Multi-sensor navigation device based on scenic spot electric pleasure boat

Abstract

The invention discloses a multi-sensor navigation device based on a scenic spot electric pleasure boat, the multi-sensor navigation device comprises a main boat body, a sensing assembly and a central processing assembly, the main boat body is provided with a top support, the sensing assembly collects environmental data of a water area where the pleasure boat is located, and the whole water area environment is scanned before sightseeing to establish a visual map; the information is synchronously displayed on the pleasure boat, so that the user experience is improved; in the touring process, the tourists set touring time and driving speed of scenic spots along the way through the weight setting module to conduct automatic touring, and the intelligence of touring of the scenic area water area is improved. The driving safety of the pleasure boat is guaranteed through the obstacle avoidance analysis module, meanwhile, the driving state of the pleasure boat is checked through the driving switching module, after manual driving is finished, the homing detection module is matched for butt joint and position switching, a corresponding homing scheme is automatically generated, the boat is driven to return to an automatic touring point, and then the set touring process is completed. The participation sense of tourists is improved, and the practicability of the device is improved.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent management of scenic spot cruise ships, and in particular to a multi-sensor navigation device based on a scenic spot electric cruise ship. Background Art

[0002] Scenic area cruise is a tourist activity loved by the majority of tourists. It not only allows tourists to get close to the water and enjoy the sparkling lake view, but also provides a unique perspective to appreciate the scenery in the scenic area. At the same time, cruise is the main means of sightseeing for tourists in the process of touring the water scenic area. Most of the existing scenic area cruises conduct sightseeing tours through artificial visual methods or through internal GPS navigation. During the tour, based on the operation of the cruise ship driver, the tour process cannot be automatically carried out, which affects the intelligence of the scenic area water tour; at the same time, the tour process cannot provide visual display for the tourists on the boat, which affects the actual experience of the tourists; and during the entire tour process, the tourists' sense of participation is low, which affects the practicality of the cruise tour; therefore, it is necessary to design a multi-sensor navigation device based on a scenic area electric cruise. Summary of the invention

[0003] The object of the present invention is to provide a multi-sensor navigation device based on an electric cruise ship in a scenic area to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multi-sensor navigation device based on an electric cruise ship in a scenic area, comprising a main hull, a top support, a sensing component and a central processing component, wherein a top support is arranged on the main hull, and a laser radar and an IMU unit in the sensing component are respectively arranged on the top side of the top support, and two ultrasonic sensors are symmetrically installed on the bow of the main hull, and the sensing component controls the connection to a signal receiving module in the central processing component, and the central processing component consists of a signal receiving module, and the signal receiving module is arranged on the top side of a circuit board, and the circuit board is embedded and installed in the cabin of the main hull, and the signal receiving module controls the connection to a classification receiving module, and the classification receiving module controls the connection to a three-dimensional scanning module and a data transmission module respectively, and the three-dimensional scanning module and the data transmission module respectively control the connection to a map generation module and an environmental monitoring module, and the map generation module and the environmental monitoring module respectively control the connection to a display output module and an obstacle avoidance processing module.

[0005] As a further technical solution of the present invention, the perception component is composed of a laser radar, an IMU unit, a GPS module and an ultrasonic sensor. The laser radar and the IMU unit are installed at the front end of the top support, the GPS module is embedded in the main hull cabin, and two ultrasonic sensors are installed on both sides of the bow of the ship.

[0006] As a further technical solution of the present invention, the central processing component is composed of a driving docking module, a signal receiving module, a classification receiving module, a three-dimensional scanning module, a map generating module, a display output module, a sightseeing platform module, a data transmission module, an environmental monitoring module, an obstacle avoidance processing module, a circuit board and a capacity control module. The signal receiving module, the classification receiving module, the three-dimensional scanning module, the map generating module and the display output module are respectively arranged on one side of the top of the circuit board, and the sightseeing platform module, the data transmission module, the environmental monitoring module, the obstacle avoidance processing module and the driving docking module are respectively arranged on the other side of the top of the circuit board; the capacity control module is arranged in the middle of the tail of the circuit board, and the capacity control module controls the connection between the sightseeing platform module and the driving docking module respectively.

[0007] As a further technical solution of the present invention, the display output module controls the connection to the obstacle avoidance processing module, the obstacle avoidance processing module controls the connection to the driving docking module, the driving docking module controls the connection to the sightseeing platform module, and the sightseeing platform module controls the connection to the display output module.

[0008] As a further technical solution of the present invention, the tour platform module is composed of a scenic spot viewing module, a weight setting module, a time setting module, a speed setting module, a navigation output module, a driving switching module, a homing detection module and a location recording module, and the scenic spot viewing module controls the connection weight setting module.

[0009] As a further technical solution of the present invention, the weight setting module controls the connection time setting module and the speed setting module respectively, and the weight setting module controls the connection navigation output module.

[0010] As a further technical solution of the present invention, the navigation output module controls the connection to the position recording module, the position recording module controls the connection to the homing detection module, the homing detection module controls the connection to the navigation output module and the driving switching module respectively, and the navigation output module controls the connection to the driving switching module.

[0011] As a further technical solution of the present invention, the obstacle avoidance processing module is composed of a data receiving module, an obstacle analysis module, a collision detection module, a collision warning module, an obstacle avoidance analysis module and a driving intervention module, and the data receiving module controls the connection obstacle analysis module and the collision detection module respectively.

[0012] As a further technical solution of the present invention, the collision detection module controls the connection to the collision warning module; the obstacle analysis module and the collision detection module both control the connection to the obstacle avoidance analysis module, and the obstacle avoidance analysis module controls the connection to the driving intervention module.

[0013] As a further technical solution of the present invention, the capacity control module is composed of a scenic area management module, a scenic area distribution module, an independent filling module, an integrated filling module, an interference analysis module, a route receiving module, a scenic area pressure analysis module, a route optimization module and an auxiliary feedback module. The scenic area management module controls the connection to the scenic area distribution module, the scenic area distribution module controls the connection to the independent filling module, the independent filling module controls the connection to the integrated filling module, the integrated filling module controls the connection to the interference analysis module, the independent filling module controls the connection to the route receiving module, the interference analysis module controls the connection to the scenic area pressure analysis module, the scenic area pressure analysis module controls the connection to the route optimization module, and the route optimization module controls the connection to the auxiliary feedback module.

[0014] Compared with the prior art, the invention has the following beneficial effects: the multi-sensor navigation device based on the scenic area electric cruise ship can collect the environmental situation data of the water area where the cruise ship is located in real time by carrying a multi-sensor fusion perception component composed of a laser radar, an IMU unit, a GPS module and an ultrasonic sensor on the main hull, and realize information fusion according to the characteristics of the water area environment. Before the tour, the laser radar emits laser pulses and receives the reflected signals to scan the entire water area environment, and construct a high-precision three-dimensional map of the environment around the cruise ship. After that, the signal receiving module receives the data and uploads it to the three-dimensional scanning module through the classification receiving module. After that, the map generation module combines the scanned laser data to establish a visual map of the water area scenic area, and the display output module is synchronously matched to display it on the display end of the cruise ship. During the tour, the IMU unit can collect the dynamic physical information of the hull such as rolling, pitching, yaw, etc. in real time to ensure the stability of the cruise ship during the driving process. At the same time, the GPS module collects the position information under the global positioning system, including key data such as longitude and latitude, speed, and heading. The ultrasonic sensor sends high-frequency sound wave pulses and receives echoes to accurately measure the distance data between the cruise ship and the surrounding obstacles, which is suitable for close-range collision warning. The signal receiving module receives the signal. After receiving the above sensor data, it is uploaded to the data transmission module through the classification receiving module, and after being detected by the environmental monitoring module, it is synchronously fed back to the display end of the cruise ship, thereby improving the user experience; during the tour, tourists view the scenic area map through the scenic area viewing module, and set the tour time and ship speed of the scenic spots along the way through the weight setting module, the time setting module and the speed setting module. The data fusion of the ultrasonic sensor and the laser radar can realize the all-round and high-precision perception of the environment around the cruise ship; when the ultrasonic sensor detects a close obstacle, it can immediately trigger a collision warning to remind the cruise ship driver or the automatic driving system to take obstacle avoidance measures; the three-dimensional information provided by the laser radar can help the cruise ship to more accurately determine the position and shape of the obstacle, so as to select the best obstacle avoidance path, through the three-dimensional information obtained by the laser radar, the dynamic attitude data provided by the IMU unit and the absolute position information provided by the GPS The data fusion, combined with the Dijkstra algorithm and the A* algorithm for real-time data analysis, plans the optimal path for the cruise ship, and adjusts the heading in real time through the obstacle avoidance processing module to keep the cruise ship traveling along the planned path, and cooperates with the navigation output module for automated tours, which improves the intelligence of the scenic area water tour;During the tour, the obstacle analysis module and the collision detection module detect environmental obstacles, and then the obstacle avoidance analysis module is used to perform obstacle avoidance analysis, which ensures the safety of the cruise ship. During the tour, the driving switch module checks the driving status of the cruise ship. When the automatic driving switches to manual driving, the position recording module records the switching position. When the manual driving switches again, the homing detection module docks the switching position, automatically generates the corresponding homing plan, drives the ship back to the automatic tour point, and then completes the set tour process, which improves the sense of participation of tourists and the practicality of the device. ; BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a structural schematic diagram of the central processing group in the present invention;

[0017] Figure 3 is a system flow chart of the present invention;

[0018] Figure 4 It is a schematic diagram of the architecture of the tour platform module in the present invention;

[0019] Figure 5 Schematic diagram of the architecture of the obstacle avoidance processing module in the present invention;

[0020] Figure 6 This is a schematic diagram of the architecture of the capacity control module in the present invention;

[0021] In the figure: 1. Main hull; 2. Top support; 3. Sensing component; 4. Central processing component; 31. LiDAR; 32. IMU unit; 33. GPS module; 34. Ultrasonic sensor; 40. Driving docking module; 41. Signal receiving module; 42. Classification receiving module; 43. 3D scanning module; 44. Map generation module; 45. Display output module; 46. Sightseeing platform module; 47. Data transmission module; 48. Environmental monitoring module; 49. Obstacle avoidance processing module; 50. Circuit board; 461. Scenic spot viewing module; 462. Weight setting module; 463. Time setting module; 464. Speed ​​setting module; 4 65. Navigation output module; 466. Driving switching module; 467. Home detection module; 468. Location recording module; 491. Data receiving module; 492. Obstacle analysis module; 493. Collision detection module; 494. Collision warning module; 495. Obstacle avoidance analysis module; 496. Driving intervention module; 51. Capacity control module; 511. Scenic area management module; 512. Scenic area distribution module; 513. Independent filling module; 514. Integrated filling module; 515. Interference analysis module; 516. Route receiving module; 517. Scenic area pressure analysis module; 518. Route optimization module; 519. Auxiliary feedback module. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Please see attached Figure 1 -Attached Figure 6, an embodiment of the present invention: a multi-sensor navigation device based on a scenic electric cruise ship, comprising a main hull 1, a top support 2, a sensing component 3 and a central processing component 4, the main hull 1 is provided with a top support 2, the top side of the top support 2 is respectively provided with a laser radar 31 and an IMU unit 32 in the sensing component 3, two ultrasonic sensors 34 are symmetrically installed on the bow of the main hull 1, the sensing component 3 controls the connection to a signal receiving module 41 in the central processing component 4, the central processing component 4 is composed of a signal receiving module 41, the signal receiving module 41 is arranged on the top side of a circuit board 50, and the circuit board 50 is embedded and installed in the cabin of the main hull 1, the signal receiving module 41 controls the connection to a classification receiving module 42, and the classification receiving module The receiving module 42 controls the connection with the three-dimensional scanning module 43 and the data transmission module 47 respectively, the three-dimensional scanning module 43 and the data transmission module 47 respectively control the connection with the map generation module 44 and the environment monitoring module 48, the map generation module 44 and the environment monitoring module 48 respectively control the connection with the display output module 45 and the obstacle avoidance processing module 49; the perception component 3 is composed of a laser radar 31, an IMU unit 32, a GPS module 33 and an ultrasonic sensor 34, and the GPS module 33 is embedded and installed in the cabin of the main hull 1; the central processing component 4 is composed of a driving docking module 40, a signal receiving module 41, a classification receiving module 42, a three-dimensional scanning module 43, a map generation module 44, a display output module 45, a sightseeing platform module 46, a data transmission module The central processing unit 4 is composed of a module 47, an environmental monitoring module 48, an obstacle avoidance processing module 49, a circuit board 50 and a capacity control module 51. The central processing unit 4 is embedded in the cabin of the main hull 1. The top side of the circuit board 50 is respectively provided with a signal receiving module 41, a classification receiving module 42, a three-dimensional scanning module 43, a map generation module 44 and a display output module 45, and the other side of the top of the circuit board 50 is respectively provided with a sightseeing platform module 46, a data transmission module 47, an environmental monitoring module 48, an obstacle avoidance processing module 49 and a driving docking module 40. The rear of the circuit board 50 is provided with a capacity control module 51; the capacity control module 51 controls the connection to the sightseeing platform module 46 and the driving docking module 40 respectively, and the display output module 45 controls the connection to the display output module 45. The obstacle avoidance processing module 49 controls the connection to the driving docking module 40, the driving docking module 40 controls the connection to the sightseeing platform module 46, and the sightseeing platform module 46 controls the connection to the display output module 45; the sightseeing platform module 46 is composed of a scenic viewing module 461, a weight setting module 462, a time setting module 463, a speed setting module 464, a navigation output module 465, a driving switching module 466, a homing detection module 467 and a position recording module 468, the scenic viewing module 461 controls the connection to the weight setting module 462; the weight setting module 462 controls the connection to the time setting module 463 and the speed setting module 464 respectively, and the weight setting module 462 controls the connection to the navigation output module 465;The navigation output module 465 controls the connection to the position recording module 468, the position recording module 468 controls the connection to the homing detection module 467, the homing detection module 467 controls the connection to the navigation output module 465 and the driving switching module 466, and the navigation output module 465 controls the connection to the driving switching module 466; the obstacle avoidance processing module 49 is composed of a data receiving module 491, an obstacle analysis module 492, a collision detection module 493, a collision warning module 494, an obstacle avoidance analysis module 495 and a driving intervention module 496, and the data receiving module 491 controls the connection to the obstacle analysis module 492 and the collision detection module 493 ; The collision detection module 493 controls the connection to the collision warning module 494; the obstacle analysis module 492 and the collision detection module 493 both control the connection to the obstacle avoidance analysis module 495, and the obstacle avoidance analysis module 495 controls the connection to the driving intervention module 496. The obstacle avoidance analysis module 495 can be connected to the driving intervention module 496 to control the cruise ship to complete the automatic obstacle avoidance process; the capacity control module 51 is composed of the scenic area management module 511, the scenic area distribution module 512, the independent filling module 513, the integrated filling module 514, the interference analysis module 515, the route receiving module 516, the scenic area pressure analysis module 517, and the route optimization module 518 and an auxiliary feedback module 519, the scenic area management module 511 controls the connection to the scenic area distribution module 512, the scenic area distribution module 512 controls the connection to the independent filling module 513, the independent filling module 513 controls the connection to the integrated filling module 514, the integrated filling module 514 controls the connection to the interference analysis module 515, the independent filling module 513 controls the connection to the route receiving module 516, the interference analysis module 515 controls the connection to the scenic area pressure analysis module 517, the scenic area pressure analysis module 517 controls the connection to the route optimization module 518, and the route optimization module 518 controls the connection to the auxiliary feedback module 519; The area management module 511 sends the scenic area map to the scenic area distribution module 512, and then the independent filling module 513 receives the preset routes of the route receiving module 516 and independently fills them in the independent filling module 513, and integrates all the preset routes of the integrated filling module 514 into one map, and then feeds back to the scenic area management center through the interference analysis module 515 for independent interference feedback, and at the same time cooperates with the scenic area pressure analysis module 517 to analyze the scenic area's sightseeing pressure, and then independently optimizes the route and time of each group of preset sightseeing through the route optimization module 518, and at the same time cooperates with the auxiliary feedback module 519 to feed back to the tourists. ;

[0024] Based on the above, the advantage of the present invention is that when the present invention is in use, the multi-sensor fusion perception component 3 composed of a laser radar 31, an IMU unit 32, a GPS module 33 and an ultrasonic sensor 34 is installed on the main hull 1 to collect the environmental situation data of the water area where the cruise ship is located in real time, and realize information fusion for the characteristics of the water environment. Before the tour, the laser radar 31 emits laser pulses and receives the reflected signals to scan the entire water environment and build a high-precision three-dimensional map of the cruise ship's surrounding environment. After that, the signal receiving module 41 receives the data and uploads it to the three-dimensional scanning module 43 through the classification receiving module 42. After that, the map generation module 44 combines the scanned laser data to establish a visual map of the water scenic area, and the display output module 45 is synchronously matched to display it on the display end of the cruise ship.

[0025] During the tour, the IMU unit 32 can collect dynamic physical information such as the roll, pitch, and yaw of the hull in real time to ensure the stability of the cruise ship during the driving process. At the same time, the GPS module 33 collects the location information under the global positioning system, including key data such as longitude and latitude, speed, and heading. The ultrasonic sensor 34 sends high-frequency sound wave pulses and receives echoes to accurately measure the distance data between the cruise ship and surrounding obstacles, which is suitable for close-range collision warnings. After receiving the data, the signal receiving module 41 uploads it to the data transmission module 47 through the classification receiving module 42, and after being detected by the environmental monitoring module 48, it is synchronously fed back to the display end of the cruise ship, thereby improving the user experience. During the tour, tourists view the scenic area map through the scenic area viewing module 461, and set the tour time of the scenic spots along the way and the speed of the ship through the weight setting module 462, the time setting module 463 and the speed setting module 464. The data fusion of the ultrasonic sensor 34 and the lidar 31 can realize the all-round and high-precision perception of the environment around the cruise ship; when the ultrasonic sensor 34 detects a close obstacle, it can immediately trigger a collision warning to remind the cruise ship driver or the automatic driving system to take obstacle avoidance measures; the three-dimensional information provided by the lidar 31 can help the cruise ship to more accurately determine the position and shape of the obstacle, so as to select the best obstacle avoidance path. The three-dimensional information obtained by the radar 31, the dynamic attitude data provided by the IMU unit 32, and the absolute position information provided by the GPS module 33 are integrated, and the Dijkstra algorithm and the A* algorithm are combined for real-time data analysis to plan the optimal path for the cruise ship, and the obstacle avoidance processing module 49 is used to adjust the course in real time to keep the cruise ship traveling along the planned path. Through the combined application of multiple sensors, the cruise ship can achieve comprehensive perception and precise control of the surrounding environment, which greatly improves the safety of the cruise ship; it is matched with the navigation output module 465 for autonomous navigation and autonomous path planning, which reduces the need for manual intervention and improves the intelligence of the scenic water tour; during the tour, the obstacle analysis module 4 92. The collision detection module 493 detects environmental obstacles, and then performs obstacle avoidance analysis in conjunction with the obstacle avoidance analysis module 495. The precise path planning and obstacle avoidance capabilities enable the cruise ship to travel more efficiently in the scenic area, thereby improving the efficiency of the cruise ship's travel and providing tourists with a better sightseeing experience. During the sightseeing, the driving switching module 466 checks the driving status of the cruise ship. When the automatic driving switches to manual driving, the position recording module 468 records the switching position. When the manual driving switches again, the homing detection module 467 docks with the switching position, automatically generates a corresponding homing plan, and drives the ship back to the automatic sightseeing point to complete the set sightseeing process, thereby improving the sense of participation of tourists and the practicality of the device.

[0026] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A multi-sensor navigation device based on a scenic electric cruise ship, comprising a main hull (1), a top support (2), a sensing component (3) and a central processing component (4), characterized in that: The main hull (1) is provided with a top support (2), and a laser radar (31) and an IMU unit (32) in a sensing component (3) are respectively provided on one side of the top of the top support (2). Two ultrasonic sensors (34) are symmetrically installed on the bow of the main hull (1). The sensing component (3) controls and connects to a signal receiving module (41) in a central processing component (4). The central processing component (4) is composed of the signal receiving module (41), and the signal receiving module (41) is provided on one side of the top of a circuit board (50), and the circuit board ( 50) is embedded and installed in the cabin of the main hull (1), the signal receiving module (41) controls the connection with the classification receiving module (42), and the classification receiving module (42) controls the connection with the three-dimensional scanning module (43) and the data transmission module (47), the three-dimensional scanning module (43) and the data transmission module (47) respectively control the connection with the map generation module (44) and the environment monitoring module (48), and the map generation module (44) and the environment monitoring module (48) respectively control the connection with the display output module (45) and the obstacle avoidance processing module (49).

2. A multi-sensor navigation device based on an electric cruise ship in a scenic area according to claim 1, characterized in that: The sensing component (3) is composed of a laser radar (31), an IMU unit (32), a GPS module (33) and an ultrasonic sensor (34); the GPS module (33) is embedded and installed in the cabin of the main hull (1).

3. A multi-sensor navigation device based on a scenic electric cruise ship according to claim 1, characterized in that: The central processing component (4) is composed of a driving docking module (40), a signal receiving module (41), a classification receiving module (42), a three-dimensional scanning module (43), a map generating module (44), a display output module (45), a sightseeing platform module (46), a data transmission module (47), an environmental monitoring module (48), an obstacle avoidance processing module (49), a circuit board (50) and a transportation capacity control module (51). The signal receiving module (41), the classification receiving module (42), the three-dimensional scanning module (43), the map generating module (44) and the display output module (45) are respectively arranged on one side of the top of the circuit board (50), and the sightseeing platform module (46), the data transmission module (47), the environmental monitoring module (48), the obstacle avoidance processing module (49) and the driving docking module (40) are respectively arranged on the other side of the top of the circuit board (50); the transportation capacity control module (51) is arranged in the middle of the rear of the circuit board, and the transportation capacity control module (51) controls the connection between the sightseeing platform module (46) and the driving docking module (40).

4. A multi-sensor navigation device based on an electric cruise ship in a scenic area according to claim 3, characterized in that: The display output module (45) controls the connection to the obstacle avoidance processing module (49), the obstacle avoidance processing module (49) controls the connection to the driving docking module (40), the driving docking module (40) controls the connection to the sightseeing platform module (46), and the sightseeing platform module (46) controls the connection to the display output module (45).

5. The multi-sensor navigation device based on a scenic area electric cruise ship according to claim 3, characterized in that: The sightseeing platform module (46) is composed of a scenic spot viewing module (461), a weight setting module (462), a time setting module (463), a speed setting module (464), a navigation output module (465), a driving switching module (466), a homing detection module (467) and a position recording module (468). The scenic spot viewing module (461) controls the connection to the weight setting module (462).

6. A multi-sensor navigation device based on a scenic area electric cruise ship according to claim 5, characterized in that: The weight setting module (462) controls the connection time setting module (463) and the speed setting module (464) respectively, and the weight setting module (462) controls the connection navigation output module (465).

7. A multi-sensor navigation device based on an electric cruise ship in a scenic area according to claim 6, characterized in that: The navigation output module (465) controls the connection to the position recording module (468), the position recording module (468) controls the connection to the homing detection module (467), the homing detection module (467) controls the connection to the navigation output module (465) and the driving switching module (466), respectively, and the navigation output module (465) controls the connection to the driving switching module (466).

8. The multi-sensor navigation device based on a scenic area electric cruise ship according to claim 3, characterized in that: The obstacle avoidance processing module (49) is composed of a data receiving module (491), an obstacle analysis module (492), a collision detection module (493), a collision warning module (494), an obstacle avoidance analysis module (495) and a driving intervention module (496), and the data receiving module (491) controls the connection with the obstacle analysis module (492) and the collision detection module (493) respectively.

9. A multi-sensor navigation device based on a scenic area electric cruise ship according to claim 8, characterized in that: The collision detection module (493) controls the connection to the collision warning module (494); the obstacle analysis module (492) and the collision detection module (493) both control the connection to the obstacle avoidance analysis module (495), and the obstacle avoidance analysis module (495) controls the connection to the driving intervention module (496).

10. The multi-sensor navigation device based on a scenic area electric cruise ship according to claim 3, characterized in that: The transport capacity control module (51) is composed of a scenic area management module (511), a scenic area distribution module (512), an independent filling module (513), an integrated filling module (514), an interference analysis module (515), a route receiving module (516), a scenic area pressure analysis module (517), a route optimization module (518) and an auxiliary feedback module (519). The scenic area management module (511) controls the connection to the scenic area distribution module (512), the scenic area distribution module (512) controls the connection to the independent filling module (513), the independent filling module (513) controls the connection to the integrated filling module (514), the integrated filling module (514) controls the connection to the interference analysis module (515), the independent filling module (513) controls the connection to the route receiving module (516), the interference analysis module (515) controls the connection to the scenic area pressure analysis module (517), the scenic area pressure analysis module (517) controls the connection to the route optimization module (518), and the route optimization module (518) controls the connection to the auxiliary feedback module (519).

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