Whole-ship path navigation method and device, computer equipment and storage medium

Abstract

The invention relates to a whole-ship path navigation method and device, computer equipment and a storage medium. The method comprises the following steps: identifying path nodes in a ship three-dimensional space model, constructing a network topological graph based on a connection relationship of the path nodes, traversing the path nodes in the network topological graph, identifying a shortest path between any two path nodes, generating a shortest path tree according to the path nodes on the shortest path, and obtaining a shortest path between any two path nodes according to the shortest path tree. The shortest path from the starting point to the target point can be obtained in a bidirectional fan-shaped search mode during navigation, the shortest path node is output, shortest path navigation is achieved, and navigation efficiency and safety are improved.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a full-ship path navigation method, device, computer equipment and storage medium. Background Art

[0002] Path navigation technology is not only related to the efficient operation of internal logistics of ships, but also directly affects the work efficiency and safety of crew members. With the continuous expansion of ship size and the complexity of internal structure, the importance of ship-wide path navigation technology has become increasingly prominent.

[0003] In the field of ship internal path planning, the choice of algorithm is crucial to ensure navigation efficiency and safety. The Dijkstra algorithm is favored for its concise implementation and efficient solution to the single-source shortest path problem, although it has limitations in processing graphs with negative weight edges. The A* algorithm reduces the search space by introducing heuristic evaluation, which speeds up the path finding, but this also brings challenges to the design of heuristic functions and large storage requirements. The Bellman-Ford algorithm is unique in its ability to handle negative weight edges, although its high time complexity limits its application in large-scale graphs. The artificial potential field method is valued for its intuitive physical model and real-time obstacle avoidance capabilities in dynamic environments, but its performance may be affected when there are obstacles or narrow areas near the target point, limiting its applicability in global path planning. Combining the advantages and disadvantages of these algorithms, each algorithm has its unique application scenarios and limitations. In the context of ship internal path planning, the optimization and selection of these algorithms are of immeasurable value in improving the intelligence level of ships, reducing the risk of maritime traffic accidents, and ensuring navigation safety. Therefore, researching and developing path planning algorithms suitable for specific environments and requirements is the key to improving the efficiency and safety of internal ship path planning. Summary of the invention

[0004] Based on this, a whole-ship path navigation method, device, computer equipment and storage medium are provided to solve the technical problem that the internal path planning of the ship is complex and it is difficult to ensure the navigation efficiency and safety.

[0005] On the one hand, a whole ship path navigation method is provided, the method comprising:

[0006] Constructing a three-dimensional space model of the ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes;

[0007] Traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path;

[0008] Building a ship-wide path navigation system based on the shortest path tree on the three-dimensional space model of the ship;

[0009] In response to detecting the starting point and the target point input by the user, the shortest path from the starting point to the target point is searched in the whole ship path navigation system and the shortest path node is output, and the shortest path from the starting point to the target point is displayed according to the shortest path node.

[0010] In one embodiment, constructing a three-dimensional space model of a ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship, and constructing a network topology diagram based on the connection relationship of the path nodes includes:

[0011] The ship structure data is screened and converted into a format, and then combined with the ship CAD data for data analysis to form a planar structure diagram of each layer of the hull;

[0012] Combine the planar structural diagrams of each layer of the hull to form a three-dimensional spatial model of the ship;

[0013] Identifying path nodes in the three-dimensional space model of the ship according to the ship CAD data, verifying the connection relationship between each path node, and building a bidirectional channel between two adjacent connected path nodes;

[0014] A network topology diagram is constructed according to the connection relationship between the path nodes in the three-dimensional space model of the ship.

[0015] In one embodiment, constructing a network topology diagram according to the connection relationship between path nodes in the three-dimensional space model of the ship includes:

[0016] The ship CAD data and the ship three-dimensional space model are stored in a database;

[0017] Each cabin in the three-dimensional space model of the ship is defined as a primary path node, and each device in the cabin is defined as a secondary path node, and a primary structure tree and a secondary structure tree are generated.

[0018] In one embodiment, traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path includes:

[0019] The network topology is set to G = (V, E, W); where V = (P1, P2, ..., P n ), V represents the node set, P n Represents a path node; E = {(P i ,P j )|P i ,Pj ∈V,P i ≠P j ), E represents the channel set, (P i ,P j ) indicates that P i and P j A bidirectional channel consisting of two path nodes; W represents the weight of selecting a bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Represents the difficulty factor of a two-way channel;

[0020] A starting path node and an ending path node are set, and the connection between the starting path node and the ending path node is used as a diameter. When the starting path node and the ending path node are at the same layer of the hull, two 150° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction; when the starting path node and the ending path node are not at the same layer of the hull, two 180° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction;

[0021] The shortest path of each first-level path node adjacent to the start path node is obtained in the first-level structure tree to form a start point search range set, and the shortest path of each first-level path node adjacent to the end path node is obtained in the first-level structure tree to form a terminal search range set;

[0022] Obtain the intersection of the starting point search range set and the end point search range set, use the first-level path node in the intersection of the starting point search range set and the end point search range set as the intermediate node, obtain the shortest path from the starting path node through the intermediate node to the end path node and output it.

[0023] In one of the embodiments, when the shortest path from the starting path node through the intermediate node to the ending path node is obtained and output, it also includes:

[0024] In the secondary structure tree, a secondary path node on the shortest path from the starting path node to the ending path node is obtained.

[0025] In one embodiment, obtaining the shortest path of each first-level path node adjacent to the starting path node in the first-level structure tree to form a starting point search range set includes:

[0026] A first set is set to store the explored path nodes, initially including only the starting path node;

[0027] Setting a second set to store all remaining first-level path nodes in the first-level structure tree except the first set;

[0028] The first-level path nodes in the second set are transferred to the first set one by one, and the shortest distances from the first-level path nodes in the first set to the starting path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a starting point search range set.

[0029] In one embodiment, obtaining the shortest path of each first-level path node adjacent to the termination path node in the first-level structure tree to form a terminal search range set includes:

[0030] A first set is set to store the explored path nodes, initially including only the terminal path node;

[0031] Setting a second set to store all remaining first-level path nodes in the first-level structure tree except the first set;

[0032] The first-level path nodes in the second set are transferred to the first set one by one, and the shortest distances from the first-level path nodes in the first set to the terminal path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a terminal search range set.

[0033] On the other hand, a whole ship path navigation device is provided, the device comprising:

[0034] A network topology diagram construction module is used to construct a three-dimensional space model of the ship according to the ship structure data, identify path nodes according to the three-dimensional space model of the ship, and construct a network topology diagram based on the connection relationship of the path nodes;

[0035] A shortest path tree generation module is used to traverse the path nodes in the network topology diagram, identify the shortest path between any two path nodes, and generate a shortest path tree according to the path nodes on the shortest path;

[0036] Building a navigation system module, used to build a full-ship path navigation system based on the shortest path tree on the three-dimensional space model of the ship;

[0037] The navigation control module is used to search for the shortest path from the starting point to the target point in the whole ship path navigation system in response to detecting the starting point and the target point input by the user, output the shortest path node, and display the shortest path from the starting point to the target point according to the shortest path node.

[0038] In another aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0039] Constructing a three-dimensional space model of the ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes;

[0040] Traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path;

[0041] Building a ship-wide path navigation system based on the shortest path tree on the three-dimensional space model of the ship;

[0042] In response to detecting the starting point and the target point input by the user, the shortest path from the starting point to the target point is searched in the whole ship path navigation system and the shortest path node is output, and the shortest path from the starting point to the target point is displayed according to the shortest path node.

[0043] In another aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0044] Constructing a three-dimensional space model of the ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes;

[0045] Traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path;

[0046] Building a ship-wide path navigation system based on the shortest path tree on the three-dimensional space model of the ship;

[0047] In response to detecting the starting point and the target point input by the user, the shortest path from the starting point to the target point is searched in the whole ship path navigation system and the shortest path node is output, and the shortest path from the starting point to the target point is displayed according to the shortest path node.

[0048] The above-mentioned full-ship path navigation method, device, computer equipment and storage medium, by identifying path nodes in the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes, traversing the path nodes in the network topology diagram, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path, can obtain the shortest path from the starting point to the target point through a two-way fan search method during navigation and output the shortest path node, thereby realizing shortest path navigation and improving navigation efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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.

[0050] Figure 1 This is a flow chart of a whole ship path navigation method in one embodiment of the present application;

[0051] Figure 2 A logic diagram of a whole ship path navigation method in one embodiment of the present application;

[0052] Figure 3 This is a schematic diagram of the structure of the shortest path structure tree in one embodiment of the present application;

[0053] Figure 4 A schematic diagram of a search direction in an embodiment of the present application;

[0054] Figure 5 This is a structural block diagram of a whole ship path navigation device in one embodiment of the present application;

[0055] Figure 6 This is a diagram of the internal structure of a computer device in one embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] In one embodiment, Figure 1 , Figure 2 As shown, a whole ship path navigation method is provided, comprising the following steps:

[0058] Step S1, constructing a three-dimensional space model of the ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes;

[0059] Step S2, traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path;

[0060] Step S3, building a full-ship path navigation system based on the shortest path tree on the three-dimensional space model of the ship;

[0061] Step S4, in response to detecting the starting point and the target point input by the user, searching the shortest path from the starting point to the target point in the whole ship path navigation system and outputting the shortest path node, and displaying the shortest path from the starting point to the target point according to the shortest path node.

[0062] Among them, by identifying path nodes in the three-dimensional space model of the ship and building a network topology diagram based on the connection relationship of the path nodes, the path nodes in the network topology diagram are traversed, the shortest path between any two path nodes is identified, and a shortest path tree is generated according to the path nodes on the shortest path. During navigation, the shortest path from the starting point to the target point can be obtained through a two-way fan search method and the shortest path node can be output, thereby realizing shortest path navigation and improving navigation efficiency and safety.

[0063] like Figure 2 As shown, in this embodiment, the three-dimensional space model of the ship is constructed according to the ship structure data, the path nodes are identified according to the three-dimensional space model of the ship, and the network topology diagram is constructed based on the connection relationship of the path nodes, including:

[0064] The ship structure data is screened and converted into a format, and then combined with the ship CAD data for data analysis to form a planar structure diagram of each layer of the hull;

[0065] Combine the planar structural diagrams of each layer of the hull to form a three-dimensional spatial model of the ship;

[0066] Identifying path nodes in the three-dimensional space model of the ship according to the ship CAD data, verifying the connection relationship between each path node, and building a bidirectional channel between two adjacent connected path nodes;

[0067] A network topology diagram is constructed according to the connection relationship between the path nodes in the three-dimensional space model of the ship.

[0068] The network topology graph is an undirected weighted network topology graph, which describes the layout of all channels in the ship in detail. Each edge in the graph represents a bidirectional feasible path, that is, a bidirectional channel.

[0069] In this embodiment, constructing a network topology diagram according to the connection relationship between the path nodes in the three-dimensional space model of the ship includes:

[0070] The ship CAD data and the ship three-dimensional space model are stored in a database;

[0071] Each cabin in the three-dimensional space model of the ship is defined as a primary path node, and each device in the cabin is defined as a secondary path node, and a primary structure tree and a secondary structure tree are generated.

[0072] For the shortest path problem inside a ship, optimizing the node data set is a crucial step. First, we set the path points based on the main cabins and areas of the ship. Specifically, we define each cabin as a primary node, and each device in the cabin as a secondary node. The shortest path structure tree constructed in this way is as follows: Figure 3 Based on this path tree, detailed node design is performed.

[0073] In this embodiment, traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path includes:

[0074] The network topology is set to G = (V, E, W); where V = (P1, P2, ..., P n ), V represents the node set, P n Represents a path node; E = {(P i ,P j )|P i ,P j ∈V,P i ≠P j ), E represents the channel set, (P i ,P j ) indicates that P i and P j A bidirectional channel consisting of two path nodes; W represents the weight of selecting a bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Represents the difficulty factor of a two-way channel;

[0075] A starting path node and an ending path node are set, and the connection between the starting path node and the ending path node is used as a diameter. When the starting path node and the ending path node are at the same layer of the hull, two 150° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction; when the starting path node and the ending path node are not at the same layer of the hull, two 180° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction;

[0076] The shortest path of each first-level path node adjacent to the start path node is obtained in the first-level structure tree to form a start point search range set, and the shortest path of each first-level path node adjacent to the end path node is obtained in the first-level structure tree to form a terminal search range set;

[0077] Obtain the intersection of the starting point search range set and the end point search range set, use the first-level path node in the intersection of the starting point search range set and the end point search range set as the intermediate node, obtain the shortest path from the starting path node through the intermediate node to the end path node and output it.

[0078] in, The calculation is performed using the Euclidean distance. The difficulty factor m of the bidirectional channel i The model is set according to the actual travel time or difficulty of the two-way channel, ensuring its accuracy and practicality.

[0079] The flow of personnel and materials in the ship changes dynamically, which requires the path planning algorithm to be adaptable in real time. As shown in Table 1, in order to cope with this dynamicity, the system allows flexible setting of the difficulty influencing factors of each two-way channel in the ship.

[0080] Table 1 Factors affecting the difficulty of passing through two-way passages on ships

[0081]

[0082]

[0083] For example, when an elevator breaks down, the system can factor its difficulty of passage m i If set to 0, the algorithm will not consider the path through the elevator, thus avoiding directing people to unavailable aisles. Similarly, if there are materials piled up in the aisle, making it difficult to pass, the system will increase the difficulty factor m of the aisle. i A setting of 0.5 will reduce the priority of this channel in path planning, but still allow it to be used when necessary to increase path planning flexibility.

[0084] Therefore, the total path length L P It can be expressed as:

[0085]

[0086] Using artificial intelligence technology, the three-dimensional spatial model of the ship is first imported. Then, the algorithm automatically analyzes and identifies all possible passage paths, while excluding those areas that are not suitable for passage due to obstacles, narrow spaces or safety regulations. After confirming all feasible paths, AI further intelligently decomposes these paths into a series of precise nodes, each of which contains specific location coordinates and connection relationships. These nodes together form the basis of the data set processed by the subsequent shortest path algorithm. According to the actual layout and needs of the ship, the system has set up a total of 263 path nodes and 282 channels, including 8 manhole covers, 4 elevators, 6 straight ladders, and 14 stairs.

[0087] In order to significantly improve the efficiency of this process, an effective strategy is to use a bidirectional search algorithm. The algorithm starts from the starting path node and the ending path node at the same time, and searches in two directions respectively. In each search direction, a priority queue is used to extract the node with the minimum path cost for further traversal. In order to improve the search efficiency of the algorithm and reduce redundant searches, the search range is further narrowed on the basis of bidirectional search.

[0088] like Figure 4 As shown in the figure, in order to optimize this process more effectively, a fan-shaped search strategy can be introduced. This strategy takes the starting path node M-1 and the ending path node M-9 as the center of the circle, and expands outward to form a fan-shaped search area, so as to locate the search path more accurately. When the starting path node M-1 and the ending path node M-9 are on the same deck layer, the line between the two points is used as the diameter, and two 150° fan-shaped areas are drawn with them as the center of the circle as the search direction; when the starting path node M-1 and the ending path node M-9 are on different deck layers, the two points are used as the center of the circle and the line is used as the diameter, and two 180° semicircle areas are drawn as the search direction; when the starting path node M-1 and the ending path node M-9 are on different layers, and the line between them is not penetrated by the channel, the fan-shaped search is not used.

[0089] In this embodiment, when the shortest path from the starting path node through the intermediate node to the ending path node is obtained and output, it also includes:

[0090] In the secondary structure tree, a secondary path node on the shortest path from the starting path node to the ending path node is obtained.

[0091] In this embodiment, obtaining the shortest path of each first-level path node adjacent to the starting path node in the first-level structure tree to form a starting point search range set includes:

[0092] A first set S is set to store the explored path nodes, which initially only includes the starting path node;

[0093] A second set U is set to store all remaining first-level path nodes in the first-level structure tree except the first set S;

[0094] The first-level path nodes in the second set U are transferred to the first set S one by one, and the shortest distances from the first-level path nodes of the first set S to the starting path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a starting point search range set.

[0095] The node currently closest to the starting path node is selected from the second set U as the focus of the next calculation, and the node is transferred from the second set U to the first set S, indicating that it has been explored. At the same time, the node is removed from the second set U to avoid repeated processing. During the transfer process, all remaining nodes in the second set U are checked. If the path to the starting path node through the newly added node of the first set S is shorter than the previously recorded distance, the distance information of these nodes is updated to reflect the possibility of a more optimized path. This process continues until the shortest path to the target point is found or the second set U is empty.

[0096] In this embodiment, obtaining the shortest path of each first-level path node adjacent to the termination path node in the first-level structure tree to form a terminal search range set includes:

[0097] A first set S is set to store the explored path nodes, which initially only includes the terminal path node;

[0098] A second set U is set to store all remaining first-level path nodes in the first-level structure tree except the first set S;

[0099] The first-level path nodes in the second set U are transferred to the first set S one by one, and the shortest distances from the first-level path nodes of the first set S to the terminal path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a terminal search range set.

[0100] The whole ship path navigation system provides a user-friendly interface, allowing users to set the starting point and end point for calculating the shortest path. After the user enters the desired point and the target point, click the "Show Path" button, and the system will automatically calculate and display the shortest path from the starting point to the end point. The path can be intuitively displayed on the interface in the form of arrows or line segments. In order to make the simulation experience closer to reality, the system provides a first-person perspective navigation roaming function, and users can personalize the height and speed settings of the navigation roaming according to their personal height and preferred walking speed.

[0101] The ship-wide path navigation system also optimizes the unidirectionality of the shortest path algorithm and can receive and process changes in the ship's internal structure in real time. This means that the system can dynamically update the calculation results of the shortest path to ensure that the navigation information provided is always up to date and accurate. This real-time update capability is particularly important for scenarios such as the ship's internal environment, which may change frequently. It ensures that users can get the most reliable and safest navigation guidance at any time.

[0102] In the above-mentioned full-ship path navigation method, path nodes are identified in the three-dimensional spatial model of the ship and a network topology diagram is constructed based on the connection relationship of the path nodes. The path nodes in the network topology diagram are traversed, and the shortest path between any two path nodes is identified. A shortest path tree is generated according to the path nodes on the shortest path. During navigation, the shortest path from the starting point to the target point can be obtained through a two-way fan search method and the shortest path node can be output, thereby realizing shortest path navigation and improving navigation efficiency and safety.

[0103] In one embodiment, Figure 5 As shown, a whole ship path navigation device 10 is provided, including: a network topology map construction module 1, a shortest path tree generation module 2, a navigation system construction module 3, and a navigation control module 4.

[0104] The network topology diagram construction module 1 is used to construct a three-dimensional space model of the ship according to the ship structure data, identify path nodes according to the three-dimensional space model of the ship, and construct a network topology diagram based on the connection relationship of the path nodes.

[0105] The shortest path tree generating module 2 is used to traverse the path nodes in the network topology diagram, identify the shortest path between any two path nodes, and generate a shortest path tree according to the path nodes on the shortest path.

[0106] The navigation system building module 3 is used to build a full-ship path navigation system based on the shortest path tree on the three-dimensional space model of the ship.

[0107] The navigation control module 4 is used to respond to detecting the starting point and target point input by the user, searching for the shortest path from the starting point to the target point in the whole ship path navigation system and outputting the shortest path node, and displaying the shortest path from the starting point to the target point based on the shortest path node.

[0108] In this embodiment, constructing a three-dimensional space model of a ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship, and constructing a network topology diagram based on the connection relationship of the path nodes includes:

[0109] The ship structure data is screened and converted into a format, and then combined with the ship CAD data for data analysis to form a planar structure diagram of each layer of the hull;

[0110] Combine the planar structural diagrams of each layer of the hull to form a three-dimensional spatial model of the ship;

[0111] Identifying path nodes in the three-dimensional space model of the ship according to the ship CAD data, verifying the connection relationship between each path node, and building a bidirectional channel between two adjacent connected path nodes;

[0112] A network topology diagram is constructed according to the connection relationship between the path nodes in the three-dimensional space model of the ship.

[0113] In this embodiment, constructing a network topology diagram according to the connection relationship between the path nodes in the three-dimensional space model of the ship includes:

[0114] The ship CAD data and the ship three-dimensional space model are stored in a database;

[0115] Each cabin in the three-dimensional space model of the ship is defined as a primary path node, and each device in the cabin is defined as a secondary path node, and a primary structure tree and a secondary structure tree are generated.

[0116] In this embodiment, traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path includes:

[0117] The network topology is set to G = (V, E, W); where V = (P1, P2, ..., P n ), V represents the node set, P n Represents a path node; E = {(P i ,P j )|P i ,P j ∈V,P i ≠P j ), E represents the channel set, (P i,P j ) indicates that P i and P j A bidirectional channel consisting of two path nodes; W represents the weight of selecting a bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Represents the difficulty factor of a two-way channel;

[0118] A starting path node and an ending path node are set, and the connection between the starting path node and the ending path node is used as a diameter. When the starting path node and the ending path node are at the same layer of the hull, two 150° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction; when the starting path node and the ending path node are not at the same layer of the hull, two 180° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction;

[0119] The shortest path of each first-level path node adjacent to the start path node is obtained in the first-level structure tree to form a start point search range set, and the shortest path of each first-level path node adjacent to the end path node is obtained in the first-level structure tree to form a terminal search range set;

[0120] Obtain the intersection of the starting point search range set and the end point search range set, use the first-level path node in the intersection of the starting point search range set and the end point search range set as the intermediate node, obtain the shortest path from the starting path node through the intermediate node to the end path node and output it.

[0121] In this embodiment, when the shortest path from the starting path node through the intermediate node to the ending path node is obtained and output, it also includes:

[0122] In the secondary structure tree, a secondary path node on the shortest path from the starting path node to the ending path node is obtained.

[0123] In this embodiment, obtaining the shortest path of each first-level path node adjacent to the starting path node in the first-level structure tree to form a starting point search range set includes:

[0124] A first set S is set to store the explored path nodes, which initially only includes the starting path node;

[0125] A second set U is set to store all remaining first-level path nodes in the first-level structure tree except the first set S;

[0126] The first-level path nodes in the second set U are transferred to the first set S one by one, and the shortest distances from the first-level path nodes of the first set S to the starting path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a starting point search range set.

[0127] In this embodiment, obtaining the shortest path of each first-level path node adjacent to the termination path node in the first-level structure tree to form a terminal search range set includes:

[0128] A first set S is set to store the explored path nodes, which initially only includes the terminal path node;

[0129] A second set U is set to store all remaining first-level path nodes in the first-level structure tree except the first set S;

[0130] The first-level path nodes in the second set U are transferred to the first set S one by one, and the shortest distances from the first-level path nodes of the first set S to the terminal path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a terminal search range set.

[0131] In the above-mentioned full-ship path navigation device, by identifying path nodes in the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes, the path nodes in the network topology diagram are traversed, and the shortest path between any two path nodes is identified. A shortest path tree is generated according to the path nodes on the shortest path. During navigation, the shortest path from the starting point to the target point can be obtained through a two-way fan-shaped search method and the shortest path node can be output, thereby realizing shortest path navigation and improving navigation efficiency and safety.

[0132] For the specific definition of the whole ship path navigation device, please refer to the definition of the whole ship path navigation method above, which will not be repeated here. Each module in the above-mentioned whole ship path navigation device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0133] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0134] Constructing a three-dimensional space model of the ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes;

[0135] Traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path;

[0136] Building a ship-wide path navigation system based on the shortest path tree on the three-dimensional space model of the ship;

[0137] In response to detecting the starting point and the target point input by the user, the shortest path from the starting point to the target point is searched in the whole ship path navigation system and the shortest path node is output, and the shortest path from the starting point to the target point is displayed according to the shortest path node.

[0138] In one embodiment, the computer program further implements the following steps when executed by a processor:

[0139] The constructing of a three-dimensional space model of a ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes comprises:

[0140] The ship structure data is screened and converted into a format, and then combined with the ship CAD data for data analysis to form a planar structure diagram of each layer of the hull;

[0141] Combine the planar structural diagrams of each layer of the hull to form a three-dimensional spatial model of the ship;

[0142] Identifying path nodes in the three-dimensional space model of the ship according to the ship CAD data, verifying the connection relationship between each path node, and building a bidirectional channel between two adjacent connected path nodes;

[0143] A network topology diagram is constructed according to the connection relationship between the path nodes in the three-dimensional space model of the ship.

[0144] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0145] The constructing of a network topology diagram according to the connection relationship between the path nodes in the three-dimensional space model of the ship comprises:

[0146] The ship CAD data and the ship three-dimensional space model are stored in a database;

[0147] Each cabin in the three-dimensional space model of the ship is defined as a primary path node, and each device in the cabin is defined as a secondary path node, and a primary structure tree and a secondary structure tree are generated.

[0148] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0149] The traversing of the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path comprises:

[0150] The network topology is set to G = (V, E, W); where V = (P1, P2, ..., P n ), V represents the node set, P n Represents a path node; E = {(P i ,P j )|P i ,P j ∈V,P i ≠P j ), E represents the channel set, (P i ,P j ) indicates that P i and P j A bidirectional channel consisting of two path nodes; W represents the weight of selecting a bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Represents the difficulty factor of a two-way channel;

[0151] A starting path node and an ending path node are set, and the connection between the starting path node and the ending path node is used as a diameter. When the starting path node and the ending path node are at the same layer of the hull, two 150° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction; when the starting path node and the ending path node are not at the same layer of the hull, two 180° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction;

[0152] The shortest path of each first-level path node adjacent to the start path node is obtained in the first-level structure tree to form a start point search range set, and the shortest path of each first-level path node adjacent to the end path node is obtained in the first-level structure tree to form a terminal search range set;

[0153] Obtain the intersection of the starting point search range set and the end point search range set, use the first-level path node in the intersection of the starting point search range set and the end point search range set as the intermediate node, obtain the shortest path from the starting path node through the intermediate node to the end path node and output it.

[0154] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0155] When the shortest path from the starting path node through the intermediate node to the ending path node is obtained and output, it also includes:

[0156] In the secondary structure tree, a secondary path node on the shortest path from the starting path node to the ending path node is obtained.

[0157] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0158] Acquiring the shortest path of each first-level path node adjacent to the starting path node in the first-level structure tree to form a starting point search range set includes:

[0159] A first set S is set to store the explored path nodes, which initially only includes the starting path node;

[0160] A second set U is set to store all remaining first-level path nodes in the first-level structure tree except the first set S;

[0161] The first-level path nodes in the second set U are transferred to the first set S one by one, and the shortest distances from the first-level path nodes of the first set S to the starting path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a starting point search range set.

[0162] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0163] Acquiring the shortest path of each first-level path node adjacent to the termination path node in the first-level structure tree to form a terminal search range set includes:

[0164] A first set S is set to store the explored path nodes, which initially only includes the terminal path node;

[0165] A second set U is set to store all remaining first-level path nodes in the first-level structure tree except the first set S;

[0166] The first-level path nodes in the second set U are transferred to the first set S one by one, and the shortest distances from the first-level path nodes of the first set S to the terminal path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a terminal search range set.

[0167] For the specific limitations on the steps implemented when the computer program is executed by the processor, please refer to the limitations on the method of full-ship path navigation above, which will not be repeated here.

[0168] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the navigation data of the entire ship path. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for navigation of the entire ship path is implemented.

[0169] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0170] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0171] Constructing a three-dimensional space model of the ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes;

[0172] Traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path;

[0173] Building a ship-wide path navigation system based on the shortest path tree on the three-dimensional space model of the ship;

[0174] In response to detecting the starting point and the target point input by the user, the shortest path from the starting point to the target point is searched in the whole ship path navigation system and the shortest path node is output, and the shortest path from the starting point to the target point is displayed according to the shortest path node.

[0175] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0176] The constructing of a three-dimensional space model of a ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes comprises:

[0177] The ship structure data is screened and converted into a format, and then combined with the ship CAD data for data analysis to form a planar structure diagram of each layer of the hull;

[0178] Combine the planar structural diagrams of each layer of the hull to form a three-dimensional spatial model of the ship;

[0179] Identifying path nodes in the three-dimensional space model of the ship according to the ship CAD data, verifying the connection relationship between each path node, and building a bidirectional channel between two adjacent connected path nodes;

[0180] A network topology diagram is constructed according to the connection relationship between the path nodes in the three-dimensional space model of the ship.

[0181] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0182] The constructing of a network topology diagram according to the connection relationship between the path nodes in the three-dimensional space model of the ship comprises:

[0183] The ship CAD data and the ship three-dimensional space model are stored in a database;

[0184] Each cabin in the three-dimensional space model of the ship is defined as a primary path node, and each device in the cabin is defined as a secondary path node, and a primary structure tree and a secondary structure tree are generated.

[0185] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0186] The traversing of the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path comprises:

[0187] The network topology is set to G = (V, E, W); where V = (P1, P2, ..., P n ), V represents the node set, P n Represents a path node; E = {(P i ,P j )|P i ,P j ∈V,P i ≠P j ), E represents the channel set, (Pi ,P j ) indicates that P i and P j A bidirectional channel consisting of two path nodes; W represents the weight of selecting a bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Represents the difficulty factor of a two-way channel;

[0188] A starting path node and an ending path node are set, and the connection between the starting path node and the ending path node is used as a diameter. When the starting path node and the ending path node are at the same layer of the hull, two 150° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction; when the starting path node and the ending path node are not at the same layer of the hull, two 180° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction;

[0189] The shortest path of each first-level path node adjacent to the start path node is obtained in the first-level structure tree to form a start point search range set, and the shortest path of each first-level path node adjacent to the end path node is obtained in the first-level structure tree to form a terminal search range set;

[0190] Obtain the intersection of the starting point search range set and the end point search range set, use the first-level path node in the intersection of the starting point search range set and the end point search range set as the intermediate node, obtain the shortest path from the starting path node through the intermediate node to the end path node and output it.

[0191] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0192] When the shortest path from the starting path node through the intermediate node to the ending path node is obtained and output, it also includes:

[0193] In the secondary structure tree, a secondary path node on the shortest path from the starting path node to the ending path node is obtained.

[0194] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0195] Acquiring the shortest path of each first-level path node adjacent to the starting path node in the first-level structure tree to form a starting point search range set includes:

[0196] A first set S is set to store the explored path nodes, which initially only includes the starting path node;

[0197] A second set U is set to store all remaining first-level path nodes in the first-level structure tree except the first set S;

[0198] The first-level path nodes in the second set U are transferred to the first set S one by one, and the shortest distances from the first-level path nodes of the first set S to the starting path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a starting point search range set.

[0199] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0200] Acquiring the shortest path of each first-level path node adjacent to the termination path node in the first-level structure tree to form a terminal search range set includes:

[0201] A first set S is set to store the explored path nodes, which initially only includes the terminal path node;

[0202] A second set U is set to store all remaining first-level path nodes in the first-level structure tree except the first set S;

[0203] The first-level path nodes in the second set U are transferred to the first set S one by one, and the shortest distances from the first-level path nodes of the first set S to the terminal path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a terminal search range set.

[0204] For the specific limitations on the steps implemented when the processor executes the computer program, please refer to the limitations on the method of full-ship path navigation above, which will not be repeated here.

[0205] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0206] Constructing a three-dimensional space model of the ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes;

[0207] Traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path;

[0208] Building a ship-wide path navigation system based on the shortest path tree on the three-dimensional space model of the ship;

[0209] In response to detecting the starting point and the target point input by the user, the shortest path from the starting point to the target point is searched in the whole ship path navigation system and the shortest path node is output, and the shortest path from the starting point to the target point is displayed according to the shortest path node.

[0210] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0211] The constructing of a three-dimensional space model of a ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes comprises:

[0212] The ship structure data is screened and converted into a format, and then combined with the ship CAD data for data analysis to form a planar structure diagram of each layer of the hull;

[0213] Combine the planar structural diagrams of each layer of the hull to form a three-dimensional spatial model of the ship;

[0214] Identifying path nodes in the three-dimensional space model of the ship according to the ship CAD data, verifying the connection relationship between each path node, and building a bidirectional channel between two adjacent connected path nodes;

[0215] A network topology diagram is constructed according to the connection relationship between the path nodes in the three-dimensional space model of the ship.

[0216] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0217] The constructing of a network topology diagram according to the connection relationship between the path nodes in the three-dimensional space model of the ship comprises:

[0218] The ship CAD data and the ship three-dimensional space model are stored in a database;

[0219] Each cabin in the three-dimensional space model of the ship is defined as a primary path node, and each device in the cabin is defined as a secondary path node, and a primary structure tree and a secondary structure tree are generated.

[0220] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0221] The traversing of the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path comprises:

[0222] The network topology is set to G = (V, E, W); where V = (P1, P2, ..., P n), V represents the node set, P n Represents a path node; E = {(P i ,P j )|P i ,P j ∈V,P i ≠P j ), E represents the channel set, (P i ,P j ) indicates that P i and P j A bidirectional channel consisting of two path nodes; W represents the weight of selecting a bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Represents the difficulty factor of a two-way channel;

[0223] A starting path node and an ending path node are set, and the connection between the starting path node and the ending path node is used as a diameter. When the starting path node and the ending path node are at the same layer of the hull, two 150° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction; when the starting path node and the ending path node are not at the same layer of the hull, two 180° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction;

[0224] The shortest path of each first-level path node adjacent to the start path node is obtained in the first-level structure tree to form a start point search range set, and the shortest path of each first-level path node adjacent to the end path node is obtained in the first-level structure tree to form a terminal search range set;

[0225] Obtain the intersection of the starting point search range set and the end point search range set, use the first-level path node in the intersection of the starting point search range set and the end point search range set as the intermediate node, obtain the shortest path from the starting path node through the intermediate node to the end path node and output it.

[0226] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0227] When the shortest path from the starting path node through the intermediate node to the ending path node is obtained and output, it also includes:

[0228] In the secondary structure tree, a secondary path node on the shortest path from the starting path node to the ending path node is obtained.

[0229] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0230] Acquiring the shortest path of each first-level path node adjacent to the starting path node in the first-level structure tree to form a starting point search range set includes:

[0231] A first set S is set to store the explored path nodes, which initially only includes the starting path node;

[0232] A second set U is set to store all remaining first-level path nodes in the first-level structure tree except the first set S;

[0233] The first-level path nodes in the second set U are transferred to the first set S one by one, and the shortest distances from the first-level path nodes of the first set S to the starting path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a starting point search range set.

[0234] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0235] Acquiring the shortest path of each first-level path node adjacent to the termination path node in the first-level structure tree to form a terminal search range set includes:

[0236] A first set S is set to store the explored path nodes, which initially only includes the terminal path node;

[0237] A second set U is set to store all remaining first-level path nodes in the first-level structure tree except the first set S;

[0238] The first-level path nodes in the second set U are transferred to the first set S one by one, and the shortest distances from the first-level path nodes of the first set S to the terminal path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a terminal search range set.

[0239] For the specific limitations on the steps implemented when the computer program is executed by the processor, please refer to the limitations on the method of full-ship path navigation above, which will not be repeated here.

[0240] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0241] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are 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.

[0242] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A whole ship path navigation method, characterized in that: include: Constructing a three-dimensional space model of the ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes; Traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path; Building a ship-wide path navigation system based on the shortest path tree on the three-dimensional space model of the ship; In response to detecting the starting point and the target point input by the user, the shortest path from the starting point to the target point is searched in the whole ship path navigation system and the shortest path node is output, and the shortest path from the starting point to the target point is displayed according to the shortest path node.

2. The whole ship path navigation method according to claim 1, characterized in that: The constructing of a three-dimensional space model of a ship according to the ship structure data, identifying path nodes according to the three-dimensional space model of the ship and constructing a network topology diagram based on the connection relationship of the path nodes comprises: The ship structure data is screened and converted into a format, and then combined with the ship CAD data for data analysis to form a planar structure diagram of each layer of the hull; Combine the planar structural diagrams of each layer of the hull to form a three-dimensional spatial model of the ship; Identifying path nodes in the three-dimensional space model of the ship according to the ship CAD data, verifying the connection relationship between each path node, and building a bidirectional channel between two adjacent connected path nodes; A network topology diagram is constructed according to the connection relationship between the path nodes in the three-dimensional space model of the ship.

3. The whole ship path navigation method according to claim 2, characterized in that: The constructing of a network topology diagram according to the connection relationship between the path nodes in the three-dimensional space model of the ship comprises: The ship CAD data and the ship three-dimensional space model are stored in a database; Each cabin in the three-dimensional space model of the ship is defined as a primary path node, and each device in the cabin is defined as a secondary path node, and a primary structure tree and a secondary structure tree are generated.

4. The whole ship path navigation method according to claim 3, characterized in that: The traversing of the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree according to the path nodes on the shortest path comprises: The network topology is set to G = (V, E, W); where V = (P1, P2, ..., P n ), V represents the node set, P n Represents a path node; E = {(P i ,P j )|P i ,P j ∈V,P i ≠P j ), E represents the channel set, (P i ,P j ) indicates that P i and P j A bidirectional channel consisting of two path nodes; W represents the weight of selecting a bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Represents the difficulty factor of a two-way channel; A starting path node and an ending path node are set, and the connection between the starting path node and the ending path node is used as a diameter. When the starting path node and the ending path node are at the same layer of the hull, two 150° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction; when the starting path node and the ending path node are not at the same layer of the hull, two 180° fan-shaped areas are drawn with the starting path node and the ending path node as the center of the circle as the search direction; The shortest path of each first-level path node adjacent to the start path node is obtained in the first-level structure tree to form a start point search range set, and the shortest path of each first-level path node adjacent to the end path node is obtained in the first-level structure tree to form a terminal search range set; Obtain the intersection of the starting point search range set and the end point search range set, use the first-level path node in the intersection of the starting point search range set and the end point search range set as the intermediate node, obtain the shortest path from the starting path node through the intermediate node to the end path node and output it.

5. The whole ship path navigation method according to claim 4, characterized in that: When the shortest path from the starting path node through the intermediate node to the ending path node is obtained and output, it also includes: A secondary path node on the shortest path from the starting path node to the ending path node is obtained in the secondary structure tree.

6. The whole ship path navigation method according to claim 4, characterized in that: Acquiring the shortest path of each first-level path node adjacent to the starting path node in the first-level structure tree to form a starting point search range set includes: A first set is set to store the explored path nodes, initially including only the starting path node; Setting a second set to store all remaining first-level path nodes in the first-level structure tree except the first set; The first-level path nodes in the second set are transferred to the first set one by one, and the shortest distances from the first-level path nodes in the first set to the starting path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a starting point search range set.

7. The whole ship path navigation method according to claim 4, characterized in that: Acquiring the shortest path of each first-level path node adjacent to the termination path node in the first-level structure tree to form a terminal search range set includes: A first set is set to store the explored path nodes, initially including only the terminal path node; Setting a second set to store all remaining first-level path nodes in the first-level structure tree except the first set; The first-level path nodes in the second set are transferred to the first set one by one, and the shortest distances from the first-level path nodes in the first set to the terminal path nodes are obtained one by one, and the path corresponding to the shortest distance is used as the shortest path to form a terminal search range set.

8. A whole ship path navigation device, characterized in that: The device comprises: A network topology diagram construction module is used to construct a three-dimensional space model of the ship according to the ship structure data, identify path nodes according to the three-dimensional space model of the ship, and construct a network topology diagram based on the connection relationship of the path nodes; A shortest path tree generation module is used to traverse the path nodes in the network topology diagram, identify the shortest path between any two path nodes, and generate a shortest path tree according to the path nodes on the shortest path; Building a navigation system module, used to build a full-ship path navigation system based on the shortest path tree on the three-dimensional space model of the ship; The navigation control module is used to search for the shortest path from the starting point to the target point in the whole ship path navigation system in response to detecting the starting point and the target point input by the user, output the shortest path node, and display the shortest path from the starting point to the target point according to the shortest path node.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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