JP3045625B2 - Ship navigation support device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a situation where visual information is insufficient such as nighttime, dense fog, and stormy weather, a situation where visibility is difficult due to disturbance light or backlight around a harbor, or invisible information such as a shallow water or an underwater obstacle. The present invention relates to a navigation support device for a ship that enables safe navigation in a required situation.

[0002]

2. Description of the Related Art Conventionally, a collision prevention radar device has been mainly used as a navigation support device for assisting visual navigation, and a CRT (cathode ray tube) is used as a bird's-eye view of land, buildings, other ships, and the like as viewed from high above. ) Etc. to ensure safe navigation by supplementing visual information ("Research and development of advanced automatic navigation systems", March 1989, Japan Shipbuilding Research Association).

[0003] In addition, during nighttime navigation when external light decreases,
An infrared sensing night vision camera and a weak light amplification night vision camera using an image intensifier are used to supplement visible information.

On the other hand, as another prior art, a simulated landing visual device using a computer and a display device has been proposed in order to give a pilot a sense of reality when performing simulated landing of an aircraft at high altitudes ( JP-A-63-13093).

[0005]

In the conventional navigation support device, since the bird's-eye display different from the viewpoint that the operator actually sees is performed, skill is needed to immediately correspond between the bird's-eye display and the actual terrain. In other words, there is a risk that the response decision may be erroneous in an emergency such as collision avoidance. Further, since the amount of information obtained by the collision prevention radar apparatus is not so large, it is difficult to navigate only with information from the radar apparatus in a situation where visual information is extremely insufficient.

Further, in the conventional night vision camera, halation occurs when a little intense light is picked up, the operating conditions are limited, and even under dense fog or stormy weather, only information comparable to that of visual observation can be obtained. There is a problem that there is no.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems by providing invisible information in a situation in which a ship operator cannot visually observe, a situation in which visual observation is effective to a certain extent but sufficient visual information cannot be obtained, and a situation in which visual observation is effective. It is an object of the present invention to provide a navigation support device for a ship that can reliably recognize a safe route by visualizing the information and sufficiently compensating for insufficient visual information.

[0008]

SUMMARY OF THE INVENTION The present invention provides a GPS device for detecting position information of a ship, a gyroscope device for detecting azimuth information of the ship, and a position sensor device for detecting position information of the ship. A radar device for detecting the positions of other ships and obstacles around the ship, a TV camera device for outputting a landscape image around the ship, a night vision device for outputting a nighttime landscape image around the ship, and An acoustic sounding device that measures, a sonar device that measures the shape of underwater obstacles, a log device that outputs the speed of the ship, a steering device that outputs the steering angle of the ship, coastlines, islands, ports, A chart information database in which the positions and shapes of navigation routes and lighthouses are converted into data, a port information database in which the positions and shapes of port maps, breakwaters, quays, piers and signs are converted into data, a GPS device, a gyroscope device, and an attitude sensor Facing from a predetermined position in a predetermined direction based on output information from a satellite device, a radar device, a TV camera device, a night vision device, an acoustic sounding device, a sonar device, a log device, a steering device, a chart information database, and a port information database. A navigation support device for a ship, comprising: a calculation unit for generating a landscape image; and an image display unit for displaying a landscape image output from the calculation unit.

Further, the present invention provides the collision avoidance calculation, wherein the calculation means predicts a collision risk based on the output information,
A grounding avoidance calculation for predicting the risk of grounding, a dangerous sea area calculation for calculating a dangerous sea area, and a recommended route calculation for calculating a recommended route are performed, and the image display means displays the calculated recommended route. Further, according to the present invention, the image display means is a portable display device that can be mounted on a head of a boat operator, and integrally includes a position and orientation sensor for detecting the position and orientation of the portable display device. The output of the position and orientation sensor is input to the calculating means.

[0010]

According to the present invention, output information from a GPS device, a gyroscope device, an attitude sensor device, a radar device, a TV camera device, a night vision device, an acoustic sounding device, a sonar device, a log device, a steering device, and a chart are provided. Based on the information database and the harbor information database, a landscape image that faces in a predetermined direction from a predetermined position is generated and displayed by the image display means. Because it is possible to generate and display a landscape image that looks in any direction from any position, such as a landscape image that looks in the reverse direction from the rear of the ship's deck, the actual landscape can be obtained even if visual information from the ship operator is insufficient. Can be displayed.

According to the invention, a collision avoidance calculation for predicting a collision risk, a grounding avoidance calculation for predicting a grounding risk,
Dangerous sea area calculation to calculate the dangerous sea area, recommended route calculation to calculate the recommended route, and display of the calculated recommended route on the image display means enables the safety of the route even if visual information by the operator is insufficient. Can be secured. Further, according to the present invention, since the image display means is a portable display device that can be mounted on the head of the boat operator, it is possible to always display a landscape image in front of the boat operator even when the boat operator moves. become. Furthermore, a position and orientation sensor for detecting the position and orientation of the portable display device is integrally provided, and the output of the position and orientation sensor is input to the calculation means, so that the reference position and the reference direction for displaying the landscape image are obtained. Can be matched with the position and posture of the operator's head. Therefore, it is possible to promptly display a landscape image corresponding to the position and posture of the head of the ship operator.

[0012]

FIG. 1 is a block diagram showing a ship navigation support apparatus according to one embodiment of the present invention. This navigation support device includes ship position information indicating the position of the own ship, other ship information indicating the position of the other ship, own ship condition information indicating the position of the own ship, obstacle information indicating the position of the obstacle, and sea conditions indicating the weather. Various detection devices 21 to 35 for outputting information, etc., mass memories 11 to 13 such as magnetic disks and optical disks for storing geographic information necessary for ship navigation such as charts and port maps, and various detection devices 21 to 35 Output data and mass memory 11
Based on the data stored in 景 観 13, a computer 1 for generating a landscape image facing in a predetermined direction from a predetermined position, for example, a landscape image facing in front of the ship's maneuvering position, and a landscape image generated by the computer 1 (Head-mounted display) 40 and a monitor 50 for displaying the information.

The sea condition information device 21 outputs sea condition information such as wind direction, wind volume, rainfall amount, wave height and the like on the sea obtained by communication and sea condition forecast. The marine traffic information device 22 outputs marine traffic information obtained by communication, such as traffic regulation and accidents at sea. The GPS (Global Positioning System) device 23 receives radio waves from a plurality of artificial satellites revolving around the earth and outputs the position of the ship. Radar device 24
Receives reflected waves of radio waves emitted from own ship and outputs relative positions of own ship and obstacles or other ships. TV camera device 2
Reference numeral 5 outputs a landscape image of another ship, a sign, a terrain, and the like viewed from a position mounted on the own ship. Low light / infrared night vision device 26
Captures weak light or infrared light and outputs a nighttime landscape image. The gyroscope device 27 detects a change in the angle or the angular velocity and outputs the direction of the ship. The hull attitude sensor device 28 outputs the roll angle, pitch angle, and yaw angle of the ship itself. The acoustic sounding device 29 detects a reflected wave of a sound wave emitted from the ship and outputs the distance from the water surface to the sea bottom, that is, the water depth. The sonar device 30 detects the reflected wave of the sound wave emitted from the ship, and outputs the shape of the underwater obstacle. The log device 31 outputs the ship speed of the own ship. Steering gear 3
2 outputs the rudder angle of the own ship. The main engine output device 33 outputs a horsepower value output by the propulsion engine of the ship. The wind direction anemometer outputs the wind speed and direction of the wind received by the ship.
The visual device 35 inputs and outputs the position and direction of a lighthouse or a sign visually recognized by the operator's own eyes with a keyboard or the like by using symbols and numerical values. In this way, from these various detection devices 21 to 35, ship position information including the position, speed and attitude of the own ship, other ship information including the position and speed of the other ship, surrounding conditions of the own ship, for example, traffic Regulations, signs, water depth,
The own ship situation information including the steering angle, the horsepower, etc., the terrain around the own ship, the obstacle information including the obstacle, the sea condition information, and the like are digitized and output, and input to the computer 1.

On the other hand, the mass memory 11 stores shorelines, islands,
A chart information database in which the positions and shapes of ports, water depths, sea routes, lighthouses, and the like are stored as data is stored.
2 stores a port information database in which the positions and shapes of port maps, breakwaters, quays, piers, signs, and the like are converted into data, and the mass memory 13 stores various ship type data, maritime safety regulations, and other information necessary for ship navigation. A database in which important information is converted into data is stored, and data output from these is input to the computer 1.

The computer 1 calculates the position data of the own ship based on the data output from the various detecting devices 21 to 35 and the data output from the mass memories 11 to 13, and calculates the position of the other ship. Other ship data calculation, own ship state calculation for calculating the attitude of the own ship, obstacle calculation for calculating the position and shape of the obstacle, sea condition data calculation for calculating the weather condition at sea, and the like. In parallel with the execution of these calculations, the HMD 4 mounted on the head of the operator 2
The viewpoint information output from the position / angle sensor 41 of 0, that is, data such as the three-dimensional position of the head of the boat operator and the three-dimensional direction in which the head is turned is input to the computer 1 as reference data, while the boat operator 2 controls the boat. Data such as the steering angle of the ship itself and the main engine notch is input to the computer 1 as reference data from the steering machine 3.

The computer 1 uses the reference data as reference coordinates to generate image data for performing a landscape display facing the direction of the HMD 40, furthermore, a bird's-eye display as viewed from above the position of the ship, and various detection devices 21. It generates image data for performing various displays, such as an instrument display for digitally or analogly displaying the numerical values output from .about.35 and a display for another ship indicating the position and route of another ship. On the other hand, based on the various calculation results described above, motion prediction calculation to determine what kind of motion the moving object such as another ship will perform in the future, whether to predict the risk of collision with another ship and whether to avoid it Collision avoidance calculation to judge, grounding avoidance calculation to check the presence of shallow water and determine whether to avoid, dangerous sea area calculation to calculate the area of danger area,
In consideration of these calculation results, recommended route calculation to calculate the most appropriate route at the present time, ship maneuvering information calculation to calculate information useful for maneuvering, own ship position after a predetermined time from the present time, for example, 5 minutes after, and other ship's position A near future prediction calculation or the like for predicting and calculating a position or the like is executed. In this way, even if a part of the information obtained from the various detection devices 21 to 35 has data loss at the present time, by complementing each other using data from other detection devices, an image with the highest possible accuracy can be obtained. Can be generated and displayed.

On the basis of the above calculation results, an image to be displayed is switched, a plurality of images are synthesized, and an HMD 40 for the operator 2 to visually recognize, a monitor 50 for other passengers to confirm, and the like. To the image display device.

The monitor 50 shown in FIG. 1 shows an example of a screen. When a landscape display is selected, a landscape corresponding to the position and orientation of the head of the boat operator 2 output from the attitude angle sensor 41 of the HMD 40 is displayed. Is displayed, and when the position and the direction of the head of the boat operator 2 change, the displayed scene also changes corresponding to the position and the direction. On the screen of the monitor 50, the other ship 61, the stranded danger area 62, the pier 63, etc. are displayed. Or meter.

FIG. 2 is a perspective view showing the configuration of the HMD 40 shown in FIG. In the HMD 40, an image display device 42 such as a CRT (cathode ray tube) or a liquid crystal display panel is incorporated in a helmet-shaped housing 46 that covers the head of the boat operator 2 so that the boat operator 2 can look directly at the head. And ship operator 2
A speaker 44 is provided at a position close to each ear of the user, and a position angle sensor 41 for detecting the three-dimensional position and three-dimensional direction of the HMD 40 is attached near the top of the housing 46, and near the rear of the housing 46. Has a built-in control circuit 43 for controlling the position and angle sensor 41, the image display device 42, the speaker 44, and the like. Signals and power are supplied via a cable 45. A landscape image similar to that of the monitor 50 shown in FIG. 1 is displayed on the screen of the image display device 42. When the position and orientation of the head wearing the HMD 40 changes, the position and angle sensor 41 transmits this data. Detects and sends it out to Computer 1, and Computer 1 is the operator 2
By synthesizing a landscape image based on the position and orientation of the head of the ship and sending it to the HMD 40, a landscape image that the operator 2 should directly look at can be displayed. As the position angle sensor 41, a combination of a transmission source for transmitting a weak radio wave and an antenna for triangulating this transmission source, or three closed containers along three different axial directions are arranged. CC of the movement of the liquid enclosed in the container
What is detected by an optical sensor such as D (ChargeCoupled Device) is used.

In this way, since a landscape image corresponding to the position and orientation of the head of the boat operator 2 can be displayed, it is necessary to know invisible information that is insufficient when visual information is insufficient or that is difficult to confirm with the naked eye. Even in this case, a safe route can be confirmed.

In the above embodiment, an example has been described in which a landscape image is generated and displayed on the basis of the position and direction of the head of a ship operator located in the ship's cabin. By setting the position near the stern of the ship, it is possible to generate and display a landscape image facing the stern, and the operator can check the landscape facing the stern, for example, the quay, while staying in the cockpit. Can be. By arbitrarily setting the reference position and the reference direction for generating the landscape image in this manner, the landscape viewed from various positions and angles can be displayed. It is possible to support safe ship maneuvering at the time.

[0022]

As described in detail above, according to the present invention, it is possible to display a scenery image facing an arbitrary direction from an arbitrary position. When the visual information is insufficient, the actual scene can be displayed with high accuracy, and thus safer navigation support can be realized. In addition, by displaying the landscape image thus obtained using a portable display device to which a position and orientation sensor is attached, it is possible to quickly display a landscape image corresponding to the movement of the ship operator, An image close to a landscape, that is, a so-called virtual reality can be realized.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a navigation support device for a ship according to an embodiment of the present invention.

FIG. 2 is a perspective view showing a configuration of an HMD 40 shown in FIG.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 Computer 2 Ship operator 3 Steering machine 11 to 13 Mass memory 21 to 35 Various detecting devices 40 Head mounted display (HMD) 41 Position and angle sensor 42 Image display device 43 Control circuit 44 Speaker 45 Cable 46 Housing 50 Monitor 60 Recommended ship route 61 Other ships 63 Piers 64 Instruments

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-4-369682 (JP, A) JP-A-4-171478 (JP, A) JP-A-63-251399 (JP, A) (58) Field (Int.Cl. ⁷ , DB name) G08G 3/00 B63B 49/00 G01C 21/00 G08G 3/02

Claims (3)

(57) [Claims] 1. A GPS device for detecting position information of a ship, a gyroscope device for detecting azimuth information of the ship, a posture sensor device for detecting posture information of the ship, and other ships around the ship. A radar device that detects the position of obstacles, a TV camera device that outputs a landscape image around the ship, a night vision device that outputs a nighttime landscape image around the ship, and an acoustic sounding device that measures water depth. A sonar device that measures the shape of underwater obstacles, a log device that outputs the speed of the ship, a steering device that outputs the steering angle of the ship, and the position and shape of the shoreline, island, port, seaway, and lighthouse A chart information database that has been converted into data, a port information database that has converted the positions and shapes of port maps, breakwaters, quays, piers, and signs, a GPS device, a gyroscope device, an attitude sensor device,
Based on output information from a radar device, a TV camera device, a night vision device, an acoustic sounding device, a sonar device, a log device, a steering device, a chart information database, and a port information database, a landscape image that faces in a predetermined direction from a predetermined position. A navigation support device for a ship, comprising: calculation means for generating; and image display means for displaying a landscape image output from the calculation means. 2. The calculation means calculates a collision avoidance calculation for predicting a collision risk, a grounding avoidance calculation for predicting a grounding risk, a dangerous sea area calculation for calculating a dangerous sea area, and a recommended route based on the output information. The navigation support device for a ship according to claim 1, wherein the recommended route calculation is performed, and the image display unit displays the calculated recommended route. 3. The portable image display device according to claim 1, wherein the image display means is a portable display device mountable on a head of a boat operator, and integrally includes a position and orientation sensor for detecting the position and orientation of the portable display device. 3. The navigation support device for a ship according to claim 1, wherein an output of the position and orientation sensor is input to the calculation unit.