Method, device, electronic device and storage medium for generating navigable waters

Abstract

The embodiment of the present invention discloses a method, device, electronic device and storage medium for generating navigable waters. The method comprises: obtaining first data of each water depth point within a preset range corresponding to a ship and second data corresponding to the ship in a waterway chart; the preset range is determined based on the ship; the first data comprises position data and water depth data of the water depth point, and the second data comprises draft data and surplus water depth data of the ship; the preset range is determined based on the ship, and the second data comprises draft data and surplus water depth data of the ship; a three-dimensional model corresponding to the underwater terrain is established based on the first data of each water depth point; an isobath is determined based on the second data; and the navigable waters of the ship are generated based on the isobath and the three-dimensional model. The technical solution of the embodiment of the present invention realizes the generation of navigable waters for different ships, and improves the accuracy and real-time performance of the generation of navigable waters.

Description

Technical Field

[0001] The present invention relates to the field of intelligent navigation of ships, and in particular to a method, device, electronic equipment and storage medium for generating navigable waters. Background Art

[0002] With the development of computer technology, communication technology and sensor technology, unmanned ships have gradually become a research hotspot in the field of water transportation. It involves technologies such as route planning, intelligent collision avoidance, navigation environment perception, and ship motion control. Among them, route planning is the key to realizing autonomous navigation of unmanned ships and is the core technical issue of unmanned ships. Its main purpose is to automatically plan an executable path from the starting point to the destination point based on the distribution of navigable and non-navigable waters for ships, taking into account the kinematic and dynamic constraints of unmanned ships. From the concept of unmanned ship route planning, it is not difficult to see that although route planning needs to consider many factors such as kinematic constraints, dynamic constraints, starting point, and destination point, determining the navigable waters for ships is a prerequisite for route planning.

[0003] For ships with pilots, there are uncertainties in the manual determination of navigable waters by the pilots. Therefore, both unmanned ships and ships with pilots need a method for generating navigable waters to determine navigable waters. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, electronic device and storage medium for generating navigable waters, so as to realize targeted generation of navigable waters for ships and improve the accuracy of generating navigable waters.

[0005] In a first aspect, an embodiment of the present invention provides a method for generating navigable waters, comprising: acquiring first data of each water depth point within a preset range corresponding to a ship and second data corresponding to the ship in a waterway chart; wherein the preset range is determined based on the ship; the first data includes position data and water depth data of the water depth point, and the second data includes draft data and surplus water depth data of the ship; establishing a three-dimensional model corresponding to the underwater terrain based on the first data of each water depth point; determining an isobath based on the second data; and generating the navigable waters of the ship based on the isobath and the three-dimensional model.

[0006] Preferably, in an embodiment of the present invention, the three-dimensional model corresponding to the underwater terrain is established based on the first data of each water depth point, including: processing the position data and the water depth data of each water depth point to obtain the spatial coordinates of each water depth point; processing the spatial coordinates of each water depth point according to a preset algorithm to obtain a triangular network corresponding to each spatial coordinate; wherein the triangular network includes at least three spatial triangles, and each vertex of the spatial triangle is composed of water depth points.

[0007] Preferably, in an embodiment of the present invention, generating the navigable waters for the ship based on the isobath plane and the three-dimensional model includes: for each spatial triangle, determining whether there are intersecting line segments between the spatial triangle and the isobath plane; if so, determining that the intersecting line segments are isobath segments; and generating the navigable waters for the ship based on at least three isobath segments.

[0008] Preferably, in an embodiment of the present invention, generating the navigable waters for the ship based on at least three isobath segments comprises: when the distance between the endpoints of two adjacent isobath segments is less than a preset threshold, obtaining an isobath broken line segment based on the two isobath segments; obtaining at least one isobath polygon based on at least three isobath broken line segments; and generating the navigable waters for the ship based on the at least one isobath polygon.

[0009] Preferably, in an embodiment of the present invention, the generating the navigable waters for the ship based on the at least one isobath polygon comprises: for any position point, if the number of isobath polygons surrounding the position point is an odd number, then the position point is determined to be a navigable point, the position point is obtained based on a waterway chart, and the position point includes the position data; based on each navigable point, the navigable waters are generated.

[0010] Preferably, in an embodiment of the present invention, after determining that the intersecting line segments are isobath segments, it also includes: obtaining a boundary plane, and updating each isobath segment based on the boundary plane; wherein the boundary plane is a plane perpendicular to the boundary of the map sheet; updating each isobath segment based on the boundary plane includes: if there is any isobath segment intersecting with the boundary plane, obtaining the intersection point; and determining whether to replace one endpoint of the isobath segment with the intersection point based on a preset rule; if so, updating the isobath segment based on the intersection point and the other endpoint of the isobath segment.

[0011] Preferably, in an embodiment of the present invention, after determining, for each spatial triangle, whether there is an intersecting line segment between the spatial triangle and the isobath plane, it also includes: for each spatial triangle, obtaining two local areas divided by the intersecting line segment, the first longitudinal coordinate of the vertex in each local area and the second longitudinal coordinate of the intersecting line segment, processing the two local areas based on the first longitudinal coordinate and the second longitudinal coordinate to obtain an initial navigable sub-water area; obtaining an initial navigable water area based on each of the initial navigable sub-water areas; generating the navigable water area for the ship based on the at least one isobath polygon includes: generating the navigable water area for the ship based on the at least one isobath polygon and the initial navigable water area.

[0012] In a second aspect, an embodiment of the present invention further provides a navigable water area determination device, characterized in that it includes: a data acquisition module, used to acquire first data of each water depth point within a preset range corresponding to a ship and second data corresponding to the ship in a waterway chart; wherein the preset range is determined based on the ship; the first data includes position data and water depth data of the water depth point, and the second data includes draft data and surplus water depth data of the ship; a model building module, used to establish a three-dimensional model corresponding to the underwater terrain based on the first data of each water depth point; a plane determination module, used to determine an isobath plane based on the second data; and a navigable water area generation module, used to generate the navigable water area of ​​the ship based on the isobath plane and the three-dimensional model.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, characterized in that the electronic device comprises: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method for generating navigable waters in any embodiment of the present invention.

[0014] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute the method for generating navigable waters as in any embodiment of the present invention.

[0015] The technical solution of the embodiment of the present invention is to obtain the first data of each water depth point within a preset range corresponding to the ship and the second data corresponding to the ship in the waterway chart. The preset range is determined based on the ship; the first data includes the position data and water depth data of the water depth point, and the second data includes the draft data and surplus water depth data of the ship. Based on the isobath and the three-dimensional model, the navigable waters of the ship are generated. The technical solution of the embodiment of the present invention realizes the generation of the navigable waters of the ship based on the position data, water depth data, the draft data of the ship and the surplus water depth data, generates navigable waters for different ships, and improves the accuracy and real-time performance of the generation of navigable waters. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] in:

[0018] Figure 1 A schematic diagram of a flow chart of a method for generating navigable waters provided in Embodiment 1 of the present invention;

[0019] Figure 2 A schematic flow chart of a method for generating navigable waters provided in the second embodiment of the present invention;

[0020] Figure 3 A schematic diagram of a space triangle provided in the second embodiment of the present invention;

[0021] Figure 4 A schematic diagram of an initial navigable sub-water area provided in the second embodiment of the present invention;

[0022] Figure 5 A schematic diagram of a map boundary provided in the second embodiment of the present invention;

[0023] Figure 6 A schematic diagram of a navigable point provided in the second embodiment of the present invention;

[0024] Figure 7 A schematic diagram of a navigable water area display provided by the second embodiment of the present invention;

[0025] Figure 8 A schematic diagram of the structure of a system for generating navigable waters provided in Embodiment 3 of the present invention;

[0026] Fig. 9A schematic diagram of a system implementation process for generating navigable waters provided in Embodiment 3 of the present invention;

[0027] Fig.10 A schematic diagram of the structure of a device for generating navigable waters provided in a fourth embodiment of the present invention;

[0028] Fig.11 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Before describing the technical solution of the embodiment of the present invention, the application scenario of the embodiment of the present invention is first exemplarily described:

[0031] The method for generating navigable waters in the embodiment of the present invention can be applied to the generation of navigable waters for unmanned ships and ships with drivers. Unmanned ships involve technologies such as route planning, intelligent obstacle avoidance, navigation environment perception, and ship motion control. Route planning is the key to realizing autonomous navigation of unmanned ships, and generating navigable waters for ships is the prerequisite for route planning. Therefore, for the navigation of unmanned ships, it is crucial to generate navigable waters that meet the characteristics of the unmanned ships themselves and the characteristics of the waterway where the unmanned ships are located. For ships with drivers, the water depth data changes at any time during the navigation process. In order to avoid accidents such as running aground, the driver needs to adjust the speed, longitude and latitude of the navigation in time according to the water depth data so that the ship can arrive at the destination safely. Before and during the navigation of the ship, the determination of navigable waters needs to rely on the driver's experience and is uncertain. The technical solution of the embodiment of the present invention can generate navigable waters based on the existing draft data of the ship, the data in the waterway chart, etc., and the driver can sail according to the navigable waters, thereby improving the safety and stability of navigation.

[0032] Embodiment 1

[0033] Figure 1 A flow chart of a method for generating navigable waters provided in an embodiment of the present invention is provided. This embodiment is applicable to the case where navigable waters are generated based on information such as ships and waterway charts. The method can be executed by a device for generating navigable waters, which can be implemented in the form of software and / or hardware.

[0034] like Figure 1As shown, the method for generating navigable waters in an embodiment of the present invention specifically includes:

[0035] S110, acquiring first data of each water depth point within a preset range corresponding to the ship and second data corresponding to the ship in the waterway chart.

[0036] Among them, the preset range is determined based on the ship. Optionally, a circle is made with the ship as the center and the preset length as the radius, and the range within the circle is the preset range. Alternatively, a rectangular range is set as the preset range with the ship as the center. It should be noted that in the case where the ship is an unmanned ship, the preset range includes the starting point and the end point of the unmanned ship. In the case where the ship has a driver, the preset range moves with the movement of the ship and is always centered on the ship, so that the water depth point obtained changes with the movement of the ship, and the navigable water area obtained according to the water depth point is updated with the update of the water depth point. The first data includes the position data and water depth data of the water depth point, and the second data includes the draft data and the surplus water depth data of the ship. The position data refers to the specific position of the water depth point, which can be longitude and latitude data, or it can be the position data in the three-dimensional coordinate system established by the three-dimensional coordinate system. The water depth point refers to the position point with water depth data. The water depth data refers to the distance from each point on the bottom of the water to the water surface. The draft data refers to the depth of the ship immersed in the water, that is, the vertical distance from the bottom of the ship to the connection between the hull and the water surface. The surplus water depth data refers to the minimum distance from the bottom of the keel to the bottom of the channel when the designed ship is in a standard load static floating state.

[0037] Specifically, the electronic navigation chart can be obtained and the electronic navigation chart file can be parsed to obtain the graphical water depth data of each water depth point, and then the water depth data and position data can be calculated. The draft data and surplus water depth data of the ship can be obtained. The first data and the second data can be obtained to prepare for the subsequent establishment of the three-dimensional model.

[0038] Further, in the embodiment of the present invention, the draft data may be obtained by installing a radar level meter to measure the distance L from the water surface to the radar level meter. 1 , and then according to the installation position of the radar level gauge, calculate the distance L from the radar level gauge to the ship base plane 2 , then the draft data is the distance L 2 With distance L 1 In the embodiment of the present invention, the single-side draft data of the six sides of the ship are measured, wherein the six sides include the bow port side, bow starboard side, midship port side, midship starboard side, stern port side and stern starboard side. It should be noted that in the embodiment of the present invention, the draft data of the ship refers to the maximum draft data, that is, the maximum value among the draft data of the six sides.

[0039] Furthermore, in an embodiment of the present invention, the water depth data may also be data obtained according to the following method: Determine the navigable waters to be calculated in the electronic navigation chart: For a ship with a driver, a circular area is drawn with a preset radius with the ship position as the center, and the waters within the circle are the navigable waters to be calculated for the ship. For an unmanned ship, a rectangle is drawn with the starting point and the end point as vertices, and the area within the rectangle is the navigable waters to be calculated for the ship. Obtain an electronic navigation chart file, parse the electronic navigation chart file, and obtain the graphical water depth data of the water depth points with location information in, Indicates the latitude of the water depth point, λ a Indicates the longitude of the water depth point, h chart The graphical water depth data representing the water depth point. The graphical water depth data refers to the vertical distance from the water surface to the bottom of the water. Afterwards, obtain the real-time water level data related to the ship route. For example, you can use the crawler tool to extract the real-time water level data on the Yangtze River Hydrological Website in real time. Obtain the real-time water level data of each water depth point in the navigable water area to be calculated. The real-time water level data of each water depth point in the navigable water area to be calculated can be processed by interpolation and combined with the gradient of the waterway to obtain the real-time water level data of each water depth point in the navigable water area to be calculated. Then, the water depth data of each water depth point is calculated according to the channel reference water level data, real-time water level data, and graphical water depth data. The formula is as follows:

[0040] h a =h chart +(h level -h base )

[0041] Among them, h a Indicates water depth data, h base Indicates the channel reference water level data, h level Indicates real-time water level data, h chart The water depth data of each water depth point can be obtained by the above formula.

[0042] S120: Establish a three-dimensional model corresponding to the underwater terrain based on the first data of each water depth point.

[0043] Among them, the three-dimensional model refers to the model of the underwater terrain, which can describe the characteristics of the underwater terrain.

[0044] Specifically, a three-dimensional model is established based on the location data and water depth data of each water depth point. The underwater topography of the water depth point can be determined based on the water depth data. Therefore, the established three-dimensional model is a three-dimensional model of the underwater topography. By establishing a three-dimensional model, preparations are made for the subsequent generation of navigable waters.

[0045] S130. Determine an isobath plane based on the second data.

[0046] The isobath plane is a plane formed by isobath segments. An isobath segment is a line segment formed by connecting at least two points of the same depth in an ocean or lake. An isobath segment is parallel to the water surface.

[0047] Specifically, the isobath plane is obtained according to the draft data and the surplus water depth data, which can be the sum of the distance from each bottom point to the water surface and the depth of the ship immersed in the water to obtain the first water depth value. Based on the first water depth value, an isobath plane parallel to the horizontal plane is obtained. The distance between the isobath plane and the bottom of the water is equal to the first isobath value. The isobath plane is obtained according to the draft data and the surplus water depth data to prepare for the subsequent generation of navigable waters.

[0048] S140. Generate navigable waters for ships based on the isobath and the three-dimensional model.

[0049] Among them, navigable waters refer to waters where ships can navigate, and navigable waters refer to navigable waters obtained based on isobaths and three-dimensional models.

[0050] Specifically, the navigable waters to be calculated are obtained according to the starting point and the end point of the ship, and the navigable waters for the ship are divided out in the navigable waters to be calculated according to the isobath and the three-dimensional model. The above steps can improve the accuracy of obtaining the navigable waters and improve the real-time performance of obtaining the navigable waters.

[0051] The technical solution of the embodiment of the present invention is to obtain the first data of each water depth point within a preset range corresponding to the ship and the second data corresponding to the ship in the waterway chart, the preset range is determined based on the ship, the first data includes the position data and water depth data of the water depth point, the second data includes the draft data and surplus water depth data of the ship, a three-dimensional model corresponding to the underwater terrain is established based on the first data of each water depth point, and the isobath plane is determined based on the second data. Based on the isobath plane and the three-dimensional model, the navigable waters of the ship are generated. The technical solution of the embodiment of the present invention realizes the generation of the navigable waters of the ship according to the position data, water depth data, the draft data of the ship and the surplus water depth data, generates navigable waters for different ships, and improves the accuracy and real-time performance of the generation of navigable waters.

[0052] Embodiment 2

[0053] Figure 2 It is a flow chart of a method for generating navigable waters provided in an embodiment of the present invention. The embodiment of the present invention refines step S120 based on the optional scheme of the above embodiment, wherein the technical terms that are the same or similar to those in the above embodiment will not be repeated.

[0054] like Figure 2 As shown, the method for generating navigable waters provided by the embodiment of the present invention specifically includes the following steps:

[0055] S210, acquiring first data of each water depth point within a preset range corresponding to the ship and second data corresponding to the ship in the waterway chart.

[0056] S220. Process the position data and water depth data of each water depth point to obtain the spatial coordinates of each water depth point; process the spatial coordinates of each water depth point according to a preset algorithm to obtain a triangular network corresponding to each spatial coordinate.

[0057] The triangular network includes at least three spatial triangles, and each vertex of the spatial triangle is composed of a water depth point. The spatial coordinate system includes two mutually perpendicular coordinate axes located in the horizontal plane, set as the x-axis and the y-axis, and a z-axis perpendicular to the horizontal plane. The spatial coordinates of the water depth point are located in the spatial coordinate system. The preset algorithm can be a three-dimensional Delaunay triangulation network, of course, it can also be other algorithms with the same function.

[0058] Specifically, the position data and water depth data of each water depth point are converted into coordinate data in a three-dimensional coordinate system. For example, the position data and water depth data are converted into coordinate data in a Mercator coordinate system, which is marked as (x i ,y i ,z i ). Then, a three-dimensional model corresponding to the underwater terrain is established according to the coordinate data to obtain a three-dimensional Denaulay triangle network, namely, a Denaulay triangle list T. Any triangle t i The vertex is denoted as (A i ,B i ,C i ), i represents the number of the triangle, which is used to prepare for the subsequent generation of navigable waters for ships. Figure 3 , are two space triangles.

[0059] S230: Determine an isobath plane based on the second data.

[0060] S240. Generate navigable waters for ships based on isobaths and three-dimensional models.

[0061] Furthermore, in an embodiment of the present invention, navigable waters for ships are generated based on isobath planes and three-dimensional models, including: for each spatial triangle, determining whether there are intersecting line segments between the spatial triangle and the isobath plane; if so, determining that the intersecting line segments are isobath segments; and generating navigable waters for ships based on at least three isobath segments.

[0062] Specifically, according to each spatial triangle, it is determined whether there is an intersecting line segment between the spatial triangle and the isobath plane. If there is, the intersecting line is determined as an isobath segment, and the navigable waters for ships are generated according to the isobath segment. Optionally, the navigable waters for ships are generated according to the area surrounded by the isobath segment. A closed polygon is formed by connecting each isobath segment, and the area surrounded by the closed polygon generates the navigable waters.

[0063] Furthermore, in an embodiment of the present invention, navigable waters for ships are generated based on at least three isobath segments, including: when the distance between the endpoints of two adjacent isobath segments is less than a preset threshold, obtaining an isobath broken line segment based on the two isobath segments; obtaining at least one isobath polygon based on at least three isobath broken line segments; and generating navigable waters for ships based on at least one isobath polygon.

[0064] The preset threshold refers to the distance threshold between the endpoints of two equal depth line segments. The preset threshold can be set according to actual conditions.

[0065] Specifically, when the distance between the endpoints of two adjacent isobath segments is less than a preset threshold, the two endpoints can be merged into one endpoint, and then the two isobath segments are combined into an isobath broken line segment. Based on this method, multiple isobath broken line segments are obtained, and at least one isobath polygon is obtained based on each isobath broken line. A navigable water area is generated based on at least one isobath polygon. It should be noted that the spatial triangle in the embodiment of the present invention refers to a triangle in the Denaulay triangle network, and the triangle has the characteristic of sharing vertices. Therefore, the obtained isobath segments also have the characteristic of sharing vertices. Since there are errors when the computer processes data, there is a possibility that the endpoints of two adjacent isobath segments do not overlap. Therefore, through the above method, the distance between the endpoints is compared with the preset threshold to determine whether the two endpoints are overlapped. If so, the two adjacent isobath segments are overlapped to obtain a broken line segment. For isobath polygons, they can also be obtained based on the above method.

[0066] Furthermore, in an embodiment of the present invention, after determining for each spatial triangle whether there are intersecting line segments between the spatial triangle and the isobath plane, it also includes: for each spatial triangle, obtaining two local areas divided by the intersecting line segments, the first longitudinal coordinates of the vertices in each local area and the second longitudinal coordinates of the intersecting line segments, processing the two local areas based on the first longitudinal coordinate and the second longitudinal coordinate to obtain initial navigable sub-waters; obtaining initial navigable waters based on each initial navigable sub-water; generating navigable waters for ships based on at least one isobath polygon, including: generating navigable waters for ships based on at least one isobath polygon and the initial navigable waters.

[0067] Specifically, the spatial triangle is divided into two parts by the intersecting line segments to obtain two local areas. By comparing the two local areas, an initial navigable sub-water area is obtained, and the collection of each initial navigable sub-water area is determined as the initial navigable water area. The navigable water area is obtained based on at least one isobath polygon and the initial navigable water area. Optionally, the navigable water area is generated according to the relationship between the position points surrounded by the isobath polygon and the initial navigable water area.

[0068] Further, in an embodiment of the present invention, for each spatial triangle, two local areas divided by the intersecting line segments, the first ordinate of the vertex in each local area and the second ordinate of the intersecting line segments are obtained, and the two local areas are processed based on the first ordinate and the second ordinate to obtain an initial navigable sub-water area; based on each initial navigable sub-water area, an initial navigable water area is obtained, including: updating the Denaulay triangle list T according to the isobath plane. Optionally, extracting triangles intersecting the isobath plane from the Denaulay triangle list T to form a new triangle list T b , that is, space triangle. For the triangle list T b Each triangle in i=1,2,3…,T b The subscript b in is to distinguish the updated triangle list from the Denaulay triangle list T. Similarly, The b in the triangle list is to compare the triangles in the updated triangle list with the triangles in the original Denaulay triangle list. i Distinguish. Get the three sides of the triangle |A i B i |、|A i C i |、|C i B i |Intersection points with isobath planes, compare the ordinates of the two intersection points, the one with the larger ordinate value is marked as P 2 i , another marker P 1 i Based on the intersection point P 1 i and Get vector Set Vector The left side is the initial navigable sub-water area, and the right side is the non-navigable sub-water area, see Figure 4 Optionally, the setting here can also be to get the vector Then the vector The left side of is the non-navigable sub-water area, and the right side is the initial navigable sub-water area. According to the above method, each triangle Corresponding to the initial navigable sub-water area, the initial navigable water area is obtained according to each initial navigable sub-water area. The non-navigable water area is obtained according to each non-navigable sub-water area.

[0069] Furthermore, in an embodiment of the present invention, after determining that the intersecting line segments are isobath segments, it also includes: obtaining a boundary plane, and updating each isobath segment based on the boundary plane; wherein the boundary plane is a plane perpendicular to the boundary of the map sheet; updating each isobath segment based on the boundary plane, including: if any isobath segment intersects with the boundary plane, obtaining the intersection point; and determining whether to replace one endpoint of the isobath segment with the intersection point based on a preset rule; if so, updating the isobath segment based on the intersection point and the other endpoint of the isobath segment.

[0070] The boundary plane refers to a plane perpendicular to the boundary of the image sheet. In the embodiment of the present invention, the boundary of the display interface is the boundary of the image sheet. Figure 5 The display interface is a rectangular interface, so the image frame boundary is four boundary lines. It should be noted that in the embodiment of the present invention, four boundary planes are set based on the boundary lines of the display interface and are marked as x=x left 、x=x right ,y=y top ,y=y bottom Based on the four boundary lines as a reference plane, a boundary plane perpendicular to the reference plane is made based on each boundary line. left 、x right ,y top ,y bottom Marked relative to the border of the display area. Figure 5 The preset rule refers to whether the endpoints of the equal depth line segments are replaced with intersection points. It should be understood that the display interface is relative to the user, and the left, right, top and bottom here are relative to the left side of the map frame boundary that the user intuitively sees. Based on the left side of the map frame boundary, the boundary plane x=x perpendicular to the reference plane is obtained. left The other three boundary planes are determined in the same way.

[0071] Specifically, when any isobath segment intersects with the boundary plane, the intersection point is obtained, and it is determined according to a preset rule whether one end point of the isobath segment needs to be replaced with the intersection point. If so, an updated isobath segment is obtained based on the intersection point and the other end point of the isobath segment. Optionally, it is determined whether to replace one end point of the isobath segment with the intersection point based on the position coordinates of the intersection point between the boundary plane and the isobath segment, and based on the position coordinates of the two end points of the isobath segment and the position coordinates of the intersection point.

[0072] For example, when the boundary plane is x=x leftWhen the intersection point of the isobath segment and the boundary plane is determined, the coordinates of the intersection point and the two endpoints of the isobath segment are obtained. When the abscissa value of one endpoint on the isobath segment is smaller than the abscissa value of the intersection point, the endpoint is replaced by the intersection point, and the isobath segment is updated based on the intersection point and the other endpoint. When the boundary plane is x=x right When y=y, determine the intersection point of the isobath segment and the boundary plane, and obtain the coordinates of the intersection point and the two endpoints of the isobath segment. When the horizontal coordinate value of one endpoint on the isobath segment is greater than the horizontal coordinate value of the intersection point, replace the endpoint with the intersection point, and update the isobath segment based on the intersection point and the other endpoint. When the boundary plane is y=y top When y=y, determine the intersection point of the isobath segment and the boundary plane, and obtain the coordinates of the intersection point and the two endpoints of the isobath segment. When the ordinate value of one endpoint on the isobath segment is greater than the ordinate value of the intersection point, replace the endpoint with the intersection point, and update the isobath segment based on the intersection point and the other endpoint. bottom , determine the intersection point of the isobath segment and the boundary plane, and obtain the coordinates of the intersection point and the two endpoints of the isobath segment. When the ordinate value of one endpoint on the isobath segment is less than the ordinate value of the intersection point, replace the endpoint with the intersection point, and update the isobath segment based on the intersection point and the other endpoint.

[0073] Furthermore, in an embodiment of the present invention, navigable waters for ships are generated based on at least one isobath polygon, including: for any position point, if the number of isobath polygons surrounding the position point is an odd number, then the water depth point is determined to be a navigable point, the position point is obtained based on a waterway chart, and the position point includes position data; based on each navigable point, a navigable waters is generated.

[0074] It should be noted that the location points mentioned here refer to the location points surrounded by the map boundary, including location data.

[0075] Specifically, the number of equal-depth polygons surrounding the position point is calculated. If it is an odd number, the position point is a navigable point. If it is an even number, the position point is a non-navigable point. A navigable water area is generated based on each navigable point. Optionally, in an embodiment of the present invention, the navigable point is further determined. If the navigable point is located in a non-navigable water area, the position point is excluded from the navigable points. A navigable water area is generated based on the remaining navigable points.

[0076] For example, see Figure 6, location point 2 is surrounded by isobath polygon 1, then location point 2 is a navigable point. Location point 3 is surrounded by isobath polygon 1, isobath polygon 3 and isobath polygon 4, and location point 3 is preliminarily determined to be a navigable point. When it is determined that location point 3 is located in a non-navigable water area, location point 3 is excluded from the range of navigable points. The method for determining non-navigable water areas is described in the above embodiment and will not be repeated here. Location point 2 is surrounded by 2 isobath polygons, then location point 2 is a non-navigable point. Generate navigable water areas based on navigable points. Figure 6 The navigable points are represented by hollow circles, and the non-navigable points are represented by solid circles.

[0077] Further, in the embodiment of the present invention, the obtained navigable waters can be displayed on a display interface for the pilot and / or other staff to view, see Figure 7 , the white area is navigable waters, and the shaded area is non-navigable waters.

[0078] The technical solution of the embodiment of the present invention is to obtain the first data of each water depth point within a preset range corresponding to the ship and the second data corresponding to the ship in the waterway chart. The preset range is determined based on the ship; the first data includes the position data and water depth data of the water depth point, and the second data includes the draft data and surplus water depth data of the ship. For the position data and water depth data of each water depth point, the position data and water depth data are processed to obtain the spatial coordinates of each water depth point, and the spatial coordinates of each water depth point are processed according to a preset algorithm to obtain a triangular network corresponding to each spatial coordinate. Based on the second data, the isobath plane is determined, and the navigable waters of the ship are generated based on the isobath plane and the three-dimensional model. Through the technical solution of the embodiment of the present invention, the automatic generation of navigable waters that meet the characteristics of the ship is realized, the accuracy of the generation of navigable waters is improved, and the problems such as the ship being unable to reach the destination in time or accidents caused by the navigable waters during the navigable process are avoided. In addition, the technical solution of the embodiment of the present invention can improve the real-time generation of navigable waters.

[0079] Embodiment 3

[0080] Figure 8 The present invention provides a schematic diagram of the structure of a system for generating navigable waters in an embodiment of the present invention. The system for generating navigable waters in an embodiment of the present invention can execute the method for generating navigable waters in any embodiment of the present invention, and has corresponding subsystems and beneficial effects of the execution method. The system includes: an electronic navigation chart subsystem, a waterway water level query subsystem, a ship draft real-time measurement subsystem, a navigable waters calculation subsystem, and a navigable waters display subsystem. The technical terms that are the same or similar to those in the above embodiments will not be repeated.

[0081] like Figure 8 As shown, the system for generating navigable waters according to an embodiment of the present invention includes:

[0082] The electronic navigation chart subsystem can determine the scope of the ship's navigable waters. For ships with pilots, the electronic navigation chart subsystem circles a circular area with the ship's position as the center, and the waters within the circle are the ship's navigable waters to be calculated. For unmanned ships, a rectangle is drawn with the starting point and the end point as vertices, and the area within the rectangle is the ship's navigable waters to be calculated. Select the relevant electronic navigation chart files based on the navigable waters to be calculated, and parse the electronic navigation chart .000 file to obtain the graphical water depth data of each water depth point in the navigable waters to be calculated in, Indicates the latitude of the water depth point, λ a Indicates the longitude of the water depth point, h chart Indicates the graphical water depth at that water depth point.

[0083] The real-time water level query subsystem uses crawler tools to extract the real-time water level data to be calculated from the Yangtze River Hydrology website (http: / / www.cjh.com.cn / ) in real time, and uses interpolation method to calculate the real-time water level data of each water depth point in the navigable waters in combination with the channel gradient. Then, the water depth data of each water depth point is calculated according to the channel reference water level data, real-time water level data, and graphical water depth data. The formula is as follows:

[0084] h a =h chart +(h level -h base )

[0085] Among them, h a Indicates water depth data, h base Indicates the channel reference water level data, h level Indicates real-time water level data, h chart Indicates the water depth data shown in the figure, and a indicates the number of the water depth point.

[0086] The real-time draft measurement subsystem calculates the maximum draft of the ship based on the draft of the six sides of the ship. The calculation method is as follows, where d 1 ~d 6 They represent the draft data of the bow (port, starboard), amidships (port, starboard), and stern (port, starboard), and d represents the draft data of the ship.

[0087] d = max{d 1 ,d 2 ,d 3 ,d 4 ,d 5 ,d 6}

[0088] The navigable waters calculation subsystem needs to complete three tasks:

[0089] (1) Underwater terrain 3D modeling: The longitude and latitude coordinates of each water depth point are converted into Mercator coordinates, denoted as (x i ,y i ,z i ), the underwater terrain in the navigable waters to be calculated is modeled using a three-dimensional Denaulay triangulation network to obtain a three-dimensional Denaulay triangulation network, that is, a Denaulay triangle list T. The Denaulay triangle list T includes each spatial triangle. Any triangle t i The vertex is denoted as (A i ,B i ,C i ).

[0090] (2) Calculation of isobath segments:

[0091] Step 1: Generate an isobath z=d+h based on the ship's maximum draft data and surplus water depth data safe The isobath plane is parallel to the horizontal plane and its height is the sum of the maximum draft data and the surplus water depth data. Select the spatial triangles that intersect the isobath planes from the Denaulay triangle list T to obtain a new triangle list T d .

[0092] Step 2: For the triangle list T d Each triangle in i=1,2,3…, we get the three sides of the triangle |A i B i |、|A i C i |、|C i B i |Intersection points with isobath planes, compare the ordinates of the two intersection points, the one with the larger ordinate value is marked Another mark P 1 i Based on the intersection point P 1 i and Get vector Set Vector The left side is the initial navigable sub-water area, and the right side is the non-navigable sub-water area.

[0093] Step 3: Determine the map boundary based on the ship's position and the display ratio of the navigable waters, and obtain the following four boundary lines. Take the plane surrounded by the four boundary lines as the reference plane, and obtain a boundary plane perpendicular to the reference plane based on each boundary line. left 、x=x right ,y=y top ,y=y bottom .xleft 、x right ,y top ,y bottom They are marked relative to the borders of the display area, in order: left plane, right plane, top plane, and bottom plane, see Figure 5 .

[0094] Step 4: Calculate the four boundary planes and all the isobaths in step 3 respectively. The intersection point is denoted as P E , and according to the rules, use P E Replace P 1 i and An endpoint in and based on P E Together with the other endpoint, it forms a new depth contour segment.

[0095] P E The replacement rules are as follows:

[0096] If P E For x=x left and The intersection of 1 i and The endpoint with a relatively small x coordinate is replaced by P E .

[0097] If P E For x = x right and The intersection of 1 i and The endpoint with a relatively large x coordinate is replaced by P E .

[0098] If P E y=y top and The intersection of 1 i and The endpoint with a relatively large y coordinate is replaced by P E .

[0099] If P E y=y bottom and The intersection of 1 i and The endpoint with a relatively small y coordinate is replaced by P E .

[0100] Step 5: For all the isobath segments in step 4, if the distance between the endpoints of two isobath segments is less than a preset threshold, the two isobath segments are combined into one isobath broken line segment.

[0101] Step 6: Repeat step 5 until all the isobath polyline segments do not meet the requirements of step 5, and obtain N isobath polyline segments, that is, obtain M isobath polygons.

[0102] (3) Generation of navigable waters: Calculate the number of isobath polygons surrounding all the locations within the map. If the number of isobath polygons surrounding a location is an odd number, the location is a navigable point. If the number of isobath polygons surrounding a location is an even number, the location is a non-navigable point.

[0103] (5) Navigable waters display subsystem, which displays the navigable waters calculation results, see Figure 7 The implementation process of the navigable waters generation system of the embodiment of the present invention can be found in Fig. 9 The technical solution of the embodiment of the present invention realizes the targeted generation of navigable waters for different ships, thereby improving the accuracy of the generation of navigable waters.

[0104] Embodiment 4

[0105] Fig.10 The schematic diagram of the structure of a device for generating navigable waters provided in an embodiment of the present invention is a device for generating navigable waters provided in an embodiment of the present invention. The device for generating navigable waters provided in an embodiment of the present invention can execute the method for generating navigable waters provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The device includes: a data acquisition module 410, a model building module 420, a plane determination module 430 and a navigable waters generation module 440. Among them:

[0106] The data acquisition module 410 is used to acquire the first data of each water depth point within a preset range corresponding to the ship and the second data corresponding to the ship in the waterway chart; wherein the preset range is determined based on the ship; the first data includes the position data and water depth data of the water depth point, and the second data includes the draft data and surplus water depth data of the ship; the model establishment module 420 is used to establish a three-dimensional model corresponding to the underwater terrain based on the first data of each water depth point; the plane determination module 430 is used to determine the isobath plane based on the second data; the navigable water area generation module 440 is used to generate the navigable water area for the ship based on the isobath plane and the three-dimensional model.

[0107] Furthermore, in an embodiment of the present invention, the model building module 420 is also used to: process the position data and water depth data of each water depth point to obtain the spatial coordinates of each water depth point; process the spatial coordinates of each water depth point according to a preset algorithm to obtain a triangular network corresponding to each spatial coordinate; wherein the triangular network includes at least three spatial triangles, and each vertex of the spatial triangle is composed of water depth points.

[0108] Furthermore, in an embodiment of the present invention, the navigable waters generating module 440 is also used to: for each spatial triangle, determine whether there is an intersecting line segment between the spatial triangle and the isobath plane; if so, determine that the intersecting line segment is an isobath segment; and generate a navigable waters for the ship based on at least three isobath segments.

[0109] Furthermore, in an embodiment of the present invention, the navigable water area generation module 440 is also used for: when the distance between the endpoints of two adjacent isobath segments is less than a preset threshold, obtaining an isobath broken line segment based on the two isobath segments; obtaining at least one isobath polygon based on at least three isobath broken line segments; and generating a navigable water area for a ship based on at least one isobath polygon.

[0110] Furthermore, in an embodiment of the present invention, the navigable water area generation module 440 is also used for: for any location point, if the number of equal-depth polygons surrounding the location point is an odd number, then the location point is determined to be a navigable point, the location point is obtained according to the waterway chart, and the location point includes the location data; based on each navigable point, a navigable water area is generated.

[0111] Furthermore, in an embodiment of the present invention, the device also includes: a boundary plane acquisition module, used to obtain the boundary plane, and update each isobath segment based on the boundary plane; wherein the boundary plane is a plane perpendicular to the boundary of the map; the boundary plane acquisition module is also used to: if there is any isobath segment that intersects with the boundary plane, obtain the intersection point; and determine whether to replace one end point of the isobath segment with the intersection point based on preset rules; if so, update the isobath segment based on the intersection point and the other end point of the isobath segment.

[0112] Furthermore, in an embodiment of the present invention, the device also includes: an initial navigable water area acquisition module, which is used to obtain, for each spatial triangle, two local areas divided by intersecting line segments, the first longitudinal coordinates of the vertices in each local area and the second longitudinal coordinates of the intersecting line segments, and process the two local areas based on the first longitudinal coordinate and the second longitudinal coordinate to obtain an initial navigable sub-water area; based on each initial navigable sub-water area, an initial navigable water area is obtained; the navigable water area generation module 440 is also used to generate a navigable water area for a ship based on at least one isobath polygon and the initial navigable water area.

[0113] The technical solution of the embodiment of the present invention is to obtain the first data of each water depth point within a preset range corresponding to the ship and the second data corresponding to the ship in the waterway chart; wherein the preset range is determined based on the ship; the first data includes the position data and water depth data of the water depth point, and the second data includes the draft data and surplus water depth data of the ship. A three-dimensional model corresponding to the underwater terrain is established based on the first data of each water depth point, and an isobath is determined based on the second data. Based on the isobath and the three-dimensional model, the navigable waters of the ship are generated. The technical solution of the embodiment of the present invention realizes the generation of the navigable waters of the ship according to the position data, water depth data, the draft data of the ship and the surplus water depth data, generates navigable waters for different ships, and improves the accuracy of the generation of navigable waters.

[0114] It is worth noting that the various modules and sub-modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present invention.

[0115] Embodiment 5

[0116] Fig.11 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Fig.11 A block diagram of an exemplary electronic device 50 suitable for implementing exemplary embodiments of the present invention is shown. Fig.11 The electronic device 50 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0117] like Fig.11 As shown, the electronic device 50 is in the form of a general computing device. The components of the electronic device 50 may include but are not limited to: one or more processors or processing units 501, a system memory 502, and a bus 503 connecting different system components (including the system memory 502 and the processing unit 501).

[0118] Bus 503 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0119] The electronic device 50 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 50, including volatile and non-volatile media, removable and non-removable media.

[0120] System memory 502 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 504 and / or cache memory 505. Electronic device 50 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 506 may be used to read and write non-removable, non-volatile magnetic media ( Fig.11 not shown, usually called a "hard drive"). Although Fig.11 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 503 via one or more data medium interfaces. The memory 502 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0121] A program / utility 508 having a set (at least one) of program modules 507 may be stored, for example, in the memory 502, such program modules 507 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 507 generally perform the functions and / or methods of the embodiments described herein.

[0122] The electronic device 50 may also communicate with one or more external devices 509 (e.g., keyboards, pointing devices, displays 510, etc.), may communicate with one or more devices that enable a user to interact with the electronic device 50, and / or communicate with any device that enables the electronic device 50 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed through an input / output (I / O) interface 511. Furthermore, the electronic device 50 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 512. As shown, the network adapter 512 communicates with other modules of the electronic device 50 through the bus 503. It should be understood that although Fig.11Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 50, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0123] The processing unit 501 executes various functional applications and data processing by running the programs stored in the system memory 502, such as implementing the method for generating navigable waters provided in the embodiment of the present invention.

[0124] Embodiment 6

[0125] An embodiment of the present invention further provides a storage medium comprising computer executable instructions, wherein the computer executable instructions are used to execute a method for generating navigable waters when executed by a computer processor, the method comprising:

[0126] Obtain first data of each water depth point within a preset range corresponding to the ship and second data corresponding to the ship in the waterway chart; wherein the preset range is determined based on the ship; the first data includes position data and water depth data of the water depth point, and the second data includes draft data and surplus water depth data of the ship; a three-dimensional model corresponding to the underwater terrain is established based on the first data of each water depth point; an isobath plane is determined based on the second data; and a navigable water area for the ship is generated based on the isobath plane and the three-dimensional model.

[0127] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0128] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0129] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0130] Computer program code for performing the operation of embodiments of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0131] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A method for generating navigable waters, characterized in that: The method comprises: Acquire first data of each water depth point within a preset range corresponding to the ship and second data corresponding to the ship in the waterway chart; wherein the preset range is determined based on the ship; the first data includes position data and water depth data of the water depth point, and the second data includes draft data and surplus water depth data of the ship; Establishing a three-dimensional model corresponding to the underwater terrain based on the first data of each water depth point, wherein the three-dimensional model includes at least three spatial triangles; determining an isobath plane based on the second data; For each spatial triangle, determining whether there is an intersecting line segment between the spatial triangle and the equal depth plane; If so, determining that the intersecting line segment is an isobath line segment; When the distance between the endpoints of two adjacent isobath line segments is less than a preset threshold, an isobath broken line segment is obtained based on the two isobath line segments; At least one isobath polygon is obtained based on at least three isobath polyline segments; The navigable waters for the ship are generated based on the at least one isobath polygon.

2. The method for generating navigable waters according to claim 1, characterized in that: The step of establishing a three-dimensional model corresponding to the underwater terrain based on the first data of each water depth point includes: With respect to the position data and the water depth data of each water depth point, the position data and the water depth data are processed to obtain the spatial coordinates of each water depth point; The spatial coordinates of each water depth point are processed according to a preset algorithm to obtain a triangular network corresponding to each spatial coordinate; Wherein, each vertex of the spatial triangle is composed of water depth points.

3. The method for generating navigable waters according to claim 1, characterized in that: The step of generating the navigable waters for the ship based on the at least one isobath polygon comprises: For any position point, if the number of equal-depth polygons surrounding the position point is an odd number, the position point is determined to be a navigable point, the position point is obtained according to a navigation chart, and the position point includes the position data; The navigable waters are generated based on various navigable points.

4. The method for generating navigable waters according to claim 1, characterized in that: After determining that the intersecting line segments are equal depth line segments, the method further includes: Obtaining a boundary plane, and updating each isobath segment based on the boundary plane; wherein the boundary plane is a plane perpendicular to the boundary of the map sheet; The updating of each isobath segment based on the boundary plane comprises: If there is any isobath segment intersecting with the boundary plane, obtaining the intersection point; and determining whether to replace an endpoint of the isobath segment with the intersection point based on a preset rule; If so, the isobath segment is updated based on the intersection point and the other endpoint of the isobath segment.

5. The method for generating navigable waters according to claim 1, characterized in that: After determining, for each spatial triangle, whether there is an intersecting line segment between the spatial triangle and the equal depth plane, the method further includes: For each spatial triangle, obtain two local areas divided by the intersecting line segment, the first ordinate of the vertex in each local area and the second ordinate of the intersecting line segment, and process the two local areas based on the first ordinate and the second ordinate to obtain an initial navigable sub-water area; Based on each of the initial navigable sub-water areas, an initial navigable water area is obtained; The step of generating the navigable waters for the ship based on the at least one isobath polygon comprises: The navigable waters for the ship are generated based on the at least one equal-depth polygon and the initial navigable waters.

6. A device for determining navigable waters, characterized in that: include: A data acquisition module, used to acquire first data of each water depth point within a preset range corresponding to the ship and second data corresponding to the ship in the waterway chart; wherein the preset range is determined based on the ship; the first data includes position data and water depth data of the water depth point, and the second data includes draft data and surplus water depth data of the ship; A model building module, used to build a three-dimensional model corresponding to the underwater terrain based on the first data of each water depth point, wherein the three-dimensional model includes at least three spatial triangles; A plane determination module, used for determining an isobath plane based on the second data; The navigable waters generation module is used to determine, for each spatial triangle, whether there is an intersecting line segment between the spatial triangle and the isobath plane; if so, determine that the intersecting line segment is an isobath segment; when the distance between the endpoints of two adjacent isobath segments is less than a preset threshold, obtain an isobath broken line segment based on the two isobath segments; obtain at least one isobath polygon based on at least three isobath broken line segments; and generate the navigable waters for the ship based on the at least one isobath polygon.

7. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method for generating navigable waters as described in any one of claims 1-5.

8. A storage medium comprising computer executable instructions, wherein when the computer executable instructions are executed by a computer processor, the computer executable instructions are used to perform the method for generating navigable waters according to any one of claims 1 to 5.

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