Autonomous route planning method for inland river intelligent ships based on electronic navigation chart

Abstract

The present invention discloses a method for autonomous route planning for inland river intelligent ships based on electronic navigation charts, belonging to the technical field of ship navigation path planning. The method comprises: constructing a channel grid map based on the electronic navigation chart using ArcPy; generating a shortest route on the channel grid map based on the Dijkstra algorithm; and smoothing the planned shortest route using the Bessel interpolation method. In the absence of a data-complete grid inland river chart, the present invention can autonomously generate the shortest route by gridding the inland river electronic navigation chart, without relying on a gridded electronic navigation chart or an electronic nautical chart. The generated route is then smoothed to meet the actual navigation requirements of the ship, thereby facilitating the navigation of the inland river ship. The route of the inland river ship can be planned rationally and efficiently, thereby improving the efficiency of inland river ship navigation.

Description

Technical Field

[0001] The present invention belongs to the technical field of ship navigation path planning, and in particular relates to an autonomous route planning method for inland river intelligent ships based on an electronic navigation chart. Background Art

[0002] In the era of big data, intelligent shipbuilding has become an inevitable trend in the development of shipbuilding and shipping. Autonomous route planning is a key component of unmanned intelligent ships. Using intelligent information processing technology for route planning can better design routes, reduce human errors, and further improve the safety, economy, and reliability of routes.

[0003] Existing technical solutions include rasterizing electronic nautical charts and using ant colony algorithms or A-star algorithms to plan routes for intelligent ships within these charts. Meanwhile, research on ship route planning has largely focused on maritime routes, using chart data such as water depth, waterway, and obstacles to identify a single navigable route. However, existing technologies primarily focus on ocean routes, leaving less research on inland waterway route planning.

[0004] Existing technical solutions rely on data-complete raster nautical charts when planning routes. However, inland river management is relatively backward, and the scientificity, completeness and timeliness of the data cannot be guaranteed. There is often a lack of data-complete raster inland river charts, which cannot meet the requirements of raster processing. Summary of the Invention

[0005] The purpose of the embodiment of the present invention is to provide an autonomous route planning method for inland intelligent ships based on electronic navigation charts, which can solve the technical problems in the existing technology that inland river management is relatively backward, the scientificity, integrity and timeliness of data cannot be guaranteed, and there is often a lack of grid inland river maps with complete data, which cannot meet the requirements of raster processing.

[0006] In order to solve the above-mentioned technical problems, the present invention is achieved as follows:

[0007] An embodiment of the present invention provides an autonomous route planning method for an inland river intelligent ship based on an electronic navigation chart, comprising:

[0008] S101: Construct a waterway grid map based on an electronic waterway chart using ArcPy;

[0009] S102: Generate the shortest route on the waterway grid map based on the Dijkstra algorithm;

[0010] S103: Smoothing the planned shortest route using the Bessel interpolation method.

[0011] Furthermore, the electronic navigation chart is a standardized, digital thematic map produced by using computers, geographic information and other technologies to process the information of various elements of inland waterways in accordance with the "Yangtze River Electronic Navigation Chart Production Specifications" and the "Inland Waterway Electronic Navigation Chart Technical Specifications". The data storage format of the electronic navigation chart is ESR File.

[0012] Furthermore, S101 is specifically as follows:

[0013] ArcPy is used to grid the electronic navigation chart and divide it into unit grids to obtain a navigation grid map.

[0014] Furthermore, S101 specifically includes:

[0015] S1011: Draw a grid base map covering inland waterways in AutoCAD software, with the smallest unit being no less than 1m x 1m;

[0016] S1012: Use ArcPy to break up the grid basemap and split each intersection into separate line segments, ensuring that the line segments do not overlap.

[0017] S1013: Using the grid base map as input and the electronic navigation chart as a clipping layer, the electronic navigation chart is divided into unit grids using ArcPy to obtain a navigation grid map.

[0018] Furthermore, S102 is specifically as follows:

[0019] Given a starting point and an end point, the starting point and the end point are converted into a waterway grid map, and a network dataset layer is constructed through ArcPy. The Dijkstra algorithm is used to generate the shortest route in the waterway grid map.

[0020] Furthermore, S102 specifically includes:

[0021] S1021: Determine the coordinates of the starting point and the end point, and convert the coordinates into the waterway grid map;

[0022] S1022: Using the waterway grid map as the target dataset, create a network dataset and construct a network dataset layer using ArcPy;

[0023] S1023: Determine whether there are any impassable areas in the waterway due to weather, water depth, obstacles, etc. If there are any impassable areas, proceed to S1024; if there are no impassable areas, convert the impassable areas due to weather, water depth, obstacles, etc. into a network dataset layer as point, line, or surface obstacles using ArcPy.

[0024] S1024: Based on the AcrPy network analysis module, the Dijkstra algorithm is used to generate the shortest route in the waterway grid map.

[0025] Furthermore, S103 is specifically as follows:

[0026] Based on the Bessel interpolation method, Python is used to smooth the jagged shortest route.

[0027] The present invention has at least the following beneficial technical effects:

[0028] In the absence of a fully gridded inland river chart, the present invention, without relying on gridded electronic navigational charts or electronic nautical charts, can autonomously generate the shortest route by gridding the inland river electronic navigational chart. The generated route is then smoothed to meet actual navigation requirements, facilitating inland river navigation. This allows for rational and efficient planning of inland river vessel routes, improving navigation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The present invention provides a flow chart of an autonomous route planning method for an inland river intelligent ship based on an electronic navigation chart.

[0030] Figure 2 This is a flow chart of a method for constructing a waterway grid map provided by an embodiment of the present invention;

[0031] Figure 3 The figure is a flow chart of a method for generating a shortest route provided by an embodiment of the present invention.

[0032] The realization of the objectives, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of 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 making creative efforts shall fall within the scope of protection of the present invention.

[0034] The following describes in detail the method for autonomous route planning of an inland river intelligent ship based on an electronic navigation chart provided by the embodiment of the present invention through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0035] Example 1

[0036] Reference Figure 1 , which shows a flow chart of an autonomous route planning method for inland river intelligent ships based on an electronic navigation chart provided by an embodiment of the present invention.

[0037] An embodiment of the present invention provides a method for autonomous route planning for an inland river intelligent ship based on an electronic navigation chart, comprising:

[0038] S101: Construct a waterway grid map based on an electronic waterway chart using ArcPy.

[0039] Among them, the waterway grid map can accurately characterize the characteristics of inland waterways, such as channel shape, channel length, channel passage, etc.

[0040] Among them, ArcPy is a Python site package that can perform geographic data analysis, data conversion, data management, and map automation through Python in a practical and efficient way.

[0041] Among them, the electronic navigation chart is a standardized, digital thematic map produced by using computers, geographic information and other technologies to process the information of various elements of inland waterways in accordance with the "Yangtze River Electronic Navigation Chart Production Specifications" and the "Inland Waterway Electronic Navigation Chart Technical Specifications". The data storage format of the electronic navigation chart is ESR File.

[0042] Furthermore, the route chart is gridded to facilitate subsequent analysis of the optimal route.

[0043] In a possible implementation, S101 specifically includes: performing gridding processing on the electronic navigation chart by using ArcPy, dividing the electronic navigation chart into unit grids, and obtaining a navigation grid map.

[0044] In one possible implementation, refer to Figure 2 , which shows a flow chart of a method for constructing a waterway grid map according to an embodiment of the present invention, wherein S101 specifically includes:

[0045] S1011: Draw a grid base map covering inland waterways in AutoCAD software, with the smallest unit being no less than 1m x 1m;

[0046] S1012: Use ArcPy to break up the grid basemap and split each intersection into separate line segments, ensuring that the line segments do not overlap.

[0047] S1013: Using the grid base map as input and the electronic navigation chart as a clipping layer, the electronic navigation chart is divided into unit grids using ArcPy to obtain a navigation grid map.

[0048] S102: Generate the shortest route on the waterway grid map based on the Dijkstra algorithm.

[0049] Among them, the Dijkstra algorithm (Dijkstra algorithm or Dijkstra algorithm) is a shortest path algorithm from one vertex to the remaining vertices, which can solve the shortest path problem in a weighted graph.

[0050] In a possible implementation, S102 specifically includes: given a starting point and an end point, converting the starting point and the end point into a waterway grid map, constructing a network dataset layer through ArcPy, and using the Dijkstra algorithm to generate the shortest route in the waterway grid map.

[0051] In one possible implementation, refer to Figure 3 , which shows a flow chart of a method for generating a shortest route provided by an embodiment of the present invention, wherein S102 specifically includes:

[0052] S1021: Determine the coordinates of the starting point and the end point, and convert the coordinates into the waterway grid map;

[0053] S1022: Using the waterway grid map as the target dataset, create a network dataset and construct a network dataset layer using ArcPy;

[0054] S1023: Determine whether there are any impassable areas in the waterway due to weather, water depth, obstacles, etc. If there are any impassable areas, proceed to S1024; if there are no impassable areas, convert the impassable areas due to weather, water depth, obstacles, etc. into a network dataset layer as point, line, or surface obstacles using ArcPy.

[0055] S1024: Based on the AcrPy network analysis module, the Dijkstra algorithm is used to generate the shortest route in the waterway grid map.

[0056] Among them, weather, water depth, obstacles, etc. are processed into a unified obstacle layer through geographic data, as point, line and surface obstacles, fully considering the actual situation of the waterway, which can improve the accuracy and safety of inland ship routes.

[0057] It should be noted that, through the above method, given the starting point and the end point, the starting point and the end point are converted into the waterway grid map, and by constructing a network dataset layer and considering whether there are non-navigable areas caused by obstacles, the Dijkstra algorithm is used to obtain a shortest path in the waterway grid map.

[0058] Among them, the Dijkstra algorithm is an algorithm for calculating the shortest path from one vertex to the remaining vertices. It solves the shortest path problem in a weighted graph. Its main feature is that it starts from the starting point and adopts a greedy algorithm strategy. Each time it traverses the adjacent nodes of the vertex that is closest to the starting point and has not been visited until it reaches the end point. It can calculate the shortest route between any two points based on the channel grid map.

[0059] However, for smart ships, the shortest route does not necessarily mean the optimal route. The shortest route planned by the waterway grid map is a jagged line. Considering that smart ships need to maintain stability as much as possible during navigation, the shortest route should be optimized and smoothed based on the shortest route so that the planned shortest route can meet the navigation needs of inland ships and meet the actual navigation needs of ships. Therefore, the shortest route can be further optimized in S103.

[0060] S103: Smoothing the planned shortest route using the Bessel interpolation method.

[0061] In a possible implementation, S103 specifically includes: performing curve smoothing processing on the generated jagged shortest route using Python based on the Bessel interpolation method.

[0062] Among them, the Bessel interpolation formula is an equidistant node interpolation formula, which is a technical solution for smoothly transitioning the part between two values ​​through mathematical calculation.

[0063] It should be noted that smoothing the shortest route can maintain the stability of the ship during navigation, meet the actual navigation needs of the ship, and facilitate the navigation of inland ships.

[0064] The present invention has at least the following beneficial technical effects:

[0065] In the absence of a fully gridded inland river chart, the present invention, without relying on gridded electronic navigational charts or electronic nautical charts, can autonomously generate the shortest route by gridding the inland river electronic navigational chart. The generated route is then smoothed to meet actual navigation requirements, facilitating inland river navigation. This allows for rational and efficient planning of inland river vessel routes, improving navigation efficiency.

[0066] The above are merely embodiments of the present invention and are not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A method for autonomous route planning of inland river intelligent ships based on electronic navigation chart, characterized in that: include: S101: Construct a waterway grid map based on an electronic waterway chart using ArcPy; S102: generating a shortest route on the waterway grid map based on the Dijkstra algorithm; S103: Smoothing the planned shortest route by using Bessel interpolation method; The S101 is specifically as follows: Performing gridding processing on the electronic navigation chart by ArcPy, dividing the electronic navigation chart into unit grids to obtain the navigation grid map; The S101 specifically includes: S1011: Draw a grid base map covering inland waterways in AutoCAD software, with the smallest unit being no less than 1m x 1m; S1012: using ArcPy to break up the grid base map, dividing each intersection into separate line segments, and ensuring that the line segments do not overlap; S1013: Taking the grid base map as input and the electronic navigation chart as a clipping layer, the electronic navigation chart is divided into unit grids by ArcPy to obtain the navigation grid map.

2. The method for autonomous route planning of an inland river intelligent ship according to claim 1, characterized in that: The electronic navigation chart is a standardized, digital thematic map produced by using computers and geographic information technology to process the information of various elements of inland waterways in accordance with the "Yangtze River Electronic Navigation Chart Production Specifications" and the "Inland Waterway Electronic Navigation Chart Technical Specifications". The data storage format of the electronic navigation chart is ESRI Shapefile.

3. The autonomous route planning method for inland river intelligent ships according to claim 1 is characterized in that: The S102 is specifically as follows: Given a starting point and an end point, the starting point and the end point are converted into the waterway grid map, and a network dataset layer is constructed by ArcPy, and the shortest route is generated in the waterway grid map using the Dijkstra algorithm.

4. The autonomous route planning method for inland river intelligent ships according to claim 3 is characterized in that: The S102 specifically includes: S1021: Determine the coordinates of the starting point and the end point, and convert the coordinates into the waterway grid map; S1022: Using the waterway grid map as the target dataset, create the network dataset and construct a network dataset layer using ArcPy; S1023: Determine whether there is an impassable area in the waterway due to weather, water depth, or obstacles. If so, proceed to S1024. If not, convert the impassable area due to weather, water depth, or obstacles to a network dataset layer as point, line, or surface obstacles using ArcPy. S1024: Based on the AcrPy network analysis module, the shortest route is generated in the waterway grid map using the Dijkstra algorithm.

5. The autonomous route planning method for inland river intelligent ships according to claim 1 is characterized in that: The S103 is specifically as follows: Based on the Bessel interpolation method, Python is used to perform curve smoothing on the generated jagged shortest route.

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