JP7372370B2 - Information display device and information display method - Google Patents

Description

The present invention mainly relates to a ship information display device. In particular, it relates to the display of information for avoiding collisions between own ship and other ships.

Conventionally, marine navigation support systems have been known that track a ship from radar images, determine and display its movement vector, and also determine the collision risk and collision risk range between the own ship and a target ship (other ship). ing. Patent Documents 1, 2 and 3 disclose devices of this type.

The navigation aid device of Patent Document 1 calculates the CPA (Closest Point of Approach) and TCPA (Time to CPA) are calculated, an alarm judgment is made from the result of the calculation, and a danger symbol is displayed on the screen in accordance with the result of the judgment.

The operation evaluation device for a movable vehicle (particularly a ship) disclosed in Patent Document 2 calculates the predicted position of the own ship up to the possible collision point with the target ship, which is calculated based on the coordinates and speed component data of the target ship (other ship) relative to the own ship. It is configured to display the relative position between the route and the possible collision area centered on the possible collision point.

The marine navigation support system of Patent Document 3 uses the relative position and speed vector of the target ship and the speed of the own ship to detect collisions between each vertex of a polygonal safe passage area set around the own ship and the target ship. The own ship position when each vertex coincides with the collision point is calculated as the own ship map position, and the calculated own ship map position for each collision point is connected with a line segment. The structure is such that the own ship's position and its speed vector or target ship's position are displayed in a superimposed manner, with the range as the collision risk range.

Japanese Patent Application Publication No. 2012-21947 Special Publication No. 51-32475 Patent No. 2786809

However, the configuration of Patent Document 1 changes the color of the own ship's symbol on the screen or issues an audio warning regarding the predicted collision position, which poses a risk of collision with another approaching ship. This is simply to inform the operator of the ship. In other words, the display screen of Patent Document 1 only displays information that there is a risk of collision on the own ship's current scheduled route. As a result, when a vessel operator performs a give-way maneuver (a vessel maneuver to avoid danger), it is difficult for the operator to judge whether to change gears, change course, and if a change of course is necessary, in which direction. In addition, there are cases where there are multiple other ships that may collide with one's own ship, and it is difficult to determine in which order the risk of collision will occur in chronological order. This makes maneuvering the ship even more difficult.

In this regard, in Patent Documents 2 and 3, areas where there is a risk of collision with another vessel when the own ship enters are indicated (i.e., collision possible area in Patent Document 2 and collision risk area in Patent Document 3). has been done. This allows the ship operator to easily maneuver the ship to avoid danger by referring to the possible collision area (collision risk range).

However, both the possible collision area in Patent Document 2 and the collision risk area in Patent Document 3 are based on the course of the target ship and are displayed on the course of the target ship. As a result, especially when there are multiple target ships, each target ship has a different course, which tends to give the operator the impression that the collision potential area (collision risk area) is cluttered. It is difficult to understand the priority that should be given to possible areas (collision risk areas). Therefore, it is difficult to say that the configurations of Patent Document 2 and Patent Document 3 allow a vessel operator to properly and accurately maneuver the vessel to avoid danger.

The present invention has been made in view of the above circumstances, and an object thereof is to provide an information display device that enables easy and accurate ship maneuvering to avoid danger based on the displayed information. .

Means and effects for solving problems

The problem to be solved by the present invention is as described above, and next, the means for solving this problem and the effects thereof will be explained.

According to a first aspect of the present invention, an information display device having the following configuration is provided. That is, this information display device includes a closest position estimation section, a dangerous area generation section, and a display control section. The closest position estimation unit estimates the closest position of the other ship to the own ship on the course of the other ship, and the closest position of the own ship to the other ship on the course of the own ship. When the closest position of the other ship and the closest position of the own ship are within a predetermined distance range, the display control unit displays the closest positions of the other ship and the own ship, and the respective dangerous areas. Control the display. The display control unit controls display of past trajectories of the closest approach position of at least one of the other ship and the own ship over time.

This makes it possible to clearly display the positional relationship between the own ship and other ships that may collide with other ships, allowing the operator to intuitively grasp the positional relationship and avoid dangers such as collisions with other ships. This allows for easy and accurate maneuvering to avoid danger. In particular, when there are multiple other ships that may collide with one's own ship, the danger areas corresponding to each other ship are displayed along the own ship's course, allowing the ship operator to identify each danger area and the own ship's course. The priority to be dealt with can be easily determined based on the distance from the current position. Furthermore, even if there are a large number of dangerous areas, they can be displayed side by side (in an organized manner), so that the operator is less likely to get the impression that the display is cluttered. Then, in order to obtain the danger area simply based on the closest position of own ship and the set distance, the danger area is recalculated according to changes in the navigation information (course, speed, etc.) of other ships and own ship. This can be done easily and the calculation load on the device can be reduced.

In the information display device, it is preferable that the display control unit displays the closest approach time, which is the estimated time required for each of the other ship and the own ship to reach the closest approach position.

As a result, it is possible to grasp the time until a danger such as a collision between the own ship and another ship occurs, so that the ship operator can maneuver the ship to avoid danger at an appropriate time.

In the information display device, the display control unit preferably displays the time of closest approach near the position of closest approach corresponding to the time of closest approach.

This makes it easier to understand the correspondence between the closest approach positions and the closest approach times when the closest positions of a plurality of other ships are displayed.

In the information display device, it is preferable that the display control section displays a line connecting the current position of the other ship and the closest position as the predicted trajectory of the other ship.

Thereby, the correspondence between each other ship and the closest position of the other ship can be displayed in an easy-to-understand manner. Further, since the ship operator can intuitively grasp from which direction another ship will enter the dangerous area of his own ship, he can more accurately maneuver the ship to avoid danger.

In the information display device, it is preferable that the dangerous area at the closest position of the own ship and the closest position of another ship be displayed by the display control unit when they overlap with each other.

As a result, since there is no unnecessary display, the positional relationship between the own ship and other ships that may collide can be displayed concisely.

In the information display device, the dangerous area at the closest position of the own ship and the closest position of another ship are estimated times required for each of the own ship and the other ship to reach the closest position. It is preferable that the display control section display the information when a certain closest approach time is less than or equal to a predetermined time.

This narrows down and displays only the information that requires the operator's attention (information with a high degree of danger), so the display can be simplified.

The information display device described above preferably has the following configuration. That is, this information display device includes a target ship selection section that can select another ship displayed by the display control section as a target ship. The display control unit emphatically displays the dangerous area at the closest position of the own ship and the closest position of the target ship, which correspond to the target ship selected via the target ship selection unit. .

As a result, the information regarding other ships that the boat operator wants to confirm can be clearly displayed, so the boat operator can easily confirm the information.

The information display device described above preferably has the following configuration. That is, this information display device includes a target ship selection section that can select another ship displayed by the display control section as a target ship. The display control section is configured to display the dangerous area at the closest approach position of the own ship and the target ship's position only for the target ship selected through the target ship selection section among the displayed plurality of other ships. Show closest position.

Thereby, information regarding other ships that the ship operator wants to confirm can be displayed concisely and clearly.

In the information display device, it is preferable to display a trajectory of the closest position over time for at least one of the other ship and the own ship.

Thereby, the vessel operator can visually grasp the transition of the closest position of another vessel and/or his own vessel, and can easily perform danger avoidance vessel maneuvering.

In the information display device, it is preferable that the display control section displays the dangerous area at the closest position of the own ship and the closest position of the other ship in different ways for different other ships.

Thereby, when a plurality of other ships are displayed, information corresponding to the own ship and each other ship can be displayed in an easily distinguishable manner. Furthermore, it becomes easier to understand the correspondence between the own ship and each other ship.

In the information display device, the display control unit displays at least one of the dangerous area at the closest position of own ship and the closest position of another ship to other ships having different degrees of danger. , is preferably displayed in different manners.

This makes it easier to understand the danger level of each other ship.

According to a second aspect of the present invention, the following information display method is provided. That is, this information display method includes a closest position estimation step, a dangerous area generation step, and a display step. In the closest position estimating step, the computer calculates the closest position of the other ship to the own ship on the course of the other ship, and the closest position of the own ship to the other ship on the course of the own ship, respectively. Estimate. In the dangerous area generation step, the computer generates a dangerous area indicating a risk of collision between the own ship and the other ship based on the closest position of the own ship. In the display step, when the closest position of the other ship and the closest position of the own ship are within a predetermined distance range, the computer displays the closest position of the other ship and the own ship, and the dangerous area. control the display of each. The display step controls display of past trajectories of the closest approach position of at least one of the other ship and the own ship over time.

This makes it possible to clearly display the positional relationship between the own ship and other ships that may collide with other ships, allowing the operator to intuitively grasp the positional relationship and avoid dangers such as collisions with other ships. This allows for easy and accurate maneuvering to avoid danger. In particular, when there are multiple other ships that may collide with your own ship, the danger areas corresponding to each of the other ships are displayed alongside your own ship's course, allowing the ship operator to identify each danger area and your own ship. From the distance from the current location, it is possible to easily determine the priority that should be given to them. Furthermore, even if there are a large number of dangerous areas, they can be displayed side by side (in an organized manner), so the display does not give the impression of being cluttered to the vessel operator. Then, in order to obtain the danger area simply based on the closest position of own ship and the set distance, the danger area is recalculated according to changes in the navigation information (course, speed, etc.) of other ships and own ship. can be easily performed, and the amount of calculation of the device using the method can be reduced.

1 is a schematic perspective view showing the configuration of a radar image display device according to an embodiment of the present invention. FIG. 1 is a functional block diagram schematically showing the configuration of a radar image display device. The figure which shows the example of a display displayed on the display of a radar image display apparatus. FIG. 7 is a diagram illustrating narrowing down of the closest approach position mark and dangerous area display. A diagram showing an example of emphasizing and displaying the closest position and dangerous area regarding a selected ship. 4 is a diagram showing a situation in which the own ship has decelerated from the state shown in FIG. 3. FIG. A schematic diagram showing an example of displaying the trajectory of the closest position of own ship.

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic perspective view showing the configuration of a radar image display device 100. FIG. 2 is a functional block diagram schematically showing the configuration of the radar image display device 100. FIG. 3 is a diagram showing an example of a display displayed on the display 10 of the radar image display device 100.

A radar image display device (information display device) 100 shown in FIG. 1 is a device that can display various information regarding a ship, and has a TT (Target Tracking) function as a function to support navigation of the ship. has.

By the way, the TT function calculates the position, course, and speed of other ships around the own ship based on information from the radar antenna 90, and calculates the expected future course of other ships and the relationship between the own ship and other ships. This system calculates the closest distance CPA between the ship and other ships, and the time TCPA required for the closest approach between the own ship and another ship, etc., and issues a warning if there is a high risk of collision with the own ship.

This radar image display device 100 is electrically connected to a radar antenna 90, receives a reception signal from the radar antenna 90, and generates a radar image that reflects the situation of a detection target (for example, another ship). can be displayed.

The radar antenna 90 is configured to be able to rotate 360° in a horizontal plane, and scans the surrounding area by transmitting short-wavelength microwaves (electromagnetic waves, etc.) as detection signals to detect other ships and other vessels around the own ship. Detects information on targets such as islands (objects to be detected). Specifically, the radar antenna 90 is configured to transmit highly directional electromagnetic waves and receive reflected waves from each target object.

The radar image display device 100 can create a radar image by determining the distance, size, and orientation of the target object based on information from the radar antenna 90, and display the radar image on the display (display unit) 10.

As shown in FIG. 1, the radar image display device 100 includes a display 10, an operation section (distance setting section, target ship selection section) 20, and a control section 30.

The display 10 is composed of a liquid crystal display, etc., and displays radar images created in response to display commands from the control unit 30, and also displays the positions and wakes of the own ship and other ships on the display screen of the radar images, etc. , the closest position, etc. can be displayed.

The operation unit 20 is arranged near the display 10 and includes operation members such as a trackball 21, buttons 22, a keyboard 23, and a dial. By operating the operation unit 20, the ship operator can give various instructions to the radar image display device 100 (for example, setting a distance to determine the size of the own ship's danger area, specifying a target ship, etc.). I can do it. In the following explanation, the area set for determining the size of the own ship's dangerous area may be referred to as area distance.

The control unit 30 is configured as a computer built into the radar image display device 100, as shown in FIG. As shown in FIG. 2, this control unit 30 includes a closest approach position estimation unit 32, a closest approach time estimation unit 33, a dangerous area generation unit 34, a display data generation unit (display control unit) 35, It is equipped with

Specifically, the control unit 30 includes a calculation unit such as a CPU, and a storage unit such as a ROM or RAM. In addition to storing various control programs, this storage section also stores calculation information used for calculations performed by the calculation section, a predetermined time for comparison with the time of closest approach (details will be described later), and the like.

The control program includes an information display program for causing the radar image display device 100 to perform the closest position estimation step, the dangerous area generation step, and the display step in the information display method of the present invention. The above hardware and software cooperate to cause the control unit 30 to operate as a closest approach position estimating unit 32, a closest approach time estimating unit 33, a dangerous area generating unit 34, a display data generating unit 35, etc. be able to.

The closest position estimating unit 32 calculates the closest position, which is the position at which the own ship and the other ship will approach the most in the future, based on the navigation information of the own ship and the navigation information of the other ship. Note that this position of closest approach can be calculated by a known method based on navigation information of the own ship and other ships.

In this embodiment, the own ship's navigation information is the own ship's position information, course information, speed information, etc. obtained based on information from the radar antenna 90. However, the present invention is not limited to this, and for example, the course information and speed information of the own ship can also be obtained from setting data regarding course information, speed information, etc. set by the ship operator.

The navigation information of the other ship includes position information, speed information, course information, etc. of the other ship obtained based on information from the radar antenna 90. However, the present invention is not limited to this, and the above navigation information of other ships can also be acquired using, for example, an AIS (Automatic Identification System).

The closest approach time estimation unit 33 determines the closest approach position of the own ship or the other ship based on the closest approach position estimated by the closest approach position estimation unit 32 and the current position and speed of the own ship or the other ship. Calculate the time of closest approach, which is the estimated time required to reach the destination.

The dangerous area generation section 34 generates a dangerous area based on the area distance set by the ship operator via the operation section 20 and the own ship's navigation information, and outputs it to the display data generation section 35 . The dangerous area is determined based on the predicted future position of the own ship, and if the predicted position of another ship is within the area at that time, the own ship will collide with the other ship. This is an area that indicates a high level of risk.

In this embodiment, the dangerous area is created as a circle whose center is the position of the own ship and whose radius is the area distance set by the ship operator. Therefore, the dangerous area can be generated through simple processing, and the calculation load can be reduced.

The display data generation section 35 generates display data to be displayed on the display 10 based on information from the closest approach position estimation section 32, the closest approach time estimation section 33, the dangerous area generation section 34, and the operation section 20, and displays the display data on the display 10. control to display on. Specifically, as shown in FIG. The closest approach positions of other ships (Psa, Psb, Pa, Pb, own ship's dangerous areas Aa, Ab, etc.) are displayed on the display 10 in a two-dimensional manner in the form of marks or the like.

In the example shown in FIG. 3, the display data generation unit 35 allows the display 10 to display the positions of four other ships Ea, Eb, Ec, and Ed, and the closest positions Pa, Pb for two of them, the other ships Ea and Eb. and control to display. Note that in the following, the time point when the own ship and the other ship come closest to each other may be referred to as the "closest approach timing." The respective closest positions Pa and Pb of the other ships Ea and Eb mean the positions of the other ships Ea and Eb at their respective closest approach timings.

The display data generation unit 35 also controls the display 10 to display the position of the own ship S and the closest positions Psa and Psb of the own ship S. Note that the closest positions Pa and Pb of the own ship S mean the positions of the own ship S at the closest approach timings determined for the approaching other ships Ea and Eb, respectively. Further, the display 10 displays dangerous areas Aa and Ab based on the closest positions Psa and Psb of own ship S.

By viewing the above information displayed on the display 10, the boat operator can accurately determine how to maneuver the boat to avoid danger. Hereinafter, as an example, the display of information regarding the other ship Ea and the own ship S will be described in detail.

As shown in FIG. 3, on the display 10, the mark of own ship S (large ship shape mark) is displayed at the current position of own ship S, and the mark of other ship Ea (large circular mark) is displayed at the current position of other ship Ea. ) is displayed. In addition, on the display 10, the closest position Psa of own ship S (the position of own ship S at the timing of closest approach between own ship S and other ship Ea) is displayed with a small ship shape mark, and the closest position of other ship Ea is displayed. Pa (the position of the other ship Ea at the timing of closest approach) is displayed as a small diamond mark. Note that the closest position Psa of the own ship S and the closest position Pa of the other ship Ea are estimated by the closest position estimation unit 32. Further, the display 10 displays a dangerous area Aa generated by the dangerous area generating section 34 with reference to the closest position Psa of own ship S.

From the display screen shown in FIG. 3, the ship operator can understand navigation information such as the current position, closest position, course, etc. of the own ship S and the other ship Ea. In addition, the ship operator can grasp collision risk information such as that there is a risk of collision with another ship Ea if the own ship S continues sailing on the current course and speed.

Specifically, the large ship-shaped mark is displayed to represent the position where the own ship S is currently navigating. The small ship shape mark is displayed to represent the position of the own ship S at the closest approach timing (closest approach position Psa) with respect to the own ship S and the other ship Ea. Therefore, the current position and closest approach position Psa of the own ship S can be easily understood from the large and small ship shape marks representing the own ship S.

Similarly, the large circular mark above is displayed to indicate the position where the other ship Ea is currently navigating. The small diamond mark is displayed to represent the position (closest approach position Pa) of the other ship Ea at the time of closest approach between own ship S and other ship Ea. Therefore, the current position and closest approach position Pa of the other ship Ea can be easily understood from the two marks representing the other ship Ea.

Note that the marks representing the current position and closest approach position of own ship S and other ship Ea are not limited to being displayed in different shapes, but may be displayed in the same shape but different sizes. . Further, for example, using marks of the same shape and size, the mark at the current position may be displayed as a solid line, and the mark at the closest position may be displayed as a dotted line.

Looking at the display in Figure 3, it is obvious from the positional relationship between the circle of the danger area and the small diamond mark that the other ship Ea is within the danger area Aa at the timing of the closest approach between own ship S and the other ship Ea. be. Therefore, the ship operator should intuitively understand from the display screen shown in Figure 3 that if the ship S continues sailing on its current course and speed, there is a risk that the ship S will collide with another ship Ea. I can do it.

As described above, based on the information obtained from the display screen shown in FIG. 3, the ship operator can reduce the speed of the other ship Ea by, for example, decelerating the own ship S or steering the own ship S to the right side in FIG. It is easy to understand that collisions can be avoided.

By the way, when information regarding a plurality of other ships Ea, Eb, Ec, and Ed is displayed, the radar image display device 100 of this embodiment displays different marks as necessary, as shown in FIG. (symbols) indicate other ships Ea, Eb, Ec, and Ed. Thereby, when a plurality of other ships Ea, Eb, Ec, and Ed are displayed, the information corresponding to each other ship can be displayed in an easy to distinguish manner. In the display example in Figure 3, other ships Ea and Ec are being tracked by the TT function and are displayed with round marks. On the other hand, other ships Eb and Ed are other ships acquired by AIS and are displayed with triangle marks. However, the present invention is not limited to this, and each other ship may be represented by a mark of any shape.

Information regarding other ships Ea and Eb that are at risk of colliding with the own ship S is displayed in different colors (different formats) so that the ship operator can easily distinguish between the pieces of information. Note that in FIG. 3, different colors are represented by lines of different thicknesses.

Specifically, the other ship Ea, its closest position Pa, the closest position Psa of own ship S in relation to the other ship Ea, and the dangerous area Aa are displayed in red, and the other ship Eb and its closest position are displayed in red. The near position Pb, the closest position Psb of the own ship S in relation to the other ship Eb, and the dangerous area Ab are displayed, for example, in yellow. As a result, when multiple other vessels Ea and Eb are displayed, the information corresponding to each other vessel Ea and Eb can be easily distinguished, allowing more accurate vessel maneuvering to avoid danger. I can do it.

However, the display mode of the closest approach positions Pa and Pb of other ships is not limited to the above. For example, the marks indicating the closest positions Pa and Pb of other ships should not be limited to small diamond shapes, but should be configured to be displayed in different shapes, sizes, and colors depending on the type and degree of danger of the other ship. I can do it. Furthermore, the colors of the danger areas Aa and Ab are not limited to the above, and can be changed depending on the type and degree of danger of the other ship.

The types of other vessels include, for example, those tracked by the TT function as described above, those acquired by AIS, etc. In addition, as an example of changing the color depending on the degree of risk, if CPA is below a predetermined value and TCPA is below a predetermined value, it will be displayed in red, and if only CPA is below a predetermined value, it will be displayed in yellow. However, if it is neither of the above, it may be possible to display it in blue.

As explained above, in the radar image display device 100 of the present embodiment, the dangerous areas Aa and Ab, which are areas where there is a high possibility of collision with the own ship S when other ships Ea and Eb enter, are It is generated around the closest positions Psa and Psb of S. That is, the danger areas Aa and Ab will always be displayed centered on the point on the course of own ship S.

As a result, even in complex situations where there are multiple other ships Ea and Eb that must be careful of collisions, it is possible to intuitively understand the distance relationship between the displayed danger areas Aa and Ab and the current position of own ship S. be able to.

For example, as shown in FIG. 3, the dangerous areas Aa and Ab of the own ship S corresponding to the other ships Ea and Eb are displayed side by side on the course of the own ship S. From the display screen shown in FIG. 3, it can be easily seen that the dangerous area Aa is closer to the current position of own ship S than the dangerous area Ab. In this way, the ship operator can intuitively recognize that the risk of collision with other ship Ea occurs before the risk of collision with other ship Eb, so he/she can first consider the point of view of avoiding collision with other ship Ea. It is possible to easily understand what should be prioritized when maneuvering the ship.

In addition, as shown in Fig. 3, the closest approach time (time until the closest approach timing), which is the estimated time required for each of other ships Ea and Eb to approach the own ship S, is different from the closest approach position. It is displayed near Pa and Pb. This closest approach time is determined by the closest approach time estimator 33.

As shown in FIG. 3, the words "5 min" indicating that the time of closest approach between own ship S and other ship Ea is 5 minutes are displayed near the closest approach position Pa of other ship Ea, and own ship S The characters "9 min" indicating that the closest approach time between the ship Eb and the other ship Eb is 9 minutes are displayed near the closest approach position Pb of the other ship Eb. This makes it easy to see the correspondence between each closest approach time and other ships Ea and Eb, and also to understand how much time is left at the moment. Therefore, the ship operator can maneuver the ship to avoid danger at the appropriate time.

By the way, in addition to displaying the time of closest approach, if the displayed time of closest approach is shorter than a predetermined time, an alarm will be sounded, the time of closest approach, and the other ships Ea, Eb corresponding to the time of closest approach. The operator's attention can be called to attention by flashing the closest positions Pa and Pb of the ship S and/or the dangerous areas Aa and Ab of own ship S. Note that this predetermined time may be determined by the control unit 30 based on the speed of the own ship S, or may be set by an operation by the ship operator.

Further, as shown in FIG. 3, straight lines (lines) are displayed to connect the current positions of other ships Ea and Eb and the closest positions Pa and Pb. Since the closest positions Pa and Pb of other ships Ea and Eb are estimated based on the navigation information of other ships Ea and Eb, it is possible to use the lines as the predicted tracks Ta and Tb of other ships Ea and Eb. can.

This makes it possible to improve the visibility of the correspondence between the closest position Pa and the other ship Ea, and the closest position Pb and the other ship Eb. Then, from the predicted wake Ta, Tb, it is possible to more intuitively understand the course of other ships Ea, Eb, so it is possible to understand in which direction the other ships Ea, Eb are entering the dangerous area Aa, Ab of own ship S. It is possible to easily predict whether the ship will be in danger, and to more accurately maneuver the ship to avoid danger.

As is known, in a congested sea area, a considerable number of other ships will be displayed on the display 10. If all the information regarding a large number of other ships is displayed on the display 10, the screen display will become cluttered, making it difficult for the ship operator to check the information regarding each of the other ships.

In this regard, in the radar image display device 100 of this embodiment, the display regarding the closest position and dangerous area is narrowed down based on appropriate conditions. As a result, while the four other ships Ea, Eb, Ec, and Ed are displayed in Figure 3, the closest position and danger area are only displayed for the two other ships Ea and Eb. ing.

Display narrowing will be explained in detail below. If the closest position of another ship is not within the danger area at the closest position of own ship S, the control unit 30 of the radar image display device 100 displays the closest position of own ship S and the closest position of the other ship. , the dangerous area of own ship S, and the time of closest approach are configured so as not to display any of them. In other words, in the radar image display device 100 of this embodiment, only when the closest position of another ship is within the danger area of the own ship S corresponding to the other ship (overlapping), Display the above information.

Specifically, as shown imaginatively by the dashed line in Fig. 4, the point of closest approach Pc at the time when the other ship Ec comes closest to the own ship S is centered around the corresponding closest position Psc of the own ship S. It is outside the dangerous area Ac. This means that at present there is a low risk of collision between own ship S and other ship Ec. Therefore, the control unit 30 (display data generation unit 35) does not display the closest position Pc of the other ship Ec, the predicted track Tc, the closest position Psc of the own ship S corresponding to the other ship Ec, and the danger area Ac. Control as follows. This makes it possible to simplify the display on the display 10.

Furthermore, in the radar image display device 100 of this embodiment, the display is narrowed down based on the time until the own ship and another ship come closest to each other.

Specifically, the control unit 30 first obtains a predetermined time (for example, 10 minutes) from the storage unit to determine whether or not to display the closest position and the dangerous area. Thereafter, the control unit 30 compares the closest approach time determined by the closest approach time estimating unit 33 with the above-mentioned predetermined time for each of the other ships Ea, Eb, and Ed whose closest approach positions were in the danger area. As shown imaginatively by the chain line in Figure 4, although the closest position Pd of the other ship Ed is within the danger area Ad centered on the corresponding closest position Psd of own ship S, the time of closest approach is This is 11 minutes, which is longer than the above predetermined time (10 minutes). Therefore, the control unit 30 (display data generation unit 35) determines the closest approach positions Pd and Psd of the other ship Ed and own ship S, the dangerous area Ad of own ship S centered on the closest approach position Psd, and the closest approach time. control so that it is not displayed. On the other hand, for the other ships Ea and Eb, the control unit 30 (display data generation unit 35) controls the closest positions Pa and Pb of the other ships Ea and Eb, the closest position Psa and Psb of the own ship S, The display 10 displays the dangerous areas Aa and Ab of own ship S centered on the closest approach positions Psa and Psb, respectively, and the time of closest approach.

By performing the above processing, the control unit 30 selectively selects information such as the closest position according to the degree of risk depending on the time until the collision occurs, especially when there is a possibility of collision with multiple other ships. Since the information can be displayed on the display 10, the display can be made more concise.

Further, in the radar image display device 100 of the present embodiment, the information regarding the target ship selected by the ship operator via the operation unit 20 can be displayed in an emphasized manner. For example, when a ship operator selects another ship Ea via the operation unit 20, the control unit 30 (display data generation unit 35) recognizes the other ship Ea as a target ship, and displays information regarding the other ship Ea that is the target ship. Display data is created so that the information is displayed in a different color or line type from the display of information regarding other ships Eb, and is output to the display 10. As a result, the information regarding the target ship (other ship) Ea selected by the ship operator is displayed more prominently than the information regarding the other ship Eb, as shown in FIG.

In addition, methods for displaying information regarding the other ship Ea, which is the target ship, conspicuously include, for example, displaying it in a color that easily draws the attention of the vessel operator, displaying it in a blinking manner, and other methods. Examples of methods include displaying information about ships in achromatic colors (for example, gray) or dotted lines, and displaying information about target ships in colored colors or solid lines.

Alternatively, only the information regarding the other ship Ea may be displayed without displaying the closest approach position and predicted trajectory for other ships other than the target ship Ea. In this case, the display screen becomes more concise, and information about other vessels that the vessel operator wants to confirm can be clearly displayed, and the vessel operator can easily confirm that information.

As explained above, in the radar image display device 100 of this embodiment, information regarding other ships Ea, Eb and own ship S to prevent a collision is provided, including their correspondence relationships and their response priorities. Since the information is displayed in an easy-to-understand manner, the operator can easily and accurately maneuver the ship to avoid danger.

For example, in the situation displayed on the display screen shown in FIG. The approach position Psa is located further away from the current position of own ship S. In this case, it is considered that collision can be more easily avoided by decelerating the own ship S rather than increasing its speed. FIG. 6 shows a situation in which the dangerous area Aa moves as the own ship S decelerates, and the closest position Pa of the other ship Ea moves outside the dangerous area Aa. Note that if the closest positions Pa, Pb of other ships Ea, Eb deviate from the danger areas Aa, Ab, the own ship's closest positions Psa, Psb, the other ships' closest positions Pa, Pb, and the danger areas Aa, Ab Normally, these would not be displayed on the screen, but in FIG. 6 these are imaginatively drawn with chain lines. In this way, when the closest positions Pa, Pb of other ships Ea, Eb enter the dangerous areas Aa, Ab centered on the closest positions Psa, Psb of own ship S, the vessel operator should move into the dangerous areas Aa, Ab. Collision avoidance can be accurately performed by maneuvering the ship while being conscious of moving the closest positions Pa and Pb of other ships Ea and Eb out from Ab.

Note that the closest positions Psa and Psb of the own ship S based on the navigation information of the own ship S and other ships Ea and Eb are stored for a predetermined amount of time in the past, and the trajectories of the closest positions Psa and Psb are calculated according to the passage of time. may be displayed on the display 10 so that the boat operator can easily confirm it (trajectory display mode).

Hereinafter, the display of the trajectory of the closest position Psa of the own ship S corresponding to the other ship Ea will be described as an example. In the example of the display screen schematically shown in FIG. 7, the change in the closest position Psa of own ship S over time is displayed. In addition, in FIG. 7, the current closest position is Psa, the closest position a predetermined time ago from now is P'sa, and the closest position a predetermined time ago is P"sa, respectively. It is preferable to display the mark indicating the closest position in a different color so that the color becomes closer to the background color as the time passes (in Figure 7, for convenience of explanation in the drawing, the difference in display color is shown). (expressed by differences in hatching spacing).

In this way, the display data generation unit 35 controls the display 10 to display changes in the closest position Psa of own ship S over time, thereby expressing changes over time in the closest position Psa. can do. Therefore, the vessel operator can easily judge whether the danger can be avoided by the previous vessel maneuvers or whether additional vessel maneuvers are necessary.

Furthermore, the display is not limited to displaying the trajectory of the closest position of the own ship S, but may display a trajectory of the closest position of another ship over time. By displaying temporal changes in the closest position of another ship as a trajectory, the movement of the other ship can be better understood and avoidance maneuvers can be performed more accurately.

As described above, the radar image display device 100 of this embodiment includes the operation section 20, the closest position estimation section 32, and the display data generation section 35. The operation unit 20 sets the distance. The closest position estimating unit 32 determines the position of the other ships Ea, Eb at the time when the other ships Ea, Eb and the own ship S come closest, based on the navigation information of the other ships Ea, Eb and the navigation information of the own ship S. and the closest positions Pa, Pb, Psa, and Psb of own ship S are estimated. The display data generation unit 35 generates the closest positions Pa and Pb of other ships Ea and Eb estimated by the closest position estimating unit 32, and dangerous areas Aa and Ab centered on the closest position of own ship S, The current positions of other ships Ea, Eb and own ship S are displayed.

This makes it possible to clearly display the positional relationship between own ship S and other ships Ea and Eb that may collide with each other, allowing the operator to intuitively understand the positional relationship and to avoid collisions with other ships Ea and Eb. It is possible to easily and accurately maneuver the ship to avoid collisions, etc. In particular, when there are multiple other ships that may collide with own ship S, the danger areas Aa and Ab corresponding to the other ships Ea and Eb are displayed along the course of own ship S. However, based on the distance between each dangerous area Aa, Ab and the current position of own ship S, it is possible to easily determine the priority order for responding to these areas. Furthermore, even if there are a large number of dangerous areas Aa and Ab, they can be displayed side by side (in an organized manner), making it difficult for the operator to feel that the display is cluttered. In order to obtain danger areas Aa and Ab simply based on the closest position of own ship S and the set distance, changes in the navigation information (course, speed, etc.) of other ships Ea, Eb and own ship S are detected. The dangerous areas Aa and Ab can be easily recalculated according to the situation, and the calculation load on the device can be reduced.

Although the preferred embodiments of the present invention have been described above, the above configuration can be modified as follows, for example.

In the above embodiment, the area distance is set by the operation of the boat operator. However, the present invention is not limited to this, and for example, the control unit 30 may automatically set the area distance according to the speed of the own ship.

Furthermore, marks indicating other ships and the own ship may have any shape (for example, an arrow, a triangle, a ship shape, etc.) that can express the course of the other ship and the own ship. This makes it possible to easily understand the course of other ships and one's own ship from the shape of the mark.

The display screen of the above embodiment may be configured to display the dangerous area centered on the current position of the own ship.

The display of marks for the closest positions Psa and Psb of own ship may be omitted. Even in this case, since the closest position of the own ship is always located at the center of the danger areas Aa and Ab, the user can easily grasp the closest position of the own ship.

The transition of the closest approach position of the own ship in the past may be represented by a line, for example, instead of being represented by a plurality of marks as shown in FIG. The same applies to the past closest approach positions of other ships.

The display mode of the time of closest approach can be arbitrarily changed. For example, instead of displaying the time of closest approach using letters (numbers) as described above, it can also be displayed using a bar graph, a pie chart, or the like.

In the above embodiments, the set area distance is treated as the radius of the danger area. However, instead of this, the configuration may be such that the distance as the diameter of the circular dangerous area can be set as the area distance.

The speed vector of the other ship may be displayed on the display 10 instead of or in addition to the predicted tracks Ta and Tb of the other ship.

The display distance is configured so that the display distance can be set separately from the area distance, so that even if the closest positions Pa and Pb of other ships are outside the danger areas Aa and Ab, the closest positions Pa and Pb and the own ship will be displayed. If the distance to the positions Psa and Psb is less than the display distance, the closest positions Pa and Pb of other ships, the closest positions Psa and Psb of own ship, and the dangerous areas Aa and Ab may be displayed. .

Although the above description is an example of a north-up display, the display of the present invention can also be applied to a head-up display.

The present invention can be applied to various forms of information display devices. For example, it can be configured as a radar-dedicated information display device connected to a radar antenna, or it can be configured as a multi-function display that can integrate and display various types of information (such as nautical chart information).

10 Display (display section)
20 Operation section (area distance setting section, target ship selection section)
32 Closest position estimation unit 35 Display data generation unit (display control unit)
100 Radar image display device (information display device)
Aa, Ab, Ac, Ad Dangerous area Pa, Pb, Pc, Pd Closest position of another ship Psa, Psb, Psc, Psd Closest position of own ship Ta, Tb, Tc, Td Predicted track

Claims (13)

a closest position estimation unit that estimates the closest position of the other ship to the own ship on the course of the other ship, and the closest position of the own ship to the other ship on the course of the own ship;
a dangerous area generation unit that generates a dangerous area indicating a risk of collision between the own ship and the other ship based on the closest position of the own ship;
When the closest position of the other ship and the closest position of the own ship are within a predetermined distance range, display control controls display of the closest position of the other ship and the own ship, and the dangerous area, respectively. Department and
Equipped with
The information display device is characterized in that the display control unit controls display of past trajectories of the closest approach position of at least one of the other ship and the own ship over time. The information display device according to claim 1,
The information display device is characterized in that the display control unit controls display of the closest approach time, which is an estimated time required for each of the other ship and the own ship to reach the closest approach position. The information display device according to claim 2,
The information display device is characterized in that the display control unit controls display of the time of closest approach in the vicinity of the position of closest approach corresponding to the time of closest approach. The information display device according to any one of claims 1 to 3,
The information display device is characterized in that the display control unit controls display of a line connecting the current position of the other ship and the closest position as the predicted trajectory of the other ship. The information display device according to any one of claims 1 to 4,
An information display device characterized in that the display of the dangerous area at the closest position of one's own ship and the closest position of another ship is controlled by the display control unit when they overlap each other. The information display device according to any one of claims 1 to 4,
The dangerous area at the closest approach position of the own ship and the closest approach position of another ship are such that the closest approach time, which is the estimated time required for each of the own ship and the other ship to reach the closest approach position, is less than or equal to a predetermined time. An information display device characterized in that the display is controlled by the display control section in the case of The information display device according to any one of claims 1 to 6,
comprising a target ship selection unit that can select another ship displayed by the display control unit as a target ship,
The display control unit controls a display that emphasizes the dangerous area at the closest position of the own ship and the closest position of the target ship, which corresponds to the target ship selected via the target ship selection unit. An information display device characterized by: The information display device according to any one of claims 1 to 6,
comprising a target ship selection unit capable of selecting another ship whose display is controlled by the display control unit as a target ship;
The display control unit displays the dangerous area at the closest approach position of the own ship and the target ship only for the target ship selected via the target ship selection unit among the plurality of other ships whose display was controlled. An information display device that controls display of the closest position of the computer. The information display device according to any one of claims 1 to 8,
The information display device is characterized in that the display control unit controls display of the dangerous area at the closest position of the own ship and the closest position of the other ship in different manners for different other ships. The information display device according to any one of claims 1 to 9,
The display control unit controls displaying in different manners at least one of the dangerous area at the closest position of the own ship and the closest position of another ship with respect to other ships having different degrees of danger. An information display device characterized by: The information display device according to claim 1,
The information display device is characterized in that the display control unit controls display of each of the closest positions of the plurality of other ships and the dangerous area. The information display device according to claim 2,
The information display device is characterized in that the display control unit controls display of an estimated time required for the plurality of other ships to reach the closest position. a closest position estimating step in which the computer estimates the closest position of the other ship to the own ship on the course of the other ship, and the closest position of the own ship to the other ship on the course of the own ship; ,
a dangerous area generation step in which a computer generates a dangerous area indicating a risk of collision between the own ship and the other ship based on the closest position of the own ship;
When the closest position of the other ship and the closest position of the own ship are within a predetermined distance range, the computer controls display of the closest position of the other ship and the own ship, and the dangerous area, respectively. a display process to
including;
The information display method is characterized in that the displaying step controls display of past trajectories of the closest approach position of at least one of the other ship and the own ship over time.

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