Route planning device, route planning system, route planning method, and program for causing a computer to execute route planning support

Abstract

To provide a route planning device capable of setting way points more accurately and efficiently in setting of a shipping route of a ship.SOLUTION: A route planning device includes: a position input part for receiving positions of a departing point and a destination point of navigation of a moving body, and positions of plural potential way points positioned between the departing point and the destination point; a position relationship calculation part for calculating their positional relationship; a potential way point selection part for selecting one of the plural potential way points; and an indicator generation part for generating a first indicator for showing a distance and an orientation on the basis of a position of a selection potential way point selected by the potential way point selection part on the basis of mutual relationship among plural potential way points, and for outputting a second indicator for showing a distance and an orientation on the basis of a position of a first adjacent potential way point from among two adjacent potential way points adjacent to the selection potential way point.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates mainly to a route planning device and system for planning a route, a method for planning a route, and a program for causing a computer to execute route planning support. [Background technology]

[0002] An Electronic Chart Display and Information System (ECDIS) displays charts of the area in which one or more ships or other moving bodies are navigating, as well as route information for these ships, when they are navigating a body of water such as a river, lake, or ocean. ECDIS processes electronic chart data using software and displays charts for the desired area on a screen (display screen).

[0003] ECDIS may use a display screen that can be operated by a touch screen having a so-called touch sensor. Thus, a route can be set by touching a desired position on a chart displayed on the touch screen. The entire route is set by setting the starting point (destination) of a vessel's voyage and the destination (destination) of the voyage, and determining one or more points, called "waypoints," that the vessel must pass through in between. These routes must be determined accurately so as not to cause any obstacles to vessels on the route. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-150024 A Summary of the Invention [Problem to be solved by the invention]

[0005] Current route planning systems set the entire route by sequentially setting waypoints on the screen of an ECDIS device. For example, in the prior art shown in Patent Document 1, the route is sequentially set by connecting the currently set waypoint to the waypoint to be set successively. More specifically, to allow the user to set the next waypoint from the most recent waypoint, a guideline is displayed at the position of the current waypoint, i.e., the tip of a waypoint that has already been set, and the position of the next waypoint is determined based on this guideline. By repeating this process, the waypoints leading up to the destination are set one by one.

[0006] However, conventional route planning devices only display guidelines for finding the next waypoint, making it difficult to obtain an optimal route, or the route that is set may not necessarily be the optimal route.

[0007] For this reason, there is a need for a route planning device that can set waypoints more accurately and efficiently when setting a ship's route. In response to the above-mentioned problems, the present invention provides a route planning device and a route planning method that can set a route more accurately and efficiently. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, the route planning device of the present invention comprises a position input unit that receives position input signals that determine the departure point and destination point of the navigation of a moving body such as a ship or aircraft, and the positions and arrangement of a plurality of potential waypoints located between these two points, a potential waypoint selection unit that receives a selection signal that selects a potential waypoint from the plurality of potential waypoints and outputs the selected potential waypoint, a positional relationship calculation unit that calculates the positional relationship between the departure point and destination point, and between the selected potential waypoint and a potential waypoint adjacent in the arrangement or the departure point or destination point, and an indicator generation unit. Based on the above positional relationship, the indicator generation unit outputs a first indicator indicating distance and direction based on the position of the selected potential waypoint, and a second indicator indicating distance and direction based on the position of a second adjacent potential waypoint, of two adjacent potential waypoints, a first adjacent potential waypoint and a second adjacent potential waypoint that is in front or behind the selected potential waypoint in the array and that are in an array adjacent to the selected potential waypoint. Here, a waypoint selected before determining a waypoint is referred to as a potential waypoint (candidate waypoint).

[0009] The route planning device of the present invention preselects multiple potential waypoints for the entire route between the departure point and destination point of a voyage, or for a portion of the route. It then selects one of the multiple potential waypoints, moves it, and determines the final waypoint while checking the relationship with other waypoints.

[0010] After inputting the positions of the multiple potential waypoints, the position input unit receives a position change signal that changes the position of the selected potential waypoint and outputs it to the positional relationship calculation unit, and the indicator generation unit changes the position and first orientation of the first indicator and the second orientation of the second indicator based on the positional relationship calculated by the positional relationship calculation unit.

[0011] The waypoint position determination unit receives a signal determining the position of the selected potential waypoint and determines the position of the potential waypoint to become a potential waypoint of the route. The indicator generation unit calculates a first orientation of the first indicator based on the positional relationship between the selected potential waypoint and a first adjacent potential waypoint, and a second orientation of the second indicator based on the positional relationship between the second adjacent potential waypoint and the selected potential waypoint.

[0012] The above-mentioned first indicator indicates the distance and direction based on the position of a selected potential waypoint selected by the potential waypoint selection unit, and the second indicator indicates the distance and direction based on the position of a second adjacent potential waypoint of two adjacent potential waypoints, a first adjacent potential waypoint in an array adjacent to the selected potential waypoint and a second adjacent potential waypoint in an array in front of or behind the selected potential waypoint.

[0013] The first indicator has a scale showing the distance from the selected potential waypoint to each point in its surrounding area. Of these, the basic scale shows the distance on a straight line determined by the positional relationship between the selected potential waypoint and one of two potential waypoints adjacent to the selected potential waypoint in the array (either the starting point or the destination point, if either is the starting point or the destination point). For example, a scale having graduations showing the distance on an extension of a straight line connecting the selected potential waypoint to the first adjacent potential waypoint that is closer to the destination point in the array is assumed.

[0014] The first indicator has a first basic scale having a scale on a line perpendicular to an extension of a line connecting the base point from the adjacent potential waypoint to the selected potential waypoint, and a first central axis scale having a scale on the extension line. The second indicator has a base point at a second potential waypoint that is further ahead in the array as viewed from the selected potential waypoint, and has a similar second basic scale and second central axis scale.

[0015] In addition, the first indicator may have a plurality of dots arranged concentrically at a predetermined interval in one or more directions including the orientation of the first central axis scale, based on the selected potential waypoint, and the second indicator may have a plurality of dots arranged concentrically at a predetermined interval in one or more directions including the orientation of the second central axis scale, based on the second adjacent potential waypoint.

[0016] The first basic scale may be located on a straight line connecting the first adjacent potential waypoint and the selected potential waypoint, and have scales displayed at predetermined intervals with the selected potential waypoint as a base point, and the second basic scale may be located on a straight line connecting the selected potential waypoint and the second adjacent potential waypoint, and have scales displayed at predetermined intervals with the second adjacent potential waypoint as a base point.

[0017] The first indicator may further have a first auxiliary scale indicating the distance in a direction that apportions the angle between the first basic scale and the first central axis scale, and the second indicator may further have a second auxiliary scale indicating the distance in a direction that apportions the angle between the second basic scale and the second central axis scale.

[0018] Furthermore, the first indicator may have a third auxiliary scale indicating the distance in the direction in which the angle formed by the first central axis scale and the first auxiliary scale is apportioned, and the second indicator may have a fourth auxiliary scale indicating the distance in the direction in which the angle formed by the second central axis scale and the second auxiliary scale is apportioned.

[0019] The first indicator and the second indicator may differ from each other in one or more of color data, hue data, and luminance data.

[0020] The route planning device of the present invention may further include a chart information receiving unit that receives chart information of an area including part or all of the planned area for the navigation of the moving body, and the position input unit may be configured to identify the positions of the departure point, the destination point, and any or all of the multiple potential waypoints based on a position touched on a chart displayed on the display screen based on the chart information.

[0021] The route planning device of the present invention further includes a chart information receiving unit that receives chart information of an area including part or all of the planned area for the navigation of the moving body, and the position input unit can be configured to identify the positions of the departure point, destination point, and any or all of the multiple potential waypoints using a cursor on a chart displayed on the display screen based on the chart information.

[0022] The route planning device of the present invention may further include a chart information receiving unit that receives chart information of an area including part or all of the planned area for the navigation of the moving body, and the position input unit may be configured to identify the positions of the departure point, destination point, and any or all of a plurality of potential waypoints by inputting numerical values ​​including latitude and longitude.

[0023] Here, the order of the first adjacent potential waypoint, the potential waypoint, and the second adjacent potential waypoint may be from the starting point toward the destination point, or vice versa.

[0024] The route planning system of the present invention, in addition to the route planning device, is equipped with a display screen for displaying charts, and outputs the positions of the departure point, destination point, and multiple potential waypoints identified on the display screen to a position input section, and outputs the waypoints selected on the display screen to a potential waypoint selection section.

[0025] The present invention also provides a method for route planning, which sets a route for the navigation of a moving body, and includes inputting the starting point and destination point of the navigation of the moving body, as well as the positions of a number of potential waypoints located between the starting point and the destination point, calculating the positional relationship between the starting point, the destination point, and the number of potential waypoints, selecting one potential waypoint from the number of potential waypoints, and outputting data for displaying a first indicator and a second indicator to a display screen.

[0026] The first indicator calculates a first bearing based on the positional relationship between a selected potential waypoint selected by the potential waypoint selection unit and a first adjacent potential waypoint, and indicates the distance and the first bearing based on the position of the potential waypoint selection unit. The second indicator calculates a second bearing based on the positional relationship between a second adjacent potential waypoint and the selected potential waypoint, of two adjacent potential waypoints, the first adjacent potential waypoint and a second adjacent potential waypoint that is in front or behind the selected potential waypoint in the array, which are in an array adjacent to the selected potential waypoint, and indicates the distance and the second bearing based on the position of the second adjacent potential waypoint.

[0027] Then, in response to a change in the position of the selected potential waypoint, the position and first orientation of the first indicator and the second orientation of the second indicator are changed, and a signal determining the position of the selected potential waypoint is received to determine the position of the waypoint.

[0028] The route planning program of the present invention, which causes a computer to execute a program for setting a route for navigation of a mobile body, includes the steps of: inputting the starting point and destination point of the navigation of the mobile body, and the positions of a plurality of potential waypoints located between the starting point and the destination point; calculating a positional relationship between the starting point, the destination point, and the plurality of potential waypoints, and inputting a signal for selecting one or more of the plurality of potential waypoints; calculating a first orientation based on the positional relationship between the selected potential waypoint selected by the potential waypoint selection unit and a first adjacent potential waypoint, and inputting a signal for selecting one or more of the potential waypoints based on the positional relationship between the selected potential waypoint selected by the potential waypoint selection unit and a first indicator showing the distance and the first orientation based on the position of the potential waypoint selection unit; and inputting a signal for selecting one or more of the potential waypoints based on the positional relationship between the selected potential waypoint and a first adjacent potential waypoint. The method includes a step of calculating a second orientation based on the positional relationship between the selected potential waypoint and the second adjacent potential waypoint, of two adjacent potential waypoints, the second adjacent potential waypoint being in front of or behind the selected potential waypoint in the arrangement, and generating and outputting a signal to display on a display screen a second indicator indicating the distance and second orientation based on the position of the second adjacent potential waypoint, respectively; a step of changing the position and first orientation of the first indicator, and the second orientation of the second indicator in response to a change in the position of the selected potential waypoint; and a step of receiving a signal that determines the position of the selected potential waypoint and determining the position of the waypoint.

[0029] The present invention proposes a route planning device for determining a more suitable navigation route for a ship in a sea area or an air route or an aircraft navigating an air route. To this end, the route planning device obtains a starting point and a destination point of a navigation, and a plurality of potential waypoints between the starting point and the destination point. The plurality of potential waypoints are obtained in at least one of a random order and a consecutive order.

[0030] The multiple potential waypoints correspond to candidate positions that can be changed in real time based on requirements. The route planning device determines a positional relationship between the multiple potential waypoints. The route planning device also determines an optimal route that connects a departure point and a destination point via one or more potential waypoints among the multiple potential waypoints by changing or adjusting the candidate positions of the multiple potential waypoints to determine an optimal or more optimal route. Based on the positional relationship between the multiple potential waypoints, one or more of the multiple potential waypoints can be adjusted or deleted to optimize the route. Note that the starting point, destination point, and one or more of the multiple potential waypoints of the navigation may correspond to a pre-set waypoint, i.e., any point (port of call) on the route, and do not necessarily correspond to the route base point and route destination point. Needless to say, the above points may be points on the sea area.

[0031] The above is illustrative only and is not intended to be limiting in any way. Effect of the Invention

[0032] According to the route planning device of the present invention, it is possible to provide an apparatus, system, and method for planning routes for various moving bodies, including not only ships but also aircraft, thereby making it possible to more accurately and efficiently set a route from a starting point to a destination. [Brief description of the drawings]

[0033] Illustrated embodiments of the present subject matter can best be understood by referring to the drawings, where like parts are designated with like numerals throughout. The following description is intended by way of example only and merely illustrates selected embodiments of devices, systems, methods and programs consistent with the subject matter claimed herein.

[0034] [Figure 1] 1 is a schematic diagram illustrating an exemplary working environment of a route planning system, in accordance with one embodiment of the present invention; [Diagram 2] FIG. 2 is a block diagram showing the route planning system shown in FIG. 1. [Diagram 3] FIG. 1 illustrates a user interface (touch screen) for inputting a navigation starting point, a navigation destination, and multiple potential waypoints (waypoints being manipulated for position setting) into a chart. [Figure 4] FIG. 13 shows a user interface (touch screen) for changing the positions of multiple potential waypoints. [Diagram 5] FIG. 2 is a diagram showing a user interface (touch screen) of the first indicator data and the second indicator data. [Figure 6] FIG. 13 illustrates a user interface (touch screen) displaying changes in an orientation indication associated with a first indicator and an orientation indication associated with a second indicator when the position of a current potential waypoint is changed. [Figure 7] FIG. 13 is a diagram showing an indicator display format in which a number of dots are arranged on one or more lines spaced at predetermined intervals in a predetermined direction. [Figure 8] FIG. 13 illustrates an indicator display format that includes a number of dots arranged concentrically at predetermined intervals in one or more directions around a potential waypoint. [Figure 9]FIG. 13 illustrates an indicator display format that includes only concentric semicircles at predetermined intervals in predetermined directions around a potential waypoint. [Figure 10] FIG. 13 is a diagram showing an indicator display format consisting of a basic scale and a central axis scale. [Figure 11] FIG. 13 is a diagram showing an indicator display format having a basic scale, a central axis scale, and an auxiliary scale in the 45° direction that divides the angle between the two scales. [Figure 12] FIG. 13 is a diagram showing an indicator display format having an auxiliary scale in a direction that further divides the angle formed by the basic scale and the auxiliary scale. [Figure 13] FIG. 13 is a diagram showing a user interface (touch screen) on which a first indicator and a second indicator are displayed using the multiple auxiliary line display format shown in FIG. 12. [Figure 14] FIG. 13 is a diagram showing a user interface (touch screen) in which a first indicator and a second indicator are represented in different colors. [Figure 15] 5 is a flowchart illustrating method steps performed by a route planning system in accordance with an exemplary embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0035] The devices are described herein by way of example only. Other exemplary embodiments or features may be further utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein. In the following detailed description, reference is made to the accompanying drawings, which form a part hereof.

[0036] According to the route planning device of the present invention, a new potential waypoint may be determined based on its positional relationship with a previously set waypoint, but the provisional positions of a plurality of potential waypoints may be set in either a random order or sequentially, and an optimal or closer to optimal route may be set by adjusting the position of each potential waypoint based on the provisional positions. A potential waypoint temporarily selected before determining a waypoint and setting a route is referred to as a "selected potential waypoint".

[0037] The route planning device of the present invention includes airspace as well as water areas such as rivers, lakes, and oceans. That is, in this embodiment, the route planning device is also applicable to moving bodies that move through the air, such as aircraft. Here, a ship will be used as an example for explanation, and henceforth, the moving body will be referred to as a "ship" and the area in which the ship moves will be referred to as an "ocean area."

[0038] 1 is a schematic diagram showing an example of a work environment 100a in which operations are performed on a route planning device 101 according to an exemplary embodiment. In this embodiment, the route planning device 101 is installed on a ship sailing in a sea area.

[0039] The route planning device of the present invention is communicatively coupled to an electronic chart display and information system (ECDIS), which has a touch input type display screen that displays charts necessary for route planning, and may be used as the user device 103. Alternatively, a terminal separate from the ECDIS device itself and capable of sending and receiving data via a network by wireless or wired communication may be used as the user device 103.

[0040] The route planning device 101 installed on the ship can be used to determine an optimal route in a sea area. The optimized route minimizes the travel delay of the ship on the route in the sea area or saves fuel consumption required for navigation while maintaining the safety of navigation.

[0041] The route planning device 101 receives inputs from a user 105 or an external computer (not shown), including a departure point of a navigation indicating the position of the ship's starting point, a destination point indicating the position of the ship's destination, and potential waypoints that are candidates for a plurality of potential waypoints between the departure point and the destination point, and the positions of the potential waypoints are set and input in a random order or consecutive order starting from the departure point. Needless to say, since this is a ship, the departure point and destination point are usually ports and harbors, but points in these sea areas are also included in the term "points."

[0042] A plurality of potential waypoints can also be determined between two potential waypoints set in the sea area. Furthermore, in order to accurately determine the position of a new waypoint, the route planning device 101 determines the positional relationship between the new waypoint and a previously set waypoint, and displays the positional relationship.

[0043] A number of potential waypoints whose positions have been entered on a chart showing a nautical chart, which is a map of the sea area (and may also include land), are displayed on the display screen together with the starting point and destination point of the voyage. The positions of each of the multiple potential waypoints are tentatively set and can be selected or moved on the screen. The tentative positions of each of the multiple potential waypoints can be moved or adjusted to optimize the route by simple drag-and-drop or by moving any waypoint back and forth on the display screen.

[0044] The location of each potential waypoint may be specified by location data such as longitude or latitude, or both, heading data or GPS coordinates, distance from the starting point, etc. The route planning device 101 is communicatively coupled to a user device 103 and a database 109 via a network 107.

[0045] The user device 103 has an application 103a installed thereon, which displays different information related to navigation to a user 105 operating the user device 103. The user device 103 may be a smartphone, a portable computer, any user-accessible device equipped with a display screen.

[0046] In this example embodiment, the user device 103 may include an ECDIS. The user device 103 uses an application 103a to display different navigational information such as charts, currents, etc. on a display screen of the user device 103. In this example embodiment, the user device 103 may be configured with a touch screen.

[0047] The route planning device 101 allows the user 105 to select a plurality of potential waypoints, which are selected in a random order. The plurality of potential waypoints correspond to candidate positions that can be adjusted or deleted based on requirements in real time to determine an optimized route. This allows the route planning device 101 to allow the user 105 to dynamically adjust the position of each of the plurality of potential waypoints to determine an optimal route.

[0048] The position of each potential waypoint is adjusted by the user 105 on a user interface of the user device 103 of the route planning device 101. Alternatively, the positions may be adjusted remotely by the user 105 using a user device 103 connected to the route planning device 101 via the network 107. For example, a user device 103 with a touch screen displaying a chart may adjust the position of each of the multiple potential waypoints by using the touch screen to drag and drop the position of each of the multiple potential waypoints on the chart.

[0049] Next, a more detailed configuration of the route planning device 101 and the functions of each unit will be described with reference to Fig. 2. Fig. 2 shows, in a block diagram, the configuration of the route planning device 101 exemplarily shown in Fig. 1 according to an exemplary embodiment.

[0050] The route planning device 101 includes a processing circuit 113 configured to execute stored instructions, and a memory 111 for storing instructions executable by the processing circuit 113. The memory 111 further stores chart data for displaying charts required for navigation. The chart data may include maps of ocean areas and associated tidal current information, as well as other navigation information. The memory 111 may include a random access memory (RAM), a read only memory (ROM), a flash memory, or any other suitable memory system.

[0051] The processing circuit 113 is connected to the memory 111 via a bus 115. In one embodiment, the processing circuit 113 of the route planning device 101 includes a position input unit 117, a positional relationship calculation unit 119, an indicator generation unit 121, an indicator format unit 123 in which formats of various indicators are stored, and a route setting unit 125 that outputs a route 127.

[0052] Furthermore, the route planning device 101 includes a display screen 129 configured to display at least a portion of the chart data. The position input unit 117 is responsible for selecting the starting point and destination point for the ship or aircraft route and for temporarily setting a number of potential waypoints between the two points on the chart.

[0053] The position input unit 117 receives data on the starting point and destination point for the ship or aircraft route. The display screen 129 has a touch input function, and data may be input by touching the touch screen, or may be input numerically by latitude and longitude, or may be input by port name, etc. The display screen 129 in this embodiment further inputs a plurality of potential waypoints between the starting point and the destination point by touch input. Hereinafter, the display screen 129 may be referred to as a touch screen 129 as appropriate. The display screen 129 outputs data acquired from the user 105, such as the sailing starting point, sailing destination point, and a plurality of waypoints, to the processing circuit 113 via the bus 115.

[0054] In an alternative embodiment to this embodiment, the user 105 can also use the user device 103 to remotely specify and set the location of a start point, a destination point, and multiple potential waypoints on a chart displayed on the touch screen of the user device 103.

[0055] Incidentally, in order to place multiple set potential waypoints in more optimal positions, it is often better to set each waypoint by grasping the positional relationships of other adjacent potential waypoints before and after the one potential waypoint selected as the focus. This is because even if each potential waypoint is placed in what is thought to be the most optimal position from the departure point, it may not necessarily be optimal when the entire route is viewed.

[0056] To that end, the route planning device 101 is configured with a positional relationship calculation unit 119, which is configured to determine a positional relationship between a plurality of potential waypoints. The positional relationship is determined based on position data of the plurality of potential waypoints, and the position data may include longitude and latitude information associated with each of the plurality of potential waypoints.

[0057] The position input unit 117 selects any potential waypoint selected by the user from the multiple potential waypoints set above, for example, by touching the corresponding potential waypoint on the display screen 129 on which a chart is displayed, and accepts the selection of the potential waypoint. To explain this embodiment in a little more detail, the position input unit 117 also has a function of deciding one or more of the multiple potential waypoints (hence, the "potential waypoint selection unit" is omitted in FIG. 2). By further touching in the selection mode the potential waypoint that you wish to select from the multiple potential waypoints whose position has been input by touching, i.e. the potential waypoint that you wish to move to in order to determine the route, a selection signal is sent out and the potential waypoint is activated, allowing you to move it freely on the display screen 129.

[0058] The route planning device 101 further includes an indicator generation unit 121, which has a function of determining at least one indicator corresponding to at least one of the multiple potential waypoints based on the positional relationships of the multiple potential waypoints. The indicator generation unit 121 outputs the selected potential waypoint and its corresponding indicator to the display screen 129 for display.

[0059] This indicator is an indicator that corresponds to the selected potential waypoint, and will be referred to as the first indicator. The first indicator has a scale that shows the distance to each point in the surrounding area, with the selected potential waypoint as the base point. Of these, the basic scale shows the distance on a straight line determined by the positional relationship between the selected potential waypoint and one of the two potential waypoints adjacent to the selected potential waypoint in the array (either one if it is the starting point or destination point). For example, it is assumed to be the distance on a straight line extending simply from the former potential waypoint to the selected potential waypoint.

[0060] The user can determine the position of the selected potential waypoint while viewing both indicators on the user device 103 connected via a communications network, or by moving the chart displayed on the display screen 129 of the ECDIS and the positions of the potential waypoint he or she inputted and the potential waypoint selected from it. Note that the selected potential waypoint is determined as a waypoint that forms part of the route by touching the display screen 129 in determination mode, which inputs a signal indicating this to the position input unit 117 (hence, not shown in the illustration). The positions of the determined potential waypoints are determined as waypoints of the route by the route setting unit 125. When all potential waypoints have been determined as waypoints, they are finally determined as the route 127 and output.

[0061] Next, the function of the indicator generating unit 121 and the indicators displayed on the display screen 129 in this embodiment by the indicator generating unit 121 will be described in more detail with reference to each of FIGS.

[0062] As shown in Fig. 3, a route for this voyage is planned on the assumption that the voyage will be made from Liverpool as a departure point 201 to Belfast as a destination point 203. First, the route planning device 101 obtains chart information including both points, and the chart and the positions of both set points 201, 203 on the chart are displayed on the display screen 129.

[0063] The user sets potential waypoints between the departure point 201 and the destination point 203 while referring to the chart. As already explained, this setting can be done by selecting from a variety of methods such as touching the display screen 129, using the cursor, or by direct numerical input, but here, the touch method will be explained as an example. In this embodiment, five potential waypoints 205a-205e are set. Note that, although potential waypoints are input here for route planning, past setting information may be stored in memory 111 and recalled.

[0064] Now, let us assume that the second placed potential waypoint 205b is selected from among these potential waypoints. The indicator generation unit 121 generates a first indicator for the selected potential waypoint 205b, with this as its base point. Also, of the two potential waypoints 205a and 205c that are adjacent in the arrangement, the indicator generation unit 121 generates a second indicator for one potential waypoint 205c (hereinafter referred to as "adjacent potential waypoint" as appropriate) with this as its base point.

[0065] The second indicator may be generated for either of the two adjacent potential waypoints 205a, 205c, but here, the adjacent potential waypoint closer to the starting point (referred to as the first adjacent potential waypoint) is fixed, and in addition to the selected potential waypoint, the state of the second adjacent potential waypoint, which is arranged on the opposite side of the first adjacent potential waypoint, is viewed.

[0066] Figure 4 shows the state where the position of the selected potential waypoint has been moved to the upper right in the figure. As a result, the ship sailing from the first potential waypoint 205a will change course at the selected potential waypoint 205b. Furthermore, the ship that has changed course will sail toward the second potential waypoint 205c. The ship that has reached the second potential waypoint 205c will change course to the potential waypoint 205d adjacent to it in the arrangement, but the degree of course change will be affected by the movement of the selected potential waypoint 205b. In this way, the movement of one potential waypoint will affect the route beyond it.

[0067] In response to the above and to enable a broader understanding of the route plan situation, in this embodiment, the indicator generation unit 121 generates a second indicator based on an adjacent potential waypoint (which becomes the second adjacent potential waypoint) that is located ahead of the selected potential waypoint 205b in the route plan settings.

[0068] Fig. 5 shows a state in which the first indicator 207 and the second indicator 209 generated by the indicator generation unit 121 based on the above-mentioned function are displayed on the display screen 129. Returning to Fig. 2, the indicator generation unit 121 selects a specified format from indicators of various formats provided in the indicator format unit 123, and generates the above-mentioned indicators based on this. Here, an example of a dot-type indicator is shown. Note that the dot type has the advantage that it does not intersect with other lines compared to line display.

[0069] Fig. 6 is a partially enlarged view to explain the first indicator 207 and the second indicator 209 displayed on the chart shown in Fig. 5. The selected potential waypoint 205b can be freely moved by touching it. In addition, the first indicator 207 is displayed with the selected position as the base point before, during and after the movement.

[0070] This first indicator 207 is of a dot type and has a basic scale made up of dots arranged at equal intervals from a base point on an extension of a straight line 211a connecting potential waypoint 205a to selected potential waypoint 205b. On the left and right of the basic scale as a central axis, dots are similarly arranged at equal intervals.

[0071] In the route planning device of this embodiment, a second indicator 209 is also generated with a base point at a second potential waypoint 205c, which is one potential waypoint ahead of the selected potential waypoint 205b in the array, and is displayed on the display screen 129. Note that in this embodiment, the second indicator 209 is also of the same dot type as the first indicator 207, except that the base point position and direction are different.

[0072] The second indicator 209 differs from the first indicator 207 not only in its base point but also in its direction. The second indicator 209 has its basic scale displayed on an extension of the straight line connecting the selected potential waypoint 205b and the second potential waypoint 205c. The second indicator also changes its direction when the position of the selected potential waypoint 205b is moved by a touch.

[0073] In this embodiment, the first indicator 207 and the second indicator 209 are both dot-type indicators, but one or both of them may be different from each other, such as the types shown in Figures 7 to 12. These will be described later. Also, one or more of the color data, hue data, and brightness data may be different from each other.

[0074] The indicator generation unit 121 is communicatively connected to the route setting unit 125, which is configured to determine a route by connecting a departure point, one or more of the multiple potential waypoints, and a destination point. The route setting unit 125 uses the indicator generated by the indicator generation unit 121 to determine which waypoints of the multiple potential waypoints should be connected to determine an optimal route 127.

[0075] The optimized route is displayed on a screen 129. In another embodiment, the optimized route can be displayed on a user device 103. In this case, the route planner 125 communicates directly with the user device 103, such as an ECDIS, over the network 107 to determine the optimal route 127.

[0076] In one embodiment, the indicator is used to indicate a positional relationship between the selected potential waypoint 205b and at least one of the one or more next potential waypoints 205a, 205c of the multiple potential waypoints.

[0077] In the embodiment described above, two indicators are generated and displayed when one of a plurality of potential waypoints is selected and moved, but multiple potential waypoints may be selected as long as simultaneous touch input is possible. In this case, indicators are generated and displayed with each selected potential waypoint as a base point, and further indicators having a basic scale of orientation calculated based on the mutual positional relationship are generated and displayed for each potential waypoint adjacent in the array to each selected potential waypoint. Since multiple indicators based on the mutual positional relationships of multiple potential waypoints are displayed and route plans can be made by looking at them, a more optimal route can be set.

[0078] Incidentally, the processing circuit 113 can appropriately select from several display types (formats) of indicator display formats stored in the indicator format unit 123. The function and advantages of the dot type have already been explained.

[0079] First, FIG. 7 has already been described with respect to the dot type shown in FIG. 6. FIG. 7 is displayed in an indicator display format having a plurality of dots arranged on one or more lines arranged at a predetermined interval in a predetermined direction according to one embodiment. Here, the predetermined interval and direction may be an angle indicating the degree of separation between the plurality of dots. Also, there is a basic scale as a central axis, and the dots are arranged in a fan shape spreading out on both sides of the basic scale, but the extent of the fan shape can be set by a person. The degree of separation may be predetermined or may be dynamically configured in real time.

[0080] As other indicator display formats, types of indicators different from those shown in FIG. 7 are shown in FIGS. 8 to 12, respectively.

[0081] FIG. 8 shows an indicator display format including a plurality of dots in a line arranged concentrically at predetermined intervals in one or more directions around a potential waypoint. The type of FIG. 8 is similar to the type of FIG. 7, except that the plurality of dots are arranged in concentric semicircles around either the selected potential waypoint or a second potential waypoint adjacent in the array. The display format of FIG. 8 may be used to determine a more accurate distance from a waypoint as compared to the display format of FIG. 7.

[0082] The indicator display format shown in FIG. 9 illustrates a type of indicator display format that includes concentric semicircles at predetermined intervals in a predetermined direction around a waypoint.

[0083] 10 shows an indicator display format including one or more linear scales having graduations indicating the distance from a plurality of potential waypoints 205a to 205e. This indicator has a basic scale 301 having a predetermined graduation and a central axis scale 303 arranged perpendicular to the basic scale 301, and the position where the two scales 301, 303 connect becomes the base point.

[0084] Returning to Fig. 6, when the basic scale 301 is placed at the position of the above-mentioned selected potential waypoint 205b, for example, it is placed perpendicular to the line connecting the first potential waypoint 205a and the selected potential waypoint 205b, with that position as the base point. The reason for placing it in this way is to make it possible to visually grasp the distance to landmarks such as land and lighthouses that are located perpendicular to the route when moving the position of the selected potential waypoint 205b to determine a waypoint. Taking Fig. 6 as an example, this is to measure the distance to the lighthouse (not shown) at the tip of the Isle of Man to confirm the position of the route.

[0085] 10 again, the central axis scale 303 is placed so as to overlap the extension of the above-mentioned straight line. This makes it easy to visually grasp the orientation of the pre-placed second potential waypoint 205c relative to the selected potential waypoint 205b, in addition to the above-mentioned position confirmation.

[0086] Figure 11 shows the indicator display format shown in Figure 10 with further auxiliary scales 305a, 305b added in a direction that prorates the angle between basic scale 301 and central axis scale 303. This makes it possible to more accurately grasp the orientation of the previously placed second potential waypoint 205c relative to the selected potential waypoint described above. Furthermore, the presence of the auxiliary scale in the direction from the selected potential waypoint 205b to the second potential waypoint 205c makes it easier to grasp the distance.

[0087] FIG. 12 shows an example in which auxiliary scales 307a and 307b are provided between the central axis scale 303 and auxiliary scales 305a and 305b, respectively, in addition to the indicator display format shown in FIG.

[0088] Figure 13 shows an embodiment in which a first indicator 207 is displayed at the position of a selected potential waypoint 205b, and a second indicator 209 is displayed at the position of a second potential waypoint 205c, using the indicator display format shown in Figure 12 described above.

[0089] As already explained, the first indicator 207 and second indicator 209 displayed by the route planning device of the present invention are simultaneously displayed at the positions of each potential waypoint 205b, 205c, respectively. Then, when the position of the selected potential waypoint 205b is moved, the pixel position and orientation of the first indicator 207 is changed, and the orientation of the second indicator 209 also changes at the same time, so that the positional relationship with land near the ship's planned route can be grasped and the route can be viewed over a wider range, making it easier to plan an optimal route or a route close to it.

[0090] Figure 14 shows a display according to the dot-type indicator display format shown in Figure 6. However, in the present embodiment shown, the first indicator 207 and the second indicator 209 are displayed in different shades using different shade data, and the second indicator 209 is shown in bold. The black dots around the first indicator 207 are shown as light-colored dots. By displaying the first indicator 207 and the second indicator 209 in different shades, the user 105 can easily distinguish between the two indicators.

[0091] In this example, the user interface 400 equipped with the touch screen 129 displays a chart, and the positions of the potential waypoints 205a-205d are input from the display screen. As a result, the first indicator 207 and the second indicator 209 are displayed as described above. The selection and position movement of the selected potential waypoint 205b are also performed by touch input, and as a result, both the first indicator 207 and the second indicator 209 move on the user interface 400.

[0092] In another exemplary implementation, the first indicator 207 and the second indicator 209 may differ from each other in one or more of the color data and the luminance data.

[0093] FIG. 15 is a flow chart illustrating the steps of a route planning method 500 performed by the route planning device 101 according to one embodiment.

[0094] The method 500 begins at step 501. At step 503, a start point 201 and a destination point 203 are received for a ship or aircraft route. The start point 201 and the destination point 203 are entered by the user 105 via the screen 129, and the entered location data is received by the location input unit 117.

[0095] The starting point 201 and destination point 203 may be specified by the user 105 by touching the selected location, moving a cursor, or inputting numerical data into a navigation map displayed on a touch screen display panel of the display 129. Alternatively, location data may be input via the user device 103.

[0096] In step 505, the location input unit 117 receives a number of potential waypoints 205a-205e between the departure point 201 and the destination point 203. The number of potential waypoints 205a-205e may correspond to candidate locations that may be changed or adjusted in real time to determine an optimized route. Note that the number of potential waypoints 205a-205e may be randomly selected by the user 105.

[0097] In another embodiment, the multiple potential waypoints 205a-205e may be selected sequentially by the user 105. For example, the multiple potential waypoints 205a-205e may be designated by the user 105 touching the selected position, moving a cursor, or inputting numerical data into a route map (or graph data) displayed on a touch screen display of the display screen 129. Alternatively, the position data may be input via the user device 103.

[0098] The route may be determined by connecting the departure point 201 to the destination point 203 via one or more of a plurality of potential waypoints 205b-205f.

[0099] In step 507, the positional relationship calculation unit 119 calculates a positional relationship based on the positional data of the multiple potential waypoints 205a-205e. The positional data may be longitude and latitude information of the multiple potential waypoints, or may be data indicating relative positions. The determined positional relationship between one or more waypoints of the multiple potential waypoints 205a-205e may be shown on a chart, and the shown positional relationship allows the user 105 to select a next potential waypoint to determine an optimized navigation route.

[0100] In step 509, at least one Indy corresponding to at least one potential waypoint among the plurality of potential waypoints 205a-205e may be generated based on the positional relationship between the plurality of potential waypoints 205a-205e.

[0101] The indicators include a first indicator 207 corresponding to the selected potential waypoint, and the first indicator 207 has a scale indicating the distance and direction from the selected potential waypoint. The first indicator is preferably displayed ahead of the vehicle in the arrangement during the process of determining the waypoints.

[0102] Furthermore, the indicator data includes a second indicator 209 corresponding to the next potential waypoint, and has a scale indicating the distance and direction from that point. The second indicator is also preferably displayed ahead of the waypoint in the arrangement as the waypoints are determined.

[0103] In step 511, the at least one potential waypoint and the corresponding at least one indicator may be output to the display screen 129 to display the at least one potential waypoint and the corresponding at least one indicator in association with the vessel or aircraft route. The user 105 may select one of the different indicator display formats, such as 30 shown in Figures 7-12.

[0104] The indicator display format may be used to determine which one or more of the plurality of potential waypoints 205a-205e should be connected to determine the optimized route. The optimized route may be displayed on the display screen 129. Alternatively, the optimized route may be displayed on a display screen (not shown) of the user device 103.

[0105] Thus, embodiments of the present invention can provide a route planning apparatus and a route planning method that ensures accurate and easy selection of one or more waypoints of a plurality of potential waypoints 205a-205e to determine an optimized navigation route for a ship or aircraft.

[0106] Although the above are illustrative of embodiments of the present invention, not all objectives, effects, or advantages may be achieved according to any selected embodiment described herein. Thus, for example, one skilled in the art will understand that a selected embodiment is taught herein without necessarily achieving other objectives, effects, or advantages as taught or suggested herein. It is necessary that the selected embodiment is configured to achieve or optimize one or more effects or advantages.

[0107] And the exemplary embodiments described herein are not limited to the one embodiment shown, and it should be understood that the aspects of the present disclosure, as generally described herein and illustrated in the drawings, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, as expressly contemplated herein.

[0108] While the above description and the associated drawings describe exemplary embodiments with reference to example combinations of selected elements and / or functions, it should be understood that different combinations of elements and / or functions may be provided by alternative embodiments without departing from the scope of the appended claims. In this regard, for example, it is contemplated that different combinations of elements and / or functions than those expressly described above may also be set forth in some of the appended claims. Although selected terms are used herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

[0109] In each of the above embodiments, for example, the database 109 shown in Fig. 1 may store updated navigation maps, updates on weather forecasts, information on tides, nautical charts that can be used by the vessel to navigate within the vessel and determine an optimized route. The database 109 may include navigation data such as dangerous locations in the waters, such as the location of eddies, information on salinity, water and air temperatures, air pressure and wind (speed, gusts, direction), geographical location of the vessel in terms of longitude and latitude, etc. The database 109 may further include updated navigation maps, updates on weather forecasts, etc. obtained by the aircraft.

[0110] In another embodiment, the database 109 may be implemented as a chart database or a navigation database prepared for use in or with the user device 103 to provide navigation and / or chart related functions to the user 105. In such a case, the database may be downloaded to the user device 103 or may be stored on the user device 103. All processes described herein may be embodied by software code modules executed by a computing system, which may include one or more computers or processors and may be fully automated. The code modules may be stored in any type of non-transitory computer readable medium or other computer storage device. Some or all of the methods may be embodied in dedicated computer hardware.

[0111] As will be apparent from this disclosure, there are many variations beyond those described herein. For example, depending on the embodiment, selected actions, events, or functions of any of the algorithms described herein may be performed in a different sequence, added, merged, or omitted entirely. (For example, not all actions or events described are required for execution of an algorithm.)

[0112] Additionally, in select embodiments, operations or events may be performed in parallel rather than sequentially, for example, through multithreading, interrupt processing, or multiple processors or processor cores, or on other parallel architectures. Additionally, different tasks or processes may be performed by different machines and / or computing systems that may operate together.

[0113] Various exemplary logic blocks and modules described in connection with the embodiments disclosed herein may be implemented or executed by a machine such as a processor. The processor may be a microprocessor, but alternatively, the processor may be a controller, a microcontroller, a state machine, or a combination thereof. The processor may include electrical circuitry configured to process computer-executable instructions. In another embodiment, the processor includes a selected application specific integrated circuit (ASIC), field programmable gate array (FPGA), or other programmable device that performs logical operations without processing computer-executable instructions. The processor may also be a combination of computing devices such as a combination of a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a DSP core, or any other of these. Such configurations may be implemented. Although described herein primarily with respect to digital technology, the processor may include primarily analog devices. For example, some or all of the signal processing algorithms described herein may be implemented by analog circuits or mixed analog and digital circuits. A computing environment includes, but is not limited to, a microprocessor, a mainframe computer, a digital signal processor, a portable computing device, a device controller, or any type of computer system based on a computing engine within a device.

[0114] Network 107 may include appropriate logic, circuitry, and interfaces that may be configured to provide multiple network ports and multiple communication channels for transmitting and receiving data related to a navigation origin, a navigation destination, and candidate locations of multiple potential waypoints. Each network port may correspond to a virtual address (or physical machine address) for transmitting and receiving communication data. For example, the virtual address may be an Internet Protocol version 4 (IPv4) (or IPv6 address) and the physical address may be a Media Access Control (MAC) address. Network 107 is associated with an application layer for implementing a communication protocol based on one or more communication requests from at least one of the one or more communication devices.

[0115] The communication data may be transmitted and received via a communication protocol, such as, but not limited to, the Transmission Control Protocol and Internet Protocol (TCP / IP), User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), File Transfer Protocol (FTP), ZigBee, EDGE, Infrared (IR), IEEE 802.11, 802.16, cellular communication protocols, and / or Bluetooth (BT) communication protocols.

[0116] Examples of the network 107 may include, but are not limited to, wireless channels, wired channels, and combinations of the wireless and wired channels. The wireless or wired channels may be associated with a network standard that may be defined by one of a local area network (LAN), a personal area network (PAN), a wireless local area network (WLAN), a wireless sensor network (WSN), a wireless area network (WAN), a wireless wide area network (WWAN), a long term evolution (LTE) network, a plain old telephone service (POTS), and a metropolitan area network (MAN). Furthermore, the wired channel may be selected based on a bandwidth criterion. For example, a fiber optic channel may be used for high bandwidth communications. Furthermore, a coaxial cable-based or Ethernet-based communications channel may be used for medium bandwidth communications.

[0117] Some embodiments are based on the recognition that to determine an optimized route, multiple potential waypoints must be precisely positioned so as not to cause obstacles to the route.

[0118] Any process descriptions, elements, or blocks in the flow diagrams described herein and / or illustrated in the accompanying drawings should be understood to potentially represent modules, segments, or portions of code, including one or more executable instructions for implementing a selected logical function or element in the process. Alternative embodiments are included within the scope of the embodiments described herein, where the elements or functions are substantial depending on the functionality involved, as understood by one of ordinary skill in the art.

[0119] Unless otherwise stated, a number such as "1" should generally be construed as including one or more recited items. Thus, a term such as "an apparatus configured to" is intended to include one or more of the listed devices. One or more of such recited apparatuses may also be collectively configured to perform the recited reference. For example, "a processor configured to perform the following A, B, C" may be construed as a first processor configured to perform A, and a second processor configured to perform B and C. Moreover, even if a specific number of recited examples are explicitly recited, such recited numbers typically mean at least the number recited. The mere recited number of "two recited" should be construed as meaning at least two recited or more than two recited.

[0120] Numerous modifications and variations can be made to the above-described embodiments, and elements thereof should be understood to be among the acceptable alternatives. All such variations and variations are intended to be included within the scope of this disclosure and are protected by the following claims. [Explanation of symbols]

[0121] 100a Route planning device working environment 100b Route planning device and its peripheral configuration 101 Route planning device 103 User Devices 103a Application 105 users 107 Network 109 Database 111 Memory 113 Processing Circuit 115 Bus 117 Position input section 119 Positional Relationship Calculation Department 121 Indicator Generation Unit 123 Indicator Format Section 125 Route setting section 127 Route 129 Display screen (touch screen) 201 Starting point 203 Destination point 205a-205e Potential Waypoints 207 First Indicator 209 Second Indicator 301 Basic Scale 303 Center axis scale 305a, 305b Auxiliary scale 307a, 307b Auxiliary scale 400 User Interface

Claims

1. A route planning device for setting a route for a moving object, comprising: a position input unit for inputting a tentative position of a plurality of potential waypoints arranged between a starting point and a destination point of the navigation of the moving body and displayed on a screen, the tentative position being adjustable by an operation on the screen; a positional relationship calculation unit that calculates a positional relationship between the potential waypoint and a potential waypoint adjacent to the potential waypoint in an array based on the input tentative position; a positional relationship adjustment unit that adjusts the position of a selected potential waypoint that is selected as a target for position adjustment among the plurality of potential waypoints; Equipped with The positional relationship adjustment unit is an indicator that indicates a distance and a direction based on a position of a selected potential waypoint based on a positional relationship between the selected potential waypoint and one of two adjacent potential waypoints adjacent to the selected potential waypoint; an indicator that indicates a distance and a direction based on a position of one of the selected potential waypoints and the adjacent potential waypoint, the distance and direction being determined based on a position of the adjacent potential waypoint; and an indicator generation unit which generates two indicators, respectively, and displays them on the screen, and which changes the distance and the direction indicated by each of the two indicators according to the respective positional relationships calculated by the positional relationship calculation unit when the tentative position of the selected potential waypoint is moved by an operation on the screen, and a waypoint position determination unit that, after the provisional position of the selected potential waypoint has been adjusted by the positional relationship adjustment unit, determines the position of the selected potential waypoint as a waypoint that constitutes a route of a course of the moving body through an operation on the screen. Route planning device.

2. The route planning device according to claim 1, The indicator generation unit: setting a first orientation based on a positional relationship with a first adjacent potential waypoint that is adjacent to the selected potential waypoint in the array and is closer to the starting point, and displaying a first indicator showing the first orientation with the selected potential waypoint as a base point; setting a second orientation at the first adjacent potential waypoint and displaying a second indicator showing the second orientation with the first adjacent potential waypoint as a base point; Route planning device.

3. The route planning device according to claim 1, The indicator generation unit: setting a first orientation based on a positional relationship with a first adjacent potential waypoint that is adjacent to the selected potential waypoint in the array and is closer to the starting point, and displaying a first indicator showing the first orientation with the selected potential waypoint as a base point; setting a second orientation at a second adjacent potential waypoint that is adjacent to the selected potential waypoint in the array and located farther from the starting point, and displaying a second indicator showing the second orientation with the second adjacent potential waypoint as a base point; Route planning device.

4. 3. The route planning device according to claim 2, When the temporary position of the selected potential waypoint is moved, the indicator generation unit The first orientation is determined based on a positional relationship between the first adjacent potential waypoint and the selected potential waypoint. changing the second orientation based on a positional relationship between the selected potential waypoint and the first adjacent potential waypoint; Route planning device.

5. The route planning device according to claim 3, When the temporary position of the selected potential waypoint is moved, the indicator generation unit The first orientation is determined based on a positional relationship between the first adjacent potential waypoint and the selected potential waypoint. changing the second orientation based on a positional relationship between the selected potential waypoint and the second adjacent potential waypoint; Route planning device.

6. The route planning device according to any one of claims 4 to 7, the first indicator has a first basic scale having a scale based on the first adjacent potential waypoint and perpendicular to a line connecting the first adjacent potential waypoint and the selected potential waypoint; the second indicator has a second basic scale having a scale in a direction perpendicular to a straight line that has a base point at the selected potential waypoint and connects the selected potential waypoint with a second adjacent potential waypoint that is located farther from the starting point; Route planning device.

7. 6. The route planning device according to claim 5, the first indicator has a first basic scale having a scale in a direction perpendicular to a line connecting the selected potential waypoint and the first adjacent potential waypoint, the second indicator has a second basic scale having a scale based on the second adjacent potential waypoint and perpendicular to a straight line connecting the selected potential waypoint and the second adjacent potential waypoint; Route planning device.

8. 7. The route planning device according to claim 6, the first indicator further has a first central axis scale having a scale on an extension of a straight line connecting the first adjacent potential waypoint and the selected potential waypoint, the first central axis scale being based on the first adjacent potential waypoint, the second indicator further has a second central axis scale having a scale on an extension of a straight line connecting the selected potential waypoint and the second adjacent potential waypoint, the second central axis scale being based on the selected potential waypoint. Route planning device.

9. The route planning device according to claim 7, the first indicator further has a first central axis scale having a scale on an extension of a straight line connecting the first adjacent potential waypoint and the selected potential waypoint, the first central axis scale having a scale on an extension of a straight line connecting the first adjacent potential waypoint and the selected potential waypoint, the second indicator further has a second central axis scale having a base point at the second adjacent potential waypoint and a scale on an extension of a straight line connecting the selected potential waypoint and the second adjacent potential waypoint. Route planning device.

10. The route planning device according to claim 8, the first indicator has a plurality of dots arranged concentrically at predetermined intervals in one or more directions including the azimuth of the first basic scale, with the first adjacent potential waypoint as a base point; the second indicator has a plurality of dots arranged concentrically at predetermined intervals in one or more directions including the azimuth of the second basic scale, with the second adjacent potential waypoint as a base point; Route planning device.

11. The route planning device according to claim 9, the first indicator has a plurality of dots arranged concentrically at predetermined intervals in one or more directions including the azimuth of the first basic scale, with the selected potential waypoint as a base point; the second indicator has a plurality of dots arranged concentrically at predetermined intervals in one or more directions including the azimuth of the second basic scale, with the second adjacent potential waypoint as a base point; Route planning device.

12. The route planning device according to claim 8, the first basic scale is on a straight line connecting the first adjacent potential waypoint and the selected potential waypoint, and has a scale displayed at a predetermined interval with the selected potential waypoint as a base point; the second basic scale is on a straight line connecting the selected potential waypoint and the second adjacent potential waypoint, and has a scale displayed at a predetermined interval with the second adjacent potential waypoint as a base point; Route planning device.

13. The route planning device according to claim 8 or 9, the first indicator further has a first auxiliary scale indicating a distance in a direction proportional to an angle formed by the first basic scale and the first central axis scale, the second indicator further has a second auxiliary scale indicating a distance in a direction proportional to an angle formed by the second basic scale and the second central axis scale; Route planning device.

14. The route planning device according to claim 13, the first indicator further has a third auxiliary scale indicating a distance in a direction proportional to an angle formed by the first central axis scale and the first auxiliary scale, the second indicator further has a fourth auxiliary scale indicating a distance in a direction proportional to an angle formed by the second central axis scale and the second auxiliary scale; Route planning device.

15. A route planning device as claimed in claim 2 or claim 3, The first indicator and the second indicator differ from each other in one or more of color data, hue data, and luminance data. Route planning device.

16. The route planning device according to any one of claims 1 to 15, further comprising: a chart information receiving unit for receiving chart information of an area including a part or the whole of a planned area of ​​navigation of the moving body; the position input unit specifies positions of the departure point, the destination point, and any or all of the plurality of potential waypoints based on a position touched on a chart displayed on the screen based on the chart information; Route planning device.

17. The route planning device according to any one of claims 1 to 15, further comprising: a chart information receiving unit for receiving chart information of an area including a part or the whole of a planned area of ​​navigation of the moving body; the position input unit specifies the positions of the departure point, the destination point, and any or all of the plurality of potential waypoints by a cursor on a chart displayed on the screen based on the chart information; Route planning device.

18. The route planning device according to any one of claims 1 to 15, further comprising: a chart information receiving unit for receiving chart information of an area including a part or the whole of a planned area of ​​navigation of the moving body; the position input unit specifies the positions of the departure point, the destination point, and any or all of the plurality of potential waypoints by inputting numerical values ​​including latitude and longitude; Route planning device.

19. A route planning device as claimed in claim 3, the first adjacent potential waypoint, the selected potential waypoint, and the second adjacent potential waypoint are arranged in this order from the departure point toward the destination point; Route planning device.

20. The route planning device according to claim 16 further comprises: Displaying a chart based on the chart information; a display that displays the starting point, the destination point, and the plurality of potential waypoints specified by the screen touch at corresponding positions on the chart, Route planning system.

21. A route planning method for setting a navigation route for a moving object, comprising the steps of: displaying on the screen a starting point and a destination point of the navigation of the moving body, and a plurality of potential waypoints arranged between the starting point and the destination point, in a state in which the positions of the potential waypoints can be adjusted by an operation on the screen; accepting, through an on-screen operation, a tentative position of a selected potential waypoint selected as a target for position adjustment from among the plurality of potential waypoints; generating a first indicator showing a distance and direction based on the position of the selected potential waypoint, based on a positional relationship between the selected potential waypoint and an adjacent potential waypoint, and generating a second indicator showing a distance and direction based on the positional relationship between the selected potential waypoint and a potential waypoint adjacent to the selected potential waypoint, and displaying the first indicator and the second indicator on the screen; when the tentative position of the selected potential waypoint is moved by an operation on the screen, the distance and the direction indicated by the first indicator and the second indicator are changed according to the positional relationship between the selected potential waypoint and an adjacent potential waypoint, determining a position of the selected potential waypoint in response to an operation for determining a position of the selected potential waypoint; Route planning methods.

22. A route planning program for causing a computer to execute a program for setting a navigation route for a moving object, Displaying on a screen a starting point and a destination point of the navigation of the moving body, as well as a plurality of potential waypoints arranged between the starting point and the destination point, in a position adjustable state; accepting, through an on-screen operation, a tentative position of a selected potential waypoint selected as a target for position adjustment from among the plurality of potential waypoints; generating a first indicator showing a distance and direction from a position of the selected potential waypoint based on a positional relationship between the selected potential waypoint and an adjacent potential waypoint, and generating a second indicator showing a distance and direction from a position of the adjacent potential waypoint based on a positional relationship between the selected potential waypoint and a potential waypoint adjacent to the selected potential waypoint, and displaying the first indicator and the second indicator on the screen; when the tentative position of the selected potential waypoint is moved by an operation on the screen, the distance and the direction indicated by the first indicator and the second indicator are changed according to the positional relationship; determining a position of the selected potential waypoint in response to an operation for determining a position of the selected potential waypoint; A route planning program that causes a computer to execute a program for setting a navigation route for a moving object.

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