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

Abstract

The application relates to a full-ship path navigation method and device, computer equipment and a storage medium. The application identifies path nodes in a three-dimensional space model of a ship and constructs a network topology graph based on the connection relationship of the path nodes, traverses the path nodes in the network topology graph, identifies the shortest path between any two path nodes, generates a shortest path tree according to the path nodes on the shortest path, can obtain the shortest path from a starting point to a target point and output shortest path nodes by a bidirectional sector search method during navigation, realizes shortest path navigation, and improves navigation efficiency and safety.

Description

Technical Field

[0001] This application relates to the field of navigation technology, and in particular to a method, apparatus, computer equipment, and storage medium for full-ship path navigation. Background Technology

[0002] Route navigation technology is not only crucial for the efficient operation of internal ship logistics, but also directly impacts the work efficiency and safety of the crew. With the continuous expansion of ship size and the increasing complexity of internal structures, the importance of ship-wide route navigation technology is becoming increasingly prominent.

[0003] In the field of ship internal path planning, the choice of algorithm is crucial to ensuring navigation efficiency and safety. Dijkstra's algorithm is favored for its concise implementation and efficient solution to the single-source shortest path problem, although it has limitations when handling graphs with negative edge weights. The A* algorithm reduces the search space and accelerates path finding by introducing heuristic evaluation, but this also presents challenges in designing heuristic functions and requires significant storage. The Bellman-Ford algorithm stands out for its ability to handle negative edge weights, 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 by obstacles or narrow areas near the target point, limiting its applicability in global path planning. Considering the advantages and disadvantages of these algorithms, each 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 for improving the intelligence level of ships, reducing the risk of maritime accidents, and ensuring navigation safety. Therefore, researching and developing path planning algorithms suitable for specific environments and needs is key to improving the efficiency and safety of internal path planning on ships. Summary of the Invention

[0004] Based on this, a method, apparatus, computer equipment, and storage medium for ship-wide path navigation are provided to solve the technical problem of complex internal path planning on ships, which makes it difficult to ensure navigation efficiency and safety.

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

[0006] A three-dimensional spatial model of the ship is constructed based on the ship's structural data. Path nodes are identified based on the three-dimensional spatial model of the ship, and a network topology graph is constructed based on the connection relationship of the path nodes.

[0007] Traverse the path nodes in the network topology graph, identify the shortest path between any two path nodes, and generate a shortest path tree based on the path nodes on the shortest path.

[0008] A ship-wide path navigation system is built on the ship's three-dimensional spatial model based on the shortest path tree;

[0009] In response to detecting the starting point and target point input by the user, the system searches for the shortest path from the starting point to the target point in the ship-wide path navigation system and outputs the shortest path node. Based on the shortest path node, the system displays the shortest path from the starting point to the target point.

[0010] In one embodiment, the step of constructing a three-dimensional spatial model of the ship based on the ship's structural data, identifying path nodes based on the three-dimensional spatial model, and constructing a network topology graph based on the connection relationships of the path nodes includes:

[0011] The ship structure data is filtered and converted into different formats. Combined with the ship CAD data, the data is parsed to generate a plan view of each layer of the hull.

[0012] The planar structural diagrams of each layer of the hull are combined to form a three-dimensional spatial model of the ship.

[0013] Based on the ship CAD data, identify the path nodes in the ship's three-dimensional spatial model, verify the connection relationship between each path node, and construct a bidirectional channel between two adjacent connected path nodes;

[0014] A network topology graph is constructed based on the connection relationships between path nodes in the ship's three-dimensional spatial model.

[0015] In one embodiment, constructing a network topology graph based on the connection relationships between path nodes in the ship's three-dimensional spatial model includes:

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

[0017] Each compartment in the ship's three-dimensional spatial model is defined as a primary path node, and each piece of equipment within the compartment is defined as a secondary path node, generating a primary structure tree and a secondary structure tree.

[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 based on the path nodes on the shortest path includes:

[0019] The network topology is set as G = (V, E, W); where V = (P1, P2, ..., P...). n V represents the set of nodes, 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 two-way channel formed by two path nodes; W represents the weight for selecting the bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Factors representing the difficulty of passage in a two-way channel;

[0020] Set a starting path node and an ending path node. Use the connection between the starting path node and the ending path node as the diameter. When the starting path node and the ending path node are on the same layer of the hull, draw two 150° sector areas with the starting path node and the ending path node as the center respectively as the search direction. When the starting path node and the ending path node are not on the same layer of the hull, draw two 180° sector areas with the starting path node and the ending path node as the center respectively as the search direction.

[0021] In the first-level structure tree, the shortest path of each first-level path node adjacent to the starting path node is obtained to form the starting search range set, and in the first-level structure tree, the shortest path of each first-level path node adjacent to the ending path node is obtained to form the ending search range set.

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

[0023] In one embodiment, when obtaining and outputting the shortest path from the starting path node through the intermediate nodes to the ending path node, the method further includes:

[0024] Obtain the secondary path nodes on the shortest path from the starting path node to the ending path node in the secondary structure tree.

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

[0026] The first set is set up to store the explored path nodes, initially containing only the starting path node;

[0027] A second set is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set.

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

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

[0030] The first set is set up to store the explored path nodes, initially containing only the terminated path nodes;

[0031] A second set is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set.

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

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

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

[0035] The shortest path tree generation module is used to traverse the path nodes in the network topology graph, identify the shortest path between any two path nodes, and generate a shortest path tree based on the path nodes on the shortest path.

[0036] A navigation system module is built to construct a ship-wide path navigation system based on the shortest path tree on the ship's three-dimensional spatial model.

[0037] The navigation control module is used to, in response to detecting the starting point and target point input by the user, find the shortest path from the starting point to the target point in the ship-wide path navigation system and output the shortest path node, and display the shortest path from the starting point to the target point based on the shortest path node.

[0038] In another aspect, 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 executes the computer program to perform the following steps:

[0039] A three-dimensional spatial model of the ship is constructed based on the ship's structural data. Path nodes are identified based on the three-dimensional spatial model of the ship, and a network topology graph is constructed based on the connection relationship of the path nodes.

[0040] Traverse the path nodes in the network topology graph, identify the shortest path between any two path nodes, and generate a shortest path tree based on the path nodes on the shortest path.

[0041] A ship-wide path navigation system is built on the ship's three-dimensional spatial model based on the shortest path tree;

[0042] In response to detecting the starting point and target point input by the user, the system searches for the shortest path from the starting point to the target point in the ship-wide path navigation system and outputs the shortest path node. Based on the shortest path node, the system displays the shortest path from the starting point to the target point.

[0043] In another aspect, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0044] A three-dimensional spatial model of the ship is constructed based on the ship's structural data. Path nodes are identified based on the three-dimensional spatial model of the ship, and a network topology graph is constructed based on the connection relationship of the path nodes.

[0045] Traverse the path nodes in the network topology graph, identify the shortest path between any two path nodes, and generate a shortest path tree based on the path nodes on the shortest path.

[0046] A ship-wide path navigation system is built on the ship's three-dimensional spatial model based on the shortest path tree;

[0047] In response to detecting the starting point and target point input by the user, the system searches for the shortest path from the starting point to the target point in the ship-wide path navigation system and outputs the shortest path node. Based on the shortest path node, the system displays the shortest path from the starting point to the target point.

[0048] The aforementioned ship-wide path navigation method, device, computer equipment, and storage medium identify path nodes in the ship's three-dimensional spatial model and construct a network topology graph based on the connection relationships of the path nodes. By traversing the path nodes in the network topology graph, identifying the shortest path between any two path nodes, and generating a shortest path tree based on the path nodes on the shortest path, the system can obtain the shortest path from the starting point to the target point through a bidirectional fan-shaped search during navigation and output the shortest path node, thereby achieving shortest path navigation and improving navigation efficiency and safety. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a flowchart illustrating a ship-wide path navigation method in one embodiment of this application;

[0051] Figure 2 This is a logic diagram of a ship-wide path navigation method in one embodiment of this application;

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

[0053] Figure 4 This is a schematic diagram of the search direction in one embodiment of this application;

[0054] Figure 5 This is a structural block diagram of a ship-wide path navigation device in one embodiment of this application;

[0055] Figure 6 This is an internal structural diagram of a computer device in one embodiment of this application. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0057] In one embodiment, such as Figure 1 , Figure 2 As shown, a method for full-ship path navigation is provided, including the following steps:

[0058] Step S1: Construct a three-dimensional spatial model of the ship based on the ship structure data, identify path nodes based on the three-dimensional spatial model of the ship, and construct a network topology graph based on the connection relationship of the path nodes;

[0059] Step S2: Traverse the path nodes in the network topology graph, identify the shortest path between any two path nodes, and generate a shortest path tree based on the path nodes on the shortest path.

[0060] Step S3: Build a ship-wide path navigation system based on the shortest path tree on the ship's three-dimensional spatial model;

[0061] Step S4: In response to detecting the starting point and target point input by the user, the shortest path from the starting point to the target point is found in the ship-wide path navigation system and the shortest path node is output. The shortest path from the starting point to the target point is displayed based on the shortest path node.

[0062] Specifically, by identifying path nodes in the ship's three-dimensional spatial model and constructing a network topology graph based on the connection relationships 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 based on the path nodes on the shortest path, the system can obtain the shortest path from the starting point to the target point through a bidirectional fan-shaped search during navigation and output the shortest path node, thereby achieving shortest path navigation and improving navigation efficiency and safety.

[0063] like Figure 2 As shown, in this embodiment, the step of constructing a three-dimensional spatial model of the ship based on the ship's structural data, identifying path nodes based on the three-dimensional spatial model, and constructing a network topology graph based on the connection relationships of the path nodes includes:

[0064] The ship structure data is filtered and converted into different formats. Combined with the ship CAD data, the data is parsed to generate a plan view of each layer of the hull.

[0065] The planar structural diagrams of each layer of the hull are combined to form a three-dimensional spatial model of the ship.

[0066] Based on the ship CAD data, identify the path nodes in the ship's three-dimensional spatial model, verify the connection relationship between each path node, and construct a bidirectional channel between two adjacent connected path nodes;

[0067] A network topology graph is constructed based on the connection relationships between path nodes in the ship's three-dimensional spatial model.

[0068] The network topology diagram described is an undirected weighted network topology diagram, which depicts in detail the layout of all passageways within the ship. Each edge in the diagram represents a bidirectional feasible path, i.e., a bidirectional passageway.

[0069] In this embodiment, constructing a network topology graph based on the connection relationships between path nodes in the ship's three-dimensional spatial model includes:

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

[0071] Each compartment in the ship's three-dimensional spatial model is defined as a primary path node, and each piece of equipment within the compartment is defined as a secondary path node, generating a primary structure tree and a secondary structure tree.

[0072] For the shortest path problem within a ship, optimizing the node dataset is a crucial step. First, path points are defined based on the ship's main compartments and areas. Specifically, each compartment is defined as a first-level node, and the equipment within the compartments are designated as second-level nodes. The resulting shortest path structure tree is as follows: Figure 3 As shown. Based on this path tree, further detailed node design is then carried out.

[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 based on the path nodes on the shortest path includes:

[0074] The network topology is set as G = (V, E, W); where V = (P1, P2, ..., P...). n V represents the set of nodes, 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 two-way channel formed by two path nodes; W represents the weight for selecting the bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Factors representing the difficulty of passage in a two-way channel;

[0075] Set a starting path node and an ending path node. Use the connection between the starting path node and the ending path node as the diameter. When the starting path node and the ending path node are on the same layer of the hull, draw two 150° sector areas with the starting path node and the ending path node as the center respectively as the search direction. When the starting path node and the ending path node are not on the same layer of the hull, draw two 180° sector areas with the starting path node and the ending path node as the center respectively as the search direction.

[0076] In the first-level structure tree, the shortest path of each first-level path node adjacent to the starting path node is obtained to form the starting search range set, and in the first-level structure tree, the shortest path of each first-level path node adjacent to the ending path node is obtained to form the ending search range set.

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

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

[0079] Within the ship, the flow of personnel and supplies is dynamic, which demands real-time adaptability from the path planning algorithm. As shown in Table 1, to address this dynamism, the system allows for flexible setting of the passage difficulty factors for each bidirectional passage within the ship.

[0080] Table 1 Factors affecting the difficulty of passage through the two-way passageway inside the ship.

[0081]

[0082]

[0083] For example, when an elevator malfunctions, the system can adjust its access difficulty factor m. i Setting it to 0 prevents the algorithm from considering routes via elevators, thus avoiding guiding people to unusable passageways. Similarly, if materials are piled up in a passageway, hindering passage, the system adjusts the passageway's difficulty factor m. i Setting it to 0.5 reduces the priority of this channel in route planning, but still allows it to be used when necessary to increase the flexibility of route planning.

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

[0085]

[0086] Using artificial intelligence, a 3D spatial model of the ship is first imported. Then, the algorithm automatically analyzes and identifies all possible passageways, while eliminating areas unsuitable for passage due to obstacles, confined spaces, or safety regulations. After confirming all feasible paths, the AI ​​further intelligently decomposes these paths into a series of precise nodes, each containing specific location coordinates and connection relationships. These nodes collectively form the dataset foundation for subsequent shortest path algorithm processing. Based on the ship's actual layout and requirements, the system sets up a total of 263 path nodes and 282 passageways, including 8 manhole covers, 4 elevators, 6 vertical elevators, and 14 staircases.

[0087] To significantly improve the efficiency of this process, an effective strategy is to employ a bidirectional search algorithm. This algorithm starts from both the initial and final path nodes and searches in both directions. In each search direction, a priority queue is used to extract the node with the lowest path cost for further traversal. To further improve the algorithm's search efficiency and reduce redundant searches, the search range is further narrowed based on the bidirectional search.

[0088] like Figure 4 As shown, to optimize this process more effectively, a fan-shaped search strategy can be introduced. This strategy uses the starting path node M-1 and the ending path node M-9 as centers to expand outwards, forming fan-shaped search areas, thereby more accurately locating the search path. When the starting path node M-1 and the ending path node M-9 are on the same deck level, the line connecting the two points is used as the diameter, and two 150° fan-shaped areas are drawn with them as the centers as the search directions. When the starting path node M-1 and the ending path node M-9 are on different deck levels, two 180° semicircular areas are drawn with these two points as the centers and the line connecting them as the diameter as the search directions. When the starting path node M-1 and the ending path node M-9 are on different deck levels, and the line connecting them is not pierced by a passage, the fan-shaped search is not used.

[0089] In this embodiment, when obtaining and outputting the shortest path from the starting path node through the intermediate nodes to the ending path node, the method further includes:

[0090] Obtain the secondary path nodes on the shortest path from the starting path node to the ending path node in the secondary structure tree.

[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 the starting search range set includes:

[0092] Set a first set S to store the explored path nodes, initially containing only the starting path node;

[0093] A second set U is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set S.

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

[0095] The node closest to the starting path node is selected from the second set U and becomes the focus of the next calculation. This node is then transferred from the second set U to the first set S, indicating that it has been explored. Simultaneously, the node is removed from the second set U to avoid duplicate processing. During the transfer, all remaining nodes in the second set U are checked. If the path to the starting path node via a newly added node in 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 terminating path node in the first-level structure tree to form the endpoint search range set includes:

[0097] Set a first set S to store the explored path nodes, initially containing only the terminated path nodes;

[0098] A second set U is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set S.

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

[0100] The ship-wide navigation system provides a user-friendly interface, allowing users to set the start and end points for calculating the shortest path. After the user inputs the desired and target points and clicks the "Display Path" button, the system will automatically calculate and display the shortest path from the start to the end. This path can be visually displayed on the interface as arrows or line segments. To make the simulation experience more realistic, the system offers a first-person perspective navigation roaming function, allowing users to personalize the navigation roaming height and speed settings according to their height and preferred walking speed.

[0101] The ship-wide navigation system also specifically optimizes the one-way nature of the shortest path algorithm, enabling it to receive and process information on changes in the ship's internal structure in real time. This means the system can dynamically update the shortest path calculation results, ensuring that the navigation information provided is always up-to-date and accurate. This real-time update capability is particularly important in scenarios where the ship's internal environment may change frequently, guaranteeing that users can obtain the most reliable and safest navigation guidance at all times.

[0102] In the above-mentioned ship-wide path navigation method, path nodes are identified in the ship's three-dimensional spatial model, and a network topology graph is constructed based on the connection relationship of the path nodes. The path nodes in the network topology graph are traversed to identify the shortest path between any two path nodes. A shortest path tree is generated based on 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 bidirectional fan-shaped search and the shortest path node can be output, thereby realizing shortest path navigation and improving navigation efficiency and safety.

[0103] In one embodiment, such as Figure 5 As shown, a ship-wide 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 graph construction module 1 is used to construct a three-dimensional spatial model of the ship based on the ship structure data, identify path nodes based on the three-dimensional spatial model of the ship, and construct a network topology graph based on the connection relationship of the path nodes.

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

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

[0107] The navigation control module 4 is used to respond to the detection of the starting point and target point input by the user, to find the shortest path from the starting point to the target point in the whole ship path navigation system and output the shortest path node, and to display the shortest path from the starting point to the target point according to the shortest path node.

[0108] In this embodiment, the step of constructing a three-dimensional spatial model of the ship based on the ship's structural data, identifying path nodes based on the three-dimensional spatial model, and constructing a network topology graph based on the connection relationships of the path nodes includes:

[0109] The ship structure data is filtered and converted into different formats. Combined with the ship CAD data, the data is parsed to generate a plan view of each layer of the hull.

[0110] The planar structural diagrams of each layer of the hull are combined to form a three-dimensional spatial model of the ship.

[0111] Based on the ship CAD data, identify the path nodes in the ship's three-dimensional spatial model, verify the connection relationship between each path node, and construct a bidirectional channel between two adjacent connected path nodes;

[0112] A network topology graph is constructed based on the connection relationships between path nodes in the ship's three-dimensional spatial model.

[0113] In this embodiment, constructing a network topology graph based on the connection relationships between path nodes in the ship's three-dimensional spatial model includes:

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

[0115] Each compartment in the ship's three-dimensional spatial model is defined as a primary path node, and each piece of equipment within the compartment is defined as a secondary path node, generating a primary structure tree and a secondary structure tree.

[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 based on the path nodes on the shortest path includes:

[0117] The network topology is set as G = (V, E, W); where V = (P1, P2, ..., P...). n V represents the set of nodes, 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 two-way channel formed by two path nodes; W represents the weight for selecting the bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Factors representing the difficulty of passage in a two-way channel;

[0118] Set a starting path node and an ending path node. Use the connection between the starting path node and the ending path node as the diameter. When the starting path node and the ending path node are on the same layer of the hull, draw two 150° sector areas with the starting path node and the ending path node as the center respectively as the search direction. When the starting path node and the ending path node are not on the same layer of the hull, draw two 180° sector areas with the starting path node and the ending path node as the center respectively as the search direction.

[0119] In the first-level structure tree, the shortest path of each first-level path node adjacent to the starting path node is obtained to form the starting search range set, and in the first-level structure tree, the shortest path of each first-level path node adjacent to the ending path node is obtained to form the ending search range set.

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

[0121] In this embodiment, when obtaining and outputting the shortest path from the starting path node through the intermediate nodes to the ending path node, the method further includes:

[0122] Obtain the secondary path nodes on the shortest path from the starting path node to the ending path node in the secondary structure tree.

[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 the starting search range set includes:

[0124] Set a first set S to store the explored path nodes, initially containing only the starting path node;

[0125] A second set U is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set S.

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

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

[0128] Set a first set S to store the explored path nodes, initially containing only the terminated path nodes;

[0129] A second set U is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set S.

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

[0131] In the aforementioned ship-wide path navigation device, path nodes are identified in the ship's three-dimensional spatial model, and a network topology graph is constructed based on the connection relationship of the path nodes. The path nodes in the network topology graph are traversed to identify the shortest path between any two path nodes. A shortest path tree is generated based on 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 bidirectional fan-shaped search and the shortest path node can be output, thereby realizing shortest path navigation and improving navigation efficiency and safety.

[0132] Specific limitations regarding the ship-wide path navigation device can be found in the limitations of the ship-wide path navigation method described above, and will not be repeated here. Each module in the aforementioned ship-wide path navigation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0133] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0134] A three-dimensional spatial model of the ship is constructed based on the ship's structural data. Path nodes are identified based on the three-dimensional spatial model of the ship, and a network topology graph is constructed based on the connection relationship of the path nodes.

[0135] Traverse the path nodes in the network topology graph, identify the shortest path between any two path nodes, and generate a shortest path tree based on the path nodes on the shortest path.

[0136] A ship-wide path navigation system is built on the ship's three-dimensional spatial model based on the shortest path tree;

[0137] In response to detecting the starting point and target point input by the user, the system searches for the shortest path from the starting point to the target point in the ship-wide path navigation system and outputs the shortest path node. Based on the shortest path node, the system displays the shortest path from the starting point to the target point.

[0138] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0139] The step of constructing a three-dimensional spatial model of the ship based on the ship's structural data, identifying path nodes based on the three-dimensional spatial model of the ship, and constructing a network topology graph based on the connection relationships of the path nodes includes:

[0140] The ship structure data is filtered and converted into different formats. Combined with the ship CAD data, the data is parsed to generate a plan view of each layer of the hull.

[0141] The planar structural diagrams of each layer of the hull are combined to form a three-dimensional spatial model of the ship.

[0142] Based on the ship CAD data, identify the path nodes in the ship's three-dimensional spatial model, verify the connection relationship between each path node, and construct a bidirectional channel between two adjacent connected path nodes;

[0143] A network topology graph is constructed based on the connection relationships between path nodes in the ship's three-dimensional spatial model.

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

[0145] The step of constructing a network topology graph based on the connection relationships between path nodes in the ship's three-dimensional spatial model includes:

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

[0147] Each compartment in the ship's three-dimensional spatial model is defined as a primary path node, and each piece of equipment within the compartment is defined as a secondary path node, generating a primary structure tree and a secondary structure tree.

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

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

[0150] The network topology is set as G = (V, E, W); where V = (P1, P2, ..., P...). n V represents the set of nodes, 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 two-way channel formed by two path nodes; W represents the weight for selecting the bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Factors representing the difficulty of passage in a two-way channel;

[0151] Set a starting path node and an ending path node. Use the connection between the starting path node and the ending path node as the diameter. When the starting path node and the ending path node are on the same layer of the hull, draw two 150° sector areas with the starting path node and the ending path node as the center respectively as the search direction. When the starting path node and the ending path node are not on the same layer of the hull, draw two 180° sector areas with the starting path node and the ending path node as the center respectively as the search direction.

[0152] In the first-level structure tree, the shortest path of each first-level path node adjacent to the starting path node is obtained to form the starting search range set, and in the first-level structure tree, the shortest path of each first-level path node adjacent to the ending path node is obtained to form the ending search range set.

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

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

[0155] When obtaining and outputting the shortest path from the starting path node through the intermediate nodes to the ending path node, the method further includes:

[0156] Obtain the secondary path nodes on the shortest path from the starting path node to the ending path node in the secondary structure tree.

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

[0158] In the first-level structure tree, the shortest path to each first-level path node adjacent to the starting path node is obtained to form the starting search range set, including:

[0159] Set a first set S to store the explored path nodes, initially containing only the starting path node;

[0160] A second set U is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set S.

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

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

[0163] In the first-level structure tree, the shortest path to each first-level path node adjacent to the terminal path node is obtained to form the endpoint search range set, including:

[0164] Set a first set S to store the explored path nodes, initially containing only the terminated path nodes;

[0165] A second set U is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set S.

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

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

[0168] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores ship-wide navigation data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a ship-wide navigation method.

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

[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 executes the computer program to perform the following steps:

[0171] A three-dimensional spatial model of the ship is constructed based on the ship's structural data. Path nodes are identified based on the three-dimensional spatial model of the ship, and a network topology graph is constructed based on the connection relationship of the path nodes.

[0172] Traverse the path nodes in the network topology graph, identify the shortest path between any two path nodes, and generate a shortest path tree based on the path nodes on the shortest path.

[0173] A ship-wide path navigation system is built on the ship's three-dimensional spatial model based on the shortest path tree;

[0174] In response to detecting the starting point and target point input by the user, the system searches for the shortest path from the starting point to the target point in the ship-wide path navigation system and outputs the shortest path node. Based on the shortest path node, the system displays the shortest path from the starting point to the target point.

[0175] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0176] The step of constructing a three-dimensional spatial model of the ship based on the ship's structural data, identifying path nodes based on the three-dimensional spatial model of the ship, and constructing a network topology graph based on the connection relationships of the path nodes includes:

[0177] The ship structure data is filtered and converted into different formats. Combined with the ship CAD data, the data is parsed to generate a plan view of each layer of the hull.

[0178] The planar structural diagrams of each layer of the hull are combined to form a three-dimensional spatial model of the ship.

[0179] Based on the ship CAD data, identify the path nodes in the ship's three-dimensional spatial model, verify the connection relationship between each path node, and construct a bidirectional channel between two adjacent connected path nodes;

[0180] A network topology graph is constructed based on the connection relationships between path nodes in the ship's three-dimensional spatial model.

[0181] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0182] The step of constructing a network topology graph based on the connection relationships between path nodes in the ship's three-dimensional spatial model includes:

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

[0184] Each compartment in the ship's three-dimensional spatial model is defined as a primary path node, and each piece of equipment within the compartment is defined as a secondary path node, generating a primary structure tree and a secondary structure tree.

[0185] In one embodiment, the processor, when executing a computer program, also performs the following steps:

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

[0187] The network topology is set as G = (V, E, W); where V = (P1, P2, ..., P...). n V represents the set of nodes, 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 two-way channel formed by two path nodes; W represents the weight for selecting the bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Factors representing the difficulty of passage in a two-way channel;

[0188] Set a starting path node and an ending path node. Use the connection between the starting path node and the ending path node as the diameter. When the starting path node and the ending path node are on the same layer of the hull, draw two 150° sector areas with the starting path node and the ending path node as the center respectively as the search direction. When the starting path node and the ending path node are not on the same layer of the hull, draw two 180° sector areas with the starting path node and the ending path node as the center respectively as the search direction.

[0189] In the first-level structure tree, the shortest path of each first-level path node adjacent to the starting path node is obtained to form the starting search range set, and in the first-level structure tree, the shortest path of each first-level path node adjacent to the ending path node is obtained to form the ending search range set.

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

[0191] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0192] When obtaining and outputting the shortest path from the starting path node through the intermediate nodes to the ending path node, the method further includes:

[0193] Obtain the secondary path nodes on the shortest path from the starting path node to the ending path node in the secondary structure tree.

[0194] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0195] In the first-level structure tree, the shortest path to each first-level path node adjacent to the starting path node is obtained to form the starting search range set, including:

[0196] Set a first set S to store the explored path nodes, initially containing only the starting path node;

[0197] A second set U is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set S.

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

[0199] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0200] In the first-level structure tree, the shortest path to each first-level path node adjacent to the terminal path node is obtained to form the endpoint search range set, including:

[0201] Set a first set S to store the explored path nodes, initially containing only the terminated path nodes;

[0202] A second set U is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set S.

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

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

[0205] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0206] A three-dimensional spatial model of the ship is constructed based on the ship's structural data. Path nodes are identified based on the three-dimensional spatial model of the ship, and a network topology graph is constructed based on the connection relationship of the path nodes.

[0207] Traverse the path nodes in the network topology graph, identify the shortest path between any two path nodes, and generate a shortest path tree based on the path nodes on the shortest path.

[0208] A ship-wide path navigation system is built on the ship's three-dimensional spatial model based on the shortest path tree;

[0209] In response to detecting the starting point and target point input by the user, the system searches for the shortest path from the starting point to the target point in the ship-wide path navigation system and outputs the shortest path node. Based on the shortest path node, the system displays the shortest path from the starting point to the target point.

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

[0211] The step of constructing a three-dimensional spatial model of the ship based on the ship's structural data, identifying path nodes based on the three-dimensional spatial model of the ship, and constructing a network topology graph based on the connection relationships of the path nodes includes:

[0212] The ship structure data is filtered and converted into different formats. Combined with the ship CAD data, the data is parsed to generate a plan view of each layer of the hull.

[0213] The planar structural diagrams of each layer of the hull are combined to form a three-dimensional spatial model of the ship.

[0214] Based on the ship CAD data, identify the path nodes in the ship's three-dimensional spatial model, verify the connection relationship between each path node, and construct a bidirectional channel between two adjacent connected path nodes;

[0215] A network topology graph is constructed based on the connection relationships between path nodes in the ship's three-dimensional spatial model.

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

[0217] The step of constructing a network topology graph based on the connection relationships between path nodes in the ship's three-dimensional spatial model includes:

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

[0219] Each compartment in the ship's three-dimensional spatial model is defined as a primary path node, and each piece of equipment within the compartment is defined as a secondary path node, generating a primary structure tree and a secondary structure tree.

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

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

[0222] The network topology is set as G = (V, E, W); where V = (P1, P2, ..., P...). nV represents the set of nodes, 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 two-way channel formed by two path nodes; W represents the weight for selecting the bidirectional channel; Indicated by P i and P j The length of the bidirectional channel formed by two path nodes, m i Factors representing the difficulty of passage in a two-way channel;

[0223] Set a starting path node and an ending path node. Use the connection between the starting path node and the ending path node as the diameter. When the starting path node and the ending path node are on the same layer of the hull, draw two 150° sector areas with the starting path node and the ending path node as the center respectively as the search direction. When the starting path node and the ending path node are not on the same layer of the hull, draw two 180° sector areas with the starting path node and the ending path node as the center respectively as the search direction.

[0224] In the first-level structure tree, the shortest path of each first-level path node adjacent to the starting path node is obtained to form the starting search range set, and in the first-level structure tree, the shortest path of each first-level path node adjacent to the ending path node is obtained to form the ending search range set.

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

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

[0227] When obtaining and outputting the shortest path from the starting path node through the intermediate nodes to the ending path node, the method further includes:

[0228] Obtain the secondary path nodes on the shortest path from the starting path node to the ending path node in the secondary structure tree.

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

[0230] In the first-level structure tree, the shortest path to each first-level path node adjacent to the starting path node is obtained to form the starting search range set, including:

[0231] Set a first set S to store the explored path nodes, initially containing only the starting path node;

[0232] A second set U is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set S.

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

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

[0235] In the first-level structure tree, the shortest path to each first-level path node adjacent to the terminal path node is obtained to form the endpoint search range set, including:

[0236] Set a first set S to store the explored path nodes, initially containing only the terminated path nodes;

[0237] A second set U is set up to store all remaining first-level path nodes in the first-level structure tree, excluding the first set S.

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

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

[0240] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, 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. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0241] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A ship-wide path navigation method, characterized by, The method comprises: constructing a ship three-dimensional space model according to ship structure data, identifying path nodes according to the ship three-dimensional space model, and constructing a network topology graph 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 full-ship path navigation system on the ship three-dimensional space model based on the shortest path tree; in response to detecting a starting point and a target point input by a user, finding the shortest path from the starting point to the target point in the full-ship path navigation system and outputting the shortest path nodes, and displaying the shortest path from the starting point to the target point according to the shortest path nodes; wherein the ship three-dimensional space model is constructed according to ship structure data, the path nodes are identified according to the ship three-dimensional space model, and the network topology graph is constructed based on the connection relationship of the path nodes, which comprises: filtering the ship structure data, performing format conversion, and combining the ship CAD data to perform data analysis to form a planar structure diagram of each layer of the ship hull; combining the planar structure diagram of each layer of the ship hull to form a ship three-dimensional space model; identifying the path nodes in the ship three-dimensional space model according to the ship CAD data, verifying the connection relationship between the path nodes, and constructing a bidirectional channel between two adjacent connected path nodes; constructing a network topology graph according to the connection relationship between the path nodes in the ship three-dimensional space model; wherein the network topology graph is constructed according to the connection relationship between the path nodes in the ship three-dimensional space model, which comprises: storing the ship CAD data and the ship three-dimensional space model in a database; defining each cabin in the ship three-dimensional space model as a primary path node and each device in the cabin as a secondary path node to generate a primary structure tree and a secondary structure tree; wherein the path nodes in the network topology graph 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, which comprises: The network topology graph is set as G=(V, E, W); wherein V=(P1, P2, …, Pn}, V represents a node set, P represents a path node; E={(P n , P n )|P i , P j ∈V, P i ≠P j}, E represents a channel set, (P i , P j ) indicates a bidirectional channel composed of two path nodes P i and P j ; W represents a weight of the selected bidirectional channel; wherein the path nodes in the network topology graph 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, which comprises: L(P i , P j ) indicates a length of the bidirectional channel composed of two path nodes P i and P j , m i represents a passing difficulty influence factor of the bidirectional channel; setting a starting path node and a terminating path node, taking the connection between the starting path node and the terminating path node as a diameter, and when the starting path node and the terminating path node are on the same layer of the ship hull, taking the starting path node and the terminating path node as the centers of two 150° fan-shaped areas respectively to draw the two 150° fan-shaped areas as search directions; when the starting path node and the terminating path node are not on the same layer of the ship hull, taking the starting path node and the terminating path node as the centers of two 180° fan-shaped areas respectively to draw the two 180° fan-shaped areas as search directions; obtaining the shortest path of each primary path node adjacent to the starting path node in the primary structure tree to form a starting point search range set, and obtaining the shortest path of each primary path node adjacent to the terminating path node in the primary structure tree to form a terminating point search range set; An intersection of the starting search range set and the ending search range set is obtained, a shortest path from the starting path node to the ending path node through the intermediate node is obtained and outputted.

2. The ship-wide path navigation method according to claim 1, characterized by, In the step of obtaining the shortest path from the starting path node to the ending path node through the intermediate node and outputting, further comprising: Obtaining the secondary path nodes on the shortest path from the starting path node to the ending path node in the secondary structure tree.

3. The ship-wide path navigation method according to claim 1, characterized by, The step of obtaining the shortest path of each primary path node adjacent to the starting path node in the primary structure tree to form the starting search range set comprises: A first set is set to store the explored path nodes, and initially only contains the starting path node; A second set is set to store all the remaining primary path nodes in the primary structure tree except for the first set; The primary path nodes in the second set are transferred to the first set one by one, and the shortest distance from the primary path nodes in the first set to the starting path node is obtained one by one, and the path corresponding to the shortest distance is taken as the shortest path to form the starting search range set.

4. The ship-wide path navigation method according to claim 1, characterized by, The step of obtaining the shortest path of each primary path node adjacent to the ending path node in the primary structure tree to form the ending search range set comprises: A first set is set to store the explored path nodes, and initially only contains the ending path node; A second set is set to store all the remaining primary path nodes in the primary structure tree except for the first set; The primary path nodes in the second set are transferred to the first set one by one, and the shortest distance from the primary path nodes in the first set to the ending path node is obtained one by one, and the path corresponding to the shortest distance is taken as the shortest path to form the ending search range set.

5. A ship-wide path navigation device characterized by, The device for implementing the whole-ship path navigation method of any one of claims 1 to 4 comprises: A network topology graph construction module is configured to construct a ship three-dimensional space model according to ship structure data, identify path nodes according to the ship three-dimensional space model, and construct a network topology graph based on the connection relationship of the path nodes; A shortest path tree generation module is configured to traverse the path nodes in the network topology graph, identify the shortest path between any two path nodes, and generate a shortest path tree according to the path nodes on the shortest path; A navigation system construction module is configured to construct a whole-ship path navigation system based on the shortest path tree on the ship three-dimensional space model; A navigation control module is configured to, in response to detecting a starting point and a target point input by a user, find the shortest path from the starting point to the target point in the whole-ship path navigation system and output the shortest path nodes, and display the shortest path from the starting point to the target point according to the shortest path nodes.

6. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the steps of the method of any one of claims 1 to 4 when executing the computer program. The processor implements the steps of the method of any one of claims 1 to 4 when executing the computer program.

7. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, which is executed by a processor, implements the steps of the method according to any one of claims 1 to 4.

Images