Ship navigation method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a ship navigation method and device, electronic equipment and a storage medium. The method comprises the following steps: determining navigation information of a target ship; utilizing at least two route decision algorithms to generate at least two candidate routes corresponding to the navigation information; screening the candidate routes based on a preset screening rule to obtain a target route; and carrying out navigation control on the target ship based on the target route so as to enable the target ship to navigate according to the target route. According to the technical scheme provided by the embodiment of the invention, the technical problem of single route decision mode of ship navigation in related technologies is solved, and the target route is obtained through a multi-source route decision algorithm, so that the ship navigation is more reliable and safer.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of ship navigation, and in particular, to a ship navigation method, device, electronic equipment and storage medium. Background Art

[0002] The intelligence of ships has been an important direction of shipping development in recent years. At present, the safety of autonomous navigation of smart ships has become the research object of scholars at home and abroad.

[0003] In the related art, ship navigation often relies on a single route decision algorithm (e.g., artificial potential field method) to plan the ship's navigation route. However, in the face of complex and changeable navigation situations, a single route decision algorithm usually makes inaccurate decisions, making the navigation route unable to meet the ship's navigation needs.

[0004] Therefore, in the field of ship navigation, there is an urgent need to provide a ship navigation method that can cope with changeable navigation situations to control ship navigation. Summary of the invention

[0005] The present invention provides a ship navigation method, device, electronic device and storage medium, which obtain a target route through a multi-source route decision algorithm, thereby achieving more effective control of ship navigation and improving the safety of ship navigation.

[0006] According to one aspect of the present invention, there is provided a ship navigation method, the method comprising:

[0007] Determine the navigation information of the target ship;

[0008] generating at least two candidate routes corresponding to the navigation information using at least two route decision algorithms;

[0009] Screening the candidate routes based on preset screening rules to obtain a target route;

[0010] The target ship is controlled to navigate based on the target route so that the target ship navigates according to the target route.

[0011] Optionally, the preset screening rules at least include that the minimum encounter distance between the target ship and the obstacle does not exceed a preset safety distance, and the route generation time does not exceed a preset time.

[0012] Optionally, the preset screening rule also includes at least one of the following rules:

[0013] The ratio of the number of avoidance turning points to the total number of turning points in the candidate route does not exceed a preset ratio threshold, wherein the number of avoidance turning points can be obtained based on avoidance statistics according to the maritime collision avoidance rules when a ship encounters a situation in the candidate route;

[0014] The detour distance from the current route to the candidate route does not exceed the preset detour distance, wherein the current route includes the mission route in the navigation information.

[0015] Optionally, the navigation information includes at least ship status information, obstacle information and mission route information.

[0016] Optionally, determining the navigation information of the target ship includes: obtaining mission route information of the target ship; and receiving a sensor signal sent by a serial port server installed on the target ship, performing signal analysis and information extraction on the sensor signal, and obtaining ship status information and obstacle information of the target ship; wherein the sensor signal is collected based on a sensor installed on the target ship.

[0017] Optionally, after generating at least two candidate routes corresponding to the navigation information, the method further comprises: for each of the candidate routes, if the candidate route does not meet the preset screening rule, generating prompt information.

[0018] Optionally, the performing navigation control on the target ship based on the target route includes: generating a navigation control instruction based on the target route, and performing navigation control on the target ship based on the navigation control instruction.

[0019] According to another aspect of the present invention, a ship navigation device is provided. The device comprises:

[0020] A navigation information determination module, used to determine the navigation information of the target ship;

[0021] a candidate route generation module, configured to generate at least two candidate routes corresponding to the navigation information by using at least two route decision algorithms;

[0022] A target route determination module, used to screen each of the candidate routes based on a preset screening rule to obtain a target route;

[0023] The ship navigation control module is used to perform navigation control on the target ship based on the target route so that the target ship navigates according to the target route.

[0024] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0025] at least one processor; and

[0026] a memory communicatively connected to the at least one processor; wherein,

[0027] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the ship navigation method described in any embodiment of the present invention.

[0028] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the ship navigation method described in any embodiment of the present invention when executed.

[0029] The technical solution of the embodiment of the present invention determines the navigation information of the target ship. At least two route decision algorithms are used to generate at least two candidate routes corresponding to the navigation information. The technical solution generates multiple candidate routes through multiple decision algorithms, making the ship's navigation more reliable and convenient for dealing with more complex navigation situations. Afterwards, each of the candidate routes is screened and processed based on preset screening rules to obtain the target route. The technical solution ensures the safety of navigation by pre-setting screening rules to select reasonable and compliant routes. Then, the navigation of the target ship is controlled based on the target route, so that the target ship navigates according to the target route. The technical solution of the embodiment of the present invention solves the technical problem of a single route decision method for ship navigation in the related technology, and realizes the generation of multiple candidate routes by supporting multi-source route decision algorithms, making ship navigation more reliable and safe.

[0030] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of a process flow of a ship navigation method provided by an embodiment of the present invention;

[0033] Figure 2 A system architecture diagram suitable for ship navigation provided by an embodiment of the present invention;

[0034] Figure 3 A schematic diagram of the structure of a ship navigation device provided by an embodiment of the present invention;

[0035] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or apparatus.

[0038] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0039] Figure 1 A flow chart of a ship navigation method provided in an embodiment of the present invention is applicable to the situation of controlling ship navigation, especially to the scenario of autonomous ship navigation. The method can be executed by a ship navigation device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device such as a computer or a server.

[0040] like Figure 1 As shown, the method of this embodiment includes:

[0041] S110: Determine the navigation information of the target ship.

[0042] Among them, the target ship can be understood as a ship that needs to be navigated. The number of target ships can be one, two or more. In an embodiment of the present invention, the navigation information may include at least ship status information, obstacle information and mission route information. Among them, the ship status information may include at least one of the ship's navigation status, ship position information, ship navigation information (such as speed, heading), etc. The obstacle information may include at least the location, size, number and type of obstacles. The mission route information can be understood as the route information pre-set for the target ship of the navigation mission to be performed. In addition, the navigation information may also include meteorological information (wind speed and direction, air pressure and temperature, visibility and precipitation conditions, etc.).

[0043] In an embodiment of the present invention, determining the navigation information of the target ship may include: receiving a sensor signal sent by a serial port server installed on the target ship, performing signal analysis and information extraction on the sensor signal to obtain ship status information and obstacle information of the target ship; wherein the sensor signal is collected based on a sensor installed on the target ship; and obtaining the mission route information of the target ship.

[0044] In an embodiment of the present invention, a serial port server can be used to receive sensor signals sent by sensors pre-installed on a target ship based on the ship's universal serial port protocol. Optionally, the sensor signal may include at least one of a Global Positioning System (GPS) signal, a compass signal, an Automatic Identification System (AIS) signal, a radar signal, and a route signal. In an embodiment of the present invention, the sensor signal transmitted based on the universal serial port protocol of the target ship can be directly received through a serial port server, thereby improving the receiving speed of the sensor signal. Based on this, after receiving the sensor signal, the sensor signal can be forwarded to the industrial computer port through the UDP protocol, and then the sensor signal can be analyzed and information extracted in a marine electronic equipment format (such as NMEA-0183) through the industrial computer installed on the target ship.

[0045] In order to ensure the validity of the ship status information and obstacle information, in the embodiment of the present invention, after the ship status information and obstacle information are parsed from the sensor, it can also include: performing perception fusion processing on the ship status information and obstacle information respectively. It can include at least one of the following situations: fusing the radar signal and AIS signal of the obstacle; predicting the location information of the obstacle; smoothing and filtering the location information of the target ship to obtain the location information of the target ship in time.

[0046] In the embodiment of the present invention, the method of obtaining the mission route information of the target ship may specifically include: determining the starting position and the end position of the navigation mission of the target ship, and determining the mission time limit of the navigation mission. Thus, the mission route information of the target ship can be obtained based on the starting position, the end position and the mission time limit. It should be noted that, in the embodiment of the present invention, there are two methods for determining the starting position and the end position of the navigation mission of the target ship, which are not specifically limited here.

[0047] As an optional implementation of an embodiment of the present invention, determining the starting position and the end position of the target ship for performing a navigation mission may include: obtaining a navigation mission plan preset for the target ship, so that the starting position and the end position of the target ship for performing the navigation mission can be obtained based on the navigation mission plan. It is understandable that the navigation mission plan includes the starting position and the end position of the navigation mission.

[0048] As another optional implementation of an embodiment of the present invention, determining the starting position and the end position of the target ship for a navigation mission may include: displaying a route setting interface, wherein the route setting interface may display an electronic nautical chart; in response to a first position marking operation on the electronic nautical chart, obtaining the starting position of the target ship for the navigation mission; in response to a second position marking operation on the electronic nautical chart, obtaining the end position of the target ship for the navigation mission.

[0049] The first position marking operation can be understood as a position marking operation on the electronic chart for setting the starting position of the target ship for the navigation mission. The second position marking operation can be understood as a position marking operation on the electronic chart for setting the end position of the target ship for the navigation mission. The embodiment of the invention realizes the visual setting of the starting position and the end position of the navigation mission for the target ship, making the setting of the starting position and the end position of the navigation mission more convenient and flexible.

[0050] Optionally, obtaining the mission route information of the target ship based on the starting position, the end position and the mission time limit may specifically include: inputting the starting position, the end position and the mission time limit into a pre-trained mission route determination model; thereby obtaining the output result of the mission route determination model, i.e., the mission route information of the target ship. The mission route determination model may be obtained based on training of an artificial intelligence model, and may be used to generate the mission route information of the target ship.

[0051] S120. Generate at least two candidate routes corresponding to the navigation information by using at least two route decision algorithms.

[0052] Among them, the route decision algorithm can be understood as a decision algorithm for autonomous navigation of the ship, which can be used to generate candidate routes for the ship. In an embodiment of the present invention, the route decision algorithm may include at least two of an artificial potential field method, a route decision algorithm based on a neural network, and a route decision algorithm based on a search tree. In an embodiment of the present invention, the route decision algorithm used to generate candidate routes can be set according to actual needs, which is not specifically limited here. In an embodiment of the present invention, at least two route decision algorithms are used to generate multiple candidate routes to face complex and changeable navigation situations, thereby improving the accuracy of navigation decisions. The candidate route can be a route generated based on the route decision algorithm. It should be noted that the correspondence between the route decision algorithm and the candidate route can be one-to-one or one-to-many.

[0053] In an embodiment of the invention, at least two route decision algorithms may be used to generate at least two candidate routes corresponding to the navigation information in at least one of the following situations:

[0054] When the execution time of the route decision algorithm set for the target ship is reached; in the embodiment of the present invention, the execution time of each route decision algorithm used to generate the candidate route of the target ship can be the same. The advantage of such a setting is that the candidate route of the target ship can be obtained relatively quickly. In other words, the same execution time can be set for each route decision algorithm to realize the function of timing and concurrent execution of each route decision algorithm.

[0055] When the navigation situation of the target ship changes; wherein the navigation situation changes may include at least one of: an obstacle enters the negotiation avoidance range of the target ship, an obstacle enters the emergency avoidance range of the target ship, and the obstacle turns during the avoidance process. It is understandable that the obstacle may be other objects other than the target ship during the navigation process of the target ship, such as other ships, reefs, etc.

[0056] In an embodiment of the present invention, at least two route decision algorithms are used to generate at least two candidate routes corresponding to the navigation information. Specifically, for each route decision algorithm, the route decision algorithm can be used to generate at least two candidate routes corresponding to the navigation information based on the ship status information, obstacle information and mission route information. Exemplarily, the route decision algorithm can be a route decision algorithm based on a neural network. A route decision model can be obtained by training a route decision algorithm based on a neural network. Furthermore, the ship status information, obstacle information and mission route information can be added to the route decision model based on the neural network to obtain the output result of the route decision model, i.e., the candidate routes.

[0057] S130: Screening the candidate routes based on preset screening rules to obtain a target route.

[0058] Among them, the target route can be understood as the route that meets the preset screening rules among the candidate routes. The preset screening rules can be understood as the pre-set screening rules for selecting the target route from the candidate routes. In an embodiment of the present invention, the preset screening rules may at least include that the minimum encounter distance between the target ship and the obstacle does not exceed the preset safety distance, and the route generation time does not exceed the preset time. It should be noted that the reliability of the target route can be improved by using the minimum encounter distance between the target ship and the obstacle not exceeding the preset safety distance and the route generation time not exceeding the preset time as the preset screening rules. Among them, the minimum encounter distance between the target ship and the obstacle can be understood as the shortest distance between the target ships when they pass the obstacle when the target ship sails according to the candidate route. In an embodiment of the present invention, the preset safety distance can be set according to actual needs, which is not specifically limited here.

[0059] Among them, the route generation duration can be understood as the duration used to generate the candidate route of the target ship, such as 0.1 milliseconds, 0.01 milliseconds, etc. The method for determining the route generation duration can be specifically as follows: for each candidate route, the execution duration of the route decision algorithm used to generate the candidate route can be determined. Thus, the execution duration can be used as the route generation duration of the candidate route. In order to ensure the safe navigation of the target ship, in an embodiment of the present invention, the algorithm with a faster response is selected by the execution duration of the route decision algorithm, and the candidate route can be obtained in time. The preset duration can be set based on the urgency of the situation encountered by the ship, which is not specifically limited here. It can be understood that the higher the urgency of the situation encountered by the ship, the shorter the preset duration; conversely, the lower the urgency of the situation encountered by the ship, the longer the preset duration.

[0060] Based on the above embodiment, the preset screening rule may further include at least one of the following rules:

[0061] The ratio of the number of avoidance turning points to the total number of turning points in the candidate route does not exceed a preset ratio threshold, wherein the number of avoidance turning points can be obtained based on statistics of avoidances performed in accordance with the rules for avoiding collisions at sea when a situation in which ships meet occurs in the candidate route. The avoidance turning points can be understood as turning points that are avoided in accordance with the rules for avoiding collisions at sea when a situation in which ships meet occurs in the candidate route. In an embodiment of the present invention, the preset ratio threshold can be set according to actual needs, and it is not specifically limited here. It can be understood that the larger the ratio of the number of avoidance turning points to the total number of turning points, the more reasonable the candidate route is.

[0062] The detour distance from the current route to the candidate route does not exceed the preset detour distance, wherein the current route may include the mission route in the navigation information or the route of the last decision. It is understandable that, in the case where the target ship is traveling according to the mission route in the navigation information, the current route may be the mission route in the navigation information; in the case where the target ship is traveling according to the route decided before the current candidate route, the current route may be the route of the last decision. In an embodiment of the present invention, the method of calculating the detour distance from the current route to the candidate route may specifically be to calculate the posture difference between the current route and the candidate route by the absolute trajectory error method, and then determine the detour distance from the current route to the candidate route based on the posture difference. The preset detour distance can be set according to actual needs, and it is not specifically limited here.

[0063] In the embodiment of the present invention, when there are multiple preset screening rules, the priority of each screening rule can be set, so that the candidate routes can be screened in turn according to the priority of each screening rule to obtain a more reasonable and safe route among the candidate routes, that is, to obtain the target route.

[0064] On the basis of the above embodiment, since each preset screening rule is set with a corresponding threshold value, in order to ensure the safety of the navigation of the target ship, when any of the parameters of the target route exceeds the threshold value, prompt information for the target route can be generated. It should be noted that the prompt information generated for the target route can be graphical prompt information and / or text prompt information.

[0065] S140: Perform navigation control on the target ship based on the target route, so that the target ship navigates according to the target route.

[0066] In an embodiment of the present invention, the performing navigation control on the target ship based on the target route may include: generating a navigation control instruction based on the target route, and performing navigation control on the target ship based on the navigation control instruction. The navigation control instruction may be used to perform navigation control on the target ship to control the target ship to sail according to the target route.

[0067] Optionally, generating a navigation control instruction based on the target route may include: obtaining a heading instruction and a rotation speed based on the target route, the operating state of the target ship, and the current route information. Based on the heading instruction and the rotation speed, the automatic rudder of the target ship is controlled so that the target ship navigates according to the target route, thereby realizing autonomous navigation of the target ship.

[0068] Based on the above embodiment, after generating at least two candidate routes corresponding to the navigation information, the method may further include: for each candidate route, if the candidate route does not meet the preset screening rule, generating prompt information. The prompt information may be graphical prompt information and / or text prompt information.

[0069] The technical solution of the embodiment of the present invention determines the navigation information of the target ship. At least two route decision algorithms are used to generate at least two candidate routes corresponding to the navigation information. The technical solution generates multiple candidate routes through multiple decision algorithms, making the ship's navigation more reliable and convenient for dealing with more complex navigation situations. Afterwards, each of the candidate routes is screened and processed based on preset screening rules to obtain the target route. The technical solution ensures the safety of navigation by pre-setting screening rules to select reasonable and compliant routes. Then, the navigation of the target ship is controlled based on the target route, so that the target ship navigates according to the target route. The technical solution of the embodiment of the present invention solves the technical problem of a single route decision method for ship navigation in the related technology, and realizes obtaining the target route through a multi-source route decision algorithm, making the ship's navigation more reliable and safe.

[0070] As an optional embodiment of the present invention, the present invention provides a system architecture diagram suitable for ship navigation. Figure 2 As shown, the system architecture of ship navigation may include a perception module, a decision module and a control module, wherein the decision module is configured with multiple decision algorithms, namely, route decision algorithms, and the decision module includes a comprehensive screening unit, and the comprehensive screening unit is configured with multiple preset screening rules. In an embodiment of the invention, the hardware of the system architecture supporting ship navigation is composed of a serial port server, an industrial computer, and a number of serial port cables and network cables.

[0071] The perception module can be used to receive sensor data forwarded by the serial port server based on the UDP protocol, and perform information analysis and information extraction on the sensor data. Thus, the perception data, i.e., the navigation information of the target ship, can be obtained. Then, the perception data can be sent to the decision module.

[0072] The decision module can be used to receive the sensing data sent by the sensing module, that is, to receive the navigation information of the target ship. After receiving the navigation information, multiple pre-configured decision algorithms can be executed in parallel. Thus, multiple candidate routes corresponding to the navigation information can be generated. Then, the multiple candidate routes can be screened by the comprehensive screening unit. Thus, the optimal decision, that is, the target route, can be determined. After the optimal decision is determined, the optimal decision is sent to the control module.

[0073] The control module can be used to receive the optimal decision sent by the decision module, and perform navigation control on the target ship based on the optimal decision.

[0074] The technical solution of the embodiment of the present invention solves the technical problem of the single route decision-making method for ship navigation in the related technology, and realizes obtaining the target route through a multi-source route decision algorithm, making ship navigation more reliable and safe, thereby improving the practicality, versatility, robustness and decision-making correctness of the navigation system, so that it can handle more complex navigation situations.

[0075] Figure 3 The schematic diagram of the structure of a ship navigation device provided by an embodiment of the present invention is as follows. Figure 3 As shown, the device includes: a navigation information determination module 310, a candidate route generation module 320, a target route determination module 330 and a ship navigation control module 340.

[0076] Among them, the navigation information determination module 310 is used to determine the navigation information of the target ship; the candidate route generation module 320 is used to generate at least two candidate routes corresponding to the navigation information using at least two route decision algorithms; the target route determination module 330 is used to screen each of the candidate routes based on preset screening rules to obtain the target route; the ship navigation control module 340 is used to control the navigation of the target ship based on the target route so that the target ship navigates according to the target route.

[0077] The technical solution of the embodiment of the present invention determines the navigation information of the target ship through a navigation information determination module. The candidate route generation module uses at least two route decision algorithms to generate at least two candidate routes corresponding to the navigation information. The technical solution generates multiple candidate routes through multiple decision algorithms, making the ship's navigation more reliable and convenient for facing more complex navigation situations. The target route determination module screens and processes each of the candidate routes based on preset screening rules to obtain the target route. The technical solution ensures the safety of navigation by pre-setting screening rules to select reasonable and compliant routes. The ship navigation control module controls the navigation of the target ship based on the target route so that the target ship navigates according to the target route. The technical solution of the embodiment of the present invention solves the technical problem of a single route decision method for ship navigation in the related technology, and realizes obtaining the target route through a multi-source route decision algorithm, making the ship's navigation more reliable and safe.

[0078] Optionally, the preset screening rules at least include that the minimum encounter distance between the target ship and the obstacle does not exceed a preset safety distance, and the route generation time does not exceed a preset time.

[0079] Optionally, the preset screening rule also includes at least one of the following rules:

[0080] The ratio of the number of avoidance turning points to the total number of turning points in the candidate route does not exceed a preset ratio threshold, wherein the number of avoidance turning points can be obtained based on avoidance statistics according to the maritime collision avoidance rules when a ship encounters a situation in the candidate route;

[0081] The detour distance from the current route to the candidate route does not exceed the preset detour distance, wherein the current route may include the mission route in the navigation information.

[0082] Optionally, the navigation information includes at least ship status information, obstacle information and mission route information.

[0083] Optionally, the navigation information determination module 310 is specifically used to obtain the mission route information of the target ship; and receive the sensor signal sent by the serial port server installed on the target ship, perform signal analysis and information extraction on the sensor signal, and obtain the ship status information and obstacle information of the target ship; wherein the sensor signal is collected based on the sensor installed on the target ship.

[0084] Optionally, the device further comprises a prompt module for generating prompt information for each candidate route after generating at least two candidate routes corresponding to the navigation information, if the candidate route does not meet the preset screening rule.

[0085] Optionally, the ship navigation control module 340 is used to generate a navigation control instruction based on the target route, and perform navigation control on the target ship based on the navigation control instruction.

[0086] The ship navigation device provided in the embodiment of the present invention can execute the ship navigation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0087] It is worth noting that the various units and modules included in the above-mentioned ship navigation device are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the embodiments of the present invention.

[0088] Figure 4A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0089] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0090] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0091] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a ship navigation method.

[0092] In some embodiments, the ship navigation method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the ship navigation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the ship navigation method in any other appropriate manner (e.g., by means of firmware).

[0093] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0094] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0095] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0096] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0097] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0098] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0099] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0100] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A ship navigation method, characterized in that: The method comprises: Determine the navigation information of the target ship; generating at least two candidate routes corresponding to the navigation information using at least two route decision algorithms; Screening the candidate routes based on preset screening rules to obtain a target route; The target ship is controlled to navigate based on the target route so that the target ship navigates according to the target route.

2. The method according to claim 1, characterized in that: The preset screening rules at least include that the minimum encounter distance between the target ship and the obstacle does not exceed the preset safety distance, and the route generation time does not exceed the preset time.

3. The method according to claim 2, characterized in that The preset screening rules also include at least one of the following rules: The ratio of the number of avoidance turning points to the total number of turning points in the candidate route does not exceed a preset ratio threshold, wherein the number of avoidance turning points can be obtained based on avoidance statistics according to the maritime collision avoidance rules when a ship encounters a situation in the candidate route; The detour distance from the current route to the candidate route does not exceed the preset detour distance, wherein the current route includes the mission route in the navigation information.

4. The method according to claim 1, characterized in that The navigation information includes at least ship status information, obstacle information and mission route information.

5. The method according to claim 4, characterized in that The determining of the navigation information of the target ship includes: Obtaining the mission route information of the target ship; and receiving the sensor signal sent by the serial port server installed on the target ship, performing signal analysis and information extraction on the sensor signal to obtain the ship status information and obstacle information of the target ship; wherein the sensor signal is collected based on the sensor installed on the target ship.

6. The method according to claim 1, characterized in that After generating at least two candidate routes corresponding to the navigation information, the method further includes: For each of the candidate routes, if the candidate route does not meet the preset screening rule, a prompt message is generated.

7. The method according to claim 1, characterized in that The performing navigation control on the target ship based on the target route includes: A navigation control instruction is generated based on the target route, and navigation control is performed on the target ship based on the navigation control instruction.

8. A ship navigation device, characterized in that: include: A navigation information determination module, used to determine the navigation information of the target ship; a candidate route generation module, configured to generate at least two candidate routes corresponding to the navigation information by using at least two route decision algorithms; A target route determination module, used to screen each of the candidate routes based on a preset screening rule to obtain a target route; The ship navigation control module is used to perform navigation control on the target ship based on the target route so that the target ship navigates according to the target route.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the ship navigation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the ship navigation method according to any one of claims 1 to 7 when executed.

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