JPS58214868A - Apparatus for displaying detected image information performed by plural vessels - Google Patents

Abstract

PURPOSE:To display detected informations performed by plural vessels simultaneously and automatically, by storing detected image informations made by the own vessel and the other vessel on the basis of the received position and the directional information of the other vessel and the measured position and the directional informations of the own vessel by display memory to display the same on a same image surface. CONSTITUTION:The position and the directional data of the other vessel are received and demodulated through a demodulator/amplifier 9 to be applied to a receiving display control circuit 10a. Through this circuit 10a, the RAM 11a of display memory is accessed and detected information obtained by the sonar of the other vessel received and demodulated by the amplifier 9 are written in the RAM 11a. Similarly, a display control part 10b is controlled by the position and the direction of the own vessel measured by a LORAN 12 and a gyrocompass 13 and detected information from the sonar 14 of the own vessel is written in the RAM 11b of the display memory. In this case, the contents of the RAM 11a and the RAM 11b are added to automatically and simultaneously display not only detected informations obtained by the own vessel but also detected informations obtained by the other vessel by a CRT display part 16 and accurate judgement based on the detected informations can be carried out.

Description

[Detailed Description of the Invention] This invention relates to a display device for detection image information obtained by sonar or radar, and in particular, when a plurality of ships are sailing in a group, the detection image information obtained by each ship is displayed on one display. The present invention relates to a device for simultaneous display.

Generally, in purse seine fishing, the main vessel, light boat, and transport vessel work together to search for fish, and the vessel usually makes the decision as to which vessel will capture the school of fish it discovers, and whether or not to capture that school of fish. .

For this reason, it becomes necessary for the vessel to grasp fish school information obtained from other vessels, but conventionally, fish school information was communicated orally to the vessel using wireless equipment. .

However, this communication method inherently makes it impossible to convey objective and accurate information, and has the drawback of making it difficult to make quick and correct decisions regarding whether or not schools of fish have been caught.

An object of the present invention is to provide a display device in which detection information obtained by another ship is automatically and accurately and objectively displayed as an image at the same time as detection information obtained by the ship.

In summary, this invention provides detection video information transmission means for directly transmitting video information about objects detected on another ship to the ship, and transmits detection video information on the other ship obtained by this transmission means on the ship. It is characterized by simultaneously displaying the detection video information obtained from the ship as well as the position and direction information of each ship on the same screen.

The present invention provides the following effects because two or more pieces of detected video information are simultaneously displayed on the same screen in the same dimension, taking into account the distance between ships and the direction. First, as shown in Figure 1, on the display screen P, circle A is the detection video information display area of the ship, circle B is the detection video information display area of other ships, and the direction of travel of each ship is the top. Then, it is easily found that the search omission is in the shaded area C in the figure. In this case, by moving the main ship a little to the right, or by moving ship A a little to the left, it is possible to completely eliminate the omission of the search. It has the effect of allowing exploration.

Second, the image of the ship becomes larger under equal constraints, and continuity can be created between two or more images. Therefore, it is possible to immediately determine whether a detected object that can be detected individually on each ship is the same or completely different on the own ship, and it is also possible to prevent a detected object from moving from the detection range of another ship to the detection range of the own ship. It can be easily grasped.

Next, embodiments of the invention will be described with reference to the drawings. In the embodiment described below, the present invention is applied to a fish finder, the detection device is a scanning sonar, the navigation device is a Loran and a gyro compass, and the fish school image information obtained by each boat is Shows the device displayed based on the ship's position and heading.

FIG. 2 is a block diagram of a detected video information display device according to an embodiment of the present invention. The display device of this embodiment is composed of a transmitting device carried on another ship ((A) in the same figure) and a receiving device ((B) in the same figure) carried on the main ship.

In FIG. 2 (5), the ship position/azimuth data of the radio navigation device Loran I and the direction measuring device JAI D2 are stored in the transmission memory 4 together with detection image data obtained by the sonar 3. Furthermore, these data are transmitted to the ship via the modulation/amplification circuit 6 while being controlled by the transmission control circuit 5a.

The detected image data from the sonar 3 is further stored in a display RAM 7 serving as a display memory, and its contents are displayed on the display section 8 under the control of the display control circuit 5b.

On the other hand, on the ship side, among the received data that has passed through the demodulation/amplification circuit 9, the ship position/azimuth data is output to the reception/display control circuit tOa, and the detection video data is stored in the display RAM 1la, which is a display memory.

Data is set in the display RAM 11a under the control of the reception/display control circuit 10a based on the ship position/azimuth data. In addition, the ship's position/azimuth data from the Loran 12 and the gyro 13 are output to the display control circuit tab, and the detected video data from the sonar 14 is stored in the display RAM 1lb while being controlled by the display control circuit iob.
is memorized. The detection video data of the other ship stored in the display RAM 11a and the detection video data of the main ship stored in the display RAM 11b are added by an adder 15 and output to the display section 16.

As described above, on the ship, the detection video data of the own ship and the detection video data of other ships are simultaneously displayed on the display unit 16.
The two detection images will be displayed simultaneously on the same screen.

FIG. 3 is a detailed block diagram of the transmitting device in FIG. 2 (5),
FIG. 4 is a detailed block diagram of the receiving device shown in FIG.

In FIG. 3, the sonar 3 includes a transmitter 30 driven by an output pulse of an r counter, which will be described later, and a number of transducers 31 that emit the transmission pulse from the transmitter 30 and receive reflected waves. a receiving a/g 32 for amplifying the received signal;
The switching device 33 converts the received outputs into a time series using the output pulses of a θ counter, which will be described later. FIG. 5 is a diagram showing the arrangement of the transducer 31, in which each vibrator Zo-ZK-1 is arranged on the circumference by equally dividing the entire circumference of 360°, and the vibrator Z
(The position of No. 1 and the bow direction are made to match. The signal converted into a time series by the switch 33 is digitized by the A/D converter 17 and set in the display RAM 7.

The display section 8 includes a CRT 80, an A/A and amplifier circuit 81 for analogizing video data, and an X deflection amplifier 82 for deflection. X deflection carp/L'83. X deflection amplifier 8
4. It is composed of Y deflection carp/v85. The detection video is
By giving the detected video data set in the display RAM 7 to the D/A and amplifier circuit 81 as a luminance signal
Displayed on RT80.

FIG. 6 shows the display screen configuration of the CRT 80, and FIG. 7 shows the configuration of the display RAM 7. The number of pixels is Mo in the X direction.
, There are MOXNO numbers of No in the Y direction.

(2) is the number of pits that gives weight to the signal strength and the density level on the thumbnail display screen. Here, it is assumed that ■=1.

Image data is written to or read from the display RAM 7 by a counter group, a coordinate conversion ROM, etc. that constitute the display control circuit 5b. In addition, the third
In Figure 4, the counter, shift register, memory (
(RAM), the symbols attached to the input/output terminals of the latch mean the roles shown in Table 1.

Table 1 1C Carry Pulse Clock The pulse generator 50 forms the basic clock of the transmitting device. If the scanning frequency in the X direction (horizontal direction) of the CR1 screen is fH (H2), the clock frequency is fi+
It is set to xMo(H2). The detection range setter 51 is
It consists of a digital switch that sets the detection range of sonar 3. Let the output value be Ra (m). Frequency divider 52
is the frequency of the clock pulse generator (hereinafter referred to as CP) 50 clock pulses (Noris) divided by (CXKXL)/(2
Ra) (H2) pulse is formed. C is the speed of sound in water. θ counter 53. The r counter 54 specifies the coordinate position of r-θ polar coordinates. The 00 counter 53 is a linear up counter, and its count value is used to convert the reflected signal into a time series by the switch 33, and also to store it in the transmission RAM to be described later. The writing position is also stored in the display RAM 7 through the coordinate conversion ROM 55.
Specify the writing position.

When the count value changes from 0 to -1 and from -1 to 0, a pulse is output to the r counter 16. The r counter 54 is an L-ary up counter, and like the θ counter 53, the R counter 54 is for display and transmission.
Specify the AM write position.

The count value ranges from 0 to L-1, and a transmission trigger pulse is output to the transmitter 30 when the count value changes from L-1 to 0. Coordinate conversion ROM
55 is an RO that converts r-θ polar coordinates to x-y orthogonal coordinates
□ Xnl and YBI are the number of bits when Mo and No are expressed in binary numbers, respectively. The X counter 56 is an MO up counter and indicates the beam position in the X direction on the CRTSo. The count value is Q-Mo-1, and when it goes from Mo-1 to 0, an X synchronization pulse is output to the X counter 57 and the X deflection amplifier 82.

The X counter 57 is a No. digit up "counter"
0 shows the beam position in the Y direction. The count value is θ~N0-
1, outputs a Y synchronization pulse to the Y deflection amplifier 84 when the number changes from No-1 to 0. The switch 58 is a switch that changes the write address and read address of the display RAM 7, and is driven by the clock pulse of 0P12, and when the pulse is high level, it is connected to the coordinate conversion ROM side, and when the pulse is low level, it is connected to the X, Y counter side. . Note that the terminal R/W of the RAM 7 is also driven by a clock pulse, and writing is performed when the level is high, and reading is performed when the level is low.

Note that the coordinate conversion ROM 55 is used to convert r-θ polar coordinates to X-Y orthogonal coordinates as described above.
As shown in the figure, the result of the following equation (1) is stored, assuming that the detection range R is divided into L equal parts.

(2L-1=NO) From the above configuration, the detection data obtained in the r-θ coordinate system is converted to data in the X-Y orthogonal coordinate system and stored in the display RAM 7.
, and is further displayed on the CRT 80 in X-Y orthogonal coordinates.

On the other hand, the detection data digitized by the A/D converter 17 is also stored in the transmission RAM 23 by the transmission control circuit 5a for transmission to the ship.

The configuration of the transmission RAM 23 is shown in FIG. The transmission control circuit 5a includes a group of counters, a ROM for forming a synchronizing signal, and the like. The frequency divider 70 is a frequency divider that determines the speed of transmission and reception, and divides the frequency of the clock pulse of CF2O.

If the output frequency is fo, it becomes fO devo-transmission speed. The θ counter 71 is a counter for controlling transmission and reception, and is a Jo-adic up counter. The pulses of the frequency divider 70 are counted from 0 to JO-1, and when it becomes 0 from JO-1, the r counter 72 and the shift register 18.19.2'
Outputs a pulse to O. Further, the r counter 72 is a counter for controlling transmission and reception, and is an L+1 up counter. The output pulses of the θ counter 71 are counted from 0 to L. The switch 73 is a switch that changes the write address and read address of the transmission RAM 23, and is driven by the pulse of the frequency divider 70, and when the pulse is at a high level, it is connected to the r counter 54 and θ counter 53 side, which are the write addresses. and when the level is low, the r counter 72,
Connected to the θ counter 22 side. Note that the output frequency fo of the frequency divider 70 is sufficiently larger than the output frequency of the frequency divider 52. The write/read control terminal R/W of the RAM 23 is also driven by the pulse of the frequency divider 70, and writing is performed when the level is high, and reading is performed when the level is low. The correspondence between the count value of the counter and the transmission data is shown.

Table 2 The ROM 74 is a circuit for transmitting a θ synchronization signal, and stores a predetermined synchronization signal, which is read out according to the count value of the θ counter 71. This is a JO bit configuration.

However, the necessary ones are (a) to (JO-1) (Jo
-K) bits. The ROM 75 is a circuit for transmitting synchronization signals, and stores predetermined signals.
It is read out according to the count value of the θ counter 71 and output to the switch 21. This is a Jo bit configuration. However, what is necessary is (V+1) ~ (Jo-1) (Jo-
v-1) bit. The ROM 76 is a circuit for switching transmission information according to the counts of the θ counter 71 and r counter 72 as shown in FIG. 11 or Table 2, and stores switching positions. Its storage capacity is (L+1)XJOX
It is 2 bits. The reason why ×2 is necessary is because the imperial command will be changed in four stages.

As described above, the detection data in r-θ polar coordinates is transmitted as is by the transmission control circuit 5a.

The transmission data includes detection data, detection range setting data, ship position data, and direction data.

Ship position Pa is measured by Loran 1 and set in shift register 9. The orientation αa is measured by the gyro 2 and set in the shift register 20. Further, the detection range Ra is set in the shift register 8.

Note that the ship position Pa is indicated by latitude and longitude, and the azimuth αa is indicated by a value obtained by measuring the angle between the traveling direction and the north clockwise.

The shift register 18 sets the detection range Ra to the θ counter 7.
The signals are latched in parallel by the output HARLES of 1, and sent out in series by the pulse of the frequency divider 70. Each output pulse of the θ counter 11 is latched and sent out, but as shown in Table 2, what is sent to the ship is the r counter 72.
This is only when the count value of is L. This is done by a changeover switch 21, which will be described later.

As shown in Table 2, this shift register has an S+1 bit configuration. The shift register 9 for transmitting the ship position Pa is
It operates in the same manner as the shift register 8 described above, but the latched Pa is outputted to the changeover switch 21 through the shift register 8.

(tS) bit configuration. The shift register 20 for transmitting the direction αa also operates in the same manner as the 77 register 18, but the latched αa is outputted to the changeover switch 21 through the shift registers 18 and 19. (
v-t) pit configuration.

Detection data stored in transmission RAM 23, ROM 74
．． 75 θ, r synchronization signal, and the above detection range Ra,
The ship position Pa and the azimuth αa are sequentially transmitted according to the counts of the θ counter 71 and r counter 72, and the switching is performed by the changeover switch 21 controlled by the ROM 76. As mentioned above, the switching control is as shown in Table 2 and the 11th
This will be done based on the diagram.

Next, referring to FIG. 4, the receiving device on the ship side will be explained.

Sonar 14 has the same configuration as sonar 3. Furthermore, the counters, coordinate conversion ROM, and changeover switches of the display control circuit 10b are also the same in configuration as the display control circuit 5b. That is, CPloo corresponds to CF2O, and the detection range setter 1012 frequency divider 102°θ counter 103. r counter 104. Coordinate transformation ROM105. X counter 106. Y
The counter 107 and the switch 108 are configured by a detection range setter 511, a frequency divider 52. θ counter 53. r counter 54. Coordinate conversion ROM 55, X counter 56, Y counter 57. They correspond to the switching devices 58, respectively. The display position setting device 109 is a circuit for setting the position at which the image of the own ship (main ship) is displayed on the CRT display screen, and a digital switch is normally used. There are two set values: the number of pixels Δxb and Δyb from the center of the display. Δxb and Δyb take positive and negative values. The display range setter 110 is
This is a digital switch for setting the display range on the CRT display screen, and if the setting value is 几0 (m), then
RO indicates the range of the short side of the CRT display screen. Arithmetic unit 11
1 is composed of a CPU or an add/subtract/multiply/divider, and calculates the values necessary for display from the ship position and azimuth data of other ships and the main ship, Ro, ΔXb, and ΔYb. The details will be described later, but Pa is the other ship's detection image scale ratio, βb is the own ship's detection image scale ratio, ΔXa, ΔYa are the other ship's detection image display position, τa, τb are the other ship's detection image and the own ship's detection image, respectively. Represents the rotation angle. Adders 112 and 113 control the display position in the X-Y orthogonal coordinate system, and multiplier 114 controls the size of the image. The adder 115 also controls the rotation angle of the image.

With the above configuration, the detected image data obtained by the sonar 14 of the ship is converted into the X-Y orthogonal coordinate system and stored in the display RAM 11b by the same operation as on the transmitting side.

The reception/display control circuit 10a stores detection video data in a display RAM 1l based on the received ship position/azimuth data of other ships.
This is a circuit that stores data in a. In the configuration, frequency divider 116
, θ Kapunta 117. The r counter 118 is connected to the frequency divider 70 . θ counter 71. It is the same as r counter 72.

The shift register 120 and latch circuit 121 are simple circuits that receive the detection range Ra set by another ship. The received signal passes through an antenna amplifier 90 and a demodulation detector 91,
Furthermore, the output pulse of the frequency divider 116 passes through shift registers 124 and 122 in series, and is input to the shift register 120 in series. θ counter 117 and r counter 1
The count values of 18 are stored in the latch circuit 121 by the pulses output from the comparator circuit 126 when they are V and L, respectively. Shift register 120 and latch circuit 121, like shift register 18, have an S+1 bit configuration. The shift register 122 and the latch circuit 123 control the ship position Pa.
The shift register 12o1 operates similarly to the latch circuit 121. shift register 19
Similarly, it has a (t S) bit configuration. The shift register 124 and the latch circuit 125 are circuits for receiving the direction αa, and operate in the same manner as the shift register 12o1 and the latch circuit 121. Like the shift register 20, it has a (vt) bit configuration. shift register 127,
Comparison circuit 128 and ROM 129 compare r in the received signal.
A circuit for detecting a synchronization signal, in which the received signal is serially connected to the shift register 127 according to the output pulse of the frequency divider 116.
is input. The input received signal is sent to comparison circuit 1 in parallel.
28 and compared with the output value of ROM 129. R
OM 129 is (V+1) ~ (Jo-1) of ROM75
Since the comparison circuit 128 stores the same signal as , when they match, it outputs the r synchronization signal to the delay circuit 1jO. The shift register 127 and ROM 129 have a (Jo-v-1) bit configuration.

The delay circuit 130 is a 1-bit latch circuit that delays the r synchronization signal output from the comparison circuit 128 by one pulse of the frequency divider 116.

When the input of the r synchronization signal to the shift register 127 is completed, the count values of the θ counter 117 and the r counter 118 are Jo-1 and L, respectively, and are not 0. Therefore, the θ counter 117 and the r counter 1 are delayed by one pulse.
18 to 0.

Shift register 131, comparison circuit 132 and OM1
'33 is a circuit for detecting the θ synchronization signal in the received signal, which includes a shift register 127, a comparison 0x128, and a ROM
It works the same as 129. ROM2B5 is ROM74o
(!:) The same signal as ~(Jo-1) is stored.

Shift register 131 and ROM 133 are (Jo-K)
This is the bit configuration. The delay circuit 134 is the delay circuit 13
Similarly to 0, the θ synchronization signal output from the comparator circuit 132 is delayed by one pulse, and the θ counter 117 is reset. Note that the OR circuit 135 is a circuit for outputting a signal for resetting the θ counter 117 from the delay circuits 130 and 134. At the same time as resetting the θ counter 117, the r counter 118 is driven. Coordinate conversion ROM1
36 has the same configuration as the coordinate conversion ROM 55 on the transmitting side, and stores the result of the above-mentioned equation (1) in order to convert the θ-r coordinate system to the X, -Y orthogonal coordinate system. Adder 137.13
8 controls the display position in the x-y orthogonal coordinate system, and multiplier 1
39 controls the size of the image. The adder 140 also controls the rotation angle of one image.

With the above configuration, the display RAM 11a stores detection data obtained by other ships by the θ and r counters 117 and 118 synchronized with the transmitting side, converted into an X-Y orthogonal coordinate system. Further, the detection range a1 set for each other ship, the ship position and azimuth of the other ship are latched in the latch circuits 121, 123, and 125, respectively, and are supplied to the computing unit 111 as data for display image control.

The two display RAMs 1la and llb are constituted by one memory, and their stored contents are added by an adder 15 and sent to the display section 16. The display unit 16 has the same configuration as the display unit 8 on the transmitting side, and displays the added video data on a CRT 160.
display on top. In this way, the detection data obtained by the other ships and the main ship are simultaneously displayed on the CRT 160 on the main ship side based on the ship position and azimuth of each ship and the detection range set for each ship.

FIG. 12 shows an example of display on 0RT160.

This display is based on north-up, video A is the detection video of the other ship, and video B is the detection video of the own ship.

Now, the detection range Ra on other ships, the direction αa2, the detection range Rb on the main ship, the direction αb, and the set display position Δxb,
Assuming that Δyb and the display range Ro are the next C value, each value for display control is calculated using equations (2) to (7).

Detection range R'a Ra=300 m 几b
Rb-200m direction αa aa=31
5゜〃Pb αb=310゜Display position Δx
b Δxb=-1/4M.

〃 Δyb Δy b == −1/ 6
N.

Display range Ro Ro=900mO Scale rate βa
Pa=Ra/2Ra=3/2 (21
0〃 Pb Pb = Ro/2Rb = 9/4
(310 display position ΔXa ΔXa−Δxb−
+-f 1 (Pa, Pb) f410 〃 Δya
Δya−Δyb+f2(Pa, Pb) (5
10 rotation angle ra ra=aaXK/360
(6) 0 〃 τb τb−αbx
[/360 (7) In the above embodiment, data is transmitted from another ship to the main ship, but it is also possible to allow data to be transmitted between both sides. in this case,
A transmission R, an AM 23, a display RAM 1l, a transmission control circuit 5a, and a reception/display control circuit 10a are provided on each side. In the display section, it is also possible to use a raster scan method KLt, a spiral scan method, or a radial scan method. Also, instead of black and white CRT, color CRT, liquid crystal, L
ED and plasma displays can also be used.

The sonar is not limited to a full-circle type, but may also be a half-circle type. The transmission method is r
Instead of the data transmission method using -θ polar coordinates, a data transmission method using xy orthogonal coordinates may be used. As shown in Figure 3, by changing the divided outputs of the frequency dividers 52 and 70, the display RA
Although the data acquisition and readout timing to M7 and the data transmission timing from the transmission RAM 23 are made different, if the transmission timing is to be synchronized with the data acquisition or readout timing described above, the transmission RAM 23
is not necessary.

Although a Loran and gyro compass were used to measure the ship's position and direction, it is also possible to use a NN5S, Omega, Detsuka, magnetic cone pass, etc. The display on CRT is
It can be north up, course up, or heading up. Further, the image position of the ship may be displayed in a fixed relative display or in tor motion display. These changes in the display state can be realized by changing the content of calculations performed by the calculator 111. Furthermore, a radar can be used instead of a loran or the like to measure the position of another ship. That is, the ship may be equipped with a radar and the position of another ship may be directly measured from the ship. In this case, of course, there is no need to make ship position data dependent on detection data from other ships. Also, by using radar instead of sonar, it can be used as a wide-area monitoring device.

[Brief explanation of drawings]

FIG. 1 is a diagram explaining the invention in detail. FIG. 2(B) is a block diagram of the transmitting side and receiving side of the embodiment of this invention, FIGS. 3 and 4 are FIGS.
FIG. 2 is a detailed block diagram of FIG. Also, Figure 5 is a schematic diagram of the sonar configuration, Figure 6 is a diagram of the C1'LT display screen, Figure 7 is a diagram of the display RAM, Figure 8 is a diagram of the coordinate conversion ROM, and Figure 9 is a diagram of the configuration of the coordinate conversion ROM. FIG. 10 is a functional diagram of the coordinate conversion ROM, FIG. 10 is a configuration diagram of the transmission RAM, FIG. 11 is a diagram showing the correspondence between r and θ counter counts and transmitted and received data, and FIG. 12 is a diagram showing a display example. Applicant Furuno Electric Co., Ltd. agent Patent attorney Hisao Koshoku 5th post 7・g Director-General of the Agency 2 Name of the invention Display device for video information detected by multiple vessels 3 Relationship to the person making the amendment Patent applicant address 9-52 Ashihara-cho, Nishinomiya City, Hyogo Prefecture Name Furuno Electric Co., Ltd. Representative Kiyotaka Furuno 4 Agent Address: 1-14-2 Shitennoji, Tennoji-ku, Inusaka City, 543
No. 2 Nisshin Hill 702 Image data is written to or read from the display RAM 7 by a counter group, a coordinate conversion ROM, etc. that constitute the display control circuit 5b. In addition, the third
In Figure 4, the counter, shift register, memory (
RAM), the symbols attached to the input and output terminals of the latch mean the roles in Table 1.0 Table 1 The clock pulse generator 50 forms the basic clock of the transmitting device. If the scanning frequency in the X direction (horizontal direction) of the CR1 screen is fig (H2), the clock frequency is fi
Set to XMo(H2). The detection range setter 51 is
It consists of a digital switch that sets the detection range of sonar 3. Let the output value be 几a (m). Branch unit 5
2 divides the clock pulse of the clock pulse generator (hereinafter referred to as CP) 50 to obtain (OxKxL)/(28a
) (H2) pulse is formed. C is the speed of sound in water. θ counter 53. The r counter 54 specifies the coordinate position of r-θ polar coordinates. The θ counter 53 is forward driven, and when the pulse is at a high level, it is connected to the r counter 54 and θ counter 53 side, which are write addresses, and when the pulse is at a low level, it is connected to the r counter 72 and θ counter 22 side. Note that the output frequency fo of the frequency divider 70 is sufficiently larger than the output frequency of the frequency divider 62. The write/read control terminal R/W of the RAM 23 is also driven by the pulse of the frequency divider 70, and when the level is high, writing is performed, and when the level is low, reading is performed. FIG. 11 and Table 2 show the correspondence between the count value of the rl 0 counter and the transmitted data. Table 2

Claims (2)

[Claims] (1) Detection devices such as sonar that the ship and other ships have, and navigation devices that measure the ship position and heading of each ship,
Detection image information transmission means for transmitting at least detection image information on other ships to the ship among the information obtained by these devices;
a display memory that stores detection video information from other ships and detection video information obtained by the detection device of the main ship based on the ship position and azimuth information of the other ship and the main ship obtained by the navigation device;
and a display device that displays the stored contents of the display memory,
A display device for detecting video information of multiple vessels, which simultaneously displays detection information of the own vessel and other vessels on the same display screen on the vessel. (2) The navigation device is composed of a radio navigation device and a direction measuring device, and the detection video information transmission means includes the detection video information of the other ship, the position information of the other ship obtained by the radio navigation device, and the direction. A display device for video information detected by a plurality of ships as set forth in claim 1, which is a means for simultaneously transmitting information on the traveling direction of other ships obtained by a measuring device.