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

Abstract

To provide a waterway planning device which can set waypoints more accurately and efficiently in setting a waterway of a marine vessel.SOLUTION: A waterway planning device includes: a chart data receiving section for receiving chart data; an already-set waypoint receiving section for receiving positions of already-set waypoints of a waterway; a potential waypoint receiving section for receiving a provisional position of a potential waypoint which is located by moving an undetermined position that a movable body should pass, as a next waypoint following a head waypoint located at a tip end among the already-set waypoints; and a position specifying section for outputting an activation signal when an angle formed by a first bar connecting a tip end waypoint position to a provisional position of a potential waypoint, and a second bar connecting the provisional position of the potential waypoint to a position of one target, is equal to a predetermined angle.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 nautical charts of the navigation area and route information of one or more ships or other moving bodies navigating waters such as rivers, lakes, and oceans. ECDIS processes chart data using software and displays the nautical chart of the desired water area on a screen (display screen).

[0003] Some ECDISs use a display screen that can be operated using a touch screen with a so-called touch sensor. In such a system, the route can be set by touching the desired position on the chart displayed on the touch screen, and the position of waypoints, which will be described later, can be set. [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] A navigation route is set by determining the starting point and destination of a ship's journey, and one or more points called waypoints that the ship must pass through between them. These waypoints must be set accurately so as not to cause any obstacles to the ship on its route. When setting the position of a waypoint, it must be confirmed that there are no dangerous areas such as buoys, lighthouses, land, or shallow waters near the ship's route. If there are obstacles such as lighthouses and buoys (herein referred to as "targets") near the route, the waypoint position can be set based on the distance and direction from the target to set a safe route that avoids dangerous areas such as land and shallow waters.

[0006] In conventional route planning devices, when measuring the distance and direction of a waypoint to be set from a target, it is necessary to display a guideline with a scale on the display screen and set a route while checking the distance and position every time the position of the waypoint is changed. For example, according to the description in Patent Document 1, the route planning system generates a route line by connecting the previous waypoints selected in succession with the current waypoint whose position is to be determined. At this time, in order to set the next waypoint from the most recently set waypoint, i.e., the current waypoint, a guideline with a scale is displayed at the position of this most recently set waypoint together with the direction.

[0007] However, in conventional route planning devices, to find the next waypoint, the user must move the position of the waypoint while checking the distance and direction to the target on the chart, using the guidelines displayed on the chart as a guide based on the most recently set waypoint. Therefore, when trying to measure the distance to a target along a desired direction, the user must visually check the guidelines, making it difficult to find the distance in real time. Furthermore, in conventional technology, there was no means for the user to operate the line indicating the target's direction or the scale indicating the distance to the target, making it cumbersome.

[0008] For this reason, there is a demand for a route planning device that can determine the position of the next waypoint so that the position is within a specified angle and distance from the target, and can efficiently set a safe navigation route for the ship. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems, the route planning device of the present invention is a route planning device that plans the route of a moving body on a nautical chart, and has a chart data receiving unit that receives chart data including information on the nautical chart and the positions of one or more targets on the nautical chart, a set waypoint receiving unit that receives the positions of set waypoints that indicate at least a part of the route, a potential waypoint receiving unit that receives the provisional positions of potential waypoints that follow in the array the tip waypoint that is located at the tip of the set waypoints, and that move the position through which the moving body should pass and position the moving body as it is undecided, and a position identification unit that identifies and fixes the position of the potential waypoint as a waypoint that constitutes part of the route.

[0010] Here, the position identification unit outputs an activation signal when the angle formed by a first bar connecting the position of the tip waypoint and the tentative position of the potential waypoint and a second bar connecting the tentative position of the potential waypoint and the position of one target object is equal to a predetermined angle.

[0011] The position identification unit may further calculate a distance between this potential waypoint and one or more targets based on the provisional position and a position of one of the one or more targets, select a target that is closest to the potential waypoint, calculate an angle, and send a desired activation signal. Alternatively, the position identification unit may further calculate a distance between this potential waypoint and one or more targets based on the provisional position and a position of one of the one or more targets, select a target that is within a predetermined range from the potential waypoint from the one or more targets, calculate an angle, and send a desired activation signal.

[0012] The predetermined angle value may be preset or dynamically set, and in particular may be 90 degrees.

[0013] Furthermore, in the route planning device of the present invention, the position identification unit may further output data indicating all or part of an arc of a potential waypoint circle whose diameter is a line connecting one target and the tip waypoint, or may output data indicating all or part of an arc of a target circle whose radius is a predetermined distance from one target. The position identification unit may then output an activation signal when the tentative position of the potential waypoint is located on an arc of the potential waypoint circle.

[0014] Furthermore, the route planning device of the present invention may be configured to include a display screen that displays the above-mentioned nautical chart, one or more targets, and the positions of the set waypoints based on the chart data. The display screen may be configured to change the display of at least one of the first bar, the second bar, and the one target when an activation signal is received. More specifically, the display of at least one of the first bar, the second bar, and the one target may be configured to change either the brightness or the color before and after the reception of the activation signal.

[0015] The position identification unit of the route planning device of the present invention has a waypoint setting unit that receives an activation signal and sets a potential waypoint to a waypoint that constitutes part of the route, or the position identification unit has a waypoint setting unit that receives a setting signal to set a potential waypoint to a waypoint that constitutes part of the route and sets it to that waypoint, and if the conditions of the potential waypoint as a route are confirmed, it can be set as the waypoint following the tip waypoint.

[0016] The one or more targets described above may include a fixed target whose position is fixed, or may include a moving target whose position is movable.

[0017] The display screen may also display all or part of a circle of a predetermined radius centered on the position of at least one of the one or more targets, or may display all or part of a circle of a predetermined radius centered on the tentative position of the potential waypoint. Furthermore, the display screen may be configured to input the tentative position of the potential waypoint by touching the screen or by using a cursor displayed on the screen.

[0018] Instead of outputting an activation signal when the angle between the first bar and the second bar is equal to a predetermined angle, the position identification unit may calculate the position of the intersection of a potential waypoint circle whose diameter is the line connecting one target and the tip waypoint, and a target circle whose radius is a predetermined distance from one target, and set the position of the intersection of these two circles as a waypoint that forms part of the route.

[0019] The route planning method of the present invention is a method for planning a route of a moving object on a nautical chart, which includes receiving chart data including information on the nautical chart and the positions of one or more targets on the chart, receiving the positions of set waypoints indicating at least a part of the route, displaying the nautical chart, the one or more targets, and the positions of the set waypoints on a display screen based on the chart data, and receiving a provisional position of a potential waypoint that is a waypoint that the moving object should pass through and that is next to an undetermined tip waypoint and whose position is movable. Then, an angle formed by a first bar connecting the position of the tip waypoint and the provisional position of the potential waypoint and a second bar connecting the provisional position of the potential waypoint and the position of one target is calculated, and an activation signal is output when the angle is equal to a predetermined angle value, and at least one of the first bar, the second bar, and one target displayed on the display screen is changed by the output of the activation signal. The angle value can be set arbitrarily, but it can also be set to 90 degrees to measure the shortest distance to the target.

[0020] A part or all of the arc of a potential waypoint circle whose diameter is a line connecting the one target object and the tip waypoint, and a part or all of the arc of a target circle whose radius is a predetermined distance from the one target object may be displayed on a display screen, and the above-mentioned activation signal may be output when the provisional position of the potential waypoint is located on the arc of the potential waypoint circle.

[0021] Furthermore, the present invention provides a route planning program for planning a route for a moving body on a nautical chart, which, when executed by a computer, receives and stores chart data including information on the nautical chart and the positions of one or more targets on the nautical chart, receives and stores the positions of set waypoints indicating at least a portion of the route, displays the nautical chart, the one or more targets, and the positions of the set waypoints on a display screen based on the chart data, receives and stores the provisional positions of potential waypoints through which the moving body should pass and which are the next of the set waypoints to be located following an undetermined tip waypoint and whose position is movable, calculates the angle between a first bar connecting the position of the tip waypoint and the provisional position of the potential waypoint and a second bar connecting the provisional position of the potential waypoint and the position of one target, outputs an activation signal when the angle is equal to 90 degrees, and changes the display of at least one of the first bar, the second bar, or one target displayed on the display screen using the activation signal.

[0022] When executed by a computer, the route planning program of the present invention displays on the display screen part or all of the arc of a potential waypoint circle whose diameter is a line connecting one target object and the tip waypoint, and all or part of the arc of a target circle whose radius is a predetermined distance from the one target object, and when the tentative position of the potential waypoint is located on the arc of the potential waypoint circle, an activation signal changes the display of at least one of the first bar, the second bar or the one target object displayed on the display screen.

[0023] It should be noted that the above summary is illustrative only and is not intended to be in any way limiting. In addition to the present aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description. Effect of the Invention

[0024] According to the route planning device of the present invention, when planning a route for a ship or aircraft, it is possible to efficiently determine waypoints located at a specified angle and distance from a landmark on the route, thereby ensuring a safe route for the ship or aircraft. [Brief description of the drawings]

[0025] Embodiments of the present invention can be best 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.

[0026] [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. 3A is a diagram showing a chart (including two lighthouses) and an end waypoint displayed on a display screen, as well as a potential waypoint whose position can be moved. Fig. 3B is a diagram showing how an activation signal is sent and the display of the two lines changes when the line connecting the end waypoint and the potential waypoint, and the line connecting the potential waypoint and the target object form a predetermined angle (90 degrees) in Fig. 3A. [Figure 4] Fig. 4A is a diagram showing parts of concentric circles centered on the position of each target (lighthouse). Fig. 4B is a diagram showing how an activation signal is sent and the display of the two lines changes when the angle between the line connecting the tip waypoint and the potential waypoint and the line connecting the potential waypoint and the target in Fig. 4A reaches a specified angle (90 degrees). [Diagram 5]Fig. 5A is a diagram showing concentric circles displayed around the position of the potential waypoint. Fig. 5B is a diagram showing how an activation signal is sent and the display of the two lines changes when the angle between the line connecting the tip waypoint and the potential waypoint, and the line connecting the potential waypoint and the target, in Fig. 5A, reaches a specified angle (90 degrees). [Figure 6] Fig. 6A is a diagram showing how concentric circles are displayed around each target object, and how a circle with a diameter equal to the line connecting the tip waypoint and one target object is displayed. Fig. 6B is a diagram showing how the angle between the line connecting the tip waypoint and potential waypoint and the line connecting the potential waypoint and target object becomes 90 degrees because the potential waypoint is positioned on the arc, and how the display of both lines has changed. [Figure 7] 4 is a flow chart showing steps of a route planning method executed by the route planning device. [Figure 8] 11 is a flow chart illustrating steps performed by a locator to determine the location of a potential waypoint. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Other present embodiments or features may further be 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 drawings that form a part hereof, in which some, but not all, embodiments of the invention are shown.

[0028] Indeed, various embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein but rather, these embodiments are provided so that this invention will satisfy applicable legal requirements.

[0029] One of the objects of the present invention is to determine a safe route for a ship or aircraft currently sailing. The route planning device of the present invention can be widely applied to route planning for moving bodies such as ships and aircraft, but in the following embodiment of the present invention, a ship will be described. Therefore, the moving body will be described as a "ship" as appropriate. Furthermore, the area in which the moving body moves includes water bodies such as oceans, lakes, and rivers, and even airspace, but a ship sailing in the ocean or sea will be described as an example.

[0030] Electronic charts used in ship navigation are often called charts, so in this specification we will call them charts. Also, although the location of the port where the ship calls is on the sea, we will use the term "point" to indicate a certain location, whether on the sea or on land.

[0031] A safe route is one that prevents collisions between ships and avoids ships on the route from landing on water or running aground in shallow waters or ocean areas. In order for a ship navigating an ocean area to navigate while avoiding shallow waters, land, etc., it is important to set a route that is a certain distance away from multiple targets. In addition, the route is determined by the route planning device by setting the positions of waypoints on a chart with reference to targets that serve as targets for setting waypoints, such as nearby lighthouses and buoys. The chart includes position information regarding the targets.

[0032] Some embodiments of the present invention will now be described in more detail with reference to the drawings.

[0033] FIG. 1 is a schematic diagram illustrating a working environment 100a of a route planning device 101 according to an embodiment of the present invention.

[0034] In this embodiment, the route planning device 101 is installed on a ship that navigates in a sea area. In this embodiment, the route planning device 101 may be installed on an aircraft instead of a ship as described above. The route planning device 101 installed on a ship can be used to determine a safe navigation route in a sea area.

[0035] The route planning device 101 can receive input of position information from a user 105 or from another device through a communication means. The input information can include a chart of the sea area in which the target vessel is to navigate, the starting point and destination point of the vessel's navigation, and, if waypoints that define the route have already been set, the positions of those set waypoints.

[0036] The location information may include position data such as longitude or latitude, direction data or GPS coordinates, distance from an apex waypoint, distance from a landmark, etc. The route planning device 101 is communicatively coupled to the user device 103 and the database 109 via a network 107.

[0037] The user device 103 has an application 103a installed thereon, which displays different information about the route to a user 105 operating the user device 103. The user device 103 may be any user-accessible device, such as a smartphone, a portable computer, a display screen unit, etc.

[0038] In one embodiment, the user device 103 may include an Electronic Chart Display and Information System (ECDIS). The user device 103 uses application 103a to display charts as well as different navigational information such as ocean currents on a display screen of the user device 103. In one embodiment, the user device 103 may be configured with a touch screen display.

[0039] Furthermore, the database 109 may store updated route maps, updates on weather forecasts, information on tides, nautical charts that may be used by the vessel to navigate within the vessel and determine a safe route. The database 109 may further include dangerous locations within the waters, such as locations of eddies, shallow water, mud, land, etc. The database 109 may also include navigational data such as information on a number of landmarks, such as buoys, lighthouses, information on salinity, water temperature, air pressure, wind (speed, gusts, direction), geographical location based on the vessel's longitude and latitude. The database 109 may also include updated route maps, updates on weather forecasts, etc. that may be used by the aircraft.

[0040] The database 109 may be a map database or a compiled route database that may be used in or with the user device 103 to provide route and / or map related functionality to the user 105. In such cases, the user device 103 may download or store the database 109.

[0041] 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, such as data indicating the starting point S of a journey, the destination point D, and the location of established waypoints.

[0042] Now, in order to determine a route optimized for safety, the waypoint must be located at a predetermined angle and a desired distance from the target while avoiding the inclusion of shallow waters and land in the route. For this purpose, the route planning device 101 allows the user 105 to select the position of an unset waypoint, called a potential waypoint, as the next waypoint following the tip waypoint located at the tip of the array among the set waypoints. The route planning device 101 receives the potential waypoint or is input by touching the screen, and determines the position of the potential waypoint as the next waypoint following the tip waypoint.

[0043] The specific relationship between potential waypoints, set waypoints, and targets will be described in detail with reference to Figure 2 onwards, but this potential waypoint sets its position based on the direction and distance to the target. By doing so, it is possible to confirm that it is a safe route to the destination away from dangerous places such as land and shallow waters. The potential waypoint is then added to a route that includes multiple waypoints.

[0044] A potential waypoint can be moved to a position on the chart to tentatively select or set its location. The tentative location of a potential waypoint can be moved or adjusted to optimize the route by simple drag and drop or by moving it back and forth on the display screen.

[0045] Furthermore, the position of the potential waypoint is set so that the potential waypoint is at a predetermined angle and distance from nearby targets, based on multiple targets. That is, the position of the appropriate potential waypoint is searched for while checking the angle formed by a first bar connecting the most recently set tip waypoint and the potential waypoint, and a second bar connecting the potential waypoint and the target.

[0046] When the position of the potential waypoint is changed, the first bar and the second bar are configured to move together, and when the potential waypoint is in a predetermined position, the route planner outputs an activation signal such that the visual indications of the first bar and the second bar indicate that the potential waypoint is at a predetermined angle and distance from the target.

[0047] Here, when the route planning device receives the activation signal, it sends out a waypoint fixation signal to prompt the addition of the potential waypoint to the ship's route. In this way, the route planning device can accurately determine the waypoints, and as a result, determine a safe and optimal route.

[0048] Note that the position of the 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 position may be adjusted remotely by the user 105 using a user device 103 connected to the route planning device 101 via a network 107.

[0049] For example, in a user device 103 equipped with a touch screen display screen that displays a map, the position of the potential waypoint is adjusted by dragging and dropping the position of the potential waypoint on the map using the touch screen display screen.

[0050] Next, a detailed configuration of the route planning device 101 according to this embodiment will be described with reference to Fig. 2. Fig. 2 shows a block diagram of the route planning device 101 illustrated in Fig. 1 according to this embodiment.

[0051] The route planning device 101 includes a processor 113 configured to execute stored instructions, and a memory 111 that stores instructions executable by the processor 113. The memory 111 is further configured to store chart data for the route.

[0052] The chart data includes a map of the ocean area, position information associated with a number of objects, and 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. The processing unit 113 is connected to the memory 111 via a bus 117.

[0053] The chart data may reside in the user device 103 and may include the start (departure) point S of the route, the destination point D, and one or more set waypoints if part of the route is already fixed. These may be received externally each time a route is planned, or may be received from the internal memory 111.

[0054] Additionally, the route planning device 101 includes a display screen 115 configured to display chart and position information of one or more objects. The display screen 115 comprises a touch screen display and an Electronic Chart Display and Information System (ECDIS) configured to receive at least one of touch-based and mouse-based input.

[0055] 2, the display screen 115 and the user device 103 are depicted separately, but the user device may include the display screen 115. In the following description, it is assumed that the display screen 115 is configured as the user device 103.

[0056] The processing unit 113 receives chart data including position information of one or more targets from the memory 111 via the bus 117 using the chart data receiving unit 119. The targets may include landmarks such as lighthouses and buoys.

[0057] The display screen 115 has a touch screen function, and by touching the screen, position information of a set waypoint among one or more waypoints (103b, 103c, ..., 103f) between the start point S of the route and the destination point D is received. In one embodiment, waypoint 103b has been set, and waypoint 103c, which is being touched by a finger, is depicted as a potential waypoint whose position is still being set.

[0058] The display screen 115 receives data such as the starting point S of the route, the destination point D, and one or more set waypoints from the user 105 via the user device 103 and outputs the data to the processing unit 113 via the bus 117 .

[0059] The processing unit 113 includes a chart data receiving unit 119, a waypoint receiving unit 121, a potential waypoint receiving unit 123, a position identifying unit 125, a waypoint fixing unit 127, and a route setting unit 129 that outputs a route. These components constituting the processing unit 113 are connected to the user device 103. The processing unit 113 may execute an application 103a in the user device 103 to display a chart on a display screen of the user device 103.

[0060] The processing unit 113 is configured to receive one or more waypoints including the leading end waypoint 103b for the navigation route of a moving body such as a ship or an aircraft, using the waypoint receiving unit 121. The positions of the start point S, one or more waypoints, and the route destination D are specified by the user 105 by directly touching a specific position on a map displayed on a touch panel display panel of the display screen, by moving a cursor on the display panel, by inputting numerical data on the map, or by operating these by a remote control.

[0061] The processing unit 113 also receives potential waypoints using the potential waypoint receiving unit 123. Potential waypoints are movable on a display screen on which a chart is displayed, and in this embodiment, the user 105 provides them via the user device 103 by touching an area of ​​interest on a map displayed on a touch panel. It is necessary to know the positional relationship between the start point S or an already set waypoint, that is, the tip waypoint (here, this corresponds to waypoint 103b), multiple targets (not shown), and the potential waypoint (corresponding to 103c at the position touched by the finger).

[0062] The potential waypoint receiving unit 123 is configured to receive position information of the potential waypoint when the potential waypoint is in motion.

[0063] Now, in order to determine the safest route, it is necessary to know the positional relationships between the start point S or set waypoints including the tip waypoint, multiple targets (not shown in FIG. 2), and potential waypoints. Therefore, the position identification unit 125 receives data indicating the current position of the potential waypoint 103c from the potential waypoint receiving unit 123. Then, the position identification unit 125 receives from the chart data receiving unit 119 the position information of multiple targets located within a predetermined distance of the potential waypoint.

[0064] Next, the position identification unit 125 calculates the distance between the potential waypoint and the multiple targets, and calculates the angle between the tip waypoint 103b and the potential waypoint 103c, and the angle between the potential waypoint 103c and the multiple targets (not shown in FIG. 2). The position identification unit 125 outputs an activation signal when the angle is equal to a predetermined angle (usually 90 degrees).

[0065] When the waypoint fixing unit 127 receives the activation signal, it generates a waypoint fixing signal. The waypoint fixing signal is transmitted to the route setting unit 129 via the position specifying unit 125.

[0066] Here, when a predetermined condition is met and an activation signal is sent, potential waypoint 103c is automatically set as the next waypoint following the tip waypoint. On the other hand, even if the conditions are met and an activation signal is sent, the screen display may be changed or a message may be displayed to notify the user that the conditions are met, and the waypoint may be fixed after confirmation and confirmation by the user 105.

[0067] Next, with reference to Figs. 3A and 3B, a description will be given of how to actually input the position of a potential waypoint and set that position while checking the distance and direction to a target object, etc.

[0068] The user 105 tentatively inputs the location of the potential waypoint in a movable state via the display screen 115 of the route planning device 101. The user 105 can also input the position data associated with the potential waypoint via the user device 103. In either case, the user interface presented to the user 105 for receiving the position data remains the same.

[0069] First, the user interface that the user 105 uses to input the different position data of the potential waypoints associated with the route will be described below.

[0070] 3A shows how the position of potential waypoint 204a is changed on the user interface according to one embodiment. The user interface displays tip waypoint 202, which is a part of the multiple waypoints, potential waypoint 204b, and multiple targets 206b and 206c (two in this embodiment) on its display screen.

[0071] The tip waypoint 204a corresponds to the tip waypoint 103b in Fig. 2. The user 105 tentatively inputs the position of the potential waypoint 204a by touching a desired position on the display screen, moving a cursor on the display screen, or inputting numerical data into a route map displayed on the user interface.

[0072] 3A, a first bar 208a and a second bar 210a are displayed on the display screen. The first bar 208a is a line connecting the tip waypoint 202 and the potential waypoint 204a. The second bar 210a is a line connecting the potential waypoint 204a and the target object 206a.

[0073] When the potential waypoint 204a moves, the first bar 208a and the second bar 210a move according to the movement of the potential waypoint 204a. The angle between the first bar 208a and the second bar 210a is calculated by the position identification unit 125. The position identification unit 125 determines whether the angle between the first bar 208a and the second bar 210a is equal to a predetermined angle. The predetermined angle may be set in advance or may be set dynamically. In this embodiment, the predetermined angle is 90 degrees. This is to measure the shortest distance to the target when the ship navigates from the tip waypoint toward the position where the potential waypoint is located.

[0074] The position identification unit 125 calculates the distance between the potential waypoint 204a and the target 206a. The position identification unit 125 outputs an activation signal when the potential waypoint 204a reaches a position where the angle formed by the first bar 208a and the second bar 210a is equal to a predetermined angle.

[0075] 3B illustrates the display screen 115 displaying an activation signal when the location of the potential waypoint 204b is determined, according to one embodiment. The locator 125 outputs the activation signal when the angle between the first bar 208a and the second bar 210a is equal to a threshold value of 90 degrees.

[0076] In response to this activation signal, the display screen 115 changes the display of the first bar from 208a to 208b, and the display of the second bar from 210a to 210b. As shown at 208b and 210b, the display screen 115 changes one or more of the color, contrast, thickness, and aspect of the first bar (208) and the second bar (210) based on the activation signal. This change may be made to be easy for the user 105 to see, and may be made brighter or of a different color on the display screen. Alternatively, a specific display may be displayed on the display screen.

[0077] The position identification unit 125 further calculates the distance between the potential waypoint 204b and the target 206a. In the field of ships and oceans, the distance is generally calculated in nautical miles (NM). The calculated distance is displayed on the display screen 115, for example, by a pop-up 212 in a location close to the potential waypoint 204b.

[0078] FIG. 4A is a diagram similar to FIG. 3A, but it selects all targets within a predetermined range from potential waypoint 204a, and calculates the relationship of distance and direction between each target.

[0079] 3A, portions 302a and 302b of concentric circles centered on the positions of the targets 206a and 206b are also displayed. This display makes it easy to visually see approximately how far the position of the potential waypoint 204 is from each target.

[0080] For example, the distance may be increased by 1 NM for each of the multiple concentric semicircles 302a, 302b. The user 105 can know the approximate distance from the multiple targets 206a, 206b based on the number of concentric semicircles arranged around the multiple targets 206a, 206b. Note that the concentric circles may be displayed only partially toward the sea area as shown in FIG. 4A.

[0081] 4B, when potential waypoint 204b is selected by user 105, processing unit 113 searches for multiple targets 206a, 206b that exist near the position of potential waypoint 204b. Processing unit 113 calculates the distances and angles of multiple targets 206a, 206b from potential waypoint 204a, and outputs an activation signal.

[0082] In this embodiment, when the position of the potential waypoint becomes close to another target object 206b, the target object 206b is selected in addition to the target object 206a. In this example, two lighthouses 206a and 206b on land are selected, and a second bar 304 shown as a dashed line is displayed between the lighthouses 206a and 206b.

[0083] FIG. 5A has the same basic configuration as FIG. 4A, but is different in that concentric circles 402a are displayed with the position of potential waypoint 204a at the center. On display screen 115, tip waypoint 202, potential waypoint 204a, and multiple targets 206a and 206b are displayed on a chart. Position information of potential waypoint 204a consists of multiple concentric circles 402a arranged around potential waypoint 204a to indicate the distance from potential waypoint 204a. For example, the distance is increased by 1 NM for each of the multiple concentric circles 402a. User 105 can know the approximate distance from potential waypoint 204a based on the number of concentric circles arranged around potential waypoint 204a.

[0084] When the user 105 selects the location of the potential waypoint 204a, the position identification unit 125 of the processing unit 113 searches the chart data for one or more stationary targets located within a predetermined distance from the potential waypoint 204a, including multiple targets 206a, 206b, specifically, the lighthouses and floating objects on the sea such as buoys, as exemplified above.

[0085] The position identification unit 125 calculates the distance of the potential waypoint 204b from each of the multiple targets 206a, 206b together with the angle. Then, as shown in Fig. 5B, a dashed line 404 connecting the potential waypoint 204b and the target 206b is displayed on the display screen 115. This shows that the position identification unit 125 has taken into consideration the distance and angle between the potential waypoint 204b and the target 206a, in addition to the distance and angle between the potential waypoint 204b and the target 206a.

[0086] As shown in FIG. 5A, the processing unit 113 calculates the distances of the multiple targets 206a, 206b from the potential waypoint 204a together with the angles, and outputs an activation signal.

[0087] Based on this calculation, the locator 125 selects one of the plurality of targets 206a, 206b such that the distance of the potential waypoint 204d from the plurality of targets 206a, 206b is minimized and the angle of the potential waypoint 204b from the plurality of targets 206a, 206b is equal to the predetermined angle of 90 degrees. The target 206a that satisfies both of these criteria is selected from the plurality of targets 206a, 206b.

[0088] The position identification unit 125 outputs an activation signal to select a target whose calculated angle is equal to the predetermined angle of 90 degrees and whose calculated distance is the smallest. As can be seen by comparing Figures 5A and 5B, the display of the first bar and the second bar on the display screen is changed in response to the activation signal. The display is changed by changing one or more of the color, contrast, thickness, and aspect.

[0089] 6A is a diagram showing an embodiment where the position where the line connecting the potential waypoint and the target object (the second bar described with reference to FIG. 4A) is perpendicular to the line connecting the tip waypoint and the potential waypoint (the first bar) can be easily recognized. This embodiment also makes it easy to predict the position where the distance from the potential waypoint to the target object is a predetermined value.

[0090] 6A, in this embodiment, a circle 502 having a diameter of a line 504 connecting the tip waypoint 202 and the target object 206a is displayed by a dashed line. As shown in FIG. 6B, when a potential waypoint 204 is on the circumference of this circle 502, an angle 506 formed by the first bar 208b and the second bar 210b becomes perpendicular according to Thales' theorem (circumferential angle theorem). Therefore, the user 105 may move the potential waypoint 204 arbitrarily to search for a position where an activation signal is sent out, or may position the potential waypoint 204 so that it is on the circumference of the circle 502.

[0091] 6B, concentric circles 302a, 302b with radii corresponding to predetermined distances are displayed with each of the targets 206a, 206b at their centers. In this way, for example, the position where the concentric circle 302a with the target 206a at its center intersects with the above-mentioned circle 502 is the distance between the potential waypoint 204 and the target 206a. This makes it easy to grasp positions at a predetermined distance from the target, making it easier to set the potential waypoint as a waypoint following the tip waypoint.

[0092] 7 is a flowchart showing steps of a route planning method 600 according to this embodiment, which is executed by the route planning device 101. In the following description, reference will be made to Figures 2, 3, etc. as appropriate.

[0093] In step 602, the chart data receiving unit 119 receives chart data. The chart data includes position information of one or more targets 206a, 206b. The chart data is preloaded with a number of targets 206b, 206c.

[0094] The user 105 may also input information regarding multiple landmarks 206a, 206b along the route. The chart data is stored in a database 109 and communicatively coupled to the route planning device 101. In one embodiment, the chart data may be stored in a memory 111 of the route planning device 101.

[0095] In step 604, a plurality of waypoints (103b, 103c, ..., 103f) for a route of a moving body are received. The moving body is a ship or an aircraft. The plurality of waypoints (103b, 103c, ..., 103f) includes the tip waypoint 202. The plurality of waypoints (103b, 103c, ..., 103f) are accepted by the waypoint receiving unit 121.

[0096] In step 606, the potential waypoint 204 is received by the potential waypoint receiver 123. The potential waypoint 204 is movable on the chart, and the potential waypoint 204 is moved on the chart by the user 105 by touching a location of interest in the chart.

[0097] In step 608, the position of the potential waypoint 204 is determined by the position specifying unit 125 as the next waypoint following the tip waypoint 202. The determination of the position of the potential waypoint 204 will be described with reference to FIG.

[0098] In step 610, if the calculated angle is equal to the threshold value and the calculated distance is minimum, an activation signal is output from the locator 125. This activation signal ensures that a potential waypoint is added to the navigation route of a moving object such as a ship or aircraft.

[0099] FIG. 8 is a flowchart showing the process of determining the location of the potential waypoint 204 executed by the location identification unit 125.

[0100] In step 702 , the position specifying unit 125 receives the current position data of the potential waypoint 204 from the potential waypoint receiving unit 123 .

[0101] In step 704 , the position identification unit 125 receives, from the chart data receiving unit 119 , position information of multiple targets 206 a , 204 b that are located within a predetermined distance from the current position of the potential waypoint 206 .

[0102] In step 706, the position specifying unit 125 calculates the distances between the potential waypoint 204 and the multiple targets 206a, 206b.

[0103] In step 708, the locator 125 calculates the angle between a first bar 208 and a second bar 210 on the chart, where the first bar 208 connects the tip waypoint 202 to the potential waypoint 204, and the second bar 210 connects the potential waypoint 202 to the multiple landmarks 206a, 206b. The angle between the potential waypoint 204 and the landmark 206a is calculated by implementing Thales' Theorem.

[0104] Thus, embodiments of the present invention may provide a route planning device 101 and a route planning method 600 that ensures accurate and easy selection of potential waypoints 204 to determine a route for a moving body such as a ship or aircraft that is optimized for safety. To this end, the route planning device 101 receives chart data that includes position information of one or more landmarks 206a, 206b.

[0105] The route planning device 101 receives a plurality of waypoints (103b, 103c, ..., 103f) including an end waypoint 202 for the route of the moving object. Furthermore, the route planning device 101 receives a potential waypoint 204 to which the moving object can move on a chart 204, and the route planning device 101 is characterized in that the position of the potential waypoint 204 is determined as the next waypoint following the nearest waypoint 202.

[0106] The potential waypoint 204 is determined by receiving current position data of the potential waypoint 204 and receiving position information of multiple targets 206a, 206b located within a predetermined distance from the current position of the potential waypoint 204. The potential waypoint 204 is determined by calculating the distance between the potential waypoint 204 and each of the multiple targets 206a, 206b, calculating an angle 506 on the chart between a first bar 208 and a second bar 210 connecting the tip waypoint 202 to the potential waypoint 204, and outputting an activation signal when the second bar 210 connects the potential waypoint 204 to the multiple targets 206a, 206b and the calculated angle is equal to a threshold and the calculated distance is minimum.

[0107] 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.

[0108] And, the present embodiment described herein is not limited to the one shown in the embodiment, and it is 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.

[0109] While the above description and associated drawings describe one embodiment with respect to one selected combination of 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.

[0110] 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, 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 hazardous 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 obtained by the aircraft, updates on weather forecasts, etc.

[0111] In another embodiment, the database 109 may be implemented as a database in which charts are stored, or may be 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.

[0112] As will be apparent from this embodiment, 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 the execution of an algorithm.)

[0113] Each network port may correspond to a virtual address (or a 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. The 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. The communication data may be transmitted and received via the communication protocol.

[0114] Examples of such wired and wireless communication protocols include, but are not limited to, 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.

[0115] In the working environment of the route planning device of the present invention described with reference to FIG. 1, examples of the network 107 include, but are not limited to, wireless channels, wired channels, and a combination of 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 communication. Furthermore, a coaxial cable-based or Ethernet-based communication channel may be used for medium bandwidth communication.

[0116] 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.

[0117] 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 starting point, a navigation destination point, and potential 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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]

[0124] 100a Route planning device working environment 100b Route planning device and its peripheral configuration 101 Route planning device 103 User device 103a Application 103b Tip Waypoint 103c Potential Waypoints 103d-103f waypoints (unspecified waypoints) 105 users 107 Network 109 Database 111 Memory unit (memory) 113 Processing Circuit 115 Display screen (indicator, display, touch screen) 117 Communication lines (buses) 119 Chart Data Reception Unit 121 Setting waypoint receiver 123 Potential Waypoint Receiver 125 Location identification part 127 Waypoint Fixed Part 129 Route Setting Section S starting point D Destination point 202 Tip Waypoint 204a, 204b Potential waypoints 206a First Target 206b Second Target 208a 1st bar (before receiving activation signal) 208b 1st bar (after receiving activation signal) 210a Second bar (before receiving activation signal) 210b Second bar (after receiving activation signal) 212 Pop-up showing distance between potential waypoint and first target 302a: Circle showing distance from first target (first target circle) 302b Circle showing distance from second target (second target circle) 402 Circle showing distance from potential waypoint (potential waypoint circle) 404 A dashed line connecting the potential waypoint to the second target 502 A circle with a diameter equal to the line connecting the first waypoint and the first target 504 Line connecting the tip waypoint and the first target 506 Angle between the first bar and the second bar

Claims

1. A route planning device that plans a route of a moving object on a nautical chart, a chart data receiver for receiving chart data including information about the nautical chart and the location of one or more objects on the nautical chart; a set waypoint receiving unit that receives positions of set waypoints that indicate at least a portion of the route; a potential waypoint receiving unit that receives a provisional position of a potential waypoint, which is a waypoint that the moving body should pass through following a tip waypoint located at the tip of the set waypoints and whose position is yet to be determined, when the potential waypoint moves arbitrarily on a display screen that displays the nautical chart in a state in which the distance to one of the one or more targets is variable; a position identification unit that outputs an activation signal indicating that an angle formed by a first bar connecting the position of the tip waypoint and the tentative position of the potential waypoint and a second bar connecting the tentative position of the potential waypoint and a position of the one target object is equal to a predetermined angle; A route planning device comprising:

2. The route planning device according to claim 1, The position identification unit further a route planning device that calculates a distance between each of the potential waypoints and one of the one or more targets based on the provisional position and the position of the one or more targets, selects the target that is closest to the potential waypoint from the one or more targets, and calculates the angle.

3. The route planning device according to claim 1, The position identification unit further a route planning device that calculates a distance between each of the potential waypoints and the target based on the provisional position and a position of one of the one or more targets, and selects a target from the one or more targets that is within a predetermined range from the potential waypoint and calculates each of the angles.

4. A route planning device according to any one of claims 1 to 3, The predetermined angle value is preset or dynamically set in the route planning device.

5. A route planning device according to any one of claims 1 to 3, The predetermined angle is 90 degrees.

6. A route planning device according to any one of claims 1 to 3, The position identification unit further outputs data indicating a part or all of an arc of a potential waypoint circle having a diameter equal to a line connecting the one target object and the tip waypoint.

7. 7. The route planning device according to claim 6, The position identification unit further outputs data indicating all or a part of an arc of a target circle having a radius of a predetermined distance from the one target as a center.

8. The route planning device according to claim 6 or 7, The position identification unit outputs the activation signal when the tentative position of the potential waypoint is located on an arc of the potential waypoint circle.

9. The route planning device according to any one of claims 1 to 8, further comprising: A route planning device comprising a display screen that displays the nautical chart, the one or more landmarks, and the positions of the set waypoints based on the chart data.

10. The route planning device according to claim 9, The display screen changes the display of at least one of the first bar, the second bar, or the one target object when the display screen receives the activation signal.

11. The route planning device according to claim 10, A route planning device, wherein the display of at least one of the first bar, the second bar, or the one target is changed in either brightness or color before and after receiving the activation signal.

12. A route planning device according to any one of claims 9 to 11, The position identification unit includes a waypoint setting unit that receives the activation signal and sets the potential waypoint to a waypoint that constitutes part of the route.

13. A route planning device according to any one of claims 9 to 11, The position specifying unit includes a waypoint setting unit that receives a setting signal to set the potential waypoint to a part of the route and sets the potential waypoint to the waypoint.

14. A route planning device according to any one of claims 9 to 13, A route planning device including a fixed target whose position is fixed to the one or more targets.

15. A route planning device according to any one of claims 9 to 13, A route planning device, wherein the one or more targets include a moving target whose position moves.

16. A route planning device according to any one of claims 9 to 15, The display screen further displays all or part of a circle of a predetermined radius centered on the position of at least any one of the one or more targets.

17. A route planning device according to any one of claims 9 to 16, The display screen further displays all or part of a circle of a predetermined radius centered on the tentative position of the potential waypoint.

18. A route planning device according to any one of claims 9 to 17, The display screen of the route planning device allows the tentative position of the potential waypoint to be input by touching the screen or by a cursor displayed on the screen.

19. 2. The route planning device according to claim 1, The position specifying unit outputs an activation signal when the angle between the first bar and the second bar is equal to a predetermined angle, A route planning device that calculates the position of an intersection between a potential waypoint circle whose diameter is a line connecting the one target and the tip waypoint, and a target circle whose radius is a predetermined distance from the one target, and sets the position of the intersection as a waypoint that constitutes part of the route.

20. A route planning method for planning a route of a moving object on a nautical chart, comprising: receiving chart data including information about the chart and the location of one or more objects on the chart; receiving locations of established waypoints that indicate at least a portion of the route; Displaying the nautical chart, the one or more targets, and the positions of the set waypoints on a display screen based on the chart data; receiving a tentative position of a potential waypoint through which the moving body should pass and which is the next waypoint among the set waypoints following the undetermined tip waypoint and whose position is movable; calculating an angle between a first bar connecting the position of the tip waypoint and the tentative position of the potential waypoint and a second bar connecting the tentative position of the potential waypoint and the position of the one target object, and outputting an activation signal when the angle is equal to a predetermined angle value; A route planning method, comprising changing the display of at least one of the first bar, the second bar, or the one target object displayed on the display screen by outputting the activation signal.

21. 21. A method according to claim 20, wherein the predetermined angle is 90 degrees.

22. The route planning method according to claim 20, further comprising: displaying on the display screen a part or all of an arc of a potential waypoint circle having a diameter equal to a line connecting the one target object and the tip waypoint, and a part or all of an arc of a target circle having a radius of a predetermined distance from the one target object as a center; and outputting the activation signal when the tentative position of the potential waypoint is located on an arc of the potential waypoint circle.

23. A route planning program for planning a route for a moving object on a nautical chart, the program being executed by a computer to: receiving and storing chart data including information about the nautical chart and the location of one or more objects on the nautical chart; receiving and storing locations of established waypoints indicative of at least a portion of the route; Displaying the nautical chart, the one or more targets, and the positions of the set waypoints on a display screen based on the chart data; receiving and storing a provisional position of a potential waypoint through which the moving body should pass and which is the next waypoint among the set waypoints following an undetermined tip waypoint and whose position is movable; calculating an angle between a first bar connecting the position of the tip waypoint and the tentative position of the potential waypoint and a second bar connecting the tentative position of the potential waypoint and the position of the one target object, and outputting an activation signal when the angle is equal to 90 degrees; changing the display of at least one of the first bar, the second bar, or the one target, which is displayed on the display screen, by the activation signal; Route planning program.

24. 24. The route planning program according to claim 23, which, when executed by a computer, displaying on the display screen a part or all of an arc of a potential waypoint circle having a diameter equal to a line connecting the one target object and the tip waypoint, and a part or all of an arc of a target circle having a radius of a predetermined distance from the one target object as a center; a route planning program that changes the display of at least one of the first bar, the second bar, or the one target object displayed on the display screen in response to the activation signal when the tentative position of the potential waypoint is located on an arc of the potential waypoint circle.

Images