JP7148968B2 - Track display device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a track display device that is mounted on a ship and displays a track, which is the track of the ship's navigation, on a nautical chart.

A vessel such as a fishing boat is sometimes kept in a drifting state in which it is floating on the water, and a person on board the vessel fishes. In this case, there is a need for anglers who want to know how their own ship is swept by the tidal current so that the ship can pass over the points of the fishing spot found in advance by a fish finder or the like.

In response to such needs, a navigation information display that calculates tidal current information, including the tidal current direction, based on changes over time in the own ship's position information in a drifting state, and displays a tidal current display image based on the tidal current information on the display screen. A device is known (for example, Patent Document 1).

Japanese Patent No. 5117221

However, the navigation information display device described above calculates tidal current information, including the tidal current direction, based on changes over time in the positional information of the own ship in a drifting state. ) was a problem.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems. The purpose is to provide an apparatus.

In order to achieve this object, the track display device according to claim 1 comprises position information acquisition means for acquiring position information of a ship; display means for displaying the position of the ship, drift determination means for determining whether or not the ship is drifting on the water, and the position when the drift determination means determines that the ship is in a drift state The track of the ship based on the position information acquired by the information acquisition means is the track of the ship based on the position information acquired by the position information acquisition means when the drift determination means determines that the ship is not in a drifting state. and display control means for causing the display means to display in a manner identifiable from the above.

The track display device according to claim 2 is the track display device according to claim 1, wherein the power generated by the power generation device provided on the ship is transferred to a propulsion device provided on the ship for propelling the ship. power transmission information acquisition means for acquiring power transmission information indicating whether or not the vehicle is in a state of transmitting power to the It is determined that the vessel is drifting when power generated in the vessel is not available for transmission to the propulsion device.

The track display device according to claim 3 is the track display device according to claim 1, further comprising a power generator provided on the ship for transmitting power to a propulsion device provided on the ship for propelling the ship. rotation information acquiring means for acquiring rotation information indicating the number of rotations of a rotating shaft rotated by the drift determination means, the number of rotations of the rotating shaft indicated by the rotation information acquired by the rotation information acquiring means is lower than a predetermined number of revolutions, it is determined that the ship is drifting.

A track display device according to claim 4 is the track display device according to any one of claims 1 to 3, wherein the position information includes the position information when the ship is determined to be in a drifting state by the drift determination means. A first storage means for storing the position information acquired by the position information acquisition means is provided.

The track display device according to claim 5 is the track display device according to claim 4, wherein the position information includes non-volatile storage means, wherein the ship is determined to be in a drifting state by the drift determination means. a second storage for storing the position information acquired by the position information acquisition means when the vessel is drifting and the position information acquired by the position information acquisition means when the drift determination means determines that the vessel is not in a drifting state; Have the means.

A track display device according to claim 6 is the track display device according to claim 5, further comprising: a frame buffer for storing image information for one screen displayed on said display means; drawing means for drawing image information for display on the frame buffer, the drawing means drawing the second wake based on the position information stored by the second storage means, and then a first wake is drawn in a manner distinguishable from the second wake based on the position information stored by the first storage means.

The track display device according to claim 7 is the track display device according to any one of claims 1 to 6, further comprising a bow information acquiring means for acquiring bow information, which is information on the direction in which the bow of the ship is facing, When the display control means displays the trail of the ship based on the position information acquired by the position information acquisition means when the drift determination means determines that the ship is in a drifting state, the display control means controls heading direction. displays at least one mark at a position on the track of the vessel indicating the direction the bow of the vessel was pointing based on the heading information.

According to the track display device of claim 1, the position information of the ship is acquired by the position information acquiring means. Based on the positional information obtained by the positional information obtaining means, the ship's track is displayed by the display means. On the other hand, it is determined by the drift determining means whether or not the ship is in a drifting state on the water. Then, when the drift determination means determines that the ship is in a drifting state, the ship's wake based on the position information acquired by the position information acquisition means is changed when the drift determination means determines that the ship is not in a drifting state. It is displayed on the display means by the display control means in a manner that can be distinguished from the ship's track based on the position information acquired by the position information acquisition means. This allows the user to recognize the drifting wake at a glance. Here, when the ship is in a drifting state, the ship is swept away by tidal currents or the like near the surface of the water. Therefore, the track display device according to claim 1 determines whether or not the ship is in a drifting state, and performs complicated calculations only by changing the display mode of the track in the drifting state and the track in the non-drifting state. This has the effect of allowing the user to easily recognize how the ship drifts in a drifting state.

According to the track display device of claim 2, in addition to the effects of the track display device of claim 1, the following effects are obtained. That is, the power transmission information acquiring means receives the power transmission information indicating whether or not the power generated by the power generator provided on the ship is being transmitted to the propulsion device provided on the ship for propelling the ship. Obtained by Then, based on the power transmission information acquired by the power transmission information acquisition means, the drift determination means determines that the ship is in a drifting state when the power generated in the ship is not being transmitted to the propulsion device. . Here, when power for moving the ship is not transmitted to the propulsion device, the ship is in a drifting state because the power does not move the ship. On the other hand, when the power for moving the ship is transmitted to the propulsion device, the ship is moved by the power generated by the drive means and is not in a drifting state. Thus, the track display device according to claim 2 has the effect of being able to easily determine whether or not the ship is in a drifting state simply by determining based on the power transmission information.

According to the track display device of claim 3, in addition to the effects of the track display device of claim 1, the following effects are obtained. That is, the rotation information acquisition means acquires rotation information indicating the number of rotations of a rotating shaft rotated by a power generating device provided on the ship for transmitting power to a propulsion device provided on the ship for propelling the ship. be done. The drift determination means determines that the ship is in a drifting state when the rotation speed of the rotation shaft indicated by the rotation information acquired by the rotation information acquisition means is lower than a predetermined rotation speed. Here, when the number of revolutions of the rotating shaft is lower than the predetermined number of revolutions, there is no or negligible movement of the ship due to the power, so it can be said that the ship is in a drifting state. On the other hand, when the number of revolutions of the rotating shaft is equal to or greater than the predetermined number of revolutions, the ship is not in a drifting state because movement of the ship by power is significant. Thus, the track display device according to claim 3 has the effect of being able to easily determine whether or not the ship is in a drifting state simply by determining based on the rotation information.

According to the track display device of claim 4, in addition to the effects of the track display device of any one of claims 1 to 3, the following effects are obtained. That is, of the position information, the position information acquired by the position information acquisition means only when the ship is determined to be in a drifting state by the drift determination means is stored by the first storage means. As a result, the display control means simply displays the track displayed based on the position information stored in the first storage means in a manner distinguishable from the other tracks, so that it is possible to determine how the ship drifted in the drifting state. There is an effect that the user can be made to recognize the

According to the track display device of claim 5, in addition to the effects of the track display device of claim 4, the following effects are obtained. That is, among the position information, the position information obtained by the position information acquisition means when the drift determination means determines that the ship is in a drifting state, and the position information obtained when the drift determination means determines that the ship is not in a drift state. The position information acquired by the position information acquisition means is stored in the second storage means, which is a non-volatile storage means. Thereby, even if the power is turned off, the position information of the drifting state and the non-drifting state can be collectively stored in the second storage means. Therefore, even if the power is turned on again after the power has been turned off, the wake based on the position information of the drifting state and the non-drifting state stored in the second storage means before the power is turned on this time is There is an effect that the user can see.

According to the track display device of claim 6, in addition to the effects of the track display device of claim 5, the following effects are obtained. That is, image information for one screen to be displayed on the display means is stored in the frame buffer. Image information for displaying the track of the ship based on the position information is drawn on the frame buffer by the drawing means. At this time, the second wake is drawn by the drawing means based on the position information stored by the second storage means. After that, based on the position information stored by the first storage means, the first wake is drawn by the drawing means in a manner identifiable from the second wake. Thus, the track display device according to claim 6 can display a drifting track and a non-drifting track without determining whether or not each position information used for displaying the track is in a drifting state. Tracks can be displayed in different manners. Therefore, there is an effect that it is possible to omit a complicated calculation such as determining a display mode for each piece of position information used for a track.

According to the track display device of claim 7, in addition to the effects of the track display device of any one of claims 1 to 6, the following effects are obtained. Namely, the bow information, which is the information about the direction in which the bow of the ship faces, is acquired by the bow information acquiring means. Then, when the display control means displays the track of the ship based on the position information acquired by the position information acquisition means when the drift determination means determines that the ship is in a drifting state, the ship's track is displayed based on the bow information. A heading indication control means displays at least one heading indication at a location on the ship's track. Here, when the ship is in a drifting state, the hull is not stable due to the lack of propulsive force of the ship itself, and the direction of the bow becomes unstable, and the user cannot predict the direction of the bow. On the other hand, according to the track display device of claim 7, the direction in which the bow of the ship is drifting is displayed. This allows the user to recognize which direction the bow faces during drifting. If the user knows which direction the bow of the ship is facing while drifting, for example, when the ship is drifting and trolling, the user can predict whether the fish will be on the starboard side or the port side of the ship. It has the effect of making it easier to

1 is a schematic diagram schematically showing the configuration of a plotter that is a first embodiment of the present invention; FIG. FIG. 4 is a schematic diagram schematically showing a state when the plotter is mounted on a ship; 3 is a block diagram showing the electrical configuration of the plotter; FIG. FIG. 4 is a schematic diagram schematically showing an example of all position data; FIG. 4 is a schematic diagram schematically showing an example of drifting position data; 4 is a flowchart showing main processing executed by a control device; 4 is a flowchart showing shift lever data storage processing executed by the control device; 4 is a flowchart showing position data storage processing executed by the control device; 4 is a flowchart showing a heading angle storage process executed by the control device; 4 is a flow chart showing a track drawing process executed by the control device; 4 is a flowchart showing a drifting heading drawing process executed by the control device; FIG. 5 is a block diagram showing an electrical configuration of a plotter according to a second embodiment; FIG. 4 is a flowchart showing main processing executed by a control device; 4 is a flowchart showing rotation speed data storage processing executed by the control device;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. First, with reference to FIGS. 1 and 2, an outline of the plotter 12 of the first embodiment, which is one embodiment of the track display device according to the present invention, will be described. FIG. 1 is a schematic diagram schematically showing the construction of the plotter 12, and FIG.

As shown in FIGS. 1 and 2, the plotter 12 is mounted on the ship 11 and displays the track of the ship 11 on the nautical chart. A track is a route along which the vessel 11 has passed. The plotter 12 is characterized in that it can display the wake when the ship 11 is in a drifting state and the wake when the ship 11 is in a non-drifting state in such a manner that the user can distinguish between them. The details will be described below.

The plotter 12 has a main body 13 , a display device 14 integrally formed with the main body 13 , and operation buttons 15 provided on the main body 13 . The plotter 12 is also configured to be electrically connectable to a compass 16, a GNSS (Global Navigation Satellite System) antenna 17, and an ECU (Engine Control Unit) 18 via cables. At least one of the compass 16 and the GNSS antenna 17 may be configured to be inseparable from the main body 13 from the beginning, or may be configured to be connectable to the main body 13 later. The ECU 18 is configured so that it can be connected to the main body 13 later. The main body 13 and the GNSS antenna 17 are arranged in the steering room of the ship 11, the compass 16 is arranged in the bow of the ship 11, and the ECU 18 is arranged inside an outboard motor O which is arranged in the stern of the ship 11. Be prepared. Although this embodiment shows an example in which the main body 13 and the GNSS antenna 17 are arranged in the steering room of the ship 11 and the compass 16 is arranged in the bow of the ship 11, the present invention is not limited to this. That is, the main body 13, the compass 16, and the GNSS antenna 17 may be arranged on the ship 11, and the place of arrangement on the ship 11 is not limited.

The display device 14 is a device for displaying a vessel mark 14a, a nautical chart 14b, a bearing mark 14c, a latitude/longitude display 14d, a wake 14e, a drifting heading 14f, and the like.

The nautical chart 14b is a map of the sea including the current position of the ship 11. FIG. The vessel mark 14a is a white figure imitating the vessel 11 for indicating the current position and direction of the vessel 11 . The ship mark 14a is displayed at the current position (latitude and longitude) of the ship 11 on the nautical chart 14b. Further, the vessel mark 14a is displayed so that the bow of the vessel mark 14a faces the moving direction of the vessel 11 obtained from the temporal change of the position information. The azimuth mark 14c is a figure for displaying the azimuth of the nautical chart 14b. The latitude and longitude display 14d displays the latitude and longitude of the current location of the ship 11. FIG.

The wake 14e is a line that indicates the route that the vessel 11 has passed. In the plotter 12 according to the present embodiment, the wake 14e1 of the ship 11 in the drifting state is displayed with a red line, and the wake 14e2 of the ship 11 in the non-drifting state (not in the drifting state) is displayed with a white line. Therefore, the user can recognize the drifting track 14e1 at a glance. In FIG. 1, for the sake of convenience, the wake 14e1, which is a red line, is indicated by a thick line, and the wake 14e2, which is a white line, is indicated by a thin line.

The drifting bow direction 14f is a red figure (indicated in black for convenience in FIG. 1) that indicates the direction in which the bow was facing (bowing direction) at a predetermined position where the ship 11 was in a drifting state. Therefore, the user can recognize which direction the bow was facing while drifting. The drifting bow direction 14f is displayed based on a bow azimuth angle 23a4, which will be described later. Further, the drifting bow direction 14f is additionally displayed each time the ship 11 moves at least a predetermined moving distance in a drifting state. By displaying a plurality of drifting headings 14f, the user can recognize how the heading has changed during drifting. Note that the predetermined moving distance when the scale of the nautical chart 14b is displayed at 1/10000 is, for example, 100 m.

The operation button 15 is a button operated when the user performs various settings for the plotter 12 . For example, by operating the operation button 15, the user can select the display mode of the wake 14e displayed on the display device 14 (the color, thickness, type, etc. of the line of the wake 14e). Further, the user can select the reduced scale size of the nautical chart 14 b displayed on the display device 14 by operating the operation button 15 .

If the user does not want to distinguishably display the drifting wake 14e1 and the non-drifting wake 14e2, the operation button 15 is turned off to make the wake 14e1 and the wake 14e2 distinguishable. The plotter 12 is configured so that it can be set to .

The compass 16 is, for example, a device fixed to the bow of the ship 11 to measure the direction of the bow, which is the azimuth angle of the direction in which the bow is pointing, based on geomagnetism and transmit the measurement result to the main body 13 . For example, NMEA (National Marine Electronics Association) 2000 is used as a communication standard for transmitting measurement results to the main body 13 . The measurement result is sent to the main body 13, for example, once every 0.2 seconds. In this embodiment, the azimuth of magnetic north is 0°, the azimuth of east is 90°, the azimuth of south is 180°, the azimuth of west is 270°, and the azimuth of the bow is from 0° to 360°. shown.

The GNSS antenna 17 receives signals transmitted from a plurality of satellites S constituting the global navigation satellite system (GNSS), and transmits position information (latitude and longitude) of the ship 11 to the main body 13 based on the received signals. Antenna. For example, NMEA2000 is used as a communication standard for transmitting position information to the main body 13 . The measurement result is sent to the main body 13, for example, once every 0.1 to 1 second.

An outboard motor O is provided at the stern portion of the boat 11 . The outboard motor O is a device for propelling the boat 11 . The outboard motor O includes an ECU 18, an engine E, a drive shaft DS, a gear G, and a propeller P.

The ECU 18 is a device for controlling the outboard motor O including the engine E. As shown in FIG. The ECU 18 is configured to be able to output information regarding the engine E and the like according to the NMEA2000 standard, for example. By connecting the ECU 18 to the main body 13 , the main body 13 can receive information relating to the engine E and the like output by the ECU 18 . The ECU 18 outputs information about the engine E and the like, for example, once every 0.1 to 1 second.

The engine E is a device that generates power for driving the boat 11, and is provided inside and above the outboard motor O. As shown in FIG. The drive shaft DS is a rotating shaft for transmitting power generated by the engine E to the gear G as power for rotational motion.

The gear G is a gear device for converting the direction of rotation of the power of the rotary motion transmitted from the drive shaft DS to the direction to move the boat 11 forward or backward, and is provided in the lower part of the outboard motor O. ing. Gear G includes a dog clutch (not shown). The dog clutch engages with a gear (not shown) provided on the gear G to transmit the power transmitted by the drive shaft DS to the propeller P, or does not engage with the gear to cut off the transmission of power. It is a device for The propeller P is a rotating blade for propelling the ship 11 forward or backward by stirring the water around the ship 11 with rotational power converted by the gear G. As shown in FIG. In this embodiment, the engine E is arranged above the outboard motor O, and the gear G is arranged below the outboard motor O. However, the present invention is not limited to this. In other words, the engine E and the gear G may be arranged inside the outboard motor O, and the arrangement location inside the outboard motor O is not limited.

When the power generated by the engine E is transmitted to the drive shaft DS, the power of the rotary motion transmitted from the drive shaft DS causes the gear provided in the gear G to rotate in the direction of advancing the boat 11 and the boat 11. The gear that rotates in the backward direction rotates. When the dog clutch is engaged with the gear that rotates in the forward direction of the ship 11, the power of the rotational motion that rotates in the forward direction is transmitted to the propeller P via the dog clutch. As a result, the ship 11 moves forward by the power generated by the engine E. As shown in FIG. At this time, the ship 11 is not in a drifting state (it is in a non-drifting state).

When the dog clutch is engaged with the gear that rotates in the backward direction of the marine vessel 11, the power of the rotational motion that rotates in the backward direction is transmitted to the propeller P via the dog clutch. As a result, the marine vessel 11 moves backward by the power generated by the engine E. As shown in FIG. At this time, the ship 11 is not in a drifting state (it is in a non-drifting state).

On the other hand, when the dog clutch is not engaged with the gear provided on the gear G (neutral state), the power of the rotational motion is not transmitted from the gear provided on the gear G to the dog clutch. No power is transmitted to the propeller P and the propeller P does not rotate. As a result, the ship 11 cannot be moved by the power generated by the engine E, and is in a drifting state. That is, when the dog clutch is in the neutral state, the ship 11 is in a drifting state.

A steering room of the ship 11 is provided with a shift lever SL. The shift lever SL is a lever that is operated by the user to engage the dog clutch with a gear provided on the gear G and rotate in the forward direction or the reverse direction, or to bring the dog clutch into a neutral state. When the user operates the shift lever SL to engage the dog clutch with a gear provided on the gear G that rotates in the forward direction or the reverse direction, the power generated by the engine E causes the ship 11 to move. 11 becomes non-drifting. On the other hand, when the user operates the shift lever SL to put the dog clutch in the neutral state, the power generated by the engine E does not cause the ship 11 to move, so the ship 11 is in a drifting state.

The shift lever SL is provided with a shift lever sensor (not shown). A shift lever sensor is a device for detecting the position of the shift lever SL. The shift lever sensor determines whether the shift lever SL is in a position where the dog clutch is engaged with a gear provided on the gear G and rotates in the forward direction, or in a position where the gear is engaged with a gear that rotates in the reverse direction. Detects whether the clutch is in a neutral position. The detection result is transmitted to the main body 13 via the ECU 18 as shift lever information.

Based on the shift lever information, the main body 13 determines whether the ship 11 is in a drifting state or in a non-drifting state. That is, when the shift lever SL is in a position where the dog clutch is engaged with the gear provided on the gear G, the body 13 determines that the ship 11 is in a non-drifting state, and the shift lever SL shifts the dog clutch to the neutral state. If it is in the position to allow the vessel 11 to drift, it is determined by the body 13 that the vessel 11 is drifting.

In this embodiment, the engagement state of the dog clutch is determined using the shift lever sensor, but the present invention is not limited to this. For example, the gear G may be provided with a gear position sensor for detecting whether or not the dog clutch is engaged with the gear, and the engagement state of the dog clutch may be obtained from the detection result of the gear position sensor. good too.

Next, the electrical configuration of the plotter 12 will be described with reference to FIG. FIG. 3 is a block diagram showing the electrical configuration of the plotter 12. As shown in FIG. A main body 13 (see FIG. 1) of the plotter 12 has a controller 20 . The control device 20 controls the operation of the plotter 12 . As shown in FIG. 3, the control device 20 includes a CPU 21, a flash memory 22, a RAM (Random Access Memory) 23, a display controller 24, a VRAM (Video RAM) 25, and a GNSS interface circuit (hereinafter "GNSS I/ F”) 26 and an input port 27 .

A flash memory 22, a RAM 23, a display controller 24, a GNSS I/F 26, and an input port 27 are connected to the CPU 21, and an operation button 15 (see FIG. 1) is connected from the outside of the control device 20. FIG. The display device 14 (see FIG. 1) and the VRAM 25 are connected to the display controller 24 . A GNSS antenna 17 (see FIG. 1) is connected to the GNSS I/F 26 from the outside of the control device 20 . The input port 27 is connected to the compass 16 (see FIG. 1) and the ECU 18 (see FIG. 1) from the outside of the control device 20 .

The CPU 21 is an arithmetic device that executes various calculations for controlling the operation of the plotter 12 according to program data 22 a stored in the flash memory 22 .

The flash memory 22 is a rewritable non-volatile memory for storing program data 22a executed by the CPU 21 as well as fixed value data and the like. The flash memory 22 stores, as fixed value data, image data 22b for displaying the nautical chart 14b or the like on the display device 14, for example.

The flash memory 22 also stores all position data 22c, which is position information of the ship 11 when it is drifting and when it is not drifting. The total position data 22c is used when the CPU 21 instructs the display controller 24 to draw the trail 14e of the ship 11 in the drifting state and the non-drifting state in the trail drawing process (S60) described later. Since the all-position data 22c is stored in the flash memory 22, which is a non-volatile memory, even if the power of the plotter 12 is turned off, the all-position data 22c is not erased and continues to be stored.

Here, the total position data 22c will be described with reference to FIG. FIG. 4 is a schematic diagram schematically showing an example of the total position data 22c. As shown in FIG. 4, the total position data 22c includes No. (22c1), the time 22c2, and the position 22c3 of the ship 11 at that time are stored. No. (22c1) is an identification number associated with the time 22c2 and the position 22c3 sequentially stored in the total position data 22c. The time 22c2 is time information transmitted from the GNSS antenna 17 . The position 22c3 is position information of the ship 11 transmitted from the GNSS antenna 17 at the time indicated by the time 22c2. When the CPU 21 receives the position information transmitted from the GNSS antenna 17, in the position data storage process (S30) described later, the CPU 21 stores the time information and the position information of the vessel 11 at that time as the time 22c2 and the position 22c3 as all positions. No. in data 22c. They are stored in order from "1" in (22c1).

Regardless of whether the ship 11 is in a drifting state or not, the time information transmitted from the GNSS antenna 17 and the position information of the ship 11 at that time are sequentially stored in the total position data 22c. Therefore, the total position data 22c includes a non-drifting state time 22c2 and position 22c3 (No. 1 in FIG. 4) and a drifting state time 22c2 and position 22c3 (No. 2 to 5 in FIG. 4). are stored. Thereby, the display controller 24 can draw the track 14e in the non-drifting state and the drifting state based on the total position data 22c.

Returning to FIG. 3, the description of the electrical configuration of the plotter 12 is continued. The RAM 23 is a rewritable volatile memory, and temporarily stores various data when the CPU 21 executes the program. The RAM 23 stores at least drifting position data 23a, shift lever data 23b, and a drifting flag 23c.

The drifting position data 23a is position information when the vessel 11 is in a drifting state. The drifting position data 23a is used when the CPU 21 instructs the display controller 24 to draw a trail 14e1 of the ship 11 in a drifting state in the trail drawing process (S60) described later.

Here, the drifting position data 23a will be described with reference to FIG. FIG. 5 is a schematic diagram schematically showing an example of the drifting position data 23a. As shown in FIG. 5, the drifting position data 23a includes No. (23a1), time 23a2, position 23a3 of ship 11 at that time, and heading 23a4 associated with time 23a2 and position 23a3 are sequentially stored. No. (23a1) is an identification number associated with the time 23a2, the position 23a3, and the azimuth angle 23a4 that are sequentially stored in the drifting position data 23a. The time 23a2 is time information transmitted from the GNSS antenna 17 when the ship 11 is in a drifting state. The position 23a3 is position information of the vessel 11 transmitted from the GNSS antenna 17 at the time indicated by the time 23a2 when the vessel 11 is in a drifting state. The heading angle 23 a 4 is information on the heading direction measured by the compass 16 .

When the CPU 21 receives the time information transmitted from the GNSS antenna 17 and the position information of the vessel 11 at that time, the CPU 21 determines that the vessel 11 is in a drifting state in a position data storage process (S30) described later. , the CPU 21 sets the time information and the position information of the vessel 11 at that time as the time 23a2 and the position 23a3, and sets No. to the drifting position data 23a. (23a1) are stored sequentially starting from "1". At this stage, the information on the heading direction is not stored in the drifting position data 23a as the heading angle 23a4 (No. 3 in FIG. 5).

When the CPU 21 receives the heading direction information transmitted from the compass 16 and determines that the vessel 11 is drifting in the heading azimuth angle storage processing (S50) described later, the CPU 21 stores the drifting position data 23a. In association with the latest time 23a2 and the position information of the ship 11 at that time, the received heading direction information is stored as the heading azimuth angle 23a4 in the drifting position data 23a.

When the CPU 21 determines that the vessel 11 is not in a drifting state, the time information transmitted from the GNSS antenna 17, the position information of the vessel 11 at that time, and the bow direction information transmitted from the compass 16 are used as the drifting position. It is not stored in the data 23a. Therefore, the time 23a2, the position 23a3, and the heading angle 23a4 (No. 1 to 3 in FIG. 5) are stored in the drifting position data 23a only when the ship 11 is in a drifting state. As a result, the display controller 24 can draw the trail 14e1 in the drifting state based on the drifting position data 23a.

Returning to FIG. 3, the description of the electrical configuration of the plotter 12 is continued. The shift lever data 23b indicates whether the shift lever SL is at a position where the dog clutch is engaged with a gear rotating forward, at a position engaging with a gear rotating backward, or at a neutral position. It is information indicating whether there is The shift lever data 23b is used when the CPU 21 determines whether the ship 11 is in a drifting state in the shift lever data storage process (S10) described later. That is, when the shift lever SL is in the position to put the dog clutch in the neutral state, the ship 11 is in the drifting state, and when the shift lever SL is not in the position to put the dog clutch in the neutral state, the ship 11 is in the non-drifting state. , the CPU 21 determines that When the CPU 21 receives the shift lever information transmitted from the ECU 18, the CPU 21 overwrites the shift lever information in the RAM 23 as shift lever data 23b in a shift lever data storage process (S10) described later.

The drifting flag 23c is a flag for indicating that the vessel 11 is in a drifting state. That is, if the drifting flag 23c is ON, it indicates that the ship 11 is in a drifting state, and if the drifting flag 23c is OFF, it indicates that the ship 11 is in a non-drifting state. The drifting flag 23c determines whether the ship 11 is in a drifting state in a position data storage process (S30), a heading angle storage process (S50), a wake drawing process (S60), and a drifting heading direction drawing process (S80), which will be described later. is used when the CPU 21 determines In a shift lever data storage process (S10) described later, when the CPU 21 receives the shift lever information transmitted by the ECU 18 and stores it as the shift lever data 23b, the drift flag 23c is set to ON or OFF based on the shift lever data 23b. be. That is, if the shift lever data 23b stores that the shift lever SL is in a position to bring the dog clutch into the neutral state, the drifting flag 23c is set to ON because the ship 11 is in a drifting state. On the other hand, in the shift lever data 23b, the shift lever SL is at a position where the dog clutch is engaged with a gear that rotates in the forward direction provided on the gear G, or at a position where it is engaged with a gear that rotates in the reverse direction. is stored, the drifting flag 23c is set to OFF because the vessel 11 is in a non-drifting state. The CPU 21 can easily determine whether the ship 11 is in a drifting state by determining whether the drifting flag 23c is on.

The display controller 24 controls drawing and display of an image displayed on the display device 14 based on control from the CPU 21 . The VRAM 25 is a memory provided with a frame buffer 25 a for storing one frame of image to be displayed on the display device 14 .

The display controller 24 draws an image for one frame to be displayed in the frame buffer 25a and causes the display device 14 to display it. The display controller 24 draws the nautical chart 14b in a wider range than the range displayed on the display device 14 on the frame buffer 25a, and displays a part of the nautical chart 14b drawn on the frame buffer 25a on the display device 14. FIG.

When the nautical chart 14b including the entire range to be displayed on the display device 14 is not stored in the frame buffer 25a (the entire range to be displayed on the display device 14 is included in the nautical chart 14b stored in the frame buffer 25a). If not, or if the nautical chart 14b is not stored in the frame buffer 25a), the display controller 24 receives an instruction from the CPU 21 to draw an image to be displayed on the display device 14. Draw a chart 14b that includes the whole. Then, the display controller 24 draws the vessel mark 14a, the wake 14e, and the drifting heading 14f on the nautical chart 14b in the frame buffer 25a.

On the other hand, if the image of the chart 14b including the entire range to be displayed on the display device 14 is already stored in the frame buffer 25a of the VRAM 25 (the chart 14b stored in the frame buffer 25a is displayed on the display device 14). If the entire range is included), the display controller 24 overwrites the vessel mark 14a portion of the image of the nautical chart 14b stored in the frame buffer 25a with the nautical chart 14b. Thereby, the past vessel mark 14a can be hidden. The display controller 24 draws, in the frame buffer 25a, the track 14e newly added this time to the past track 14e drawn on the overwritten nautical chart 14b, the vessel mark 14a, and the drifting heading 14f.

Further, the display controller 24 synthesizes the direction mark 14c and the latitude/longitude display 14d with the image of the range to be displayed on the display device 14 in the image stored in the frame buffer 25a, and transmits the synthesized image to the display device 14. do.

GNSS I/F26 inputs the signal from the artificial satellite S received with the GNSS antenna 17 into CPU21. The input port 27 inputs signals from the compass 16 and the ECU 18 to the CPU 21 .

Next, the main processing executed by the CPU 21 of the control device 20 will be described with reference to FIG. FIG. 6 is a flowchart showing main processing executed by the CPU 21 of the control device 20. As shown in FIG. The main process is a process that is executed when the power of the plotter 12 is turned on. This main process continues to be executed until the power of the plotter 12 is turned off.

When the main processing is executed by the CPU 21, first, the CPU 21 determines whether or not the shift lever information transmitted from the ECU 18 is received (S1). As a result, when it is determined that the shift lever information has been received (S1: Yes), the CPU 21 executes a shift lever data storage process (S10), which will be described later, and then executes the process of S2. On the other hand, when it is determined in the process of S1 that the shift lever information has not been received (S1: No), the CPU 21 executes the process of S2.

Next, CPU21 judges whether the positional information on the ship 11 transmitted from the GNSS antenna 17 was received (S2). As a result, if it is determined that the position information has been received (S2: Yes), the position data storage process (S30) described later is executed, and then the track drawing process (S60) described later is executed, followed by the process of S3. to run. On the other hand, when it is determined that the position information has not been received in the process of S2 (S2: No), the CPU 21 executes the process of S3.

Next, the CPU 21 determines whether or not the information on the bow direction of the ship 11 transmitted from the compass 16 has been received (S3). As a result, when it is determined that the information on the heading direction has been received (S3: Yes), the CPU 21 executes a heading azimuth storing process (S50) described later, and then executes a drifting heading drawing process (S80) described later. Execute and return to the process of S1. On the other hand, when it is determined in the process of S3 that the information on the heading direction has not been received (S3: No), the CPU 21 returns to the process of S1. Then, the processing of S1 to S3 is repeated.

Next, the shift lever data storage process (S10) described above will be described with reference to FIG. FIG. 7 is a flowchart showing the shift lever data storage process (S10) executed by control device 20. As shown in FIG. The shift lever data storage process (S10) is a process for storing the shift lever information transmitted from the ECU 18 in the shift lever data 23b and turning on or off the drifting flag 23c.

When the CPU 21 executes the shift lever data storage process (S10), the CPU 21 first stores the shift lever information transmitted from the ECU 18 in the shift lever data 23b of the RAM 23 (S11). Next, based on the shift lever data 23b stored in the process of S11, the CPU 21 determines whether or not the current position of the shift lever SL is at a position that brings the dog clutch into the neutral state (S12). In the processing of S12, if it is determined that the shift lever SL is at a position that brings the dog clutch into the neutral state (S12: Yes), the power of the engine E is not transmitted to the propeller P. Therefore, assuming that the ship 11 is not moving by the power of the engine E and is in a drifting state, the CPU 21 turns on the drifting flag 23c (S13), and ends the shift lever data storage processing (S10).

On the other hand, in the process of S12, when it is determined that the position of the shift lever SL is not at the position where the dog clutch is brought into the neutral state (S12: No), the power of the engine E is transmitted to the propeller P. Therefore, assuming that the vessel 11 is moving by the power of the engine E and is in a non-drifting state, the CPU 21 turns off the drifting flag 23c (S14), and ends the shift lever data storage processing (S10).

Thus, according to the plotter 12 of the present embodiment, it is possible to determine whether the ship 11 is in a drifting state simply by determining based on the shift lever data 23b indicating the state of the dog clutch. Therefore, there is an effect that it is possible to easily determine whether or not the ship 11 is in a drifting state.

Next, the position data storage processing (S30) described above will be described with reference to FIG. FIG. 8 is a flow chart showing the position data storage process (S30) executed by the CPU 21 of the control device 20. As shown in FIG. The position data storage process (S30) is a process for storing the position information of the vessel 11 transmitted from the GNSS antenna 17 in the total position data 22c and the drifting position data 23a.

When the position data storage process (S30) is executed by the CPU 21, first, the CPU 21 stores the position information of the ship 11 transmitted from the GNSS antenna 17 in the total position data 22c (S31). Specifically, the CPU 21 replaces the time information included in the position information of the ship 11 with No. where the time 22c2 and the position 22c3 of the total position data 22c are not stored. The time 22c2 is stored in association with the smallest number among (22c1), and the position information at that time is stored as the position 22c3 of the total position data 22c. Thereby, the position information when the ship 11 is in the drifting state and the non-drifting state is stored as the total position data 22c.

Here, all position data 22c are stored in the flash memory 22, which is a non-volatile memory. As a result, even when the power of the plotter 12 is turned off, the position information of the drifting state and the non-drifting state can be collectively stored in the total position data 22c. Therefore, even when the power is turned on again after the power is turned off, the display device 14 can display the wake 14e based on the position information of the drifting state and the non-drifting state stored in the all position data 22c before the power is turned on this time. can be displayed in Therefore, even if the power is turned on again after the power has been turned off, the user can retrieve the track 14e based on the position information of the drifting state and the non-drifting state stored in the all position data 22c before the power was turned on this time. It has the effect of being visible.

Next, the CPU 21 determines whether or not the drifting flag 23c is ON (S32). As a result, when it is determined that the drifting flag 23c is not ON (S32: No), the CPU 21 terminates the position data storage processing (S30) assuming that the ship 11 is in a non-drifting state.

On the other hand, in the process of S32, when it is determined that the drifting flag 23c is ON (S32: Yes), the CPU 21 determines that the vessel 11 is in a drifting state and receives the information of the vessel 11 transmitted from the GNSS antenna 17. The position information is stored in the drifting position data 23a (S33), and the position data storage process (S30) ends. Specifically, the CPU 21 stores time information included in the position information of the vessel 11 as No. 23a2 and position 23a3 of the drifting time position data 23a. The time 23a2 is stored in association with the smallest number among (23a1), and the position information at that time is stored as the position 23a3 of the drifting position data 23a. At this time, the position information stored in the drifting position data 23a is the same as the position information stored in the total position data 22c in the process of S31. As a result, the position information when the ship 11 is in a drifting state is stored as the drifting position data 23a. Therefore, only by displaying the wake 14e1 displayed based on the position information stored in the drifting position data 23a in a manner distinguishable from the other wakes 14e2, it is possible to determine how the vessel 11 drifted in the drifting state. There is an effect that the user can be made to recognize it.

Next, referring to FIG. 9, the aforementioned heading angle storage processing (S50) will be described. FIG. 9 is a flow chart showing the heading angle storage process (S50) executed by the CPU 21 of the control device 20. As shown in FIG. The heading azimuth storing process (S50) is a process for storing the information on the heading direction of the ship 11 transmitted from the compass 16 in the drifting position data 23a.

When the CPU 21 executes the heading direction storage process (S50), the CPU 21 first determines whether or not the drifting flag 23c is ON (S51). In the processing of S51, when it is determined that the drifting flag 23c is not ON (S51: NO), the CPU 21 terminates the heading direction storage processing (S51).

On the other hand, in the process of S51, when it is determined that the drifting flag 23c is ON (S51: Yes), the CPU 21 stores the information on the bow direction of the vessel 11 transmitted from the compass 16 in the drifting position data 23a. (S52), the heading angle storage process (S50) is terminated. Specifically, the CPU 21 stores the information on the heading direction of the ship 11 as the heading angle 23a4 of the drifting position data 23a. At this time, the heading angle 23a4 is stored in association with the latest time 23a2 and position 23a3 data. That is, when the time 23a2 and the position 23a3 are stored (see No. 3 in FIG. 5), the subsequently received heading information is stored as the heading 23a4 corresponding to the time 23a2 and the position 23a3. be. If the heading angle 23a4 is already stored for the latest time 23a2 and position 23a3, the newly received heading direction information is not stored. As a result, after the time 23a2 and the position 23a3 are stored, the first received heading information is stored as the heading 23a4. Therefore, the difference between the time 23a2 and the time when the heading angle 23a4 is acquired can be reduced. Further, the position of the ship 11 may be changed even if the information of the direction of the ship is received, for example, when the information of the direction of the ship is received immediately after the ship 11 drifts and before the position information is received. If the information is not stored in the drifting position data 23a, the received heading information is not stored. Thus, it is possible to prevent only the heading angle 23a4 from being stored although the time 23a2 and the position 23a3 are not stored. Therefore, the heading angle 23a4 can be stored in association with the time 23a2 and the position 23a3.

Next, referring to FIG. 10, the above-described trail drawing process (S60) will be described. FIG. 10 is a flow chart showing the trail drawing process (S60) executed by the CPU 21 of the control device 20. As shown in FIG. The wake drawing process (S60) is a process for drawing an image such as the wake 14e displayed on the display device 14. FIG.

When the CPU 21 executes the trace drawing process (S60), the CPU 21 first sets the display range (S61). Specifically, based on the reduced scale size of the nautical chart 14b to be displayed on the display device 14 designated by the user by operating the operation button 15 or the like, the CPU 21 determines the current position of the ship 11 (the latest position of all position data 22c). 22c3), the range of the chart 14b to be displayed on the display device 14 is set.

Next, the CPU 21 determines whether the image of the nautical chart 14b including the entire display range set in the process of S61 is stored in the frame buffer 25a of the VRAM 25 (S62). Specifically, the CPU 21 determines whether or not the entire display range set in the process of S61 is included in the nautical chart 14b stored in the frame buffer 25a. In the process of S62, when it is determined that the image of the chart 14b that includes the entire display range is not stored in the frame buffer 25a of the VRAM 25 (S62: No), the CPU 21 newly draws the image of the chart 14b. Therefore, the processing of S63 to S67 is executed.

In the process of S63, the CPU 21 instructs the display controller 24 to draw the image of the nautical chart 14b including the entire range to be displayed on the display device 14 set in the process of S61 on the frame buffer 25a. Specifically, the CPU 21 instructs the display controller 24 to draw an image of the nautical chart 14b including the entire display range centered on the current position of the ship 11 (the latest position 22c3 of the all position data 22c). Thus, for example, when the power of the plotter 12 is turned on and the position 22c3 of the total position data 22c is first stored, the nautical chart 14b centered on the position 22c3 can be drawn. Further, when at least part of the range displayed on the display device 14 protrudes from the nautical chart 14b stored in the frame buffer 25a due to the movement of the ship 11, the current position of the ship 11 (the latest position of all position data 22c) 22c3), the chart 14b including the entire display range can be redrawn.

In the process of S63, the nautical chart 14b is drawn centering on the current position of the ship 11 as a similar shape of the range displayed on the display device 14, for example. The similarity ratio between the range displayed on the display device 14 and the chart 14b is, for example, 1:3. By drawing the nautical chart 14b in a range wider than the range displayed on the display device 14, the nautical chart 14b can be newly displayed while the entire range displayed on the display device 14 is included in the nautical chart 14b even if the vessel 11 moves. 14b can be omitted.

Next, the CPU 21 instructs the display controller 24 to draw the track 14e2 and the ship mark 14a on the image of the nautical chart 14b drawn in the process of S63 in the frame buffer 25a based on the total position data 22c (S64). . Specifically, the CPU 21 selects No. of all the position data 22c. It is determined whether two adjacent positions 22c3 are within the range of the nautical chart 14b in order from "1" of (22c1). If the two positions 22c3 are both determined to be within the range of the chart 14b, the CPU 21 instructs the display controller 24 to draw a line segment connecting the two positions 22c3 in white. If it is determined that one of the two positions 22c3 is within the range of the chart 14b and the other is not within the range of the chart 14b, the CPU 21 selects the line segment connecting the two positions 22c3 that is within the range of the chart 14b. The display controller 24 is instructed to draw the portion within the range with a white line. When it is determined that both of the two positions 22c3 are not within the range of the chart 14b, the CPU 21 does not instruct the display controller 24 to draw.

In addition, the CPU 21 selects a predetermined number of positions 22c3 (for example, 10 newly stored positions) from the positions 22c3 of all the position data 22c stored within a predetermined period (for example, within one minute before the current time). is used to determine how the position of the vessel 11 has changed, and the direction of movement of the vessel 11 is determined. If the time has not passed since the plotter 12 was turned on and the number of positions 22c3 stored within the predetermined period is less than the predetermined number, the CPU 21 stores all the positions stored within the predetermined period. 22c3 is used to determine the direction of movement of the ship 11 . Then, the CPU 21 places the ship mark 14a at the current position (the latest position 22c3 of all position data 22c) of the ship 11 on the nautical chart 14b drawn in the processing of S63 so as to match the moving direction of the ship 11 in the frame buffer 25a. Instruct the display controller 24 to draw. If there is only one total position 22c3 stored within the predetermined period of the total position data 22c, the moving direction of the ship 11 cannot be obtained. The vessel mark 14a is displayed based on.

Next, the CPU 21 determines whether or not the position 23a3 of the drifting position data 23a included in the range of the nautical chart 14b drawn in the process of S63 is stored (S65). Specifically, the CPU 21 obtains the range of latitude and longitude of the nautical chart 14b drawn in the process of S63, and determines whether or not the position 23a3 of the drifting position data 23a included in the range is stored. In the processing of S65, if it is determined that the position 23a3 of the drifting position data 23a included in the range of the chart 14b drawn in the processing of S63 is not stored (S65: No), the chart drawn in the processing of S63 is not stored. Since no drifting position information is stored in the drifting position data 23a in the range 14b, the CPU 21 terminates the trail drawing process (S60).

On the other hand, in the processing of S65, if it is determined that the position 23a3 of the drifting position data 23a included in the range of the nautical chart 14b drawn in the processing of S63 is stored (S65: Yes), drawing is performed in the processing of S63. Since the drifting position information is stored in the drifting position data 23a in the range of the nautical chart 14b, the CPU 21 draws the drifting wake 14e1 and the drifting bow direction 14f through the processes of S66 and S67. The display controller 24 is instructed to

In the process of S66, the CPU 21 instructs the display controller 24 to draw the track 14e1 on the image drawn in the process of S64 in the frame buffer 25a based on the drifting position data 23a. Specifically, the CPU 21 determines No. of the drifting position data 23a. It is determined whether two adjacent positions 23a3 are within the range of the nautical chart 14b in order from "1" of (23a1). If the two positions 23a3 are both determined to be within the range of the chart 14b, the CPU 21 instructs the display controller 24 to draw a line segment connecting the two positions 23a3 in red. If it is determined that one of the two positions 23a3 is within the range of the chart 14b and the other is not within the range of the chart 14b, the CPU 21 selects the line segment connecting the two positions 23a3 that is within the range of the chart 14b. The display controller 24 is instructed to draw the portion within the range with a white line. If it is determined that both of the two positions 23a3 are not within the range of the chart 14b, the CPU 21 does not instruct the display controller 24 to draw.

Here, the position 22c3 in the drifting state among the positions 22c3 in the drifting state and in the non-drifting state stored in the total position data 22c is the same as the position 23a3 of the position data 23a during drifting. Therefore, among the drifting state and the non-drifting state of the wake 14e2 based on the total position data 22c drawn in the process of S64, the course of the drifting state wake 14e2 is the drifting state based on the drifting position data 23a drawn in the process of S66. This is the same route as the state wake 14e1. Therefore, by the processing of S66, the drifting wake 14e1 based on the drifting position data 23a is drawn on the drifting and non-drifting wakes 14e2 based on the total position data 22c drawn by the processing of S64.

Next, the CPU 21 instructs the display controller 24 to draw the drifting heading direction 14f for each predetermined distance on the wake 14e1 of the image drawn in the process of S66 in the frame buffer 25a (S67), and draws the wake. (S60) ends. Specifically, the position 23a3 of the drifting position data 23a included in the range of the nautical chart 14b drawn in the process of S63 and the associated heading angle 23a4 are stored. The CPU 21 instructs the display controller 24 to draw the drifting heading 14f at the position 23a3 having the smallest number (23a1) in accordance with the direction of the heading 23a4 associated with that position 23a3. Then, the CPU 21 obtains a position 23a3 where the moving distance (moving distance) of the ship 11 exceeds a predetermined moving distance from the position 23a3 where the drifting bow direction 14f is drawn. Then, the CPU 21 instructs the display controller 24 to draw the drifting heading direction 14f at the position 23a3. If the heading 23a4 associated with the position 23a3 included in the nautical chart 14b is not stored, the CPU 21 does not instruct the display controller 24 to draw the drifting heading 14f.

Here, the movement distance L(n, n+m) from the n-th position 23a3 to the n+m-th position 23a3 in the drifting position data 23a is obtained by Equation (1). Note that the moving distance L(x, y) indicates the distance from the x-th position 23a3 to the y-th position 23a3.

The CPU 21 selects the position 23a3 of the drifting position data 23a included in the range of the nautical chart 14b drawn in the process of S63 according to Equation 1 and stores the associated heading angle 23a4. The moving distance L(n, n+1) from the position 23a3 (n-th position 23a3) to the n+1-th position 23a3 of the one with the smallest number of (23a1) is obtained, and the moving distance L(n, n+1) is the predetermined moving distance. determine whether it exceeds If it is determined that the moving distance L(n, n+1) exceeds the predetermined moving distance, No. The CPU 21 instructs the display controller 24 to draw the drifting heading direction 14f at the "n+1" position 23a3 of (23a1) in accordance with the direction of the heading angle 23a4 associated with the position 23a3.

On the other hand, when it is determined that the moving distance L(n, n+1) does not exceed the predetermined moving distance, the CPU 21 determines the moving distance L( n, n+2) is obtained, and it is determined whether or not the moving distance L(n, n+2) exceeds a predetermined moving distance. Specifically, the CPU 21 obtains the moving distance L(n+1, n+2) and adds it to the previously obtained moving distance L(n, n+1) to obtain the moving distance L(n, n+2).

If it is determined that the moving distance L(n, n+2) exceeds the predetermined moving distance, No. The CPU 21 instructs the display controller 24 to draw the drifting heading direction 14f at the "n+2" position 23a3 of (23a1) in accordance with the direction of the heading angle 23a4 associated with the position 23a3.

On the other hand, when it is determined that the moving distance L(n, n+2) does not exceed the predetermined moving distance, the CPU 21 calculates the moving distance L( n, n+3) is obtained, and it is determined whether or not the moving distance L(n, n+3) exceeds a predetermined moving distance. Specifically, the CPU 21 obtains the moving distance L(n+2, n+3) and adds it to the previously obtained moving distance L(n, n+2) to obtain the moving distance L(n, n+3). By repeating this process, the drifting heading direction 14f is drawn at the m-th position 23a3 where the moving distance exceeds the predetermined moving distance in accordance with the direction of the azimuth angle 23a4 associated with the position 23a3. Secondly, the CPU 21 instructs the display controller 24 .

Next, the CPU 21 sets the n+m-th position as a new n-th position and repeats the above processing. This process is repeatedly executed until there is no position 23a3 exceeding the predetermined moving distance. By sequentially repeating this process, the drifting bow direction 14f can be drawn for each predetermined distance.

In this way, the drifting heading 14f, which indicates the direction in which the ship 11 is heading during drifting, is displayed at a position on the wake 14e1 of the ship 11 based on the heading 23a4. Here, when the ship 11 is in a drifting state, the ship 11 itself has no propulsive force, so the hull is unstable and the direction of the bow becomes unstable, and the user cannot predict the direction in which the bow will turn. On the other hand, according to the plotter 12 according to the present embodiment, the direction in which the drifting bow is facing is displayed. This allows the user to recognize which direction the bow faces during drifting. If the user can know the direction of the bow during drifting, for example, when drifting the ship 11 and trolling, the user can determine which side of the ship 11 the fish are on, the starboard side or the port side. has the effect of making it easier to predict

In the processing of S62, when it is determined that the image of the nautical chart 14b including the entire display range is stored in the frame buffer 25a of the VRAM 25 (S62: Yes), the CPU 21 determines that the image is stored in the frame buffer 25a. In order to add the vessel mark 14a, the wake 14e, and the drifting heading 14f to the image of the nautical chart 14b, the wake 14e, and the drifting heading 14f based on the position information newly acquired this time, the processing of S68 to S70 is executed.

In the process of S68, the CPU 21 instructs the display controller 24 to draw the ship mark 14a and the track 14e2 based on the all position data 22c newly acquired this time in the frame buffer 25a. Specifically, the CPU 21 instructs the display controller 24 to overwrite the vessel mark 14a on the nautical chart 14b stored in the frame buffer 25a with the nautical chart 14b. Then, the position 22c3 newly stored in the total position data 22c in the frame buffer 25a and the end point of the track 14e on the nautical chart 14b stored in the frame buffer 25a are connected with a white line to draw the track 14e2. , the CPU 21 instructs the display controller 24 .

In addition, the CPU 21 selects a predetermined number of positions 22c3 (for example, 10 newly stored positions) from the positions 22c3 of all the position data 22c stored within a predetermined period (for example, within one minute before the current time). is used to determine how the position of the vessel 11 has changed, and the direction of movement of the vessel 11 is determined. If the time has not passed since the plotter 12 was turned on and the number of positions 22c3 stored within the predetermined period is less than the predetermined number, the CPU 21 stores all the positions stored within the predetermined period. 22c3 is used to determine the direction of movement of the ship 11 . Then, the CPU 21 instructs the display controller 24 to draw the vessel mark 14a at the current position of the vessel 11 on the nautical chart 14b stored in the frame buffer 25a in accordance with the moving direction of the vessel 11. FIG.

Next, the CPU 21 determines whether or not the drifting flag 23c is ON (S69). If it is determined that the drifting flag 23c is not ON (S69: No), the position information acquired this time is for non-drifting, and there is no need to draw the wake 14e1 during drifting. The process (S60) ends. On the other hand, if it is determined that the drifting flag 23c is ON (S69: Yes), the position information acquired this time is during drifting and the wake 14e1 during drifting is to be drawn. Run.

In the process of S70, the CPU 21 instructs the display controller 24 to draw the track 14e1 based on the newly acquired drifting position data 23a, and ends the track drawing process (S60). Specifically, the CPU 21 draws a red line between the position corresponding to the position 23a3 newly stored in the drifting position data 23a in the frame buffer 25a and the position 23a3 obtained immediately before the currently obtained position 23a3. The CPU 21 instructs the display controller 24 to draw the wake 14e1.

Here, in the process of S68, the drifting or non-drifting wake 14e2 is drawn based on the total position data 22c. Then, when it is determined that the drifting flag is ON (drifting state) (S69: Yes), the position 23a3 acquired this time and the position 23a3 acquired immediately before the position 23a3 acquired this time are indicated by a red line. A wake 14e1 is drawn by connecting them (S70). At this time, the position 23a3 of the drifting position data 23a acquired this time is the same as the position 22c3 of the total position data 22c acquired this time. Also, the position 23a3 of the position data 23a during drifting immediately before the position 23a3 acquired this time is the same as the position 22c3 of the total position data 22c immediately before the position 22c3 acquired this time. Therefore, the route of the drifting wake 14e1 drawn in the process of S70 is the same as the route of the drifting wake 14e2 based on the total position data 22c drawn in the process of S68. Therefore, by the processing of S70, the drifting wake 14e1 based on the drifting position data 23a is drawn on the drifting wake 14e2 based on the total position data 22c drawn by the processing of S68.

If there is no position 23a3 acquired immediately before the position 23a3 acquired this time, the ship 11 is newly in a drifting state this time, so a point is drawn at the position on the nautical chart 14b corresponding to the position 23a3. The CPU 21 instructs the display controller 24 to do so.

After the drifting and non-drifting wakes 14e are drawn with white lines in the processing of S64 or S68, the drifting wake 14e1 is drawn with red lines in the processing of S66 or S70. Therefore, the red wake 14e1 in the drifting state is overwritten on the white wake 14e in the drifting state and the non-drifting state. Therefore, the drifting wake 14e1 is drawn with a red line, and the non-drifting wake 14e2 is drawn with a white line. Therefore, the user can recognize the drifting wake 14e1 at a glance. Here, when the ship 11 is in a drifting state, the ship 11 is swept away by a tidal current or the like near the surface of the water. Therefore, the plotter 12 according to the present embodiment determines whether or not the ship 11 is in a drifting state, and performs complicated calculations only by changing the display mode of the drifting wake 14e1 and the non-drifting wake 14e2. Therefore, there is an effect that the user can easily recognize how the ship 11 drifts in the drifting state.

Further, in the processing of S63 and S66, the wake 14e2 in the drifting state and the non-drifting state is drawn based on the total position data 22c, and then based on the drifting position data 23a in a manner identifiable from the wake 14e2, A wake 14e1 is drawn. As a result, the plotter 12 according to the present embodiment can display the drifting wake 14e1 and the non-drifting wake without determining whether the position information used to display the wake 14e is in a drifting state. 14e2 can be displayed in different ways. Therefore, there is an effect that it is possible to omit complicated calculations such as determining the display mode for each piece of position information used for the wake 14e.

Next, referring to FIG. 11, the drifting heading direction rendering process (S80) described above will be described. FIG. 11 is a flow chart showing the drifting heading drawing process (S80) executed by the CPU 21 of the control device 20. As shown in FIG. The drifting heading drawing process (S80) is a process for drawing the drifting heading 14f based on the newly acquired heading azimuth 23a4.

In the drifting heading drawing process (S80), first, the CPU 21 determines whether or not the drifting flag 23c is ON (S81). In the process of S81, if it is determined that the drifting flag 23c is not ON (S81: No), the ship 11 is in a non-drifting state, so the CPU 21 terminates the drifting heading drawing process (S80).

On the other hand, when it is determined that the drifting flag 23c is ON in the process of S81 (S81: Yes), the heading angle 23a4 is associated before the position 23a3 of the currently acquired drifting position data 23a. The CPU 21 determines whether or not the position 23a3 is stored (S82).

In the process of S82, if it is determined that the drifting heading 14f is not displayed on the image stored in the frame buffer 25a (S82: No), the CPU 21 draws the drifting heading 14f, so the CPU 21 executes S84 described later. process.

On the other hand, in the process of S82, when it is determined that the drifting bow direction 14f is displayed on the image stored in the frame buffer 25a (S82: Yes), the CPU 21 displays the position where the drifting bow direction 14f was drawn last time. It is determined whether or not the moving distance of the vessel 11 from 23a3 to the position 23a3 corresponding to the currently acquired heading angle 23a4 is longer than a predetermined moving distance (S83). The moving distance of the ship 11 from the position 23a3 where the drifting heading direction 14f was drawn last time to the position 23a3 corresponding to the azimuth angle 23a4 acquired this time is obtained by Equation (1).

In the process of S83, it is determined that the moving distance of the ship 11 from the position 23a3 where the drifting heading direction 14f was drawn last time to the position 23a3 associated with the currently acquired heading angle 23a4 is not longer than the predetermined moving distance. If so (S83: No), the moving distance after drawing the drifting bow direction 14f last time has not yet exceeded the predetermined moving distance, and the timing for displaying the drifting bow direction 14f has not yet been reached. The drifting heading direction drawing process (S80) ends without instructing the display controller 24 to draw the direction 14f.

On the other hand, by the processing of S83, it is determined that the moving distance of the ship 11 from the position 23a3 where the drifting heading direction 14f was previously drawn to the position 23a3 associated with the currently acquired heading angle 23a4 is longer than the predetermined moving distance. If so (S83: Yes), the timing for displaying the drifting bow direction 14f has arrived, so the process of S84 is executed. In the process of S84, the CPU 21 instructs the display controller 24 to draw the drifting heading 14f in the frame buffer 25a, and then ends the drifting heading drawing process (S80). Specifically, in the frame buffer 25a, the CPU 21 causes the display controller to draw the drifting heading direction 14f at a position 23a3 corresponding to the azimuth angle 23a4 on the nautical chart 14b in accordance with the direction of the azimuth angle 23a4. 24.

In this way, the drifting heading 14f, which indicates the direction in which the ship 11 is heading during drifting, is displayed at a position on the wake 14e1 of the ship 11 based on the heading 23a4. Here, when the ship 11 is in a drifting state, the ship 11 itself has no propulsive force, so the hull is unstable and the direction of the bow becomes unstable, and the user cannot predict the direction in which the bow will turn. On the other hand, according to the plotter 12 according to the present embodiment, the direction in which the drifting bow is facing is displayed. This allows the user to recognize which direction the bow faces during drifting. If the user can know the direction of the bow during drifting, for example, when drifting the ship 11 and trolling, the user can determine which side of the ship 11 the fish are on, the starboard side or the port side. has the effect of making it easier to predict

Further, according to the plotter 12 of the present embodiment, a plurality of directions in which the bow is facing while drifting can be displayed. This allows the user to recognize a change in the direction of the bow while drifting. If the user can know the change in the direction of the bow while drifting, for example, when drifting the vessel 11 and trolling, the user can determine with high accuracy which side of the vessel 11 the fish are on, the starboard side or the port side. This has the effect of making it easier to predict.

As described above, according to the plotter 12 of the first embodiment, the drifting state wake 14e1 drawn with a red line is drawn on the drifting state and non-drifting state wakes 14e drawn with a white line. overwritten. Therefore, the drifting wake 14e1 is drawn with a red line, and the non-drifting wake 14e2 is drawn with a white line. Therefore, the user can recognize the drifting wake 14e1 at a glance. Here, when the ship 11 is in a drifting state, the ship 11 is swept away by a tidal current or the like near the surface of the water. Therefore, the plotter 12 according to the present embodiment determines whether or not the ship 11 is in a drifting state, and performs complicated calculations only by changing the display mode of the drifting wake 14e1 and the non-drifting wake 14e2. Therefore, there is an effect that the user can easily recognize how the ship 11 drifts in the drifting state.

Further, according to the plotter 12 of the first embodiment, in the processes of S63 and S66 of the track drawing process (S60), the track 14e2 of the drifting state and the non-drifting state is drawn based on the total position data 22c. Based on the drifting position data 23a, the wake 14e1 is drawn in a manner distinguishable from the wake 14e2. As a result, the plotter 12 according to the present embodiment can display the drifting wake 14e1 and the non-drifting wake without determining whether the position information used to display the wake 14e is in a drifting state. 14e2 can be displayed in different ways. Therefore, there is an effect that it is possible to omit complicated calculations such as determining the display mode for each piece of position information used for the wake 14e.

Further, according to the plotter 12 of the first embodiment, it is possible to determine whether the ship 11 is in a drifting state simply by determining based on the shift lever data 23b indicating the state of the dog clutch. Therefore, there is an effect that it is possible to easily determine whether or not the ship 11 is in a drifting state.

Further, according to the plotter 12 of the first embodiment, the total position data 22c is stored in the flash memory 22, which is a non-volatile memory. As a result, even when the power of the plotter 12 is turned off, the position information of the drifting state and the non-drifting state can be collectively stored in the total position data 22c. Therefore, even when the power is turned on again after the power is turned off, the display device 14 can display the wake 14e based on the position information of the drifting state and the non-drifting state stored in the all position data 22c before the power is turned on this time. can be displayed in Therefore, even if the power is turned on again after the power has been turned off, the user can retrieve the track 14e based on the position information of the drifting state and the non-drifting state stored in the all position data 22c before the power was turned on this time. It has the effect of being visible.

Further, according to the plotter 12 of the first embodiment, the position information when the ship 11 is in a drifting state is stored as the drifting position data 23a. Therefore, only by displaying the wake 14e1 displayed based on the position information stored in the drifting position data 23a in a manner distinguishable from the other wakes 14e2, it is possible to determine how the vessel 11 drifted in the drifting state. There is an effect that the user can be made to recognize it.

Further, according to the plotter 12 of the first embodiment, the drifting heading direction 14f indicating the direction in which the bow of the ship 11 is facing during drifting is displayed at a position on the wake 14e1 of the ship 11 based on the heading angle 23a4. . Here, when the ship 11 is in a drifting state, the ship 11 itself has no propulsive force, so the hull is unstable and the direction of the bow becomes unstable, and the user cannot predict the direction in which the bow will turn. On the other hand, according to the plotter 12 according to the present embodiment, the direction in which the drifting bow is facing is displayed. This allows the user to recognize which direction the bow faces during drifting. If the user can know the direction of the bow during drifting, for example, when drifting the ship 11 and trolling, the user can determine which side of the ship 11 the fish are on, the starboard side or the port side. has the effect of making it easier to predict

Next, the plotter 12 in the second embodiment will be described with reference to FIGS. 12-14. The plotter 12 in the first embodiment determines whether the ship 11 is in a drifting state based on whether the dog clutch is in a neutral state. On the other hand, the plotter 12 in the second embodiment determines whether the ship 11 is in a drifting state based on whether the rotation speed of the crankshaft in the engine E is lower than the threshold value X or not. Since other configurations of the plotter 12 and each process are the same as those in the first embodiment, description thereof will be omitted. Hereinafter, the same reference numerals as those in the first embodiment are given to the same configurations, and the description thereof will be omitted.

FIG. 12 is a block diagram showing the electrical configuration of the plotter 12 of the second embodiment, FIG. 13 is a flowchart showing main processing executed by the CPU 21 of the control device 20, and FIG. 4 is a flow chart showing a rotational speed data storage process (S100) executed by the CPU 21 of the device 20;

As shown in FIG. 12, the RAM 23 of the plotter 12 in the second embodiment stores rotation speed data 23d in place of the shift lever data 23b in the first embodiment. The rotation speed data 23d is data indicating the rotation speed of a crankshaft (not shown) in the engine E. FIG. The crankshaft is a rotating shaft provided in the engine E for converting power of piston motion generated by the engine E into power of rotary motion. The engine E is equipped with an engine rotation sensor (not shown) for detecting the rotation speed of the crankshaft, and detects the rotation speed of the crankshaft. A detection result is transmitted to the main body 13 via the ECU 18 . For example, NMEA2000 is used as a communication standard for transmitting detection results to the main body 13 . The rotation information, which is the information on the rotation speed of the crankshaft transmitted to the main body 13, is stored in the RAM 23 as the rotation speed data 23d.

The rotational speed data 23d is used when the CPU 21 determines whether the ship 11 is in a drifting state in the rotational speed data storage process (S100) described later. That is, when the crankshaft rotation speed is lower than the threshold value X, the movement of the ship 11 due to the power generated by the engine E is negligible, so the CPU 21 determines that the ship 11 is in a drifting state. If the number of revolutions of the crankshaft is not lower than the threshold value X, the power generated by the engine E causes the ship 11 to move, so the CPU 21 determines that the ship 11 is in a non-drifting state. When the CPU 21 receives the rotational speed information transmitted from the ECU 18, the CPU 21 overwrites the rotational speed information in the RAM 23 as the rotational speed data 23d in a rotational speed data storage process (S100) described later.

As shown in FIG. 13, in the main process executed by the CPU 21 of the plotter 12 in the second embodiment, instead of the process of S1 and the shift lever data storage process (S10) of the first embodiment, the process of S90 and the rotation Number data storage processing (S100) is executed. When the main processing is executed by the CPU 21, first, the CPU 21 determines whether the rotation information transmitted from the ECU 18 is received by the CPU 21 (S90). When it is determined that the rotation information has been received (S90: Yes), the CPU 21 executes a rotation number data storage process (S100), which will be described later, and then executes the process of S2. On the other hand, when it is determined that the rotation information has not been received (S90: No), the CPU 21 executes the process of S2.

Next, the rotational speed data storage process (S100) will be described with reference to FIG. The rotation speed data storage process (S100) is a process for storing the rotation information transmitted from the ECU 18 in the rotation speed data 23d and turning on or off the drifting flag 23c.

As shown in FIG. 14, in the rotation data storage process (S100), the CPU 21 first stores the rotation information transmitted from the ECU 18 in the rotation speed data 23d of the RAM 23 (S101). Next, the CPU 21 determines whether or not the rotation speed of the crankshaft is lower than the threshold value X based on the rotation speed data 23d stored in the process of S101 (S102). The threshold value X at this time is, for example, 300 rpm. In the process of S102, if it is determined that the rotation speed of the crankshaft is lower than the threshold value X (S102: Yes), the movement of the ship 11 due to the power generated by the engine E is negligible. can be said to be in a state of drift. Therefore, assuming that the vessel 11 is not moving by the power of the engine E and is in a drifting state, the CPU 21 turns on the drifting flag 23c (S103), and terminates the rotation data storage processing (S100).

On the other hand, in the process of S102, if it is determined that the rotation speed of the crankshaft is not lower than the threshold value X (S102: No), the movement of the ship 11 by the power generated by the engine E is significant, so the ship 11 Not in a drifting state (in a non-drifting state). Therefore, the CPU 21 turns off the drifting flag 23c (S104) on the assumption that the vessel 11 is moving by the power of the engine E and is in a non-drifting state (S104), and ends the rotation data storage processing (S100).

As described above, according to the plotter 12 of the second embodiment, it is possible to determine whether the ship 11 is in a drifting state simply by determining based on the rotational speed data 23d indicating the rotational speed of the crankshaft. Therefore, there is an effect that it is possible to easily determine whether or not the ship 11 is in a drifting state.

In addition, the plotter 12 in the second embodiment has the same effects as the first embodiment due to the same configuration.

The present invention has been described above based on the embodiments, but the present invention is not limited to the above-described embodiments, and it is easily understood that various modifications and improvements are possible without departing from the scope of the present invention. It can be inferred. For example, each embodiment may add part or more of the configuration of another embodiment to that embodiment or replace it with a part or more of the configuration of that embodiment. The embodiment may be modified and configured. Further, the numerical values given in each of the above embodiments are examples, and it is naturally possible to employ other numerical values.

In each of the embodiments described above, the present invention is applied to the plotter 12 as an example of the track display device, but the present invention is not limited to this. For example, the present invention may be applied to a fish finder or a searchlight sonar (PPI sonar) device having a plotter function as a track display device.

In each of the above-described embodiments, the wake 14e1 during drifting is displayed with a red line, and the wake 14e2 during non-drifting is displayed with a white line so that the user can distinguish between them. not something. For example, the wake 14e1 during drifting and the wake 14e2 during non-drifting may be differentiated in at least one of line color, thickness, type, and transmittance so that the user can distinguish between them. . Also, the drifting wake 14e1 and the non-drifting wake 14e2 may be made distinguishable by the user by using different configurations other than line color, thickness, type, and transmittance.

In each of the above embodiments, the positional relationship between the vessel mark 14a and the drifting bow direction 14f is not particularly limited. On the other hand, the vessel mark 14a and the latest drifting heading direction 14f may be arranged so that the vessel mark 14a and the latest drifting heading direction 14f do not overlap by providing at least a specific moving distance. Specifically, the drifting bow direction 14f may be displayed at least a specific distance behind the vessel mark 14a.

In each of the above embodiments, the RAM 23 stores the position data 23a during drifting, but the present invention is not limited to this. For example, the all-position data 22c is provided with an all-position drifting flag indicating whether or not the position 22c3 is in a drifting state. You may enable it to discriminate|determine what is. That is, the all-position drifting flag corresponding to the position 22c3 acquired when the drifting flag 23c is determined to be ON is turned on, and the position 22c3 acquired when the drifting flag 23c is determined to be OFF. The all-position drifting flag corresponding to is turned off. Then, the wake 14e passing through the position 22c3 with the all-position drift flag turned on is displayed with a red line, for example, and the wake 14e passing through the position 22c3 with the all-position drift flag turned off is displayed with a white line, for example. A drifting track and a non-drifting track can be displayed in a distinguishable manner. By thus providing the all-position drifting flag in the all-position data 22c, there is an effect that the amount of data to be stored in the RAM 23 can be reduced.

Further, when the all-position drifting flag associated with each position 22c3 of the all-position data 22c is provided in the all-position data 22c, the bow direction information transmitted from the compass 16 in correspondence with each position 22c3 of the all-position data 22c. may be stored in the total position data 22c. Then, the drifting heading direction 14f may be displayed based on the heading direction information associated with the position 22c3 for which the all-position drifting flag 23c is ON. As a result, the drifting bow direction 14f can be displayed without storing the drifting position data 23a in the RAM 23, so that the amount of data stored in the RAM 23 can be reduced.

11 ship 12 plotter (trajectory display device)
14 display device (display means)
22 flash memory (second storage means)
23 RAM (first storage means)
24 display controller (drawing means)
25a Frame buffer S10 Shift lever data storage processing (power transmission information acquisition means)
S30 Position data storage processing (position information acquisition means)
S50 Heading azimuth angle storage processing (heading information acquisition means)
S64, S66, S68, S70 (display control means)
S67, S84 (Board direction display control means)
S69 (drifting determination means)
S100 rotation data storage processing (rotation information acquisition means)

Claims (7)

position information acquisition means for acquiring position information of a ship;
display means for displaying a track of the vessel based on the position information acquired by the position information acquisition means;
Drifting determination means for determining whether or not the ship is in a drifting state in which it is drifting on water;
When the drift determination means determines that the ship is in a drifting state, the drift determination means determines that the ship is not in a drifting state based on the position information acquired by the position information acquisition means. and display control means for causing the display means to display the track in a manner identifiable from the ship's track based on the positional information acquired by the positional information acquisition means when the positional information acquisition means detects the positional information. Power transmission information for acquiring power transmission information indicating whether or not the power generated by the power generation device provided on the ship is transmitted to the propulsion device provided on the ship for propelling the ship. provided with acquisition means,
The drift determination means determines that the ship is in a drifting state when power generated in the ship is not being transmitted to the propulsion device based on the power transmission information acquired by the power transmission information acquisition means. 2. The track display device according to claim 1, wherein it determines that there is a track. Rotation information acquisition means for acquiring rotation information indicating the number of rotations of a rotating shaft rotated by a power generating device provided on the ship for transmitting power to a propulsion device provided on the ship for propelling the ship. with
The drift determination means determines that the ship is in a drifting state when the rotation speed of the rotating shaft indicated by the rotation information acquired by the rotation information acquisition means is lower than a predetermined rotation speed. The track display device according to claim 1. A first storage means for storing the position information acquired by the position information acquisition means only when the ship is determined to be in a drifting state by the drift determination means, among the position information. Item 4. A track display device according to any one of Items 1 to 3. non-volatile storage means for storing, among the position information, position information acquired by the position information acquisition means when the drift determination means determines that the ship is in a drifting state; 5. The track display device according to claim 4, further comprising second storage means for storing the position information obtained by said position information obtaining means when it is determined that said vessel is not in a drifting state. a frame buffer for storing image information for one screen to be displayed on the display means;
a drawing means for drawing image information for displaying the track of the ship on the frame buffer based on the position information;
The drawing means draws the second wake based on the position information stored by the second storage means, and then draws the second wake based on the position information stored by the first storage means. 6. A track display device as claimed in claim 5, which renders the first track in a discernible manner. A bow information acquiring means for acquiring bow information, which is information on the direction in which the bow of the ship is facing,
When the display control means displays the track of the ship based on the position information acquired by the position information acquisition means when the drift determination means determines that the ship is in a drifting state, the display control means displays the track of the ship based on the heading information. 7. A bow direction display control means for displaying at least one mark indicating the direction in which the bow of the ship is pointing at a position on the wake of the ship. track display device.

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