Offline waterway planning method and system, computer equipment and medium

Abstract

The invention belongs to the technical field of river transportation route planning, and discloses an offline waterway planning method and system, computer equipment and a medium. The method comprises the following steps: acquiring surveying and mapping channel data, and preprocessing the surveying and mapping channel data to obtain preprocessed first leg data; compressing the preprocessed first leg data to generate a first compressed packet; sending the first compressed packet to terminal equipment, and decompressing the first compressed packet at the terminal equipment to generate off-line leg data; thinning the off-line leg data according to a preset distance interval to generate second leg data, the second leg data and the off-line leg data having the same channel ID; performing waterway planning based on the second leg data to obtain a planned route, and determining a channel ID of the planned route; and retrieving data of a channel ID corresponding to the planned route in the offline route segment data to obtain navigation data which is used for a user to check on the terminal equipment. And the flexibility and reliability of waterway planning are effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of river shipping route planning, and in particular to an offline waterway planning method, system, computer equipment and medium. Background Art

[0002] China has numerous rivers and lakes, forming an extensive network of inland waterways. In recent years, my country has made great progress in the construction of inland waterways and port facilities, and the volume of cargo transported by inland waterways has continued to rise. In inland waterway transportation, route planning is crucial to the navigation safety and efficiency of ships. Traditional route planning relies on servers for online computing, which requires users to have a stable network connection. However, in some cases, such as remote areas or areas with poor network coverage, users may not be able to connect to the network, which limits their ability to use online route planning services. Summary of the invention

[0003] To this end, the embodiments of the present application provide an offline waterway planning method, system, computer device and medium, which enable users to perform route planning and navigation even in a poor network environment or without a network, greatly improving the flexibility and reliability of navigation.

[0004] In a first aspect, the present application provides an offline waterway planning method.

[0005] This application is achieved through the following technical solutions:

[0006] An offline waterway planning method, the method comprising:

[0007] Acquire surveyed and mapped waterway data, pre-process the surveyed and mapped waterway data, and obtain pre-processed first-segment data;

[0008] Compressing the preprocessed first flight segment data to generate a first compressed package;

[0009] Sending the first compressed package to a terminal device, decompressing the package on the terminal device to generate offline flight segment data;

[0010] Performing a thinning process on the offline flight segment data according to a preset distance interval to generate second flight segment data, wherein the second flight segment data has the same channel ID as the offline flight segment data;

[0011] Performing waterway planning based on the second flight segment data to obtain a planned route, and determining a waterway ID of the planned route;

[0012] The data of the course ID corresponding to the planned route in the offline flight segment data is retrieved to obtain navigation data, and the navigation data is used for the user to view on the terminal device.

[0013] In a preferred example of the present application, it can be further configured to include:

[0014] Acquire point data in the navigation environment, associate the point data with the preprocessed first segment data, and generate segment surface data of each segment, wherein the point data includes bridge data and ship lock data;

[0015] The segment surface data is compressed and sent to a terminal device, and decompressed in the terminal device to generate offline surface data;

[0016] The travel time of the planned route is estimated based on the offline surface data, and the planned route is determined in combination with the travel time.

[0017] In a preferred example of the present application, it can be further configured that the acquiring of point data in the navigation environment and associating the point data with the pre-processed first flight segment data includes:

[0018] Determine a buffer area of ​​the flight segment with a preset diameter at the center point of each flight segment, and convert the linear flight segment into a planar flight segment radiation area based on the buffer area;

[0019] The point data in the navigation environment is intersected with the flight segment radiation area of ​​each flight segment. If the point data intersects with the flight segment radiation area, the point data is associated with the flight segment corresponding to the flight segment radiation area.

[0020] In a preferred example of the present application, it can be further configured that the acquiring of surveyed and mapped waterway data, preprocessing of the surveyed and mapped waterway data, and obtaining preprocessed first segment data include:

[0021] The step of obtaining the surveyed and mapped waterway data and preprocessing the surveyed and mapped waterway data to obtain the preprocessed first segment data includes:

[0022] Obtain the surveyed channel data in ShapeFile format, split the waterways in the surveyed channel data according to the waterway intersection points, and obtain several sections of waterway data;

[0023] Performing connectivity analysis on the plurality of flight segment data, and removing isolated flight segments based on the connectivity analysis results to form passable flight segment data;

[0024] Marking channel attributes on the passable route segment data, wherein the channel attributes include channel grade, channel ID, and channel name;

[0025] The segment data including the channel attributes is compressed and a version number is added to generate the first compressed package.

[0026] In a preferred example of the present application, it can be further configured that the offline flight segment data is thinned out according to a preset distance interval to generate second flight segment data, wherein the second flight segment data has the same channel ID as the offline flight segment data, including:

[0027] Extracting data points according to a preset distance interval from the offline flight segment data, and connecting and combining the extracted data points into second flight segment data;

[0028] The offline flight segment data and the second flight segment data are respectively stored in different data tables, and the flight segments in the second flight segment data and the flight segments in the offline flight segment data have the same flight segment ID.

[0029] In a preferred example of the present application, it can be further configured that when waterway planning is performed based on the second segment data, it also includes:

[0030] Acquire the starting point coordinates and the end point coordinates of the waterway planning, determine the starting segment in the second segment data according to the starting point coordinates, and determine the ending segment in the second segment data according to the end point coordinates;

[0031] Determine whether the starting point coordinates are the starting node or the ending node of the starting segment. If the starting point coordinates do not belong to the starting node or the ending node of the starting segment, insert the starting coordinates as a new node into the starting segment, and split the starting segment into two segments.

[0032] It is determined whether the termination coordinates are the starting node or the ending node of the termination segment. If the termination coordinates do not belong to the starting node or the ending node of the termination segment, the termination coordinates are inserted into the termination segment as a new node, and the termination segment is split into two segments.

[0033] In a second aspect, the present application provides an offline waterway planning system.

[0034] This application is achieved through the following technical solutions:

[0035] An offline waterway planning system is used to execute the offline waterway planning method described in the first aspect above, and the waterway planning system includes:

[0036] A data preprocessing module is used to obtain surveying and mapping channel data, preprocess the surveying and mapping channel data, and obtain the preprocessed first section data;

[0037] A data compression module, used for compressing the pre-processed first flight segment data to generate a first compressed package;

[0038] The terminal device is used to obtain a first compressed package and decompress it to generate offline segment data; perform thinning processing on the offline segment data according to a preset distance interval to generate second segment data, wherein the second segment data has the same channel ID as the offline segment data; perform waterway planning based on the second segment data to obtain a planned route and determine the channel ID of the planned route; retrieve data corresponding to the channel ID of the planned route in the offline segment data to obtain navigation data.

[0039] In a preferred example of the present application, it can be further configured that the data preprocessing module is also used to obtain point data in the navigation environment, associate the point data with the preprocessed first segment data, and generate segment surface data of each segment, wherein the point data includes bridge data and ship lock data;

[0040] The segment surface data is compressed and sent to a terminal device, and decompressed in the terminal device to generate offline surface data;

[0041] The travel time of the planned route is estimated based on the offline surface data, and the planned route is determined in combination with the travel time.

[0042] On the third aspect, the present application is realized through the following technical solutions:

[0043] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned offline waterway planning methods when executing the computer program.

[0044] In a fourth aspect, the present application provides a computer-readable storage medium.

[0045] This application is achieved through the following technical solutions:

[0046] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any one of the above-mentioned offline waterway planning methods are implemented.

[0047] In summary, compared with the prior art, the technical solution provided in the embodiment of the present application has at least the following beneficial effects:

[0048] The present application obtains surveying and mapping channel data, pre-processes the surveying and mapping channel data, and obtains the pre-processed first segment data; compresses the pre-processed first segment data to generate a first compressed package; sends the first compressed package to the terminal device, and decompresses it in the terminal device to generate offline segment data; thins the offline segment data according to a preset distance interval to generate the second segment data, and the second segment data has the same channel ID as the offline segment data; performs waterway planning based on the second segment data to obtain candidate planning routes and determine the channel ID of the candidate planning routes; maps the candidate planning routes to the offline segment data according to the channel ID of the candidate planning routes to obtain the final planning path. The offline waterway planning method proposed in the present application integrates an offline channel planning algorithm in a mobile application and stores the necessary navigation data on the device in advance, so that users can accurately locate through the satellite positioning system when there is no Internet connection or the network signal is weak, thereby realizing the functions of path planning and navigation. This design significantly improves the independence and stability of the navigation process, ensuring that users can enjoy continuous and reliable navigation services even in areas with insufficient network coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic flow chart of an offline waterway planning method provided in one embodiment of the present application;

[0050] Figure 2 A schematic diagram of the structure of an offline waterway planning system provided in one embodiment of the present application;

[0051] Description of reference numerals:

[0052] Data preprocessing module-101, data compression module-102, terminal device-201. DETAILED DESCRIPTION

[0053] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make modifications to the present embodiment without any creative contribution as needed, but such modifications are protected by the patent law as long as they are within the scope of the claims of the present application.

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0055] In addition, the term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application, unless otherwise specified, generally indicates that the associated objects before and after are in an "or" relationship.

[0056] In this application, the terms "first", "second", etc. are used to distinguish identical or similar items with basically the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there any limitation on quantity and execution order.

[0057] The embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Figure 1 As shown, an offline waterway planning method proposed in this application includes the following steps:

[0058] S10: Acquire surveyed and mapped waterway data, pre-process the surveyed and mapped waterway data, and obtain pre-processed first-segment data.

[0059] Specifically, the original surveyed channel data of the area to be planned for waterway is obtained, and the surveyed channel data includes information such as channel depth, width, boundary, navigation mark position, obstacle position, etc. First, the obtained original surveyed channel data is preprocessed using QGIS software (open source geographic information system) to obtain the preprocessed first segment data L, which is a collection of multiple connected segment data.

[0060] S20: compressing the pre-processed first flight segment data to generate a first compressed package.

[0061] Specifically, the first flight segment data is stored in GeoJSON format, and according to the data compression technology, a suitable compression algorithm is selected to compress the first flight segment data. You can choose a lossless compression algorithm such as Huffman coding, LZW algorithm, or a lossy compression algorithm, and compress it through third-party software such as WinZip, 7-Zip, etc. After the compression is completed, verify the integrity and accessibility of the first compressed package to ensure that the data is not damaged during the compression process. And establish a version number for the first compressed package to facilitate the update of the compressed package when the subsequent surveying and mapping channel data changes.

[0062] S30: Send the first compressed package to the terminal device, and decompress it in the terminal device to generate offline flight segment data.

[0063] The terminal device obtains the corresponding version number (the latest version number) through the network request in advance according to the version number, and the remote server transmits the first compressed package of the latest version number to the terminal device through the wireless communication network. The first compressed package is decompressed using the corresponding decompression software or tool on the terminal device, and offline segment data is generated on the terminal device. Offline segment data is segment data suitable for offline use. The offline segment data is tested on the terminal device to ensure that it can work normally without a network connection. Among them, the terminal device is a mobile APP or computer on a waterway with a poor network environment.

[0064] S40: performing thinning processing on the offline flight segment data according to a preset distance interval to generate second flight segment data, wherein the second flight segment data has the same channel ID as the offline flight segment data.

[0065] Specifically, in order to improve the speed of waterway planning, the offline segment data is further simplified by thinning on the terminal device. It should be noted that each segment in the offline segment data has a unique segment ID, and each segment of the second segment data after thinning also has a unique segment ID. At the same time, the segment ID in the second segment data is the same as the segment ID in the offline segment data.

[0066] S50: Perform waterway planning based on the second segment data, obtain a planned route, and determine the waterway ID of the planned route.

[0067] Specifically, the shortest path planning of the second segment is performed using the Dijkstra algorithm based on the second segment data after sparse processing. First, the second segment data is represented as a weighted graph, in which nodes represent points in the segment, edges represent connections between points, and the weight of the edge represents the distance of the segment. An initial distance value is assigned to each node in the weighted graph, and the distances of all nodes are initialized to infinity, except that the distance of the starting point is set to 0. At the same time, a priority queue is created to store the nodes to be processed and sorted according to the distance value. The node with the smallest distance (called the current node) is taken out from the priority queue, and each neighbor node of the current node is traversed to calculate the distance from the current node to the neighbor node. If this distance is less than the known distance of the neighbor node, the distance of the neighbor node is updated, and its predecessor node is set as the current node. The current node is marked as processed, indicating that the shortest path from the starting point to the node has been found. Repeat the above process until the priority queue is empty, that is, all nodes have been processed. Through the predecessor node information, trace back from the end point to the starting point to reconstruct the shortest path.

[0068] S60: Retrieve data of the channel ID corresponding to the planned route in the offline flight segment data to obtain navigation data.

[0069] Specifically, because the planned route obtained in step S50 is a sparse route, the characteristic of the same channel ID can be used to query the original dense route points from the offline segment data, and the segment data can be rendered on the map for viewing during navigation.

[0070] The offline waterway planning method proposed in this application implements the algorithm in the mobile APP. Since the navigation data has been downloaded to the APP terminal when there is a network, the entire path planning process does not rely on the network. This means that even in a poor network environment or without a network, users can still perform path planning and navigation, which greatly improves the flexibility and reliability of navigation.

[0071] In a preferred embodiment, the waterway planning method also includes the following steps: acquiring point data in the navigable environment, associating the point data with the preprocessed first segment data, generating segment surface data for each segment, the point data including bridge data and lock data; compressing the segment surface data and sending it to the terminal device, decompressing it at the terminal device to generate offline surface data; estimating the travel time of the planned route based on the offline surface data, and determining the planned path in combination with the travel time.

[0072] The step of associating the point data with the preprocessed first flight segment data specifically includes:

[0073] The buffer area of ​​each segment is determined with a preset diameter at the center point of each segment, and the linear segment is converted into a surface segment radiation area based on the buffer area; the point data in the navigation environment is judged to intersect with the segment radiation area of ​​each segment. If the point data intersects with the segment radiation area, the point data is associated with the segment corresponding to the segment radiation area.

[0074] Exemplarily, firstly, a 500m buffer area is established for each segment in the first segment data using the GIS code, and the linear segment is converted into a surface segment radiation area M; the segment radiation area M is judged to intersect with the point data P in the navigation environment. If the segment radiation area M intersects with the point data P in the navigation environment, it indicates that the point data P belongs to the segment radiation area M, and the point data P is associated with the segment corresponding to the segment radiation area M.

[0075] In a preferred embodiment, the step of preprocessing the surveying and mapping channel data in step S10 specifically includes:

[0076] Get the surveyed channel data in ShapeFile format, split the waterways in the surveyed channel data according to the waterway intersection point, and obtain several segment data, where the waterway intersection point is the intersection of two or more waterways (or segments), such as a ferry. Perform connectivity analysis on several segment data, remove isolated segments based on the connectivity analysis results, and form passable segment data. Specifically, in the segment data, there may be some isolated segments that are not connected to other segments. These segments may be errors generated during data collection or processing, or they may be independent segments that are not actually needed. This can be achieved through geographic information system (GIS) software, such as using the topology check tool in ArcGIS to identify and process isolated segments. At the same time, the segments need to be verified and connected to form passable segment data. Mark the channel attributes on the passable segment data, and the channel attributes include channel grade, channel ID, and channel name; for example, in ArcGIS software, the annotation function can be used to mark the channel attributes. The segment data including the channel attributes is compressed and a version number is added to generate the first compressed package.

[0077] In a preferred embodiment, the step of thinning the offline flight segment data in step S40 to generate the second flight segment data specifically includes: extracting data points in the offline flight segment data according to a preset distance interval, connecting and combining the extracted data points into the second flight segment data; storing the offline flight segment data and the second flight segment data in different data tables, respectively, and the flight segments in the second flight segment data and the flight segments in the offline flight segment data have the same flight segment ID. In actual implementation, data points can be extracted according to a preset distance interval of 1 km.

[0078] In a preferred embodiment, when performing waterway planning based on the second segment data, it also includes: obtaining the starting point coordinates and the ending point coordinates of the waterway planning, determining the starting segment in the second segment data according to the starting point coordinates, and determining the ending segment in the second segment data according to the ending point coordinates; judging whether the starting point coordinates are the starting node or the ending node of the starting segment, if the starting point coordinates do not belong to the starting node or the ending node of the starting segment, inserting the starting coordinates as a new node into the starting segment, and splitting the starting segment into two segments; judging whether the ending coordinates are the starting node or the ending node of the ending segment, if the ending coordinates do not belong to the starting node or the ending node of the ending segment, inserting the ending coordinates as a new node into the ending segment, and splitting the ending segment into two sub-segments. To illustrate, an example is given to determine the starting point coordinates Location1 for waterway planning, and use the starting point coordinates Location1 in conjunction with the database's closest distance statement and the midpoint C of each segment in the second segment data. iPerform distance judgment and query to obtain multiple segments that meet the preset distance threshold; further calculate the straight-line distance from the starting point coordinate Location1 to each segment to determine which segment the starting point coordinate Location1 is closest to, and use that segment as the starting segment LS. Similarly, determine the end point coordinate Location2 for pre-waterway planning, use the end point coordinate Location2 in conjunction with the database's closest distance statement and the midpoint C of each segment in the second segment data i Perform distance judgment and query to obtain multiple segments that meet the preset distance threshold; further calculate the straight-line distance from the end point coordinate Location2 to each segment to determine which segment the end point coordinate Location2 is closest to, and use this segment as the end segment LE. If the starting point coordinate Location1 does not belong to the starting node or the ending node of the starting segment LS, then project the starting point coordinate Location1 into the starting segment LS and insert it into the starting segment LS as a new node, splitting the starting segment LS into segments LS1 and LS2. Similarly, the ending segment LE is processed in the same way, so that waterway planning is performed based on the split starting segment and ending segment. Traditional solutions may only be able to start planning from the starting node or the ending node of the segment. This method solves this limitation by splitting the segments to adapt to arbitrary coordinates. By flexibly processing the starting and ending coordinates, waterway planning is made more accurate, flexible, and user-friendly, while also improving the safety and efficiency of navigation.

[0079] Another embodiment of the present application also provides an offline waterway planning system, which is used to execute the above-mentioned waterway planning method, such as Figure 2 As shown, the waterway planning system includes:

[0080] The data preprocessing module 101 is used to obtain surveyed and mapped waterway data, preprocess the surveyed and mapped waterway data, and obtain preprocessed first segment data;

[0081] The data compression module 102 is used to compress the pre-processed first flight segment data to generate a first compressed package;

[0082] The terminal device 201 is used to obtain a first compressed package and decompress it to generate offline segment data; perform thinning processing on the offline segment data according to a preset distance interval to generate second segment data, wherein the second segment data has the same channel ID as the offline segment data; perform waterway planning based on the second segment data to obtain a planned route and determine the channel ID of the planned route; retrieve data of the channel ID corresponding to the planned route in the offline segment data to obtain navigation data.

[0083] In some preferred embodiments, the data preprocessing module 101 is also used to obtain point data in the navigation environment, associate the point data with the preprocessed first segment data, and generate segment surface data for each segment, and the point data includes bridge data and lock data; the data compression module 102 is also used to compress the segment surface data to generate compressed surface data; the terminal device 201 is also used to estimate the travel time of the planned route based on the offline surface data, and determine the planned path in combination with the travel time.

[0084] The specific definition of the offline waterway planning system provided in this embodiment can be found in the embodiment of the offline waterway planning method above, and will not be repeated here. Each module in the above-mentioned offline waterway planning system 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 in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0085] An embodiment of the present application provides a computer device, which may include a processor, a memory, a network interface and a database connected via a system bus. 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 network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the processor executes the steps of the offline waterway planning method as in any of the above embodiments.

[0086] The working process, working details and technical effects of the computer equipment provided in this embodiment can be found in the above-mentioned embodiment of the offline waterway planning method, which will not be described in detail here.

[0087] The embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the offline waterway planning method as in any of the above embodiments are implemented. The computer-readable storage medium refers to a carrier for storing data, which may include but is not limited to a floppy disk, an optical disk, a hard disk, a flash memory, a USB flash drive and / or a memory stick, etc., and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0088] The working process, working details and technical effects of the computer-readable storage medium provided in this embodiment can be found in the above-mentioned embodiment of the offline waterway planning method, which will not be described in detail here.

[0089] 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).

[0090] 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.

[0091] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system described in the present application is divided into different functional units or modules to complete all or part of the functions described above.

Claims

1. An offline waterway planning method, characterized in that: The method comprises: Acquire surveyed and mapped waterway data, pre-process the surveyed and mapped waterway data, and obtain pre-processed first-segment data; Compressing the preprocessed first flight segment data to generate a first compressed package; Sending the first compressed package to a terminal device, decompressing the package on the terminal device to generate offline flight segment data; Performing a thinning process on the offline flight segment data according to a preset distance interval to generate second flight segment data, wherein the second flight segment data has the same channel ID as the offline flight segment data; Performing waterway planning based on the second flight segment data to obtain a planned route, and determining a waterway ID of the planned route; The data of the course ID corresponding to the planned route in the offline flight segment data is retrieved to obtain navigation data, and the navigation data is used for the user to view on the terminal device.

2. The offline waterway planning method according to claim 1, characterized in that: Also includes: Acquire point data in the navigation environment, associate the point data with the preprocessed first segment data, and generate segment surface data of each segment, wherein the point data includes bridge data and ship lock data; The segment surface data is compressed and sent to a terminal device, and decompressed in the terminal device to generate offline surface data; The travel time of the planned route is estimated based on the offline surface data, and the planned route is determined in combination with the travel time.

3. The offline waterway planning method according to claim 2, characterized in that: The step of acquiring point data in the navigation environment and associating the point data with the pre-processed first flight segment data includes: Determine a buffer area of ​​the flight segment with a preset diameter at the center point of each flight segment, and convert the linear flight segment into a planar flight segment radiation area based on the buffer area; The point data in the navigation environment is intersected with the flight segment radiation area of ​​each flight segment. If the point data intersects with the flight segment radiation area, the point data is associated with the flight segment corresponding to the flight segment radiation area.

4. The offline waterway planning method according to claim 1, characterized in that: The step of obtaining the surveyed and mapped waterway data and preprocessing the surveyed and mapped waterway data to obtain the preprocessed first segment data includes: Obtain the surveyed channel data in ShapeFile format, split the waterways in the surveyed channel data according to the waterway intersection points, and obtain several sections of waterway data; Performing connectivity analysis on the plurality of flight segment data, and removing isolated flight segments based on the connectivity analysis results to form passable flight segment data; Marking channel attributes on the passable route segment data, wherein the channel attributes include channel grade, channel ID, and channel name; The segment data including the channel attributes is compressed and a version number is added to generate the first compressed package.

5. The offline waterway planning method according to claim 1, characterized in that: The offline flight segment data is thinned out according to a preset distance interval to generate second flight segment data, including: Extracting data points according to a preset distance interval from the offline flight segment data, and connecting and combining the extracted data points into second flight segment data; The offline flight segment data and the second flight segment data are respectively stored in different data tables, and the flight segments in the second flight segment data and the flight segments in the offline flight segment data have the same flight segment ID.

6. The offline waterway planning method according to any one of claims 1 to 5, characterized in that: When waterway planning is performed based on the second voyage segment data, the method further includes: Acquire the starting point coordinates and the end point coordinates of the waterway planning, determine the starting segment in the second segment data according to the starting point coordinates, and determine the ending segment in the second segment data according to the end point coordinates; Determine whether the starting point coordinates are the starting node or the ending node of the starting segment. If the starting point coordinates do not belong to the starting node or the ending node of the starting segment, insert the starting coordinates as a new node into the starting segment, and split the starting segment into two segments. It is determined whether the termination coordinates are the starting node or the ending node of the termination segment. If the termination coordinates do not belong to the starting node or the ending node of the termination segment, the termination coordinates are inserted into the termination segment as a new node, and the termination segment is split into two segments.

7. An offline waterway planning system, characterized in that: Used to perform the method according to any one of claims 1 to 6, comprising: A data preprocessing module is used to obtain surveying and mapping channel data, preprocess the surveying and mapping channel data, and obtain the preprocessed first section data; A data compression module, used for compressing the pre-processed first flight segment data to generate a first compressed package; The terminal device is used to obtain a first compressed package and decompress it to generate offline segment data; perform thinning processing on the offline segment data according to a preset distance interval to generate second segment data, wherein the second segment data has the same channel ID as the offline segment data; perform waterway planning based on the second segment data to obtain a planned route and determine the channel ID of the planned route; retrieve data corresponding to the channel ID of the planned route in the offline segment data to obtain navigation data.

8. The offline waterway planning system according to claim 7, characterized in that: The data preprocessing module is also used to obtain point data in the navigation environment, associate the point data with the preprocessed first flight segment data, and generate flight segment surface data for each flight segment, wherein the point data includes bridge data and ship lock data; The segment surface data is compressed and sent to a terminal device, and decompressed in the terminal device to generate offline surface data; The travel time of the planned route is estimated based on the offline surface data, and the planned route is determined in combination with the travel time.

9. A computer device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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