Intelligent pleasure boat navigation system based on interactive pointing control and method thereof

Abstract

The invention provides an intelligent pleasure boat navigation system based on interactive pointing control and a method thereof. The system comprises a monitoring display module; a single-point navigation instruction receiving module; a route planning module; a multi-point navigation indication processing module; the real-time coordination and broadcast module is a user interaction interface module; the invention further discloses an intelligent pleasure boat navigation method. By adopting an interactive pointing control technology, a dynamic neighborhood potential field path planning algorithm and a multi-target optimization algorithm, the problems of the traditional navigation system in the aspects of safety, efficiency, user experience and multi-ship management are solved, the safety, efficiency and user experience of navigation are remarkably enhanced, the capability of multi-ship collaborative operation is realized, and the system has a wide application prospect. The method is an important progress of intelligent water traffic management in the future.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent ships, and in particular to an intelligent cruise ship navigation system based on interactive pointing control and a method thereof. Background Art

[0002] With the increasing popularity of water tourism and leisure activities, the importance of intelligent navigation technology in cruise ship management and operation has become increasingly prominent. Traditional cruise ship navigation systems mostly rely on manual operation and simple GPS positioning, which is not only inefficient, but also difficult to effectively respond to emergencies in complex water environments, such as waterway congestion, navigation obstacles, environmental changes, etc. In addition, with the increasing demand for personalization and convenience from tourists, traditional navigation methods can no longer meet the requirements of efficient, safe and flexible modern cruise ship navigation.

[0003] In recent years, the rapid development of artificial intelligence, the Internet of Things, big data analysis, and advanced path planning algorithms has provided strong technical support for intelligent navigation systems. In particular, the application of interactive technology allows users to participate in the navigation planning process more intuitively and easily, improving user experience and navigation safety. However, existing intelligent navigation systems often lack the ability to respond immediately to dynamic environments, especially in dealing with multi-ship collaborative navigation, dynamic obstacle avoidance, and complex water rules and restrictions.

[0004] Therefore, it is particularly urgent to develop a cruise ship navigation system that can respond to dynamic changes in water areas in real time, support interactive point-to-point control, and have multi-point intelligent planning capabilities. Summary of the invention

[0005] The main purpose of the present invention is to provide an intelligent cruise ship navigation system and method based on interactive pointing control, so as to solve the deficiencies of traditional navigation systems in terms of safety, efficiency, user experience and multi-ship management.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: an intelligent cruise ship navigation system based on interactive pointing control, the system comprising: The monitoring and display module is used to display the navigation interface after the cruise ship is started. The interface includes a water map and the cruise ship status. The water map includes navigable areas, docks, berths, warning navigation areas and prohibited navigation areas. The cruise ship status is represented by different colors, including available for booking, booked and fault conditions. There is also an operable "point navigation" button, through which the user enters the interactive mode.

[0007] The single-point navigation instruction receiving module responds to the user operation in the cruise ship status and monitoring interface. Click the "Point Navigation" button. When the cruise ship is in a navigable state, the user is allowed to drag or click the cruise ship icon through the mouse or other input devices to specify the starting point Ps and the target point Pm. After turning off "Point Navigation", manual driving is restored.

[0008] The route planning module automatically plans the route based on the user-specified target point Pm and the current cruise ship position point Pd, combined with the water map information, using the dynamic neighborhood potential field path planning algorithm, and taking into account water restrictions, including restrictions on warning navigation areas and prohibited navigation areas, and setting up an obstacle avoidance mechanism; the navigation planning module also includes a dynamic neighborhood potential field path planning algorithm, which can monitor dynamic obstacles on the waterway in real time, and automatically detour and update the path when planning the route.

[0009] The multi-point navigation processing module supports users to specify multiple target points at one time or in steps, and automatically generates the optimal multi-point navigation sequence, allowing users to adjust the point sequence. The system provides route suggestions that meet the navigation constraints based on the adjustments; the multi-point navigation processing module also includes an intelligent sorting algorithm, which is responsible for recommending multi-point routes that meet user preferences.

[0010] The real-time coordination and broadcasting module is responsible for monitoring the routes of multiple cruise ships, broadcasting navigation information through wireless communication technology, using encrypted communication protocols to ensure the safe transmission of navigation data, and has a conflict warning function to ensure that there is no conflict between multiple ships and achieve orderly navigation.

[0011] The user interface module is used to provide clear guidance and feedback, allowing users to intuitively switch to pointing mode on the monitoring interface, perform pointing operations, and view route planning results and correction suggestions in real time.

[0012] In the preferred embodiment, the water map information in the monitoring and display module includes navigable navigation areas, docks, berths, warning navigation areas and prohibited navigation areas. The water area enclosed by the warning line is the navigable navigation area, and the navigable navigation area includes scenic spots, charging points, and static obstacles. A prohibited navigation line is provided outside the warning line. The water area between the warning line and the prohibited navigation line is the warning navigation area, and the water area outside the prohibited navigation line is the prohibited navigation area. An entrance Pr is provided near the warning line and the prohibited navigation line near the dock, and multiple berths are provided at the dock.

[0013] Cruise ship status, where green means available for booking, blue means booked or sailing, and red means a faulty ship.

[0014] In a preferred embodiment, the monitoring display module further includes an electronic fence integrated display for visually identifying the navigable area, warning navigation area and prohibited navigation area within the water area.

[0015] In the preferred solution, in the route planning module, the current cruise ship position point Pd is any point in the navigable area, including the starting point Ps. When the ship is outside the navigable area, the cruise ship position needs to be adjusted to the navigable area or to the starting point, and then the pointed navigation is completed.

[0016] In the preferred solution, the data transmission between each cruise ship and the intelligent cruise ship navigation system with interactive pointing control adopts Modbus or TCP / IP protocol, and the communication interface adopts RS485, 4-20mA or RS232 type.

[0017] The present invention also provides an intelligent cruise ship navigation method, comprising the following steps: S1. Start the monitoring interface and display navigation related information; S2, receiving the target point specified by the user through pointing operation, which can be single-point navigation or multi-point navigation; S3, using the dynamic neighborhood potential field path planning algorithm to automatically plan the route, including route optimization, obstacle avoidance, and route correction under electronic fence restrictions; S4, supports the planning and adjustment of multi-point navigation, and provides optimal route suggestions using intelligent sorting algorithms; S5. Implement navigation coordination among multiple ships to ensure conflict-free navigation; S6. Provide real-time navigation status feedback and user interaction guidance.

[0018] In the preferred solution, the dynamic neighborhood potential field path planning algorithm can monitor dynamic obstacles on the waterway in real time, and automatically detour and update the path when planning the route to avoid collision. The specific steps of the algorithm include: S11. Map information modeling and preprocessing: Construct water area map, use To represent the water area, where the node It includes the entrance to the play area, scenic spots, charging points, docks and berths, Represents connectivity and navigation cost. The navigation cost includes distance, time, and energy consumption. The routeable area, warning navigation area, and prohibited navigation area are represented by polygons with different attributes. , , mark.

[0019] S12, static path planning: Apply A* algorithm to the graph The shortest path between the current cruise ship position point Pd and the target point Pm is searched, and the channel restrictions caused by static obstacles are considered. Static obstacle nodes are set, and their passage costs are increased by maximizing the weights. Maximizing the weights increases the passage costs of ships passing through static obstacle nodes.

[0020] If the current cruise ship position point Pd is located at a berth or a prohibited navigation area, the planned path needs to pass through the entrance Pr. If the current cruise ship position point Pd is located in a routeable area, the path between the current cruise ship position point Pd and the target point Pm can be directly planned.

[0021] S13, path planning based on potential energy function: for each cruise ship, the neighborhood radius is used to determine whether there are dynamic obstacles around the cruise ship, and the potential energy function of each ship is used , obtain the potential energy of each cruise ship in the neighborhood, so that the cruise ships can sail in the areas with low potential energy first, and use the A* algorithm to update the optimal path.

[0022] S14, multi-objective optimization: consider path length, energy consumption and time as optimization objectives, use genetic algorithm or particle swarm optimization algorithm to solve multiple feasible paths, select the path with the highest comprehensive score as the default path, or recommend the optimal path based on user preferences.

[0023] In the preferred solution, in step S13, the neighborhood radius is used to determine whether there are dynamic obstacles around the cruise ship, and the neighborhood radius calculation formula is: ; in, Indicates Ship in time Dynamic neighborhood radius when ; It is Ship in time speed, is the coefficient related to speed; Is a constant used to adjust the power weight factor The degree of influence on the neighborhood radius, , according to the current power of the cruise ship Adjustment factor, is the power threshold.

[0024] In the preferred embodiment, in step S13, Ship A potential energy function is , the specific formula is: ; in, represents the attractive potential energy of the cruise ship, represents the repulsive potential energy of the cruise ship; ; in, is a constant, Represents the Euclidean distance from the ship's position to the target.

[0025] ; in, is a constant used to adjust the magnitude of potential energy. Indicates The position of the ship to The distance between the positions of the ships, Indicates the safe distance between two ships.

[0026] In the preferred solution, in step S14, the multi-objective optimization function is specifically: ; in, is the path length, is the estimated energy consumption, is the estimated time, , , They are path length, estimated energy consumption and estimated time weight.

[0027] In the preferred solution, the intelligent sorting algorithm specifically includes: S21, preprocessing: multiple target points specified by the user are used as the set of points to be visited ,in is the number of target points. For each possible combination of target points, the shortest path between each pair of consecutive target points is calculated separately based on the dynamic neighborhood potential field path planning algorithm.

[0028] S22. Multi-objective function construction: Based on the above calculation, construct a multi-objective function, considering the total length of the path , total energy consumption and total time , the specific formula is: ; in, , , It is to weigh the importance of different goals and adjust them according to user preferences.

[0029] S23. Optimization algorithm: Apply genetic algorithm or particle swarm optimization algorithm to find Pareto frontier solutions, that is, a set of solutions that cannot be improved simultaneously in different objective dimensions.

[0030] S24, Sorting and display: For each Pareto solution, the comprehensive score is calculated according to the user-defined preferences. The formula for calculating the comprehensive score based on preferences is: , and then displayed to the user after sorting. The user can directly select or the system can recommend the highest scoring solution by default.

[0031] The present invention provides an intelligent cruise ship navigation system and method based on interactive pointing control, aiming to overcome the limitations of traditional navigation systems and significantly enhance the safety, efficiency and user experience of navigation by adopting interactive pointing control technology. The monitoring display module can display rich water area information and cruise ship status, and allow users to plan routes through simple pointing operations. The integrated dynamic neighborhood potential field path planning algorithm can intelligently avoid obstacles, adapt to dynamic changes in water areas, and consider multi-objective optimization to ensure that the navigation route is both safe and efficient. In addition, the system also supports multi-ship management, uses real-time coordination and broadcast modules to prevent navigation conflicts, and is equipped with a user-friendly interactive interface to provide operators with intuitive navigation guidance and feedback. This invention not only improves the autonomous navigation performance of a single cruise ship, but also realizes the ability of multiple ships to work together, which is an important progress in future intelligent water traffic management.

[0032] The beneficial effects of the present invention are: 1) By dynamically planning routes in real time and taking into account various restrictions in the waters, as well as automatically detecting and avoiding dynamic obstacles, the risk of navigation accidents is greatly reduced and the safety of water activities is enhanced.

[0033] 2) The user-friendly point-to-point control interface simplifies the route setting process, making navigation planning more intuitive and quick. Combined with the multi-objective optimization algorithm, the system can automatically recommend the shortest, lowest energy consumption or optimal time navigation path, improving navigation efficiency. At the same time, the multi-point navigation processing module allows users to flexibly adjust the navigation sequence, increasing the flexibility and personalization of the navigation plan.

[0034] 3) The real-time coordination and broadcasting module effectively monitors and coordinates the routes of multiple cruise ships, ensures the security of navigation information through encrypted communications, and has a conflict warning function, ensuring the orderly and conflict-free navigation of multiple ships in dense waters, thereby improving the overall efficiency of water traffic management.

[0035] 4) The clear user interaction interface not only provides intuitive operation guides, but also provides real-time feedback on navigation status and route correction suggestions, enabling users to better grasp navigation information and enhance user participation and satisfaction.

[0036] 5) This invention integrates modern information technology and intelligent algorithms, promotes the development of water navigation technology, provides advanced technical support for the fields of intelligent ships, water tourism, marine scientific research, etc., and has broad market application prospects and social and economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a flow chart of the intelligent cruise ship navigation method of the present invention; Figure 2It is a prompt diagram of the intelligent cruise ship navigation and control of the present invention; Figure 3 The present invention is a display diagram of the navigation interface activated by the user when the cruise ship is at the berth; Figure 4 The water area map information of the present invention and the navigation instructions operated by the user after the cruise ship enters the recreational water area; Figure 5 yes Figure 4 A detailed schematic diagram of obstacles in the vicinity of a mid-stream ship after it enters the navigable area; In the figure: cruise ship 1; navigable area 2; warning line 3; warning navigation area 4; prohibited line 5; prohibited navigation area 6; berth 7; dock 8; entrance Pr9. DETAILED DESCRIPTION

[0038] Example 1 like Figures 1 to 5 As shown, in order to solve the above technical problems, the technical solution adopted by the present invention is: an intelligent cruise ship navigation system based on interactive pointing control, the system includes: The monitoring and display module is used to display the navigation interface after the cruise ship 1 is started. The interface includes a water map and the status of the cruise ship 1. The water map includes a navigable area 2, a dock 8, a berth 7, a warning navigation area 4 and a prohibited navigation area 6. The status of the cruise ship 1 is represented by different colors, such as available for reservation, booked and fault conditions, and is provided with an operable "point navigation" button. The user enters the interactive mode through the "point navigation" button.

[0039] The single-point navigation instruction receiving module responds to the user operation in the state of cruise ship 1 and the monitoring interface. When the "point navigation" button is clicked, when cruise ship 1 is in a navigable state, the user is allowed to drag or click the cruise ship 1 icon through the mouse or other input devices to specify the starting point Ps and the target point Pm. After turning off the "point navigation", manual driving is restored.

[0040] The route planning module automatically plans the route based on the target point Pm specified by the user and the current position point Pd of the cruise ship 1, combined with the water map information, using the dynamic neighborhood potential field path planning algorithm, and taking into account the water restrictions, including the restrictions of the warning navigation area 4 and the prohibited navigation area 6, and setting up an obstacle avoidance mechanism; the navigation planning module also includes a dynamic neighborhood potential field path planning algorithm, which can monitor dynamic obstacles on the waterway in real time, and automatically detour and update the path when planning the route.

[0041] The multi-point navigation processing module supports users to specify multiple target points at one time or in steps, and automatically generates the optimal multi-point navigation sequence, allowing users to adjust the point sequence. The system provides route suggestions that meet the navigation constraints based on the adjustments; the multi-point navigation processing module also includes an intelligent sorting algorithm, which is responsible for recommending multi-point routes that meet user preferences.

[0042] The real-time coordination and broadcasting module is responsible for monitoring the routes of multiple cruise ships, broadcasting navigation information through wireless communication technology, using encrypted communication protocols to ensure the safe transmission of navigation data, and has a conflict warning function to ensure that there is no conflict between multiple ships and achieve orderly navigation.

[0043] The user interface module is used to provide clear guidance and feedback, allowing users to intuitively switch to pointing mode on the monitoring interface, perform pointing operations, and view route planning results and correction suggestions in real time.

[0044] The present invention provides an intelligent cruise ship navigation system based on interactive pointing control. The system integrates high-precision monitoring, intelligent path planning, multi-point navigation optimization and real-time coordinated communication technology. Through an intuitive interactive interface, users can easily set routes and instantly obtain the best navigation strategy. The system uses a dynamic neighborhood potential field algorithm and a multi-objective optimization model to ensure navigation safety and efficiency while fully considering user preferences to achieve personalized navigation plans; and through encrypted communication technology to maintain navigation data security, effectively coordinate multi-ship navigation, avoid conflicts, and overall improve the safety, convenience and fun of water travel.

[0045] In the preferred embodiment, the water map information in the monitoring and display module includes a navigable route area 2, a dock 8, a berth 7, a warning navigation area 4 and a prohibited navigation area 6. The water area enclosed by the warning line 3 is the navigable route area 2, the navigable route area 2 includes scenic spots, charging points, and static obstacles. A prohibited navigation line 5 is provided outside the warning line 3. The water area between the warning line 3 and the prohibited navigation line 5 is the warning navigation area 4. The water area outside the prohibited navigation line 5 is the prohibited navigation area 6. An entrance Pr9 is provided near the dock 8 between the warning line 3 and the prohibited navigation line 5, and a plurality of berths 7 are provided at the dock.

[0046] The status of cruise ship 1, where green means it can be booked, blue means it is booked or sailing, and red means it is faulty.

[0047] The above scheme summarizes the water map information in the monitoring and display module. By carefully dividing the water area, namely the route area 2, the warning navigation area 4 and the prohibited navigation area 6, and clearly marking key facilities such as the dock 8, the berth 7 and the static obstacles, it provides users with an intuitive and easy-to-understand overview of the navigation environment, which helps to improve the planning efficiency before the voyage and the safety awareness during the voyage. The color-coded cruise ship 1 status indication system enables users to quickly identify the availability of the cruise ship 1, promote the effective allocation and management of resources, and the sharp contrast of green, blue and red ensures the immediacy and accuracy of the status information transmission. In addition, the clearly marked entrance and berth design provides clear guidance for the entry and exit and docking of the cruise ship 1, enhancing the practicality and user-friendliness of the system. Overall, these designs not only beautify the user interface, but more importantly, strengthen the safety and convenience of navigation, which is the key to improving the user experience of the intelligent navigation system.

[0048] In a preferred embodiment, the monitoring display module further includes an electronic fence integrated display for visually identifying the navigable area 2, the warning navigation area 4 and the prohibited navigation area 6 within the water area.

[0049] The addition of the electronic fence integrated display significantly enhances the intuitiveness of the monitoring interface. It defines navigation rights within the waters through eye-catching visual distinctions, ensuring that users can quickly identify and comply with navigable, warning and prohibited areas, thereby improving navigation safety and decision-making efficiency. It is an important auxiliary tool for achieving efficient interaction and safety management of intelligent navigation systems.

[0050] In the preferred solution, in the route planning module, the current position point Pd of the cruise ship 1 is any point in the navigable area 2, including the starting point Ps. When the ship is outside the navigable area 2, the position of the cruise ship 1 needs to be adjusted to the navigable area 2 or to the starting point, and then the pointed navigation is completed.

[0051] The above process highlights the flexibility and safety design of the route planning module, allowing the route to be planned from any point within the navigable area 2, which not only simplifies the operation process and improves the response speed of the system, but also means that even if the ship accidentally deviates from the normal course, the system can automatically correct and guide the ship to safely return to the navigable area or re-determine the starting point, effectively avoiding the risk of illegal or dangerous navigation, ensuring that each planned route strictly follows the rules of the waters, enhancing the compliance and reliability of the navigation plan, and providing users with a navigation experience that is both convenient and safe.

[0052] In the preferred solution, the data transmission between each cruise ship and the intelligent cruise ship navigation system with interactive pointing control adopts Modbus or TCP / IP protocol, and the communication interface adopts RS485, 4-20mA or RS232 type.

[0053] Example 2 Further illustrate with reference to Example 1, Figure 1-4 As shown, the present invention also provides an intelligent cruise ship navigation method, comprising the following steps: S1. Start the monitoring interface and display navigation related information; S2, receiving the target point specified by the user through pointing operation, which can be single-point navigation or multi-point navigation; S3, using the dynamic neighborhood potential field path planning algorithm to automatically plan the route, including route optimization, obstacle avoidance, and route correction under electronic fence restrictions; S4, supports the planning and adjustment of multi-point navigation, and provides optimal route suggestions using intelligent sorting algorithms; S5. Implement navigation coordination among multiple ships to ensure conflict-free navigation; S6. Provide real-time navigation status feedback and user interaction guidance.

[0054] The intelligent cruise navigation method provides users with a full range of intelligent services from start to end of voyage through a series of steps. Starting from the intuitive monitoring interface, it enters an efficient interactive mode, allowing users to easily point and set goals, and then the system automatically performs multi-level route planning and optimization to ensure safe obstacle avoidance and follow water rules. In particular, it supports flexible planning and adjustment of complex multi-point navigation to optimize navigation efficiency. Through advanced multi-ship coordination technology, navigation conflicts are effectively avoided and water order is guaranteed. The whole process is accompanied by real-time status feedback and user interaction guidance to ensure that the navigation process is both safe and convenient, greatly improving the intelligence level and user experience of cruise navigation.

[0055] In the preferred solution, the dynamic neighborhood potential field path planning algorithm can monitor dynamic obstacles on the waterway in real time, and automatically detour and update the path when planning the route to avoid collision. The specific steps of the algorithm include: S11. Map information modeling and preprocessing: Construct water area map, use To represent the water area, where the node It includes the entrance Pr9, scenic spots, charging points, dock 8 and berth 7 of the play area. Represents connectivity and navigation cost. The navigation cost includes distance, time, and energy consumption. The routeable area 2, warning navigation area 4, and prohibited navigation area 6 are represented by polygons with different attributes. , , mark.

[0056] S12, static path planning: Apply A* algorithm to the graph The shortest path between the current position point Pd of cruise ship 1 and the target point Pm is searched, and the channel restrictions caused by static obstacles are considered. Static obstacle nodes are set, and their passage costs are increased by maximizing the weights. Maximizing the weights increases the passage costs of ships passing through static obstacle nodes.

[0057] If the current position point Pd of the cruise ship 1 is located at the berth 7 or the prohibited navigation area 6, the planned path needs to pass through the entrance Pr9. If the current position point Pd of the cruise ship 1 is located in the navigable navigation area 2, the path between the current position point Pd of the cruise ship 1 and the target point Pm can be directly planned.

[0058] S13, path planning based on potential energy function: for each cruise ship 1, use the neighborhood radius to determine whether there are dynamic obstacles around the cruise ship 1, and use the potential energy function of each ship , obtain the potential energy of each cruise ship 1 in the neighborhood, make cruise ship 1 sail preferentially in the area with low potential energy, and use A* algorithm to update the optimal path.

[0059] S14, multi-objective optimization: consider path length, energy consumption and time as optimization objectives, use genetic algorithm or particle swarm optimization algorithm to solve multiple feasible paths, select the path with the highest comprehensive score as the default path, or recommend the optimal path based on user preferences.

[0060] The route planning module integrates the dynamic neighborhood potential field path planning algorithm to achieve intelligent adaptation and dynamic response to the waterway environment, significantly improving navigation safety and efficiency. The algorithm first accurately reflects the characteristics of the water area and the cost of navigation through sophisticated map modeling and preprocessing, and then uses the A* algorithm to achieve preliminary path planning to effectively avoid static obstacles. Its innovation lies in the real-time monitoring of dynamic obstacles and automatic detour strategies, combined with potential energy function evaluation, to guide ships to navigate in low-risk areas. The multi-objective optimization step ensures that the selected path not only meets the obstacle avoidance requirements, but is also the optimal solution in terms of energy consumption, time and path length. It can even provide customized recommendations based on user preferences, thereby providing highly intelligent and personalized navigation services for cruise ship navigation, enhancing user experience and navigation safety.

[0061] In the preferred solution, in step S13, the neighborhood radius is used to determine whether there are dynamic obstacles around the cruise ship 1, and the neighborhood radius calculation formula is: ; in, Indicates Ship in time Dynamic neighborhood radius when ; It is Ship in time speed, is the coefficient related to speed; Is a constant used to adjust the power weight factor The degree of influence on the neighborhood radius, , according to the current power of cruise ship 1 Adjustment factor, is the power threshold.

[0062] The neighborhood radius calculation method is an advanced dynamic obstacle perception technology that dynamically adjusts the perception range according to the speed and power status of the ship to monitor dynamic obstacles in the surrounding environment in real time. This method takes the speed and power factors of the cruise ship into consideration, making the neighborhood radius more in line with the actual navigation conditions, ensuring that under different navigation conditions and power levels, the system can accurately judge and respond in advance to potential collision risks. This mechanism not only enhances navigation safety, but also makes route planning more flexible and intelligent, optimizes path selection according to the real-time status of the ship, reduces unnecessary evasive actions, saves energy, and improves overall navigation efficiency and user experience.

[0063] In the preferred embodiment, in step S13, Ship A potential energy function is , the specific formula is: ; in, represents the attractive potential energy of cruise ship 1, represents the repulsive potential energy of cruise ship 1; ; in, is a constant, Indicates the Euclidean distance from the position of cruise ship 1 to the target.

[0064] ; in, is a constant used to adjust the magnitude of potential energy. Indicates The position of the ship to The distance between the positions of the ships, Indicates the safe distance between two ships.

[0065] The potential energy function constructs an intelligent navigation strategy for each ship by combining attractive potential energy and repulsive potential energy. The attractive potential energy guides cruise ship 1 to efficiently approach the target navigation point, ensuring that the route is direct and effective; while the repulsive potential energy ensures the safe interval between cruise ships 1 to avoid collision. Its size increases sharply as the difference between the actual distance and the safe distance between the two ships decreases, playing a warning role. This function design cleverly balances navigation efficiency and safety, allowing the system to automatically adapt to the complex and changeable water traffic environment, dynamically adjust the course to optimize the overall channel layout, and strictly abide by navigation safety regulations, greatly improving the autonomous navigation capability and reliability of the maritime transportation system.

[0066] In the preferred solution, in step S14, the multi-objective optimization function is specifically: ; in, is the path length, is the estimated energy consumption, is the estimated time, , , They are path length, estimated energy consumption and estimated time weight.

[0067] The multi-objective optimization function comprehensively considers the three key indicators of path length, estimated energy consumption and time, and allows users to customize the weights of each indicator, ensuring that route planning does not only pursue a single optimal solution, but finds the best route that is balanced in multiple dimensions. This not only maximizes navigation efficiency and reduces energy consumption, but also fully considers time costs and improves user experience. This method is highly flexible and adaptable, and can intelligently recommend or customize the most appropriate navigation strategy according to different navigation needs and environmental changes.

[0068] In the preferred solution, the intelligent sorting algorithm specifically includes: S21, preprocessing: multiple target points specified by the user are used as the set of points to be visited ,in is the number of target points. For each possible combination of target points, the shortest path between each pair of consecutive target points is calculated separately based on the dynamic neighborhood potential field path planning algorithm.

[0069] S22. Multi-objective function construction: Based on the above calculation, construct a multi-objective function, considering the total length of the path , total energy consumption and total time , the specific formula is: ; in, , , It is to weigh the importance of different goals and adjust them according to user preferences; S23. Optimization algorithm: Apply genetic algorithm or particle swarm optimization algorithm to find Pareto frontier solutions, that is, a set of solutions that cannot be improved simultaneously in different objective dimensions.

[0070] S24, Sorting and display: For each Pareto solution, the comprehensive score is calculated according to the user-defined preferences. The formula for calculating the comprehensive score based on preferences is: , and then displayed to the user after sorting. The user can directly select or the system can recommend the highest scoring solution by default.

[0071] The multi-point navigation processing module realizes efficient planning and optimal sorting of user-defined multi-target points through an intelligent sorting algorithm. The algorithm first performs basic calculations on the paths between all target points, and then builds a multi-objective optimization model, taking into account the path length, energy consumption and time, allowing users to adjust the weights of various indicators according to their own needs. The optimal path set is explored through genetic algorithms or particle swarm optimization algorithms to ensure the best balance between various performance indicators. Finally, the system sorts and displays all feasible solutions according to user preferences, which not only improves the flexibility and personalization of the navigation plan, but also significantly improves the efficiency and user experience of multi-destination navigation, making complex navigation planning simple and intelligent.

[0072] Example 3 Further illustrate with reference to Example 1 and Example 2, Figure 1-5 As shown, a scenic lake has a total area of ​​10 square kilometers. There is a navigable area 2 with a diameter of 3 km in the center of the lake. There are no static obstacles in this area, which is the main activity range of the cruise ship. It includes multiple attractions and a charging station. There are two docks 8 on the lakeshore, each dock is equipped with 10 berths 7, and the length of the cruise ship is 5m.

[0073] Around the navigable area 2, there is a 10-meter-wide warning navigation area 4, which is used as a safety buffer zone to remind cruise ships to slow down and pay attention. Outside the warning navigation area is the prohibited navigation area 6, which indicates areas that are not suitable for navigation due to insufficient water depth or dangerous aquatic plants. Between the navigable area and the warning navigation area, and between the warning navigation area and the prohibited navigation area, there are warning lines 3 and prohibited lines 5, which are clearly displayed on the monitoring interface in the form of electronic fences.

[0074] All cruise ships are equipped with this intelligent navigation system. After the monitoring and display module is activated, it first shows a water map of the entire lake, with routeable areas, docks, berths, warning navigation areas and prohibited navigation areas clearly visible at a glance. Green means available for booking, blue means booked or sailing, and red means a faulty ship.

[0075] The tourist selected a green cruise ship through the rental service and prepared to depart from the dock to a scenic spot in the center of the lake. The tourist entered the pointing mode on the monitoring interface, clicked the "Pointing and Sailing" button, and through a simple drag operation, specified the starting point Ps as the current berth and the target point Pm as the location of the scenic spot. The system responded immediately, and the route planning module used the dynamic neighborhood potential field path planning algorithm based on the user-specified target point and the current cruise ship position to avoid static obstacles and warning navigation areas in the water area, and generate a safe and efficient route.

[0076] During the planning process, the system detected a dynamic obstacle on the waterway and another cruise ship was sailing slowly. The route planning module quickly adjusted the path to bypass the dynamic obstacle and ensure navigation safety. At the same time, the system also takes into account the current power of the cruise ship and adjusts the neighborhood radius to optimize navigation efficiency to ensure that there is enough power to complete the journey. The tourist also wants to visit another attraction on the way back, so he continues to add an additional stop on the interface. The multi-point navigation processing module then recalculates the route based on the new needs and gives the optimal order and route recommendations for the two attractions. The system also provides several different route options, each with an estimated sailing time, energy consumption and comprehensive score. The tourist chooses one of the options based on personal preference.

[0077] The real-time coordination and broadcast module monitors the dynamics of other cruise ships on the lake, ensuring that the current cruise ship's route does not conflict with other ships. Through encrypted communication protocols, the navigation plan and real-time position are broadcast to other ships to ensure the navigation order and safety of the entire lake.

[0078] When tourists press the "Start Sailing" button, the cruise ship will automatically sail out according to the planned intelligent route. Tourists can relax and enjoy the journey, and at the same time view the sailing status and information about attractions along the way in real time through the monitoring interface.

[0079] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An intelligent cruise ship navigation system based on interactive pointing control, characterized in that the system include: A monitoring and display module is used to display a navigation interface after the cruise ship (1) is started, wherein the interface includes a water map and a cruise ship (1) status, wherein the water map includes a routeable area (2), a dock (8), a berth (7), a warning navigation area (4) and a prohibited navigation area (6), and the cruise ship (1) status is indicated by different colors, such as available for booking, booked and fault conditions, and an operable "point navigation" button is provided, through which a user enters an interactive mode; The single-point navigation instruction receiving module responds to the state of the cruise ship (1) and the user operation in the monitoring interface, and clicks the "point navigation" button. When the cruise ship (1) is in a navigable state, the user is allowed to drag or click the cruise ship (1) icon through a mouse or other input device to specify the starting point Ps and the target point Pm. After turning off the "point navigation", manual driving is restored; The route planning module automatically plans the route based on the target point Pm specified by the user and the current position point Pd of the cruise ship (1), combined with the water map information, using the dynamic neighborhood potential field path planning algorithm, and taking into account the water restrictions, including the restrictions of the warning navigation area (4) and the prohibited navigation area (6), and setting up an obstacle avoidance mechanism; the navigation planning module also includes a dynamic neighborhood potential field path planning algorithm, which can monitor the dynamic obstacles on the waterway in real time, and automatically bypass and update the path when planning the route; The multi-point navigation processing module supports users to specify multiple target points at one time or in steps, and automatically generates the optimal multi-point navigation sequence. Users can adjust the point sequence, and the system provides route suggestions that meet the navigation constraints based on the adjustment; the multi-point navigation processing module also includes an intelligent sorting algorithm, which is responsible for recommending multi-point routes that meet user preferences; The real-time coordination and broadcast module is responsible for monitoring the routes of multiple cruise ships, broadcasting navigation information through wireless communication technology, using encrypted communication protocols to ensure the safe transmission of navigation data, and has a conflict warning function to ensure that there is no conflict between multiple ships and achieve orderly navigation; The user interface module is used to provide clear guidance and feedback, allowing users to intuitively switch to pointing mode on the monitoring interface, perform pointing operations, and view route planning results and correction suggestions in real time.

2. The intelligent cruise ship navigation system based on interactive pointing control according to claim 1 is characterized in that: The water map information in the monitoring and display module includes a navigable area (2), a dock (8), a berth (7), a warning navigation area (4), and a prohibited navigation area (6). The water area enclosed by the warning line (3) is the navigable area (2). The navigable area (2) includes scenic spots, charging points, and static obstacles. A prohibited navigation line (5) is arranged outside the warning line (3). The water area between the warning line (3) and the prohibited navigation line (5) is the warning navigation area (4). The water area outside the prohibited navigation line (5) is the prohibited navigation area (6). An entrance Pr (9) is arranged near the dock (8) between the warning line (3) and the prohibited navigation line (5). A plurality of berths (7) are arranged at the dock. Cruise ship (1) status, where green means available for booking, blue means booked or sailing, and red means a faulty ship.

3. The intelligent cruise ship navigation system based on interactive pointing control according to claim 2 is characterized in that: The monitoring display module further includes an electronic fence integrated display for visually identifying a navigable area (2), a warning navigation area (4) and a prohibited navigation area (6) within the water area.

4. The intelligent cruise ship navigation system based on interactive pointing control according to claim 1 is characterized in that: In the route planning module, the current position point Pd of the cruise ship (1) is any point in the navigable area (2), including the starting point Ps. When the ship is outside the navigable area (2), the position of the cruise ship (1) needs to be adjusted to the navigable area (2) or to the starting point, and then the pointed navigation is completed.

5. The intelligent cruise ship navigation system based on interactive pointing control according to claim 1 is characterized in that: The data transmission between each cruise ship and the intelligent cruise ship navigation system with interactive pointing control adopts Modbus or TCP / IP protocol, and the communication interface adopts RS485, 4-20mA or RS232 type.

6. An intelligent cruise ship navigation method, characterized in that: The following steps are involved: S1. Start the monitoring interface and display navigation related information; S2, receiving the target point specified by the user through pointing operation, which can be single-point navigation or multi-point navigation; S3, using the dynamic neighborhood potential field path planning algorithm to automatically plan the route, including route optimization, obstacle avoidance, and route correction under electronic fence restrictions; S4, supports the planning and adjustment of multi-point navigation, and provides optimal route suggestions using intelligent sorting algorithms; S5. Implement navigation coordination among multiple ships to ensure conflict-free navigation; S6. Provide real-time navigation status feedback and user interaction guidance.

7. The intelligent cruise ship navigation method according to claim 6, characterized in that: The dynamic neighborhood potential field path planning algorithm can monitor dynamic obstacles on the waterway in real time, and automatically detour and update the path when planning the route to avoid collision. The specific steps of the algorithm include: S11. Map information modeling and preprocessing: Construct water area map, use To represent the water area, where the node It includes the entrance Pr (9), scenic spots, charging points, docks (8) and berths (7) of the recreation area. Represents connectivity and navigation cost. The navigation cost includes distance, time, and energy consumption. The routeable area (2), warning navigation area (4), and prohibited navigation area (6) are represented by polygons with different attributes. , , mark; S12, static path planning: Apply A* algorithm to the graph Search for the shortest path between the current cruise ship (1) position point Pd and the target point Pm, taking into account the channel restrictions caused by static obstacles, setting static obstacle nodes, and increasing their passage costs by maximizing the weights. Maximizing the weights increases the passage costs of ships passing through static obstacle nodes. If the current position point Pd of the cruise ship (1) is located at the berth (7) or the prohibited navigation area (6), the planned path needs to pass through the entrance Pr (9). If the current position point Pd of the cruise ship (1) is located in the routeable area (2), the path between the current position point Pd of the cruise ship (1) and the target point Pm can be directly planned; S13, path planning based on potential energy function: for each cruise ship (1), use the neighborhood radius to determine whether there are dynamic obstacles around the cruise ship (1), and use the potential energy function of each ship , obtain the potential energy of each cruise ship (1) in the neighborhood, so that the cruise ship (1) will sail preferentially in the area with low potential energy, and use the A* algorithm to update the optimal path; S14, multi-objective optimization: consider path length, energy consumption and time as optimization objectives, use genetic algorithm or particle swarm optimization algorithm to solve multiple feasible paths, select the path with the highest comprehensive score as the default path, or recommend the optimal path based on user preferences.

8. The intelligent cruise ship navigation method according to claim 7, characterized in that: In step S13, the neighborhood radius is used to determine whether there are dynamic obstacles around the cruise ship (1). The neighborhood radius calculation formula is: ； in, Indicates Ship in time Dynamic neighborhood radius when ; It is Ship in time speed, is the coefficient related to speed; Is a constant used to adjust the power weight factor The degree of influence on the neighborhood radius, , according to the current power of the cruise ship (1) Adjustment factor, is the power threshold.

9. The intelligent cruise ship navigation method according to claim 8, characterized in that: In step S13, Ship A potential energy function is , the specific formula is: ； in, represents the attractive potential energy of the cruise ship (1), represents the repulsive potential energy of the cruise ship (1); ； in, is a constant, represents the Euclidean distance from the position of the cruise ship (1) to the target; ； in, is a constant used to adjust the magnitude of potential energy. Indicates The position of the ship to The distance between the positions of the ships, Indicates the safe distance between two ships.

10. The intelligent cruise ship navigation method according to claim 9, characterized in that: In step S14, the multi-objective optimization function is specifically: ； in, is the path length, is the estimated energy consumption, is the estimated time, , , They are path length, estimated energy consumption and estimated time weight.

11. The intelligent cruise ship navigation method according to claim 6, characterized in that: Intelligent sorting algorithms include: S21, preprocessing: multiple target points specified by the user are used as the set of points to be visited ,in is the number of target points. For each possible combination of target points, the shortest path between each pair of consecutive target points is calculated separately based on the dynamic neighborhood potential field path planning algorithm. S22. Multi-objective function construction: Based on the above calculation, construct a multi-objective function, considering the total length of the path , total energy consumption and total time , the specific formula is: ； in, , , It is to weigh the importance of different goals and adjust them according to user preferences; S23, Optimization algorithm: Apply genetic algorithm or particle swarm optimization algorithm to find Pareto frontier solutions, that is, a set of solutions that cannot be improved simultaneously in different objective dimensions; S24, sorting and display: For each Pareto solution, the comprehensive score is calculated according to the user-defined preferences. The formula for calculating the comprehensive score is: , and then displayed to the user after sorting. The user can directly select or the system can recommend the highest scoring solution by default.

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