecting the device orientation, the device attitude angle, and the device position, respectively. In the device orientation detection means 52a, the orientation (calculated based on the Bearing ... Yaw component) is detected using, for example, an attitude angle sensor (three axes), and in the equipment orientation angle detection means 52b, the Pitch component and Roll component are detected, for example. The device position detecting means 52c detects the position of the device using, for example, a posture angle sensor (three axes) and a timer (time measuring means), and detects the detection data at the time of separation. The device orientation, the device attitude angle, and the displacement data of the device position as the reference position are detected. Note that the attitude angle sensor can be used in combination with a single-axis or biaxial attitude angle sensor. Here, the device orientation detection unit 52a, the device attitude angle detection unit 52b, and the device position detection unit 52c are provided in the optical device 50, and the device orientation detection unit 52a, the device attitude angle detection unit 52b, and the device position are provided. The detection means 52c detects the device orientation, device posture angle, and device position of the optical device 50 itself. Note that an acceleration sensor and a mini gyro sensor may be used for the device orientation detection unit 52a, a tilt sensor may be used for the device posture angle detection unit 52b, and a GPS or an ultrasonic sensor may be used for the device position detection unit 52c.

Data detected by the device orientation detection unit 52a, the device attitude angle detection unit 52b, and the device position detection unit 52c is continuously transmitted from the device side transmission unit 53 to the main body side reception unit 31 in real time. The device side transmission means 53 and the main body side reception means 31 may be wired data transmission, but wireless data transmission is preferred.
The equipment orientation data received by the main body side receiving means 31 is stored in the equipment orientation storage means 32a, and the equipment attitude angle data received by the main body side receiving means 31 is stored in the equipment attitude angle storage means 32b. The received device position data is stored in the device position storage means 32c.

In the azimuth calculating means 33a, the azimuth to be observed by the optical device 50 is calculated from the basic azimuth data at the time of departure stored in the basic azimuth storage means 27a and the equipment azimuth data stored in the equipment azimuth storage means 32a. . That is, the azimuth calculating means 33a calculates the azimuth of the optical device 50 thereafter using the device azimuth data with reference to the basic azimuth data at the time of separation.
In the attitude angle calculation means 33b, the optical instrument 50 is selected as the observation target from the basic attitude angle data at the time of separation stored in the basic attitude angle storage means 27b and the equipment attitude angle data stored in the equipment attitude angle storage means 32b. Calculate the elevation angle. That is, the posture angle calculation means 33b calculates the device posture angle of the optical device 50 thereafter using the device posture angle data with reference to the basic posture angle data at the time of separation.
The position calculation means 33c calculates the position of the optical device 50 from the basic position data at the time of separation stored in the basic position storage means 25 and the equipment position data stored in the equipment position storage means 32c. That is, the position calculation means 33c calculates the subsequent position of the optical device 50 using the device position data with reference to the basic position data at the time of separation.

Data calculated by the azimuth calculating means 33a, the attitude angle calculating means 33b, and the position calculating means 33c are continuously output from the output means 33d to the observation object calculating means 26 and the observation area calculating means 34 in real time.
The observation area calculation means 34 calculates the observation area using the data output from the output means 33d. That is, the observation area calculation means 34 calculates the azimuth and elevation angle of the center of the observation area in the optical device 50 based on the current position, and the range is determined according to the viewing angle in the optical device 50. When the magnification can be changed in the optical device 50, a viewing angle corresponding to each magnification is set in advance.

The first display information generating means 35 generates the azimuth data or the elevation angle data obtained by the observation area calculating means 34 as display data. Further, the position data can be generated as display data as required.
The display target information extraction unit 36 extracts data related to the observation object corresponding to the observation area.
That is, using the azimuth range data and the elevation angle range data specifying the observation area calculated by the observation area calculation means 34, the azimuth data, distance data, and the like stored in the observed information storage means 21 corresponding to the observation area Captures information about the observed object such as ship name and identification number.
In addition, when there are a plurality of objects to be extracted that are extracted here, all of them may be extracted, but it is also effective to preferentially extract data relating to objects to be observed at a distance close to the base 8.
It is also effective to extract information about the observed object including the observation target in a predetermined range before and after the observation target, and to connect it to an easily understandable display when the observed object is congested.
The second display information generating means 37 generates data relating to the observation object extracted by the display target information extracting means 36 as display data.
When the current position data of the optical device 50 is used in calculating the observation area, the accuracy can be improved by correcting the azimuth data and the distance data stored in the observed object information storage means 21.
The display data generated by the first display information generation means 35 and the second display information generation means 37 is continuously transmitted in real time by the main body side transmission means 38.

The optical device 50 includes a projection unit 54 that superimposes display data on the surrounding environment. The display data transmitted by the main body side transmission means 38 is received by the device side reception means 55 and sent to the projection means 54. Therefore, the projection means 54 can project the display data in real time. The projection means 54 can select various methods other than the superimposed display.
The fixed capture means 59 is a function that captures the display of the projection means 54 in a fixed manner, and is performed by an operation. That is, the imaging data transmitted by the imaging signal output unit 57 is stored in the video data storage unit 40 as still image data by the fixed capturing unit 59, and the data content can be reconfirmed by fixed display as still image data. . The fixed capture means 59 also transmits data from the device-side transmission means 53 at the timing of transmitting a signal to the imaging signal output means 57, and the first display information generation means 35 and the second display information generation means 37. Display data is also stored in the video data storage means 40 as still image data. Note that the captured data may be moving image data. In this case, the fixed capture means 59 captures the moving image data from the time when the operation is performed until the operation is performed again or for a predetermined time.
Here, the main body side transmission means 38 and the device side reception means 55 may be wired data transmission, but wireless data transmission is preferable.

The battery 58 built in the optical device 50 is supplied with power from the power supply means 41 of the support apparatus body 20. The power supply from the power supply means 41 may be performed by contact between the optical device 50 and the support apparatus main body 20 or may be performed by non-contact.
The optical device 50 preferably includes an imaging unit 56 that images the surrounding environment in the observation area that is an observation target, and an imaging signal output unit 57 that outputs imaging data captured by the imaging unit 56. In this case, the support apparatus main body 20 includes an imaging signal input unit 39, and the imaging signal input unit 39 receives imaging data output from the imaging signal output unit 57 and stores it in the video data storage unit 40. The video data storage unit 40 also stores the display data generated by the first display information generation unit 35 and the second display information generation unit 37 together with the imaging data. The imaging data and display data stored in the video data storage means 40 can be displayed by the display unit 9, and the data contents can be reconfirmed. Note that the data stored in the video data storage unit 40 may be displayed on the projection unit 54.

In the above embodiment, the case where the AIS receiver 1 is applied as the observation object information acquisition unit 11 has been described. However, data from the radar device 5 can also be used as the observation object information acquisition unit 11. In this case, since the radar device 5 can acquire the azimuth data viewed from the own ship and the distance data from the own ship with respect to the observed object, it is necessary to perform processing by the observed object calculation means 26. Absent. It is also effective to use object information by an ARPA device (automatic collision prevention assistance device) together with the AIS receiver 1 or the radar device 5.
In addition, by providing a position detection unit that detects the device position of the optical device 50 with respect to the base 8, the optical device 50 can be used at a place away from the base 8.

Moreover, in the said embodiment, although the reset means 51b was provided in the support apparatus main body 20, and the reset means 51a was provided in the optical apparatus 50, you may provide only any one. In this case, for example, when only the reset unit 51b is provided, a signal is sent from the reset unit 51b to the device orientation detection unit 52a, the device attitude angle detection unit 52b, and the device position detection unit 52c when leaving. Detection by the device orientation detection unit 52a, the device attitude angle detection unit 52b, and the device position detection unit 52c is started.
Further, for the purpose of eliminating the accumulated error of the optical device 50, the device orientation detection means 52a and the device attitude angle can be received by an instruction from the optical device 50 (such as pressing an update button) without returning the optical device 50 to the base 8. It is also possible to reset the detection unit 52b and the device position detection unit 52c, update the device orientation, the device attitude angle, and the device position, and perform calculation using this as a new starting point.

Next, the principal part structure of the optical apparatus used for the visual recognition assistance apparatus is demonstrated using FIG.
As shown in FIG. 4, when binoculars are used as the optical device 50, an objective lens side Porro prism 61 and an eyepiece side Porro prism 62 are disposed between the objective lens 60a and the eyepiece lens 60b. . A right-angle prism 63 for incident light is disposed on the reflection surface of the poro prism 61 on the objective lens side, and a right-angle prism 64 for outgoing light is disposed on the reflection surface of the eyepiece-side poro prism 62. A refractive index-adjusting coating 65 is provided on the reflecting surface of the objective lens side Porro prism 61 or the contact surface of the incident light right angle prism 63 with the reflecting surface of the objective lens side Porro prism 61. Further, a coating 66 for adjusting the refractive index is applied to the contact surface of the eyepiece lens side Porro prism 62 or the contact surface of the outgoing light right angle prism 64 with the eyepiece lens side Porro prism 62. Then, the projection means 54 is disposed at a position facing the incident light right-angle prism 63, and the imaging means 56 is disposed at a position facing the incident light right-angle prism 64.

With the above configuration, the display information in the projection unit 54 is incident on the right-angle prism 63 for incident light, then is incident on the objective lens side porro prism 61 by the coating 65, and is superimposed on the incident light from the objective lens 60a. The light enters the eyepiece side Porro prism 62.
The display information superimposed on the incident light from the objective lens 60a is separated into reflected light and transmitted light on the reflecting surface of the eyepiece lens side Porro prism 62, and the transmitted light is emitted from the output light right-angle prism 64, and the imaging means 56 is used. Is imaged.
Although the above embodiment has been described assuming binoculars, when an optical device such as an electronic camera is used, a display and an image sensor provided in the optical device are used as the projection unit 54 and the imaging unit 56. In this case, the video data storage means 40 may be provided in the optical device 50.
FIG. 4 is a conceptual diagram for convenience in explaining the configuration of the projection unit 54 and the imaging unit 56. In actuality, the combination of the prisms is different, and the image viewed with the eyepiece 60b is correct. It comes to stand.

Next, the display state in the visual recognition assistance device will be described with reference to FIG.
FIG. 5A shows a part of the surrounding environment that can be seen from the bridge 6 of the ship. FIGS. 5B, 5C, 5D, and 5E show the observation areas in the binoculars (FIG. 5A). Circles (b), (c), (d), and (e) described in the figure are shown.
First, as shown in FIG. 5A, a passenger ship 71, a tanker 72, and a lighthouse 73 are visible as objects to be observed in the surrounding environment.
In FIG. 5B, it is displayed that the orientation of the observation target with binoculars as the optical device 50 is 360 °. This azimuth 360 ° is display data generated by the first display information generating means 35. The X symbol 74 is a fixed display and may be data transmitted together with the display data from the first display information generating means 35 or a display provided in the optical device 50. The azimuth 360 ° represents the azimuth at the intersection point of the X symbol 74, and the intersection point of the X symbol 74 is an observation target.

In FIG. 5C, the azimuth of the observation target is changed to 20 °, and a horizontal line display 75 is displayed. Here, the azimuth and horizontal line display 75 of the observation target is display data generated by the first display information generating unit 35, and the elevation angle data can be displayed as horizontal line data instead of numbers. Note that the azimuth display and water line display transmitted from the first display information generating means 35 and displayed are displayed in real time, and data at each position is also displayed when shifting from FIG. 5B to FIG. 5C. Is displayed.
In FIG. 5C, since the cruise ship 71 and the tanker 72 are in the observation area, the bow direction display 76 and the observation object such as the ship name and the distance to the cruise ship regarding the cruise ship 71 and the tanker 72 are displayed. An information display 77 is displayed. The bow direction display 76 and the observed object information display 77 are display data generated by the second display information generating means 37. Note that the display object information extraction unit 36 may preferentially extract and display data related to the observed object at a short distance. When there are a plurality of objects to be observed, all of them can be displayed, or some can be displayed with priority. In addition, a means for giving priority to or selectively switching an observation object at a far distance may be provided. If the observed object is present in a congested state, it can be displayed in an easy-to-understand manner by extracting and displaying information about the observed object including the observed target in a predetermined range before and after the observed target.

In FIG. 5D, since the tanker 72 is in the observation area, a bow direction display 76 and an object information display 77 such as a ship name and a distance to the passenger ship regarding the tanker 72 are displayed. . The bow direction display 76 and the observed object information display 77 are display data generated by the second display information generating means 37. In FIG. 5D, the azimuth of the observation target is changed to 25 ° and a horizontal line display 75 is also displayed. Here, the azimuth and horizontal line display 75 of the observation target is display data generated by the first display information generation unit 35.
In FIG. 5E, since the lighthouse 73 is in the observation area, the lighthouse position display 79 and the observation object display 78 relating to the lighthouse 73 are displayed. The lighthouse position display 79 and the observed object information display 78 are display data generated by the second display information generating means 37. In FIG. 5 (e), the orientation of the observation target is changed to 85 °, and a horizontal line display 75 is also displayed. Here, the azimuth and horizontal line display 75 of the observation target is display data generated by the first display information generation unit 35.

Next, the visual recognition assistance apparatus by other embodiment is demonstrated using FIG.
The visual and visual assistance device according to the present embodiment is a case where the visual and visual assistance device is used as a moving body in a vehicle, and FIG. 6 is a block diagram showing the visual and visual assistance device by function realizing means. In addition, about the same function means as the said embodiment, the same code | symbol is attached | subjected and description is partially abbreviate | omitted. In this case, the support apparatus main body 20 is comprised from the holder of the repeater and the optical apparatus 50 mounted in the vehicle, for example.
In the support apparatus main body 20, data is continuously received in real time by the observation object information acquisition unit 11, the basic position information acquisition unit 12, the basic orientation information acquisition unit 13a, and the basic attitude angle information acquisition unit 13b. Here, the observation object information acquisition means 11 acquires data that becomes an observation object such as an interchange, a parking lot, a service area, a parking area, and other road stations and buildings from the GIS receiver 1, for example. The building and geographic information as an observation object include height, name, and other information along with position information such as latitude and longitude. The observation object information acquisition means 11 can use vehicle information and astronomy information in addition to GIS information or together with GIS information. The basic position information acquisition unit 12 acquires the current position data of the vehicle from the GPS receiver 2, for example. The basic azimuth information acquisition unit 13a acquires vehicle travel direction data from, for example, the gyrocompass 3, and the basic attitude angle information acquisition unit 13b acquires, for example, mobile body posture angle data generated by the inclination of the vehicle from the triaxial angle sensor 4. . In the basic azimuth information acquisition means 13a, a GPS compass can also be used. In the basic posture angle information acquisition unit 13b, a posture gyro (three axes) can be used.

The reset means 51b sends a signal to the basic azimuth storage means 27a, the basic attitude angle storage means 27b, and the basic position storage means 25 when it detects the separation of the optical device 50 from the repeater or holder. In the basic azimuth storage means 27a, The orientation data of the repeater or the holder at the time of separation is stored, the orientation angle storage means 27b stores the orientation angle data of the repeater or the holder at the time of separation, and the basic position storage means 25 stores the repeater at the time of separation. Alternatively, the holder position data is stored.
When the resetting unit 51a detects separation, the resetting unit 51a sends a signal to the device orientation detection unit 52a, the device posture angle detection unit 52b, and the device position detection unit 52c, and the device direction detection unit 52a, the device posture angle detection unit 52b, and the device position detection. The means 52c starts detecting the device orientation, the device attitude angle, and the device position, respectively. In the device orientation detection means 52a, the orientation (calculated based on the Bearing ... Yaw component) is detected using, for example, an attitude angle sensor (three axes), and in the equipment orientation angle detection means 52b, the Pitch component and Roll component are detected, for example. The device position detecting means 52c detects the position of the device using, for example, a posture angle sensor (three axes) and a timer (time measuring means), and detects the detection data at the time of separation. The device orientation, the device attitude angle, and the displacement data of the device position as the reference position are detected. Note that the attitude angle sensor can be used in combination with a single-axis or biaxial attitude angle sensor. Here, the device orientation detection unit 52a, the device attitude angle detection unit 52b, and the device position detection unit 52c are provided in the optical device 50, and the device orientation detection unit 52a, the device attitude angle detection unit 52b, and the device position are provided. The detection means 52c detects the device orientation, device posture angle, and device position of the optical device 50 itself. Note that an acceleration sensor and a mini gyro sensor may be used for the device orientation detection unit 52a, a tilt sensor may be used for the device posture angle detection unit 52b, and a GPS or an ultrasonic sensor may be used for the device position detection unit 52c.
The support apparatus main body 20 according to the present embodiment is installed and used in a vehicle.
In addition, as a moving body, it can also use for an aircraft other than a vehicle. Moreover, it is good also as a thing which can be moved with a person by using the assistance apparatus main body 20 as a carry-back.

Next, the visual recognition assistance apparatus by other embodiment is demonstrated using FIG.
The visual and visual assistance device according to the present embodiment is a case where a person carries it as a moving body, and FIG. 7 is a block diagram showing the visual and visual assistance device by function realizing means. In addition, about the same function means as the said embodiment, the same code | symbol is attached | subjected and description is partially abbreviate | omitted.
In the support function unit 20, data is continuously received in real time by the observation object information acquisition unit 11, the basic position information acquisition unit 12, the basic orientation information acquisition unit 13a, and the basic attitude angle information acquisition unit 13b. Here, the observation object information acquisition unit 11 acquires data that becomes an observation object such as a tourist spot, a store, a mountain, and other structures from the GIS receiver 1, for example. The building and geographic information as an observation object include height, name, and other information along with position information such as latitude and longitude. The observation object information acquisition means 11 can use vehicle information and astronomy information in addition to GIS information or together with GIS information. The basic position information acquisition unit 12 acquires the current position data of the person from the GPS receiver 2, for example. The basic azimuth information acquisition unit 13a acquires human traveling direction data from, for example, the gyrocompass 3, and the basic posture angle information acquisition unit 13b acquires, for example, mobile body posture angle data generated by the human inclination from the triaxial angle sensor 4. . In the basic azimuth information acquisition means 13a, a magnetic compass or a GPS compass can be used. In the basic attitude angle information acquisition unit 13b, an inclination sensor can be used.

The reset means 51b detects that the switch has been pressed by an artificial operation, or sends a signal to the basic azimuth storage means 27a, the basic attitude angle storage means 27b, and the basic position storage means 25 when the passage of a predetermined time is detected. The basic azimuth storage unit 27a stores the azimuth data of the support function unit 20 or the optical device 50 when the detection time is reset, and the basic posture angle storage unit 27b stores the support function unit 20 or the optical device 50 posture angle at the reset time. Data is stored, and the basic position storage means 25 stores the position data of the support function unit 20 or the optical device 50 at the time of reset.
When the resetting unit 51a detects separation, the resetting unit 51a sends a signal to the device orientation detection unit 52a, the device posture angle detection unit 52b, and the device position detection unit 52c, and the device direction detection unit 52a, the device posture angle detection unit 52b, and the device position detection. The means 52c starts detecting the device orientation, the device attitude angle, and the device position, respectively. In the device orientation detection means 52a, the orientation (calculated based on the Bearing ... Yaw component) is detected using, for example, an attitude angle sensor (three axes), and in the equipment orientation angle detection means 52b, the Pitch component and Roll component are detected, for example. The device position detecting means 52c detects the position of the device using, for example, a posture angle sensor (three axes) and a timer (time measuring means), and detects the detection data at the time of separation. The device orientation, the device attitude angle, and the displacement data of the device position as the reference position are detected. Note that the attitude angle sensor can be used in combination with a single-axis or biaxial attitude angle sensor. Here, the device orientation detection unit 52a, the device attitude angle detection unit 52b, and the device position detection unit 52c are provided in the optical device 50, and the device orientation detection unit 52a, the device attitude angle detection unit 52b, and the device position are provided. The detection means 52c detects the device orientation, device posture angle, and device position of the optical device 50 itself. Note that an acceleration sensor and a mini gyro sensor may be used for the device orientation detection unit 52a, and an ultrasonic sensor may be used for the device position detection unit 52c.
The support function unit 20 according to the present embodiment is provided integrally with the optical device 50.

  In these embodiments, the optical device 50 for observing the surrounding environment, the device orientation detection unit 52a for detecting the device orientation of the optical device 50, the reset unit 51a for resetting the device orientation, or the reset unit 51a and the reset unit 51b. A basic azimuth information acquiring unit 13a for acquiring basic azimuth information of the optical device 50 at the time of resetting, an azimuth calculating unit 33a for calculating the azimuth of the observation target of the optical device 50 based on the device azimuth and basic azimuth information, Output unit 33d for outputting the calculated azimuth, and the device azimuth used for the calculation of the azimuth is basically the device azimuth detected after the reset by the reset unit 51a. Accordingly, the apparatus includes the apparatus orientation detection means 52a suitable for dynamic response and settling and the basic orientation information acquisition means 13a capable of obtaining accurate basic information. Or when the apparatus main body is used as a moving body, the device orientation detection means 52a can cope with this, while the accumulated error due to the continued detection of the device orientation detection means 52a is basically In order to calculate the device azimuth from the reset time using the azimuth information, for example, the azimuth from the time when the optical device 50 is held can be calculated. It can be output following changes, and can be grasped without the effect of errors due to accumulation.

Further, the apparatus includes an apparatus attitude angle detection unit 52b that detects the apparatus attitude angle of the optical apparatus 50, and when the output unit 33d performs output based on the apparatus attitude angle of the optical apparatus 50 with respect to the observation target, the optical apparatus 50 performs the observation. Not only the target orientation but also the device attitude angle can be output following a dynamic change and can be grasped without any influence of accumulation errors.
In addition, when the device position detecting means 52c for detecting the device position of the optical device 50 is further provided and the output unit 33d performs output based on the device position of the optical device 50, it is possible to cope with a change in the device position.
In addition, the observation object information acquisition means 11 for acquiring information on the observation object in the observation area including the observation target, the position information of the observation object acquired by the observation object information acquisition means 11, and the equipment position by the output means 33d And the display object information extracting means 36 for extracting data related to the observed object as a display object from the azimuth calculated by the azimuth calculating means 33a, it is present in the observation area of the optical device 50. The data related to the observed object can be specified as the display target.

Further, when the projection means 54 for displaying the output information of the output means 33d is further provided, when observing the surrounding environment, the azimuth and elevation angle of the observation area or the object to be observed is observed while visually checking the surrounding environment. Data can be viewed at the same time.
In addition, when information related to the observed object is displayed by the projection means 54, if the observed object exists in the observation area, the data related to the observed object can also be visually recognized.
In addition, when the projection unit 54 displays information on the observation object including the observation target in a predetermined range, the information on the observation object is displayed in the predetermined range, so that visibility in observation can be improved. In particular, when the observed object is congested, information on the observed object including the observation target can be easily displayed by extracting and displaying the information in a predetermined range before and after the observation target.
In addition, when the image capturing device 54 is further provided with a fixed take-in means 59 for taking in the display of the projection means 54 in a fixed manner, the data relating to the observation object is fixed without being updated, and the display is maintained and stored, whereby the optical device 50 Data can be reconfirmed without maintaining as an observation target.

Further, when the reset means 51a is provided in the optical device 50, the reset operation can be performed by the optical device 50, and the operation becomes easy.
In addition, when the reset means 51b is provided on the base 8 that holds the optical device 50, the reset operation can be performed on the base 8, and the reset can be performed in accordance with the removal or holding operation of the optical device. It becomes.
Further, when power and / or information is transmitted from the base 8 to the optical device 50, the functions mounted on the optical device 50 can be minimized, and the optical device 50 can be reduced in size and weight. .
Further, the apparatus orientation storage means 32a is further provided. In the equipment orientation storage means 32a, the displacement data of the orientation of the optical equipment 50 is defined as the time when the optical equipment 50 is detached from the base 8 detected by the equipment orientation detection means 52a. When the azimuth calculating means 33a calculates the azimuth based on the azimuth data of the base 8 with the time when the optical device 50 is detached from the base 8 being reset, the optical device 50 is placed in the base 8. By using the azimuth data of the base 8 up to the held state and the displacement data from the time when the optical device 50 is detached from the base 8, various highly accurate detectors are mounted on the optical device 50 itself. Even if you do not, you can accurately grasp the observation target.

In addition, when the optical device 50 is a binocular that is mounted on the ship 10 and used for observation of the surrounding environment, the monitoring burden during maneuvering and navigation in the ship 10 can be reduced, and safety at night and in dense fog is improved. Can be made.
Further, when the optical device 50 further includes device-side transmission means 53 that wirelessly transmits the azimuth, the optical device 50 is configured to transmit the data of the optical device 50 wirelessly, thereby calculating the azimuth. This can be performed by another apparatus, and the function mounted on the optical device 50 can be reduced, and the optical device 50 can be reduced in size and weight.
Further, when an attitude angle sensor is used as the apparatus orientation detection means 52a or the apparatus attitude angle detection means 52b, the apparatus attitude angle can be easily detected directly by detecting the apparatus attitude angle using the attitude angle sensor. Also, it is possible to combine the device orientation detection function and the device attitude angle detection function.
The optical device 50 further includes an imaging unit 56 that images the surrounding environment in the observation area including the observation target, and a video data storage unit 40 that stores the imaging data captured by the imaging unit 56 together with the output of the output unit 33d. When the display data is stored together with the image of the observation area, it can be displayed on the display means 9 other than the optical device 50, and the stored data can be displayed again and confirmed.
Further, although the optical device 50 is mounted on the moving body at least while being held on the base 8, it may be used on the moving body or removed from the moving body after being detached.

  The present invention is capable of grasping the azimuth direction as an observation target even in an optical instrument that is observed with a hand in particular, and can display data on an object to be observed existing in an observation area of the optical instrument. It is suitable for a visual recognition support device that is mounted on a moving body such as the one that observes the surrounding environment.

8 Base 9 Display 10 Ship 20 Support Device Main Body 21 Observed Object Information Storage Unit 22 Basic Position Calculation Unit 23 Basic Direction Calculation Unit 24 Basic Attitude Angle Calculation Unit 25 Basic Position Storage Unit 26 Observed Object Calculation Unit 27a Basic Direction Storage Means 27b Basic attitude angle storage means 31 Main body side reception means 32a Equipment orientation storage means 32b Equipment attitude angle storage means 32c Equipment position storage means 33a Orientation calculation means 33b Attitude angle calculation means 33c Position calculation means 33d Output means 34 Observation area calculation means 35 First display information generation means 36 Display target information extraction means 37 Second display information generation means 38 Main body side transmission means 40 Video data storage means 51a Reset means 51b Reset means 52a Equipment orientation detection means 52b Equipment attitude angle detection means 52c Equipment position detection Means 53 Device side transmitter 54 Projection means 55 Device-side reception means 56 Imaging means 57 Imaging signal output means

Claims (12)

Optical equipment for observing the surrounding environment;
Device orientation detection means for detecting the device orientation of the optical device;
Reset means for resetting the device orientation;
Basic azimuth information acquisition means for acquiring basic azimuth information of the optical device at the time of reset by the reset means;
Observed by the optical device based on the device azimuth and the basic azimuth information as an angle detected as displacement data from the reference position, with the basic azimuth of the optical device at the time of reset by the reset means as a reference position Azimuth calculating means for calculating the azimuth of the observation target;
Observation object information acquisition means for acquiring information related to the observation object in the observation area including the observation target based on the calculated orientation of the observation target;
Projection means for displaying the information on the observed object, and display selection means for selecting the information on the observed object to be displayed on the projection means when a plurality of the observed objects exist in the observation area. A visual recognition support device characterized by comprising:   The visual recognition support device according to claim 1, wherein the display selection unit selects the information in a predetermined range before and after the observation target. The reset means resets the device attitude angle of the optical device;
Device posture angle detection means for detecting the device posture angle of the optical device;
Basic attitude angle information acquisition means for acquiring basic attitude angle information of the optical device at the time of reset by the reset means;
Posture angle calculating means for calculating the elevation angle of the observation target observed by the optical device based on the device posture angle and the basic posture angle information, and the observation object information acquiring means is calculated. The visual recognition support device according to claim 1, wherein the information on the observation object in the observation area including the observation target is acquired based on the elevation angle of the observation target. A fixed capture means for capturing the information displayed on the projection means in a fixed manner;
2. The image data storage means for capturing the image data of the information displayed on the projection means by the operation of the fixed capture means and storing the captured image data. The visual recognition support device according to claim 3.   The visual recognition support device according to claim 1, wherein the reset unit is provided in the optical device.   The visual recognition support device according to claim 1, wherein the reset unit is provided on a base that holds the optical device.   The visual recognition support device according to claim 6, wherein power and / or information is transmitted from the base to the optical device. It further comprises a device orientation storage means,
In the device orientation storage means, the operation time of the reset means of the optical device is set as the reset time, and the displacement data of the device orientation of the optical device is stored.
6. The visual recognition support device according to claim 5, wherein the azimuth calculation means calculates the azimuth of the observation target based on the displacement data and the basic azimuth information of the optical device at the time of reset. The visual inspection support device according to any one of claims 1 to 8, wherein the optical device is binoculars mounted on a ship and used for observation of an ambient environment.   The visual recognition support device according to claim 1, further comprising a device-side transmission unit that wirelessly transmits the device orientation to the optical device.   The visual recognition support apparatus according to claim 1, wherein an attitude angle sensor is used as the device orientation detection unit. The optical apparatus further comprises imaging means for imaging the surrounding environment in the observation area including the observation target,
5. The visual recognition support device according to claim 4, wherein the image data captured by the image capturing unit is stored in the video data storage unit together with the image data.