Parking path planning method, device, equipment, medium and program based on sea conditions

Abstract

The invention provides a mooring path planning method and device based on sea conditions, equipment, a medium and a program. The method comprises the following steps: acquiring real-time position data and real-time advancing speed of a target ship; obtaining initial position data corresponding to the target ship according to the real-time position data and the real-time advancing speed; sea surface water flow data are obtained, target position data are obtained according to the sea surface water flow data, the real-time advancing speed and the initial position data, the sea surface water flow data represent the sea surface condition of the wharf where the target ship is located, and the target position data represent the position coordinates corresponding to the target ship affected by the sea condition at the next moment; a target berthing point location is obtained, a berthing path corresponding to the target ship is obtained according to the target berthing point location, the real-time position data and the target position data, and the berthing path is the shortest berthing path from the position coordinates corresponding to the real-time position data to the target berthing point location. According to the method, the berthing path can be more accurately planned by using the sea surface water flow data.

Description

Technical Field

[0001] The present application relates to the field of path planning, and in particular to a method, device, equipment, medium and program for planning a mooring path based on sea conditions. Background Art

[0002] GPS and radar systems are generally used to locate ships. During the berthing process, due to the large number of ships at the terminal, the ships need to be parked at fixed parking spots to maintain the normal operation of the terminal.

[0003] In the related art, a docking route is often planned for a ship based on the current position of the ship so that the ship can dock quickly.

[0004] However, when the sea conditions were unstable, the docking path became inaccurate. Summary of the invention

[0005] The present application provides a method, device, equipment, medium and program for planning a berthing path based on sea conditions, so as to solve the technical problem of inaccurate berthing path.

[0006] In a first aspect, the present application provides a method for planning a mooring path based on sea conditions, comprising:

[0007] Obtain the real-time position data and real-time speed of the target ship;

[0008] According to the real-time position data and the real-time travel speed, initial position data corresponding to the target ship is obtained, wherein the initial position data represents the position coordinates corresponding to the target ship not affected by the sea conditions at the next moment;

[0009] Acquire sea surface current data, and obtain target position data according to the sea surface current data, the real-time travel speed and the initial position data, wherein the sea surface current data represents the sea surface condition of the wharf where the target ship is located, and the target position data represents the position coordinates corresponding to the target ship affected by the sea condition at the next moment;

[0010] A target berthing point is obtained, and a berthing path corresponding to the target ship is obtained according to the target berthing point, the real-time position data and the target position data, wherein the berthing path is the shortest berthing path from the position coordinates corresponding to the real-time position data to the target berthing point.

[0011] Optionally, the method as described above, obtaining the initial position data corresponding to the target ship according to the real-time position data and the real-time travel speed, comprises:

[0012] Acquire a target time interval, wherein the target time interval represents a frequency of acquiring real-time location data;

[0013] According to the target time interval and the real-time travel speed, a unit travel distance is obtained, wherein the unit travel distance represents a straight-line distance traveled by the target ship within the target time interval;

[0014] The initial position data is obtained according to the real-time position data and the unit travel distance.

[0015] Optionally, the method as described above, obtaining the target position data according to the sea surface current data, the real-time travel speed and the initial position data, comprises:

[0016] According to the real-time traveling speed and the sea surface current data, a target traveling speed is obtained, wherein the target traveling speed represents the traveling speed of the ship after being affected by the sea conditions;

[0017] The target time interval is obtained, and the target position data is obtained according to the target travel speed and initial position data.

[0018] Optionally, in the method as described above, obtaining the target berthing point comprises:

[0019] Acquire idle points and historical berthing data corresponding to the idle points, wherein the historical berthing data represents the volume of ships parked historically;

[0020] For each of the idle points, according to the historical parking data corresponding to the idle point, a historical parking path corresponding to the historical parking data is obtained, wherein the end point of the historical parking path is the idle point; and according to the idle point, the regional position data corresponding to the idle point is determined;

[0021] According to the plurality of historical parking paths, obtaining the historical starting points corresponding to the historical parking paths, and obtaining the historical starting point position information corresponding to the historical starting points;

[0022] Determine a target historical starting point according to the target location data and the plurality of historical starting point location information, wherein the target historical starting point is a point closest to the target location data among the historical starting points corresponding to the plurality of historical starting point location information;

[0023] The idle point corresponding to the historical starting point of the target is used as the target parking point.

[0024] Optionally, the method as described above, before obtaining the historical starting points corresponding to the historical parking paths according to the plurality of historical parking paths, further comprises:

[0025] Acquire an edge historical parking path corresponding to the regional position data, wherein the edge historical parking path represents a historical trajectory corresponding to the parking points in the area where the idle points are located;

[0026] Obtaining historical starting points corresponding to the historical parking paths according to the plurality of historical parking paths includes:

[0027] According to the edge historical parking path, obtaining the edge historical starting point corresponding to the edge historical parking path;

[0028] The historical starting point is obtained according to the edge historical starting point and the plurality of historical parking paths.

[0029] Obtaining a berthing path corresponding to the target ship according to the target berthing point, the real-time position data and the target position data, including:

[0030] According to the target parking point and the real-time position data, a parking path is obtained, wherein the parking path represents a path that can reach the target parking point from a point corresponding to the real-time position data;

[0031] Obtaining a ship travel direction corresponding to the target ship according to the target position data and the real-time position data;

[0032] The berthing path is obtained according to the traveling direction of the ship and the plurality of berthing paths, wherein the berthing path is in the same direction as the traveling direction of the ship.

[0033] In a second aspect, the present application provides a mooring path planning device based on sea conditions, comprising:

[0034] An acquisition module is used to acquire the real-time position data and real-time travel speed of the target ship;

[0035] A first processing module is used to obtain initial position data corresponding to the target ship according to the real-time position data and the real-time travel speed, wherein the initial position data represents the position coordinates corresponding to the target ship at the next moment without being affected by the sea conditions;

[0036] The second processing module is used to obtain sea surface current data, and obtain target position data according to the sea surface current data, the real-time travel speed and the initial position data, wherein the sea surface current data represents the sea surface condition of the wharf where the target ship is located, and the target position data represents the position coordinates corresponding to the target ship affected by the sea condition at the next moment;

[0037] A generation module is used to obtain a target berthing point, and obtain a berthing path corresponding to the target ship according to the target berthing point, the real-time position data and the target position data, wherein the berthing path is the shortest berthing path from the position coordinates corresponding to the real-time position data to the target berthing point.

[0038] Optionally, the first processing module, when executing the step of obtaining the initial position data corresponding to the target ship according to the real-time position data and the real-time traveling speed, is used to:

[0039] Acquire a target time interval, wherein the target time interval represents a frequency of acquiring real-time location data;

[0040] According to the target time interval and the real-time travel speed, a unit travel distance is obtained, wherein the unit travel distance represents a straight-line distance traveled by the target ship within the target time interval;

[0041] The initial position data is obtained according to the real-time position data and the unit travel distance.

[0042] Optionally, the second processing module, when executing the process of obtaining the target position data according to the sea surface current data, the real-time travel speed and the initial position data, is used to:

[0043] According to the real-time traveling speed and the sea surface current data, a target traveling speed is obtained, wherein the target traveling speed represents the traveling speed of the ship after being affected by the sea conditions;

[0044] The target time interval is obtained, and the target position data is obtained according to the target travel speed and initial position data.

[0045] Optionally, the above generation module, when executing the acquisition of the target berthing point, is used to:

[0046] Acquire idle points and historical berthing data corresponding to the idle points, wherein the historical berthing data represents the volume of ships parked historically;

[0047] For each of the idle points, according to the historical parking data corresponding to the idle point, a historical parking path corresponding to the historical parking data is obtained, wherein the end point of the historical parking path is the idle point; and according to the idle point, the regional position data corresponding to the idle point is determined;

[0048] According to the plurality of historical parking paths, obtaining the historical starting points corresponding to the historical parking paths, and obtaining the historical starting point position information corresponding to the historical starting points;

[0049] Determine a target historical starting point according to the target location data and the plurality of historical starting point location information, wherein the target historical starting point is a point closest to the target location data among the historical starting points corresponding to the plurality of historical starting point location information;

[0050] The idle point corresponding to the historical starting point of the target is used as the target parking point.

[0051] Optionally, the above device further includes:

[0052] A third processing module is used to obtain an edge historical parking path corresponding to the regional position data, wherein the edge historical parking path represents a historical trajectory corresponding to the parking point in the area where the idle point is located;

[0053] Accordingly, the generation module, when executing the process of obtaining the historical starting point corresponding to the historical parking path according to the plurality of historical parking paths, is used to:

[0054] According to the edge historical parking path, obtaining the edge historical starting point corresponding to the edge historical parking path;

[0055] The historical starting point is obtained according to the edge historical starting point and the plurality of historical parking paths.

[0056] Optionally, the generating module, when executing the step of obtaining a berthing path corresponding to the target ship according to the target berthing point, the real-time position data and the target position data, is used to:

[0057] According to the target parking point and the real-time position data, a parking path is obtained, wherein the parking path represents a path that can reach the target parking point from a point corresponding to the real-time position data;

[0058] Obtaining a ship travel direction corresponding to the target ship according to the target position data and the real-time position data;

[0059] The berthing path is obtained according to the traveling direction of the ship and the plurality of berthing paths, wherein the berthing path is in the same direction as the traveling direction of the ship.

[0060] According to a third aspect, an electronic device includes: a processor, and a memory communicatively connected to the processor;

[0061] The memory stores computer-executable instructions;

[0062] The processor executes the computer-executable instructions stored in the memory to implement the sea condition-based mooring path planning method as described in the first aspect.

[0063] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the sea condition-based mooring path planning method as described in the first aspect.

[0064] In a fifth aspect, a computer program product comprises a computer program, which, when executed by a processor, implements the sea condition-based mooring path planning method as described in the first aspect.

[0065] The method, device, equipment, medium and program for planning a mooring path based on sea conditions provided in the present application determine the current position of the target ship by acquiring the real-time position data of the target ship, and determine the navigation speed of the target ship by acquiring the real-time travel speed; obtain the initial position data corresponding to the target ship according to the current position and navigation speed of the target ship to determine the predicted position of the target ship at the next moment that is not affected by the sea conditions; obtain sea surface water flow data to determine the sea surface conditions of the wharf where the target ship is located; obtain the target position data according to the sea surface conditions of the wharf, the navigation speed of the target ship and the predicted position that is not affected by the sea conditions, thereby obtaining the predicted position of the target ship that is affected by the sea conditions, which can improve the accuracy of the predicted position; after obtaining the target mooring point, a more accurate mooring path can be obtained according to the target mooring point, the current position of the target ship and the accurate predicted position, thereby achieving the beneficial effect of accurately determining the mooring path. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0067] Figure 1 A schematic diagram of an application scenario of the sea condition-based mooring path planning method provided in this application;

[0068] Figure 2 A schematic diagram of the process flow of the mooring path planning method based on sea conditions provided in this application;

[0069] Figure 3 Another schematic diagram of the process of the mooring path planning method based on sea conditions provided in this application;

[0070] Figure 4 A schematic diagram of the structure of a mooring path planning device based on sea conditions provided in this application;

[0071] Figure 5 A schematic diagram of the structure of the electronic device provided in this application.

[0072] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0073] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0074] GPS and radar systems are generally used to locate ships. During the berthing process, due to the large number of ships at the terminal, the ships need to be parked at fixed parking spots to maintain the normal operation of the terminal.

[0075] In the related art, a docking path is often planned for a ship based on the current position of the ship, so that the ship can dock quickly. Figure 1 As shown, after the GPS device installed on the ship collects the position coordinates of the ship, the above position coordinates are sent to the processing device; the processing device determines the berthing position for the ship based on the above position coordinates, and plans a berthing path for the ship according to the berthing position and the position coordinates; the processing device sends the berthing path to the receiving device of the ship, and the receiving device generates prompt information based on the berthing path, and the prompt information is used to prompt the ship staff to travel based on the berthing path.

[0076] However, the sea surface state may have an impact on the real-time position of the ship. For example, after the real-time position of the ship is obtained, the sea surface current impacts the ship, causing the real-time position to be offset.

[0077] Therefore, how to more accurately plan a docking route for a ship based on sea conditions is a technical problem that needs to be urgently solved by those skilled in the art.

[0078] The embodiment of the present application provides a method for planning a mooring path based on sea conditions, which aims to solve the above technical problems of the prior art and is performed by an electronic device. The electronic device can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiment of the present application.

[0079] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0080] like Figure 2 As shown, a method for planning a mooring path based on sea conditions may specifically include steps S101 to S104, wherein:

[0081] S101. Acquire the real-time position data and real-time travel speed of the target ship.

[0082] Specifically, a positioning device is provided on the ship, and the positioning device transmits position information outward at a preset frequency, wherein the position information includes ship data and real-time position data of the ship, and the ship data includes specific data such as ship identification and ship hull data, wherein the ship identification can be information such as ship number and ship code that can characterize the identity of the ship, and the ship hull data is data such as ship displacement, volume tons and / or gross tonnage that can characterize the size of the ship, wherein the gross tonnage identifies the total volume of the ship, the displacement is the weight of the water displaced by the ship in the water, and the volume tons characterizes the volume of liquid cargo; when the electronic device receives the position information, it parses the ship data and real-time position data in the position information; and obtains the real-time travel speed according to multiple real-time position data, wherein two real-time position data with adjacent receiving times in the above multiple real-time position data are separated by a preset time interval, and the preset time interval = 1 / preset frequency, and the real-time travel speed includes the instantaneous speed and average speed of the ship.

[0083] S102. Obtaining initial position data corresponding to the target ship according to the real-time position data and the real-time traveling speed, wherein the initial position data represents the position coordinates corresponding to the target ship at the next moment without being affected by the sea conditions.

[0084] Specifically, a target time interval is obtained, wherein the target time interval represents the frequency of obtaining real-time position data; a unit travel distance is obtained according to the target time interval and the real-time travel speed, wherein the unit travel distance represents the straight-line distance traveled by the target ship within the target time interval; and initial position data is obtained according to the real-time position data and the unit travel distance.

[0085] For example, the acquisition frequency of real-time position data is the preset frequency, the target time interval = 1 / preset frequency; unit travel distance = real-time travel speed × target time interval, preferably, the unit of real-time travel speed is m / ms, and the unit of target time interval is ms.

[0086] S103, obtaining sea surface current data, and obtaining target position data according to the sea surface current data, the real-time travel speed and the initial position data, wherein the sea surface current data represents the sea surface condition of the wharf where the target ship is located, and the target position data represents the position coordinates corresponding to the target ship affected by the sea condition at the next moment.

[0087] It should be noted that ships are equipped with traveling ADCP (Acoustic Doppler Current Profiler) or other current measuring instruments. Among them, the traveling ADCP is a current measuring instrument carried on mobile carriers such as ships and unmanned submersibles, which can realize profile observation of ocean currents in the navigation area.

[0088] Acquiring sea surface current data may specifically include: after the traveling ADCP acquires the sea surface current data, sending the sea surface current data to the electronic device, wherein the sea surface current data includes the acquisition time and its corresponding water flow speed, reef distribution and other data, and the acquisition time is the time when the traveling ADCP acquires the sea surface current data. It should be noted that the water flow speed and the ship speed are both vector speeds.

[0089] According to the sea surface water flow data, the real-time travel speed and the initial position data, the target position data is obtained, which may specifically include: according to the water flow speed and the real-time travel speed in the sea surface water flow data, the target travel speed is obtained, wherein the target travel speed is the vector sum of the water flow speed and the real-time travel speed; according to the target travel speed and the target time interval, the unit displacement is obtained, wherein the unit displacement represents the displacement that the target ship can generate in the target time interval based on the target travel speed, the unit displacement = target travel speed × target time interval, and the unit displacement is vector data; based on the unit displacement and the initial position data, the target position data is obtained, wherein the position coordinates corresponding to the initial position data are the starting point of the unit displacement, and the position coordinates corresponding to the target position data are the end point of the unit displacement.

[0090] S104, obtaining a target berthing point, and obtaining a berthing path corresponding to the target ship according to the target berthing point, the real-time position data and the target position data, wherein the berthing path is the shortest berthing path from the position coordinates corresponding to the real-time position data to the target berthing point.

[0091] The target parking point is an idle parking point at the current moment. For example, obtaining the target parking point may specifically include: taking an idle parking point as the target parking point among multiple parking points.

[0092] According to the target berthing point, the real-time position data and the target position data, a berthing path corresponding to the target ship is obtained, which may specifically include: according to multiple target berthing points, the real-time position data and the target position data, a final berthing point is obtained, and the final berthing point is the berthing point closest to the target position data among the above multiple target berthing points; based on the path selection algorithm, the final berthing point and the target position data, the above berthing path is obtained, wherein the path selection algorithm may be any algorithm such as the Dijkstra algorithm, the Bellman-Ford algorithm, the Floyd-Warshall algorithm or the A* algorithm, as long as the path selection can be completed, and this embodiment will not be specifically limited.

[0093] According to multiple target anchoring points, real-time position data and target position data, a final anchoring point is obtained, which may specifically include: there is a time difference between the data sending time and the data receiving time of the target ship, and the initial position data is closer to the data receiving time than the real-time position data. This scheme determines the anchoring displacement from the coordinate position corresponding to the next moment of the target ship to the target anchoring point by obtaining the anchoring displacement between each target anchoring point and the initial position data, wherein the anchoring displacement can be obtained through the position coordinates corresponding to the target anchoring point and the initial position data, and the anchoring displacement is a vector from the position coordinates corresponding to the initial position data to the position coordinates corresponding to the target anchoring point; according to multiple anchoring displacements, the minimum anchoring displacement is determined, and the target anchoring point corresponding to the minimum anchoring displacement is used as the final anchoring point, thereby determining the anchoring point among the target anchoring points that is closest to the point corresponding to the initial position data.

[0094] Determining a minimum mooring displacement based on a plurality of mooring displacements may specifically include: obtaining a mooring distance corresponding to each of the plurality of mooring displacements, wherein the mooring distance is a modulus of the mooring displacement; obtaining a bow direction vector based on the initial position data and the real-time position data, wherein the bow direction vector is a vector pointing from the position coordinate corresponding to the initial position data to the position coordinate corresponding to the real-time position data; obtaining an offset angle corresponding to each mooring displacement based on the bow direction vector and each mooring displacement, wherein the offset angle represents the angle between the bow direction vector and the mooring displacement; determining a target offset angle based on a plurality of offset angles, wherein the target offset angle is an offset angle less than 90° among the plurality of offset angles mentioned above; obtaining a minimum mooring displacement based on a mooring distance corresponding to a mooring displacement corresponding to the target offset angle, wherein the minimum mooring displacement is a mooring displacement having the smallest mooring distance among the mooring displacements corresponding to the target offset angle.

[0095] The sea condition-based mooring path planning method provided in the embodiment of the present application determines the current position of the target ship by acquiring the real-time position data of the target ship, and determines the navigation speed of the target ship by acquiring the real-time travel speed; obtains the initial position data corresponding to the target ship according to the current position and navigation speed of the target ship, so as to determine the predicted position of the target ship not affected by the sea condition at the next moment; obtains sea surface current data to determine the sea surface condition of the wharf where the target ship is located; obtains the target position data according to the sea surface condition of the wharf, the navigation speed of the target ship and the predicted position not affected by the sea condition, thereby obtaining the predicted position of the target ship affected by the sea condition, which can improve the accuracy of the predicted position; after obtaining the target mooring point, a more accurate mooring path can be obtained according to the target mooring point, the current position of the target ship and the accurate predicted position, thereby achieving the beneficial effect of accurately determining the mooring path.

[0096] In one possible implementation, the above S102, obtaining the initial position data corresponding to the target ship according to the real-time position data and the real-time travel speed, may specifically include S103-1 and S103-2, wherein:

[0097] S102-1. Obtain a target time interval, where the target time interval represents a frequency of obtaining real-time location data.

[0098] The process of acquiring the target time interval may refer to the example of S102, which will not be described in detail in this embodiment.

[0099] S102-2. Obtain a unit travel distance according to the target time interval and the real-time travel speed, wherein the unit travel distance represents a straight-line distance traveled by the target ship within the target time interval.

[0100] Unit travel distance = target time interval × real-time travel speed.

[0101] S102-3. Obtain initial position data based on the real-time position data and the unit travel distance.

[0102] Specifically, a bow direction vector corresponding to the traveling direction of the target ship is obtained, wherein the process of obtaining the bow direction vector can refer to the specific content in S104 and will not be repeated in this embodiment; based on the bow direction vector and the unit travel distance, a unit direction vector of the bow of the target ship is obtained, wherein the unit direction vector = bow direction vector ÷ unit travel distance; according to the unit direction vector and the real-time position data, the initial position data is obtained, wherein the vector pointing from the point corresponding to the real-time position data to the point corresponding to the initial position data is in the same direction as the unit direction vector, and the straight-line distance between the real-time position data and the initial position data is the unit travel distance.

[0103] The sea condition-based mooring path planning method provided in the embodiment of the present application determines the frequency of obtaining the ship's position by the electronic device by obtaining the target time interval; obtains the unit travel distance according to the target time interval and the real-time travel speed, thereby determining the straight-line distance traveled by the target ship within the target time interval; and obtains the initial position data according to the real-time position data and the unit travel distance.

[0104] In an implementable manner, the above S103, obtaining the target position data according to the sea surface current data, the real-time travel speed and the initial position data, may specifically include S103-1 and S103-2, wherein:

[0105] S103-1. Obtain a target travel speed according to the real-time travel speed and the sea surface current data, wherein the target travel speed represents the travel speed of the ship after being affected by the sea conditions.

[0106] Sea surface current data includes water velocity.

[0107] Specifically, the target travel speed is obtained according to the water flow speed and the real-time travel speed in the sea surface water flow data, wherein the target travel speed is the vector sum of the water flow speed and the real-time travel speed.

[0108] S103-2, obtaining the target time interval, and obtaining the target position data according to the target travel speed and the initial position data.

[0109] The specific implementation process of obtaining the target time interval may refer to the example part of S102, which will not be described in detail in this embodiment.

[0110] Obtaining target position data according to the target travel speed and the initial position data may specifically include: obtaining a unit displacement according to the target travel speed and the target time interval, wherein the unit displacement represents the displacement that the target ship can generate in the target time interval based on the target travel speed, and the unit displacement = target travel speed × target time interval, and the unit displacement is vector data; obtaining the target position data based on the unit displacement and the initial position data, wherein the position coordinates corresponding to the initial position data are the starting point of the unit displacement, and the position coordinates corresponding to the target position data are the end point of the unit displacement.

[0111] The sea condition-based mooring path planning method provided in the embodiment of the present application obtains the target travel speed according to the real-time travel speed and sea surface current data, thereby obtaining the travel speed of the ship after being affected by the sea conditions; obtains the target time interval, and predicts the next point of the initial position data according to the target travel speed and the initial position data to obtain the target position data.

[0112] In an implementable manner, in the above S104, obtaining the target berthing point may specifically include S104-1 to S104-5, wherein:

[0113] S104-1. Obtain idle points and historical berthing data corresponding to the idle points, where the historical berthing data represents the volume of ships that have been parked historically.

[0114] Specifically, a parking status identification corresponding to each of a plurality of berthing points is obtained, wherein the parking status identification indicates whether there is a ship moored at the berthing point, and the parking status identification is idle or occupied. The parking status identification can be obtained based on a camera device installed in the area where the dock is located, or can be obtained based on the historical berthing data of the dock, the camera device is used to collect images of ships in the dock, and the historical berthing data includes but is not limited to historical target berthing points, historical real-time position data, ship size, historical berthing paths and historical berthing results, and the historical berthing results indicate whether historical ships have parked at historical target berthing points according to historical berthing paths; the berthing points with the parking status identification as idle are regarded as idle points, and the historical berthing data corresponding to the idle points are obtained.

[0115] S104-2. For each idle point, obtain a historical parking path corresponding to the historical parking data according to the historical parking data corresponding to the idle point, wherein the end point of the historical parking path is the idle point; and determine the regional position data corresponding to the idle point according to the idle point.

[0116] The historical berthing data included in the historical berthing data include historical berthing routes, historical starting points and historical end points, and the historical end points are historical target berthing points corresponding to historically parked ships.

[0117] According to the historical parking data corresponding to the idle points, the historical parking paths corresponding to the historical parking data are obtained, which may specifically include: for each idle point, based on keyword recognition, the historical parking paths in the historical parking data are obtained, wherein the keywords are identifiers that can characterize path characteristics.

[0118] Determining the regional location data corresponding to the idle point based on the idle point may specifically include: obtaining a wharf area identifier corresponding to the idle point, wherein the area where the wharf is located includes multiple wharf areas, and the multiple wharf areas are pre-divided and stored in an electronic device, and the wharf area identifier is a number that can characterize the wharf area; obtaining a location range corresponding to the wharf area identifier based on the wharf area identifier, wherein the location range is coordinate data of an area covered by the wharf area corresponding to the wharf area identifier; and using the location range as the regional location data corresponding to the idle point.

[0119] S104-3. Obtain a historical starting point corresponding to the historical parking path according to the plurality of historical parking paths, and obtain historical starting point position information corresponding to the historical starting point.

[0120] The above historical starting point position information is the historical real-time position information corresponding to the historically parked ships.

[0121] S104-4. Determine the target historical starting point according to the target position data and the multiple historical starting point position information, wherein the target historical starting point is the point closest to the target position data among the historical starting points corresponding to the multiple historical starting point position information.

[0122] Specifically, based on each historical starting point position information and target position data, the starting point spacing corresponding to the historical starting point position information is obtained, wherein the starting point spacing is the straight-line distance between the position coordinates corresponding to the historical starting point and the position coordinates corresponding to the target position data; based on multiple starting point spacings, the target starting point spacing is obtained, wherein the target starting point spacing is the starting point spacing with the smallest value among the above multiple starting point spacings; based on the historical starting point position information corresponding to the target starting point spacing, the target historical starting point is obtained, wherein the target historical starting point is the position coordinates corresponding to the historical starting point position information corresponding to the above target starting point distance.

[0123] S104-5. Use the idle point corresponding to the target historical starting point as the target berthing point.

[0124] Specifically, the historical endpoint corresponding to the target historical starting point is obtained according to the historical parking data corresponding to the target historical starting point, wherein the historical parking data corresponding to the target historical starting point includes the historical starting point, the historical endpoint and the historical path, and there is a correlation between the historical starting point, the historical endpoint and the historical path in the same historical parking data; the above historical endpoint is used as the target parking point.

[0125] The method for planning a mooring path based on sea conditions provided in an embodiment of the present application determines the ship volume of historically parked ships at the idle point by acquiring an idle point and historical mooring data corresponding to the idle point; for each idle point, a historical mooring path corresponding to the historical mooring data is obtained according to the historical mooring data corresponding to the idle point, so as to determine the historical mooring path whose end point is the idle point; at the same time, regional position data corresponding to the area where the idle point is located is determined; according to multiple historical mooring paths, a historical starting point corresponding to the historical mooring path is obtained to obtain multiple historical starting points corresponding to the idle point; the historical starting point position information corresponding to the historical starting point is obtained to determine the specific position of the historical starting point; according to the target position data and the multiple historical starting point position information, the target historical starting point closest to the target position data among the historical starting points corresponding to each of the multiple historical starting point position information is determined; the idle point corresponding to the target historical starting point closest to the target position data is used as the target mooring point. Compared with directly using the idle point closest to the target position data as the target mooring point, this scheme can add factors such as ship volume other than distance through the historical mooring data, thereby realizing accurate determination of the target mooring point.

[0126] In an implementable manner, before obtaining the historical starting points corresponding to the historical parking paths according to the multiple historical parking paths in S104-3, the following may also be included:

[0127] The edge historical parking path corresponding to the regional position data is obtained, wherein the edge historical parking path represents the historical trajectory corresponding to the parking point in the area where the idle point is located.

[0128] The area where the idle point is located includes at least two adjacent parking points. The area position data includes the point position data corresponding to each of the at least two adjacent parking points.

[0129] Specifically, based on the point position data corresponding to each of the at least two adjacent parking points, the historical parking data corresponding to each of the at least two adjacent parking points are obtained; for each adjacent parking point, the historical parking path corresponding to the adjacent parking point is determined from the historical parking data corresponding to the adjacent parking point; the historical parking path corresponding to the adjacent parking point is used as the edge historical parking path.

[0130] Accordingly, the above S104-3, based on the multiple historical parking paths, obtains the historical starting point corresponding to the historical parking path, which may specifically include:

[0131] S104-31. According to the edge historical parking path, obtain the edge historical starting point corresponding to the edge historical parking path.

[0132] The edge historical starting point is the adjacent point starting point corresponding to each of the at least two adjacent parking points, wherein the adjacent point starting point is the historical starting point in the historical parking data.

[0133] S104-32. Obtain a historical starting point according to the edge historical starting point and multiple historical parking paths.

[0134] Specifically, for each historical parking path, determine whether the historical starting point and edge historical starting point corresponding to the historical parking path coincide with each other; if so, update the starting point list based on the historical starting point corresponding to the historical parking path to achieve the purpose of adding the historical starting point to the starting point list, wherein the historical starting point in the starting point list is the historical starting point in S104-32; if not, it means that the historical starting point corresponding to the historical parking path does not meet the selection requirements.

[0135] In one possible implementation, in the above S104, obtaining a berthing path corresponding to the target ship according to the target berthing point, the real-time position data and the target position data may specifically include S104-1 to S104-3, wherein:

[0136] S104-1. Obtain a parkable path according to the target parking point and the real-time position data. The parkable path represents a path that can reach the target parking point from the point corresponding to the real-time position data.

[0137] Specifically, a final parking point is obtained according to multiple target parking points, real-time position data and target position data, and the final parking point is the parking point closest to the target position data among the multiple target parking points. A parkable path is obtained based on a path selection algorithm, the final parking point and the target position data, wherein the path selection algorithm may be any algorithm such as Dijkstra algorithm, Bellman-Ford algorithm, Floyd-Warshall algorithm or A* algorithm, as long as the path selection can be completed, and this embodiment will not be specifically limited.

[0138] The dockable path includes a plurality of directed path segments.

[0139] The specific implementation process of obtaining the final mooring point according to the multiple target mooring points, the real-time position data and the target position data is detailed in S104 and will not be described in detail in this embodiment.

[0140] S104-2. Obtain the ship travel direction corresponding to the target ship according to the target position data and the real-time position data.

[0141] According to the initial position data and the real-time position data, the bow direction vector is obtained, wherein the bow direction vector is a vector pointing from the position coordinates corresponding to the initial position data to the position coordinates corresponding to the real-time position data; the bow direction vector is normalized to obtain the ship's travel direction.

[0142] S104-3. Obtain a berthing path according to the traveling direction of the ship and a plurality of possible berthing paths, wherein the berthing path is in the same direction as the traveling direction of the ship.

[0143] Specifically, the direction of the dockable path is obtained according to the first path segment corresponding to each dockable path, wherein the first path segment is the path segment with the first order in the above-mentioned multiple directed path segments, and the direction of the dockable path is the direction vector of the first path segment.

[0144] The following is a specific example to illustrate the mooring path planning method based on sea conditions provided in the above embodiment. Figure 3 As shown, the following steps are included:

[0145] S201. Acquire the real-time position data and real-time travel speed of the target ship.

[0146] S202. Obtain initial position data corresponding to the target ship according to the real-time position data and the real-time traveling speed, wherein the initial position data represents the position coordinates corresponding to the target ship at the next moment without being affected by the sea conditions.

[0147] Specifically, a target time interval is obtained, wherein the target time interval represents the frequency of obtaining real-time position data; a unit travel distance is obtained according to the target time interval and the real-time travel speed, wherein the unit travel distance represents the straight-line distance traveled by the target ship within the target time interval; and initial position data is obtained according to the real-time position data and the unit travel distance.

[0148] S203, obtaining sea surface current data, and obtaining target position data according to the sea surface current data, the real-time travel speed and the initial position data, wherein the sea surface current data represents the sea surface condition of the wharf where the target ship is located, and the target position data represents the position coordinates corresponding to the target ship affected by the sea condition at the next moment.

[0149] The target position data is obtained according to the sea surface current data, the real-time travel speed and the initial position data, which may specifically include: obtaining the target travel speed according to the real-time travel speed and the sea surface current data, wherein the target travel speed represents the travel speed of the ship after being affected by the sea conditions; obtaining the target time interval, and obtaining the target position data according to the target travel speed and the initial position data.

[0150] S204, obtaining idle points and regional location data corresponding to the idle points, and obtaining edge historical parking paths corresponding to the regional location data, wherein the edge historical parking paths represent historical tracks corresponding to parking points in the area where the idle points are located.

[0151] Specifically, the idle points and the historical berthing data corresponding to the idle points are obtained, the historical berthing data represents the volume of ships parked historically; for each idle point, the historical berthing path corresponding to the historical berthing data is obtained based on the historical berthing data corresponding to the idle point, wherein the end point of the historical berthing path is the idle point; and based on the idle point, the regional location data corresponding to the idle point is determined.

[0152] S205 . Obtain an edge historical starting point corresponding to the edge historical parking path according to the edge historical parking path; and obtain a historical starting point according to the edge historical starting point and multiple historical parking paths.

[0153] Specifically, based on multiple historical parking paths, the historical starting point corresponding to the historical parking path is obtained, and the historical starting point position information corresponding to the historical starting point is obtained; based on the target position data and the multiple historical starting point position information, the target historical starting point is determined, wherein the target historical starting point is the point closest to the target position data among the historical starting points corresponding to the multiple historical starting point position information; the idle point corresponding to the target historical starting point is used as the target parking point.

[0154] According to the target berthing point, the real-time position data and the target position data, a berthing path corresponding to the target ship is obtained, wherein the berthing path is the shortest berthing path from the position coordinates corresponding to the real-time position data to the target berthing point.

[0155] S206: Obtain a berthing path corresponding to the target ship according to the target berthing point, the real-time position data and the target position data.

[0156] Specifically, a berthing path is obtained according to the target berthing point and the real-time position data, and the berthing path represents a path that can reach the target berthing point from the point corresponding to the real-time position data; a ship travel direction corresponding to the target ship is obtained according to the target position data and the real-time position data; a berthing path is obtained according to the ship travel direction and multiple berthing paths, wherein the berthing path is in the same direction as the ship travel direction.

[0157] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0158] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0159] Figure 4 The schematic diagram of the structure of the mooring path planning device based on sea conditions provided in this application is as follows: Figure 4 As shown, the mooring path planning device 40 based on sea conditions provided in this embodiment includes:

[0160] The acquisition module 401 is used to acquire the real-time position data and real-time travel speed of the target ship;

[0161] The first processing module 402 is used to obtain initial position data corresponding to the target ship according to the real-time position data and the real-time travel speed, wherein the initial position data represents the position coordinates corresponding to the target ship at the next moment without being affected by the sea conditions;

[0162] The second processing module 403 is used to obtain sea surface current data, and obtain target position data according to the sea surface current data, the real-time travel speed and the initial position data, wherein the sea surface current data represents the sea surface condition of the wharf where the target ship is located, and the target position data represents the position coordinates corresponding to the target ship that will pass through the sea condition at the next moment;

[0163] The generating module 404 is used to obtain the target berthing point, and obtain the berthing path corresponding to the target ship according to the target berthing point, the real-time position data and the target position data, wherein the berthing path is the shortest berthing path from the position coordinates corresponding to the real-time position data to the target berthing point.

[0164] Optionally, the first processing module 402, when obtaining the initial position data corresponding to the target ship according to the real-time position data and the real-time traveling speed, is used to:

[0165] Acquire a target time interval, wherein the target time interval represents a frequency of acquiring real-time location data;

[0166] According to the target time interval and the real-time travel speed, a unit travel distance is obtained, wherein the unit travel distance represents the straight-line distance traveled by the target ship within the target time interval;

[0167] The initial position data is obtained according to the real-time position data and the unit travel distance.

[0168] Optionally, the second processing module 403, when obtaining the target position data according to the sea surface current data, the real-time travel speed and the initial position data, is used to:

[0169] According to the real-time traveling speed and sea surface current data, the target traveling speed is obtained, wherein the target traveling speed represents the traveling speed of the ship after being affected by the sea conditions;

[0170] The target time interval is obtained, and the target position data is obtained according to the target travel speed and initial position data.

[0171] Optionally, the generating module 404, when executing the acquisition of the target berthing point, is used to:

[0172] Obtain idle points and historical berthing data corresponding to the idle points, where the historical berthing data represents the volume of ships that have been parked historically;

[0173] For each idle point, according to the historical parking data corresponding to the idle point, a historical parking path corresponding to the historical parking data is obtained, wherein the end point of the historical parking path is the idle point; and according to the idle point, the regional position data corresponding to the idle point is determined;

[0174] According to the multiple historical parking paths, the historical starting points corresponding to the historical parking paths are obtained, and the historical starting point position information corresponding to the historical starting points is obtained;

[0175] Determine the target historical starting point according to the target location data and the multiple historical starting point location information, wherein the target historical starting point is the point closest to the target location data among the historical starting points corresponding to the multiple historical starting point location information;

[0176] The idle point corresponding to the historical starting point of the target is used as the target parking point.

[0177] Optionally, the above device 40 further includes:

[0178] The third processing module is used to obtain the edge historical parking path corresponding to the regional position data, wherein the edge historical parking path represents the historical trajectory corresponding to the parking point in the area where the idle point is located;

[0179] Accordingly, when the generation module 404 is executed to obtain the historical starting point corresponding to the historical parking path according to the multiple historical parking paths, it is used to:

[0180] According to the edge historical parking path, the edge historical starting point corresponding to the edge historical parking path is obtained;

[0181] According to the edge historical starting point and multiple historical parking paths, the historical starting point is obtained.

[0182] Optionally, the generating module 404, when executing the process of obtaining a berthing path corresponding to the target ship according to the target berthing point, the real-time position data and the target position data, is used to:

[0183] According to the target parking point and the real-time position data, a parking path is obtained, and the parking path represents a path that can reach the target parking point from the point corresponding to the real-time position data;

[0184] According to the target position data and the real-time position data, the ship travel direction corresponding to the target ship is obtained;

[0185] According to the traveling direction of the ship and a plurality of possible berthing paths, a berthing path is obtained, wherein the berthing path is in the same direction as the traveling direction of the ship.

[0186] The sea condition-based mooring path planning device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0187] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0188] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0189] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to a transistor, a memristor, etc.

[0190] Figure 5 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 5 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0191] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0192] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0193] If not otherwise specified, the processor 501 may be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. If not otherwise specified, the memory 502 may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc.

[0194] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0195] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above redundant field updating method for a distributed system is implemented.

[0196] An embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the above redundant field updating method for a distributed system.

[0197] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0198] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0199] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for planning a mooring path based on sea conditions, characterized in that: include: Obtain the real-time position data and real-time speed of the target ship; According to the real-time position data and the real-time travel speed, initial position data corresponding to the target ship is obtained, wherein the initial position data represents the position coordinates corresponding to the target ship not affected by the sea conditions at the next moment; Acquire sea surface current data, and obtain target position data according to the sea surface current data, the real-time travel speed and the initial position data, wherein the sea surface current data represents the sea surface condition of the wharf where the target ship is located, and the target position data represents the position coordinates corresponding to the target ship affected by the sea condition at the next moment; A target berthing point is obtained, and a berthing path corresponding to the target ship is obtained according to the target berthing point, the real-time position data and the target position data, wherein the berthing path is the shortest berthing path from the position coordinates corresponding to the real-time position data to the target berthing point.

2. The method for planning a mooring path based on sea conditions according to claim 1, characterized in that: Obtaining initial position data corresponding to the target ship according to the real-time position data and the real-time traveling speed, including: Acquire a target time interval, wherein the target time interval represents a frequency of acquiring real-time location data; According to the target time interval and the real-time travel speed, a unit travel distance is obtained, wherein the unit travel distance represents a straight-line distance traveled by the target ship within the target time interval; The initial position data is obtained according to the real-time position data and the unit travel distance.

3. The method for planning a mooring path based on sea conditions according to claim 1, characterized in that: Obtaining target position data according to the sea surface current data, the real-time travel speed and the initial position data, including: According to the real-time traveling speed and the sea surface current data, a target traveling speed is obtained, wherein the target traveling speed represents the traveling speed of the ship after being affected by the sea conditions; The target time interval is obtained, and the target position data is obtained according to the target travel speed and initial position data.

4. The method for planning a mooring path based on sea conditions according to claim 1, characterized in that: The step of obtaining the target berthing point comprises: Acquire idle points and historical berthing data corresponding to the idle points, wherein the historical berthing data represents the volume of ships parked historically; For each of the idle points, according to the historical parking data corresponding to the idle point, a historical parking path corresponding to the historical parking data is obtained, wherein the end point of the historical parking path is the idle point; and according to the idle point, the regional position data corresponding to the idle point is determined; According to the plurality of historical parking paths, obtaining the historical starting points corresponding to the historical parking paths, and obtaining the historical starting point position information corresponding to the historical starting points; Determine a target historical starting point according to the target location data and the plurality of historical starting point location information, wherein the target historical starting point is a point closest to the target location data among the historical starting points corresponding to the plurality of historical starting point location information; The idle point corresponding to the historical starting point of the target is used as the target parking point.

5. The method for planning a mooring path based on sea conditions according to claim 4, characterized in that: Before obtaining the historical starting points corresponding to the historical parking paths according to the plurality of historical parking paths, the method further includes: Acquire an edge historical parking path corresponding to the regional position data, wherein the edge historical parking path represents a historical trajectory corresponding to the parking points in the area where the idle points are located; According to the plurality of historical parking paths, obtaining the historical starting points corresponding to the historical parking paths includes: According to the edge historical parking path, obtaining the edge historical starting point corresponding to the edge historical parking path; The historical starting point is obtained according to the edge historical starting point and the plurality of historical parking paths.

6. The method for planning a mooring path based on sea conditions according to claim 1, characterized in that: Obtaining a berthing path corresponding to the target ship according to the target berthing point, the real-time position data and the target position data, including: According to the target parking point and the real-time position data, a parking path is obtained, wherein the parking path represents a path that can reach the target parking point from a point corresponding to the real-time position data; Obtaining a ship travel direction corresponding to the target ship according to the target position data and the real-time position data; The berthing path is obtained according to the traveling direction of the ship and the plurality of berthing paths, wherein the berthing path is in the same direction as the traveling direction of the ship.

7. A mooring path planning device based on sea conditions, characterized in that: include: An acquisition module is used to obtain the real-time position data and real-time travel speed of the target ship; A first processing module is used to obtain initial position data corresponding to the target ship according to the real-time position data and the real-time travel speed, wherein the initial position data represents the position coordinates corresponding to the target ship at the next moment without being affected by the sea conditions; The second processing module is used to obtain sea surface current data, and obtain target position data according to the sea surface current data, the real-time travel speed and the initial position data, wherein the sea surface current data represents the sea surface condition of the wharf where the target ship is located, and the target position data represents the position coordinates corresponding to the target ship affected by the sea condition at the next moment; A generation module is used to obtain a target berthing point, and obtain a berthing path corresponding to the target ship according to the target berthing point, the real-time position data and the target position data, wherein the berthing path is the shortest berthing path from the position coordinates corresponding to the real-time position data to the target berthing point.

8. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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