Navigation information display apparatus, method for displaying navigation information, and program

Abstract

To provide a navigation information display apparatus that is capable of displaying navigation information in a more easily understandable manner.SOLUTION: A navigation information display apparatus performs the steps of: sequentially acquiring a first geographic coordinate of a first vessel navigating on the sea; generating, in a display image, a first object representing the first vessel, the first object being arranged at a first display coordinate corresponding to the first geographic coordinate; generating a first window indicating the first object, the first window moving within the display image in accordance with movement of the first object or a display viewpoint; receiving designation of a second display coordinate in the display image from a user and generating a second window indicating the second display coordinate; acquiring a second geographic coordinate corresponding to the second display coordinate; calculating navigation information including a distance between the first geographic coordinate and the second geographic coordinate; and displaying, in the display image, the first object, the first window, the second window, and the navigation information, while controlling the first window and the second window so as not to overlap.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a navigation information display device, a navigation information display method, and a program. [Background technology]

[0002] It is known to generate and render three-dimensional display data for displaying a figure showing additional display information superimposed on the water surface of an image output by a photographing device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 216535 Summary of the Invention [Problem to be solved by the invention]

[0004] Such a device and method for displaying the situation around a ship is required to display navigation information relating to a position specified by a user in a more understandable manner.

[0005] A main object of the present invention is to provide a navigation information display device, a navigation information display method, and a program that are capable of displaying navigation information in a more easily understandable manner. [Means for solving the problem]

[0006] In order to solve the above problem, one embodiment of the navigation information display device of the present invention comprises a first acquisition unit that sequentially acquires first geographical coordinates of a first ship sailing on the sea, a first object generation unit that generates a first object representing the first ship and is placed at first display coordinates corresponding to the first geographical coordinates in a display image displayed on the display unit, a first window generation unit that generates a first window that points to the first object and moves within the display image in accordance with movement of the first object or the display viewpoint, a designation reception unit that receives from a user a designation of second display coordinates in the display image, a second window generation unit that generates a second window that points to the second display coordinates, a second acquisition unit that acquires second geographical coordinates corresponding to the second display coordinates, a navigation information calculation unit that calculates navigation information including the distance between the first geographical coordinates and the second geographical coordinates, and a display control unit that displays the first object, the first window, the second window, and the navigation information in the display image and controls so that the first window and the second window do not overlap. This makes it possible to display navigation information in a more easily understandable manner.

[0007] In the above aspect, the display device may further include a third acquisition unit that sequentially acquires third geographical coordinates of a maritime target, and a second object generation unit that generates a second object representing the maritime target and that is placed at third display coordinates in the display image corresponding to the third geographical coordinates, wherein the designation receiving unit may set the second display coordinates as the third display coordinates when the third display coordinates are within a predetermined range from the second display coordinates. This makes it possible to generate a second window that points to the second object representing the maritime target.

[0008] In the above aspect, when the marine target is a ship sailing on the sea, the display control unit may move the second window within the display image in accordance with the movement of the second object. This makes it possible to move the second window in accordance with the movement of the second object.

[0009] In the above aspect, the specification receiving unit may receive a specification of a position of the second window from a user, and the display control unit may fix the second window to the specified position when the specification of a position of the second window moving within the display image is received. This makes it possible to fix the second window to the specified position.

[0010] In the above aspect, the display control unit may fix the second window at a predetermined position within the display image, thereby making it possible to fix the second window at a predetermined position.

[0011] In the above aspect, the display control unit may change the display mode of the second window depending on whether the second window moves within the display image or is fixed at a predetermined position, thereby making it possible to distinguish between a moving second window and a fixed second window.

[0012] In the above aspect, the navigation information calculation unit may further include a direction acquisition unit that sequentially acquires the heading of the first ship, and the navigation information calculation unit may calculate the navigation information including the direction of the second geographic coordinate relative to the heading of the first ship based on the first geographic coordinate, the second geographic coordinate, and the heading. This makes it possible to also display the direction of the second geographic coordinate relative to the heading of the first ship.

[0013] In the above aspect, the display control unit may display the navigation information in the second window, thereby making it possible to display the navigation information in a more easily understandable manner.

[0014] In the above aspect, the system may further include a ship information acquisition unit that acquires ship information including any of the geographic coordinates, heading, speed, maritime mobile service identification code, and ship type of the ship located at the second geographic coordinates, and the display control unit may display the ship information in the second window. This makes it possible to display the ship information in a more understandable manner.

[0015] In the above aspect, the navigation information calculation unit may calculate the navigation information including the closest approach distance or closest approach time, and the display control unit may display the navigation information in the second window. This makes it possible to display the closest approach distance or closest approach time.

[0016] In the above aspect, the first ship may be the ship on which the navigation information display device is mounted, and the display control unit may move the display viewpoint so that the first object representing the ship is maintained at a predetermined position within the display image. This makes it possible to move the display viewpoint in accordance with the movement of the ship.

[0017] Another aspect of the navigation information display method of the present invention includes: sequentially acquiring first geographic coordinates of a first ship sailing on the sea; generating a first object representing the first ship in a display image displayed on a display unit, the first object being positioned at first display coordinates corresponding to the first geographic coordinates; generating a first window pointing to the first object and moving within the display image in accordance with movement of the first object or the display viewpoint; receiving from a user a specification of second display coordinates within the display image; generating a second window pointing to the second display coordinates; acquiring second geographic coordinates corresponding to the second display coordinates; calculating navigation information including the distance between the first geographic coordinates and the second geographic coordinates; and displaying the first object, the first window, the second window, and the navigation information within the display image, controlling the first window and the second window so that they do not overlap. This makes it possible to display navigation information in a more understandable manner.

[0018] Another aspect of the present invention provides a program that causes a computer to execute the following steps: sequentially acquiring first geographical coordinates of a first ship sailing on the sea; generating a first object representing the first ship in a display image displayed on a display unit, the first object being positioned at first display coordinates corresponding to the first geographical coordinates; generating a first window pointing to the first object and moving within the display image as the first object or the display viewpoint moves; receiving from a user a specification of second display coordinates within the display image; generating a second window pointing to the second display coordinates; acquiring second geographical coordinates corresponding to the second display coordinates; calculating navigation information including the distance between the first geographical coordinates and the second geographical coordinates; and displaying the first object, the first window, the second window, and the navigation information in the display image, controlling the first window and the second window so that they do not overlap. This allows navigation information to be displayed more clearly. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram illustrating an example of a ship information display system. [Figure 2] FIG. 10 is a diagram showing an example of a display image. [Figure 3] FIG. 1 is a diagram illustrating an example of a ship information display device. [Figure 4] FIG. 2 is a diagram illustrating an example of a other ship management database. [Figure 5] FIG. 1 is a diagram illustrating an example of a virtual three-dimensional space. [Figure 6] FIG. 10 is a diagram illustrating an example of a ship information display method. [Figure 7] FIG. 10 is a diagram showing an example of a display image. [Figure 8] FIG. 10 is a diagram showing an example of a display image. [Figure 9] FIG. 10 is a diagram showing an example of a display image. [Figure 10] FIG. 10 is a diagram showing an example of a display image. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0021] Figure 1 is a block diagram showing an example of the configuration of a navigation information display system 100. The navigation information display system 100 is a system installed on a ship. In the following description, the ship on which the navigation information display system 100 is installed is referred to as the "own ship," and other ships are referred to as "other ships."

[0022] The navigation information display system 100 includes a navigation information display device 1, a display unit 2, an AIS 3, a radar 4, a camera 5, a GNSS receiver 6, a gyrocompass 7, and an ECDIS 8. These devices are connected to a network N such as a LAN, and are capable of network communication with each other.

[0023] The navigation information display device 1 is a computer including a CPU, RAM, ROM, non-volatile memory, an input / output interface, etc. The CPU of the navigation information display device 1 executes information processing according to a program loaded from the ROM or non-volatile memory to the RAM.

[0024] The program may be supplied via an information storage medium such as an optical disk or a memory card, or may be supplied via a communication network such as the Internet or a LAN.

[0025] The display unit 2 displays the display image generated by the navigation information display device 1. The display unit 2 is, for example, a display device with a touch sensor, a so-called touch panel. It is not limited to a touch sensor, and other pointing devices such as a trackball or a mouse may also be used.

[0026] The AIS (Automatic Identification System) 3 receives AIS data from other ships around the ship or from land-based control. Instead of the AIS, a VDES (VHF Data Exchange System) may also be used.

[0027] AIS data includes the identification code of other ships, their names, positions, courses, speeds, types of ships, ship lengths, destinations, etc. The identification code is the Maritime Mobile Service Identity (MMSI).

[0028] The radar 4 emits radio waves around the ship and receives the reflected waves, generating echo data based on the received signals. The radar 4 also identifies marine targets from the echo data and generates target tracking data (TT data) that indicate the position and speed of the marine targets.

[0029] The camera 5 is a digital camera that captures images of the outside from the ship and generates image data. The camera 5 is installed, for example, on the bridge of the ship, facing the bow. The camera 5 may be a so-called PTZ camera, which has pan / tilt and optical zoom functions.

[0030] The camera 5 may also include an identification unit that identifies the position and type of a marine target, such as a ship, included in the captured image using an object detection model. The identification unit is not limited to the camera 5 and may be implemented in other devices, such as the navigation information display device 1.

[0031] The GNSS receiver 6 detects the ship's position based on radio waves received from the GNSS (Global Navigation Satellite System). The gyrocompass 7 detects the ship's heading. A GPS compass may be used instead of a gyrocompass.

[0032] An ECDIS (Electronic Chart Display and Information System) 8 acquires the ship's position from the GNSS receiver 6 and displays the ship's position on an electronic chart. The ECDIS 9 also displays the ship's planned route on the electronic chart. A GNSS plotter may be used instead of an ECDIS.

[0033] In this embodiment, the navigation information display device 1 and the display unit 2 are independent devices, but this is not limiting, and the navigation information display device 1 and the display unit 2 may be an integrated device.

[0034] Furthermore, the navigation information display device 1 does not have to be an independent device, but may be integrated with another device such as the ECDIS 8. In other words, the functions of the navigation information display device 1 may be realized in another device such as the ECDIS 8.

[0035] Furthermore, the display unit 2 does not have to be an independent device, and a display device provided in another device such as the ECDIS 8 may be used as the display unit 2 for displaying the image generated by the navigation information display device 1.

[0036] In this embodiment, the navigation information display device 1 is installed on a ship and used to display the ship and other ships around it, but its use is not limited to this. For example, the navigation information display device 1 may be installed at a land-based control station and used to display ships navigating in a controlled sea area.

[0037] 2 is a diagram showing an example of a display image D generated by the navigation information display device 1 and displayed on the display unit 2. The navigation information display device 1 sequentially generates display images D at each time point based on data acquired from other devices, and outputs moving image data including the time-series display images D to the display unit 2.

[0038] The display image D includes, for example, a three-dimensional image BE. The three-dimensional image BE is an image that depicts a virtual three-dimensional space in which a three-dimensional ship object X is placed on a virtual water surface SS. The example in Fig. 2 shows the three-dimensional image BE with the display viewpoint set to bird's-eye view mode.

[0039] The three-dimensional ship object X includes a three-dimensional ship object X1 (hereinafter also referred to as "own ship object X1") representing the own ship, and a three-dimensional ship object X2 (hereinafter also referred to as "other ship object X2") representing another ship.

[0040] The own ship object X1 and the other ship object X2 are displayed so as to be distinguishable from each other, that is, the own ship object X1 and the other ship object X2 are distinguishable from each other by, for example, making the color, shape, or texture different from each other.

[0041] The own ship object X1 has a shape resembling a ship. Concentric circles CC are displayed around the own ship object X1 with the own ship object X1 at the center. Character strings DT1 and DT2 indicating distance are added to the concentric circles CC. A scale indicating a direction may also be added to the concentric circles CC.

[0042] The other ship objects X2 come in various shapes and sizes. For example, there are other ship objects X2s shaped like ships and other ship objects X2b shaped like buttons. The difference between these is based on the source of the other ship data, as will be described later.

[0043] The three-dimensional image BE further includes a nautical chart object NC indicating the coastline and safety contour lines, a route object RT indicating the planned route of the ship, and a waypoint object WP indicating waypoints on the planned route.

[0044] The three-dimensional image BE may further include a mark indicating the intersection of the display line of sight and the virtual water surface SS, an object indicating the echo intensity detected by the radar 4, or a range circle indicating the detection range of the radar 4.

[0045] In addition, the display image D includes a compass object MG that indicates directions such as north and south, like a compass. The compass object MG is adjusted to indicate a direction that combines the direction on the virtual water surface SS and the horizontal component of the display line of sight, making it easier to intuitively grasp the direction.

[0046] The display image D also includes a button B6 for switching the orientation corresponding to the upper part of the display image D between the ship's bow orientation (H-UP) and the north orientation (N-UP). Figure 2 shows an example in which the upper part of the display image D corresponds to the ship's bow orientation.

[0047] The display image D also includes a button B7 for switching the display viewpoint to a top view mode, a button B8 for switching the display viewpoint to a bird's-eye view mode, and a button B9 for switching the display viewpoint to a bridge view mode.

[0048] The display image D is not limited to the three-dimensional image BE, but may be, for example, a two-dimensional image in which a ship object is arranged on a two-dimensional plane, an AR (Augmented Reality) image in which a ship object is superimposed on a camera image captured by the camera 5, an echo image generated by the radar 4, or an electronic nautical chart generated by the ECDIS 8.

[0049] An example of the configuration and operation of the navigation information display device 1 that generates the display image D will be described below.

[0050] Figure 3 is a block diagram showing an example of the configuration of the navigation information display device 1. The navigation information display device 1 includes a ship data acquisition unit 11, another ship data acquisition unit 12, a designation reception unit 13, a coordinate conversion unit 14, an object generation unit 15, a window generation unit 16, a navigation information calculation unit 17, and a display control unit 18. These functional units are realized by a control unit (Processing circuitry) 10, which is the CPU of the navigation information display device 1, executing information processing according to a program.

[0051] The ship data acquisition unit 11 sequentially acquires the ship's position detected by the GNSS receiver 6 and the ship's heading detected by the gyrocompass 7 as ship data. Hereinafter, coordinates representing a two-dimensional position in real space are referred to as geographic coordinates. The ship data acquisition unit 11 sequentially acquires geographic coordinates (first geographic coordinates) representing the ship's position. The ship data acquisition unit 11 is an example of a first acquisition unit and a heading acquisition unit.

[0052] The other ship data acquisition unit 12 sequentially acquires other ship data, such as AIS data received by the AIS 3, TT data generated by the radar 4, or identification data identified from images captured by the camera 5. The other ship data may be acquired from outside via communication. The other ship data acquisition unit 12 sequentially acquires geographic coordinates (third geographic coordinates) that represent the positions of other ships. The other ship data acquisition unit 12 is an example of a third acquisition unit and a ship information acquisition unit.

[0053] The AIS data received by AIS3 is ship information including the geographic coordinates, heading, speed, MMSI, and type of ship of other ships.

[0054] The positions of other ships contained in the TT data generated by the radar 4 or the identification data of the images captured by the camera 5 are expressed as relative positions to the own ship, and are therefore converted to absolute positions using the position of the own ship detected by the GNSS receiver 6.

[0055] The other ship data acquisition unit 12 manages other ships using a other ship management database constructed in the memory of the navigation information display device 1. Fig. 4 is a diagram showing an example of the other ship management database.

[0056] 4, the other ship management database includes fields such as "Ship ID," "Source," "Geographical Coordinates," "Heading," "MMSI," and "Ship Type." It may also include other fields such as navigation status, destination, ship name, or hull length.

[0057] "Source" indicates the origin of the other ship data. If the geographic coordinates contained in other ship data sourced from one of AIS 3, radar 4, and camera 5 are the same as or similar to the geographic coordinates contained in other ship data sourced from another one of them, the other ship data relate to a common other ship, and the records are combined.

[0058] "Geographical coordinates" indicate the position of another ship. Geographical coordinates are expressed, for example, as latitude and longitude. "Heading" indicates the heading of another ship. "Speed" indicates the speed of another ship. Ship speed is used for interpolation while the geographical coordinates of another ship are updated. "MMSI" indicates the Maritime Mobile Service Identification code of another ship. "Type of ship" indicates the type of other ship, such as a merchant ship or fishing boat.

[0059] Regarding other ship data from the radar 4 or camera 5, the heading and speed of the ship are estimated from changes in the position of marine targets in the echo image or camera image. The type of ship may also be estimated from the image of the marine targets in the echo image or camera image.

[0060] In this embodiment, other ships detected by AIS 3, radar 4, or camera 5 are managed as display objects, but this is not limited to this, and maritime targets other than other ships, such as buoys, icebergs, or floating containers, detected by radar 4 or camera 5, may also be managed as display objects.

[0061] Returning to the explanation of Fig. 3, the designation receiving unit 13 receives a designation of a position within the display image D from the user. Hereinafter, coordinates representing a two-dimensional position within the image will be referred to as display coordinates. Specifically, the designation receiving unit 13 acquires display coordinates (second display coordinates) within the display image D designated by the user, which are detected by, for example, a touch sensor of the display unit 2.

[0062] When an object representing a marine target such as another ship exists within a predetermined range of the display coordinates (second display coordinates) designated by the user, the designation receiving unit 13 determines that the display coordinates (third display coordinates) of the object have been designated. The designation receiving unit 13 also receives operation inputs by the user, such as selecting an object or moving a window.

[0063] The coordinate conversion unit 14 acquires geographic coordinates (second geographic coordinates) corresponding to the display coordinates (second display coordinates) accepted by the designation acceptance unit 13. The coordinate conversion unit 14 is an example of a second acquisition unit.

[0064] The object generation unit 15 generates objects to be displayed in the display image D, such as a ship object X1 (first object) representing the ship itself and an other ship object X2 (second object) representing another ship. The object generation unit 15 is an example of a first object generation unit and a second object generation unit.

[0065] The own ship object X1 generated by the object generation unit 15 is placed at display coordinates (first display coordinates) in the display image D that correspond to the geographic coordinates (first geographic coordinates) of the own ship. The other ship object X2 is placed at display coordinates (third display coordinates) in the display image D that correspond to the geographic coordinates (third geographic coordinates) of the other ship.

[0066] The window generating unit 16 generates windows F1 and F2 (see FIGS. 7 to 10) to be displayed within the display image D. Details of the windows F1 and F2 will be described later. The window generating unit 16 is an example of a first window generating unit and a second window generating unit.

[0067] The navigation information calculation unit 17 calculates various types of navigation information. The navigation information includes the distance between the geographic coordinates (first geographic coordinates) representing the ship's position and the geographic coordinates (second geographic coordinates) of a position designated by the user. The geographic coordinates (second geographic coordinates) of the position designated by the user may be the geographic coordinates (third geographic coordinates) of a maritime landmark such as another ship within a predetermined range.

[0068] The navigation information may further include the direction of the geographic coordinates (second geographic coordinates) of a position specified by the user relative to the heading of the ship.The navigation information may further include the distance to closest point of approach (DCPA) or time to closest point of approach (TCPA) of the other ship relative to the ship.

[0069] The display control unit 18 generates a display image D including the own ship object X1 and other ship object X2 generated by the object generation unit 15, windows F1 and F2 (see Figures 7 to 10) generated by the window generation unit 16, and navigation information calculated by the navigation information calculation unit 17, and outputs it to the display unit 2.

[0070] The display control unit 18 controls the positions of the windows F1 and F2 included in the display image D so that the windows F1 and F2 do not overlap each other.

[0071] In this embodiment, the display control unit 18 generates a display image D including a three-dimensional image BE. The three-dimensional image BE is an image that depicts a scene within the field of view of a virtual camera VC placed in a virtual three-dimensional space VS. The generation of the three-dimensional image BE will be described below.

[0072] 5 is a diagram showing an example of a virtual three-dimensional space VS. The virtual three-dimensional space VS has a coordinate system corresponding to the real space. The height of the virtual water surface SS in the virtual three-dimensional space VS corresponds to the height of the water surface in the real space (for example, 0 m above sea level).

[0073] The display control unit 18 places the three-dimensional ship object X at a position on the virtual water surface SS in the virtual three-dimensional space VS that corresponds to the two-dimensional position of the ship.

[0074] Specifically, the display control unit 18 places the own ship object X1 in a direction corresponding to the bow direction of the own ship at a position on the virtual water surface SS corresponding to the geographic coordinates of the own ship (first geographic coordinates) based on the own ship data acquired by the own ship data acquisition unit 11. The own ship object X1 has a shape that resembles a ship, which allows the bow direction to be easily grasped at a glance.

[0075] Furthermore, based on the other ship data acquired by the other ship data acquisition unit 12, the display control unit 18 places the other ship object X2 at a position on the virtual water surface SS that corresponds to the geographic coordinates of the other ship (third geographic coordinates).

[0076] Specifically, the display control unit 18 places the other ship object X2s, which has a shape resembling a ship, in an orientation corresponding to the bow direction for other ship data sourced from the AIS 3. The display control unit 18 may also place the other ship object X2s with a shape or size corresponding to the ship type or hull length.

[0077] On the other hand, the display control unit 18 places a button-shaped other ship object X2b for other ship data sourced from the radar 4 or camera 5. The display control unit 18 may also change the appearance of the other ship object X2 depending on the detection reliability.

[0078] In addition, the display control unit 18 arranges a nautical chart object NC, a route object RT, a waypoint object WP, and the like based on data from the ECDIS 8.

[0079] The display control unit 18 sets a virtual camera VC in the virtual three-dimensional space VS. The viewpoint of the virtual camera VC is also called the display viewpoint, and the line of sight of the virtual camera VC is also called the display line of sight. The display control unit 18 sets the virtual camera VC in a top view mode, a bird's-eye view mode, or a bridge view mode.

[0080] In the top view mode, the virtual camera VC is set to look directly down on the own ship object X1 from a position higher than the own ship object X1, while in the bird's-eye view mode, the virtual camera VC is set to look diagonally down on the own ship object X1 from a position higher than the own ship object X1.

[0081] In the top view mode and bird's-eye view mode, the viewpoint position and viewing direction of the virtual camera VC are set so that the own ship object X1 is located at the center of the field of view. In the bridge view mode, the virtual camera VC is set so that it views the bow direction from a position corresponding to the wheelhouse of the own ship object X1.

[0082] The display control unit 18 sets a camera tracking mode in which the virtual camera VC moves in accordance with the movement of the own ship object X1. That is, the display control unit 18 causes the virtual camera VC to track the own ship object X1 while maintaining its relative position and attitude with respect to the own ship object X1. This maintains the own ship object X1 at a predetermined position in the display image D.

[0083] The display control unit 18 can also set a camera fixed mode in which the position of the virtual camera VC is fixed, and can switch between a camera tracking mode and a camera fixed mode.

[0084] The display control unit 18 changes the three-dimensional position, orientation, viewing angle, magnification rate, etc. of the virtual camera VC based on the operation input for moving the viewpoint by the user accepted by the specification accepting unit 12. This changes the scene within the field of view of the virtual camera VC.

[0085] An example of the procedure of the ship information display method implemented in the navigation information display device 1 will be described below.

[0086] Fig. 6 is a flow diagram showing an example of the procedure of processing executed when the navigation information display device 1 receives a specification of a position in the display image D. The CPU of the navigation information display device 1 executes the processing shown in the figure in accordance with a program. Figs. 7 to 10 are diagrams showing examples of the display image D when the processing shown in Fig. 6 is executed.

[0087] First, the navigation information display device 1 determines whether or not a designation of a position within the display image D has been accepted from the user (S11, processing as the designation accepting unit 13). The navigation information display device 1 acquires the display coordinates (second display coordinates) within the display image D designated by the user, for example, from the touch sensor of the display unit 2.

[0088] When a position specification within the display image D is accepted from the user (S11: YES), the navigation information display device 1 displays a first window F1 pointing to the own ship object X1 and links it to the own ship object X1 (S12, processing as the window generation unit 16 and the display control unit 18), as shown in the example of Figure 7. The first window F1 points to the own ship object X1 located at display coordinates (first display coordinates) within the display image D that correspond to the geographic coordinates of the own ship (first geographic coordinates).

[0089] The first window F1 is, for example, in the shape of a flag, and is placed on the own ship object X1, i.e., the bottom end of the pole is positioned on the own ship object X1, thereby pointing to the own ship object X1. However, the first window F1 may be placed at a position away from the own ship object X1 and connected to the own ship object X1 via a connector line.

[0090] In the example of Figure 7, the first window F1 is blank, but this is not limited to this. The first window F1 may include a mark or text indicating that it is the ship itself, or may include text indicating ship information such as the ship's geographic coordinates, heading, or speed.

[0091] The first window F1 moves within the display image D in accordance with the movement of the own ship object X1 or the display viewpoint. For example, the first window F1 moves together with the own ship object X1 so as to maintain a state in which it is standing on the own ship object X1. Furthermore, when the display viewpoint moves in a direction away from the own ship object X1, the first window F1 may move together with the display viewpoint while remaining connected to the own ship object X1 via a connector line.

[0092] Next, the navigation information display device 1 determines whether or not the display coordinates (third display coordinates) of the other ship object X2 are within a predetermined range of the display coordinates (second display coordinates) designated by the user (S13).

[0093] If there is no other ship object X2 within the predetermined range (S13: NO), the navigation information display device 1 calculates navigation information for the corresponding position (S14, processing as the navigation information calculation unit 17). Specifically, the navigation information display device 1 calculates, as the navigation information, the distance and direction of the geographic coordinates (second geographic coordinates) corresponding to the display coordinates (second display coordinates) specified by the user, based on the geographic coordinates (first geographic coordinates) representing the position of the ship itself.

[0094] Next, the navigation information display device 1 displays the second window F2, which indicates the display coordinates (second display coordinates) specified by the user, in a fixed state, and also displays the navigation information (S15, processing by the window generating unit 16 and the display control unit 18), as shown in the example of Fig. 7. Hereinafter, the fixedly displayed second window F2 will also be referred to as a "fixed window F2p."

[0095] The fixed window F2p, like the first window F1, is, for example, flag-shaped, with the bottom end of the pole pointing to the display coordinates (second display coordinates) specified by the user. However, the fixed window F2p may be located at a position away from the display coordinates (second display coordinates) specified by the user and connected via a connector line.

[0096] The fixed window F2p displays the calculated distance (RNG) and direction (BRG) as navigation information. Alternatively, the fixed window F2p may be blank. Furthermore, a line BL connecting the two points and a character string DT indicating the distance between the line BL and the fixed window F2p are displayed between the first window F1 and the fixed window F2p.

[0097] On the other hand, if there is another ship object X2 within the predetermined range (S13: YES), the navigation information display device 1 calculates navigation information for the corresponding other ship (S16, processing as the navigation information calculation unit 17). In other words, the navigation information display device 1 determines that the other ship object X2 located near the position specified by the user has been specified (the second display coordinates become the third display coordinates).

[0098] Specifically, the navigation information display device 1 calculates, as navigation information, the distance and direction of the geographic coordinates (third geographic coordinates) corresponding to the display coordinates (third display coordinates) of the other ship object X2, based on the geographic coordinates (first geographic coordinates) that represent the position of the ship itself. The navigation information display device 1 also calculates, as navigation information, the closest approach distance and closest approach time that represent the risk of collision.

[0099] Next, as shown in the example of Figure 8, the navigation information display device 1 displays a second window F2 pointing to the other ship object X2 in conjunction with the other ship object X2, and also displays the navigation information (S17, processing as the window generation unit 16 and the display control unit 18). Hereinafter, the second window F2 displayed in conjunction with the other ship object X2 will also be referred to as the "linked window F2t."

[0100] The linked window F2t moves in accordance with the movement of the other ship object X2 within the display image D. For example, the linked window F2t moves together with the other ship object X2 so as to maintain a state in which it is erected on the other ship object X2.

[0101] The linked window F2t, like the first window F1, is, for example, flag-shaped and is placed on the other ship object X2 to point to the other ship object X2. However, the linked window F2t may be placed at a position away from the other ship object X2 and connected via a connector line.

[0102] The fixed window F2p (see FIG. 7) and the linked window F2t (see FIG. 8) have different display modes, which allows them to be distinguished from each other. For example, the fixed window F2p has a rectangular shape with the upper right corner cut out, while the linked window F2t is rectangular. The differences are not limited to shapes, and may also be colors or textures.

[0103] The linked window F2t displays the calculated distance (RNG) and direction (BRG) as navigation information, just like the fixed window F2p. Also, between the first window F1 and the linked window F2t, a line BL connecting the two points and a character string DT indicating the distance therebetween are displayed.

[0104] Without being limited to this, other information may be displayed in addition to distance and direction within the linked window F2t, as shown in Fig. 9. For example, within the linked window F2t, one or more of the geographic coordinates (third geographic coordinates), heading, ship speed, MMSI, and ship type of the other ship may be further displayed as ship information, and the closest approach distance and closest approach time, which indicate the risk of collision, may further be displayed as navigation information.

[0105] The navigation information display device 1 controls the positions of the windows F1 and F2 so that the windows F1 and F2 do not overlap each other. For example, when the first window F1 and the second window F2 approach each other due to movement of the own ship object X1, the other ship object X2, or the viewpoint position, at least one of the first window F1 and the second window F2 is moved away from the other.

[0106] Next, the navigation information display device 1 determines whether or not a change in the position of the linked window F2t that moves together with the other ship object X2 has been received from the user (S18, processing as the designation receiving unit 13). The navigation information display device 1 receives an operation input for changing the position of the linked window F2t, for example, from a touch sensor of the display unit 2.

[0107] When a request to change the position of the interlocking window F2t is received (S18: YES), the navigation information display device 1 moves the interlocking window F2t to the user's desired position and switches it to the fixed window F2p (S19, processing as the display control unit 18), as shown in the example of Fig. 10. This allows the fixed window F2p pointing to the other ship object X2 to be fixed at the user's desired position.

[0108] This completes the processing shown in Fig. 6. The display and control of the windows F1 and F2 according to the present embodiment described above is not limited to the three-dimensional image BE, but can also be applied to, for example, two-dimensional images, AR images, echo images, or electronic nautical charts.

[0109] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made by those skilled in the art. [Explanation of symbols]

[0110] 1 Navigation information display device, 2 Display unit, 3 AIS, 4 Radar, 5 Camera, 6 GNSS receiver, 7 Gyrocompass, 8 ECDIS, 10 Control unit, 11 Own ship data acquisition unit, 12 Other ship data acquisition unit, 13 Designation reception unit, 14 Coordinate conversion unit, 15 Object generation unit, 16 Window generation unit, 17 Navigation information calculation unit, 18 Display control unit, 100 Navigation information display system

Claims

1. a first acquisition unit that sequentially acquires first geographic coordinates of a first ship navigating on the sea; a first object generation unit that generates a first object representing the first ship, the first object being positioned at first display coordinates corresponding to the first geographical coordinates within a display image displayed on a display unit; a designation receiving unit that receives designation of second display coordinates within the display image from a user; a first window generating unit that generates a first window pointing to the first object when the second display coordinates are specified by a user; a second window generating unit that generates a second window indicating the second display coordinates when the second display coordinates are specified by a user; a second acquisition unit that acquires second geographic coordinates corresponding to the second display coordinates; a third acquisition unit that sequentially acquires third geographic coordinates of the marine targets; a second object generation unit that generates a second object representing the maritime target, the second object being placed at third display coordinates corresponding to the third geographical coordinates in the display image; Equipped with When the third display coordinates are within a predetermined range from the second display coordinates, the designation receiving unit changes the second display coordinates to the third display coordinates. Voyage information display device.

2. the display control unit moves the first window within the display image in accordance with the movement of the first object or the display viewpoint; The navigation information display device according to claim 1.

3. the display control unit moves the second window within the display image in accordance with the movement of the second object when the marine target is a ship sailing on the sea; The navigation information display device according to claim 2.

4. the designation receiving unit receives a designation of the position of the second window from a user; When the display control unit receives a position specification for the second window moving within the display image, the display control unit fixes the second window to the specified position.

4. The navigation information display device according to claim 3.

5. the display control unit fixes the second window at a predetermined position within the display image; The navigation information display device according to claim 1.

6. the display control unit causes a display mode of the second window to differ between a case where the second window moves within the display image and a case where the second window is fixed at a predetermined position.

6. A navigation information display device according to any one of claims 1 to 5.

7. Further, a heading acquisition unit is provided to sequentially acquire the heading of the first vessel, the navigation information calculation unit calculates the navigation information, including the direction of the second geographic coordinate relative to the bow direction of the first ship, based on the first geographic coordinate, the second geographic coordinate, and the bow direction; 7. A navigation information display device according to claim 1.

8. the display control unit displays the navigation information in the second window.

8. A navigation information display device according to any one of claims 1 to 7.

9. Further, a vessel information acquisition unit is provided for acquiring vessel information including any of the geographic coordinates, heading, speed, maritime mobile service identification code, and vessel type of the vessel located at the second geographic coordinates; the display control unit displays the ship information in the second window.

9. A navigation information display device according to claim 1.

10. The navigation information calculation unit calculates the navigation information including the closest approach distance or closest approach time, the display control unit displays the navigation information in the second window.

10. A navigation information display device according to any one of claims 1 to 9.

11. the first vessel is a vessel on which the navigation information display device is mounted, the display control unit moves the display viewpoint so that the first object representing the ship is maintained at a predetermined position within the display image.

11. A navigation information display device according to any one of claims 1 to 10.

12. Sequentially acquiring first geographic coordinates of a first ship navigating on the sea; generating a first object representing the first ship, the first object being positioned at first display coordinates corresponding to the first geographic coordinates in a display image displayed on a display unit; Accepting designation of second display coordinates within the display image from a user; When the second display coordinates are specified by the user, a first window is generated that points to the first object; When the designation of the second display coordinates is accepted from the user, a second window indicating the second display coordinates is generated; obtaining second geographic coordinates corresponding to the second display coordinates; Sequentially obtain third geographic coordinates of the marine targets; generating a second object representing the maritime target, the second object being positioned at third display coordinates in the display image corresponding to the third geographic coordinates; If the third display coordinates are within a predetermined range from the second display coordinates, the second display coordinates are changed to the third display coordinates. How to display voyage information.

13. Sequentially acquiring first geographic coordinates of a first ship sailing on the sea; generating a first object representing the first vessel, the first object being positioned at first display coordinates corresponding to the first geographic coordinates within a display image displayed on a display unit; receiving, from a user, designation of second display coordinates within the display image; generating a first window pointing to the first object when the second display coordinates are specified by a user; when receiving designation of the second display coordinates from a user, generating a second window pointing to the second display coordinates; obtaining second geographic coordinates corresponding to the second display coordinates; Sequentially acquiring third geographic coordinates of the maritime target; generating a second object representing the maritime target, the second object being positioned at third display coordinates in the display image corresponding to the third geographic coordinates; and When the third display coordinates are within a predetermined range from the second display coordinates, the second display coordinates are changed to the third display coordinates; A program that causes a computer to execute the following.

Images