Ship testing method and system, electronic equipment and storage medium

Abstract

The invention provides a ship testing method and system, electronic equipment and a storage medium, and is applied to the technical field of ship sailing, and the ship testing method specifically comprises the steps: setting a virtual target ship in a test sea area, and synchronously deploying an actual target ship; combining the virtual target ship with the actual target ship to form a virtual-real fusion environment; evaluating a test result of the tested ship in the virtual-real fusion environment; according to the method, in the test process of the tested ship, the actual target ship and the virtual target ship are set at the same time for virtual-real fusion test, so that the reliability of the actual ship test is fused, the efficiency of virtual simulation is achieved, the risk of the actual ship test is reduced, the virtual test error is reduced, and the accuracy and credibility of the test result are improved; various test scenes are simulated, the test accuracy is improved, and the test cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of ship navigation technology, and in particular to a ship testing method and a system, electronic equipment, and storage medium thereof. Background Art

[0002] With the rapid development of artificial intelligence technology, my country's unmanned boat technology and applications are becoming increasingly mature, and the shipbuilding industry has ushered in a period of rapid change. The intelligentization, unmannedization and autonomy of boats will be the inevitable trend of future boat development. Among them, the intelligent situational awareness and collision avoidance decision-making of unmanned boats are key technologies. At present, traditional ship testing technologies include real ship testing and virtual simulation testing. Real ship testing is based on the test results of real ships in real environments. It is a result-oriented test, such as ships avoiding obstacles in real sea areas. Its test environment is unstable, test conditions are difficult to reproduce, test indicators are difficult to unify, and it also faces safety issues that may be caused by uncontrollable experimental conditions. Pure virtual testing is a repeatable, exhaustive and multi-batch test, such as ship collision avoidance algorithm testing. Although it has the advantages of low cost and high efficiency, it has the problems of difficult to accurately restore real environment parameters and difficult to simulate ship collision avoidance. It is difficult to support the entire test process, and it is difficult to achieve complete consistency with the actual channel conditions, and the reliability is questionable.

[0003] Patent CN116812109A discloses a test method for a ship autonomous navigation system, which obtains the real historical data of the ship in various real navigation scenes, inputs the real historical data into the virtual navigation scene, and constructs a virtual-reality fusion test scene for the virtual ship to navigate. The above method realizes the combination of virtual simulation testing and real ship testing, thereby improving the test accuracy and reducing the test cost. However, this test method must first obtain the real historical data of the real ship in the real navigation scene, and then import the real historical data into the virtual test to realize the virtual-reality fusion test, and the test efficiency is low. Moreover, it cannot guarantee that the environment during the real test is consistent with the environment of the virtual test, which greatly reduces the accuracy and authenticity of the test results.

[0004] Based on this, a new technical solution is needed. Summary of the invention

[0005] In view of this, the embodiments of the present specification provide a ship testing method and its system, electronic equipment, and storage medium. The method combines the reliability of real ship testing with the high efficiency of virtual simulation by setting up an actual target ship and a virtual target ship at the same time during the test process of the test ship to perform virtual-reality fusion testing. It reduces the risk of real ship testing, reduces virtual testing errors, and improves the accuracy and credibility of test results. It simulates multiple test scenarios, improves test accuracy, and reduces test costs.

[0006] In order to achieve the above-mentioned purpose and other advantages of the present invention, the embodiments of this specification provide the following technical solutions:

[0007] The first object of the present invention is to provide a method for testing a ship, which specifically comprises the following steps:

[0008] Set up a virtual target ship in the test sea area and deploy the actual target ship simultaneously;

[0009] Combining the virtual target ship with the actual target ship to form a virtual-real fusion environment;

[0010] Evaluate the test results of the test ship in the virtual-reality fusion environment.

[0011] Furthermore, before setting up the virtual target ship in the test sea area, the test ship mooring stage is also included, which specifically includes:

[0012] Connecting the equipment of the test ship to the shore; the shore includes a three-dimensional vision module and a human-computer interaction module;

[0013] VPN is used to set the same network segment IP to establish a secure communication connection between the test ship and the shore.

[0014] Furthermore, the setting of a virtual target ship in the test sea area specifically includes:

[0015] The three-dimensional vision module obtains the initial position of the test ship in the test sea area according to the GPS information sent back by the test ship, and sets the global path of the test ship according to the initial position;

[0016] At least one virtual target ship is arranged around the global path; the virtual target ship and the test ship form a virtual encounter situation;

[0017] The test ship terminal receives the global path and the virtual target ship, and displays the global path and the virtual encounter situation on the test ship terminal interface.

[0018] Furthermore, combining the virtual target ship with the actual target ship specifically includes:

[0019] The test ship navigates according to the global path, and the shore-based three-dimensional vision module determines the real-time position of the test ship in the test sea area according to the GPS information returned by the test ship terminal;

[0020] The test ship terminal performs fusion recognition on the actual target ship, displays the recognized actual target ship on the test ship terminal interface, and sends the actual target ship information to the shore end;

[0021] The three-dimensional vision module receives the actual target ship information, and combines the actual target ship information with the virtual target ship information to generate a collision avoidance path;

[0022] The human-computer interaction module visualizes the global path and the collision avoidance path, and graphically presents the navigation situation, calculates the collision risk of the actual target ship and the virtual target ship relative to the test ship in real time, and superimposes the collision risk on the human-computer interaction module interface; wherein the collision risk is represented by calculating TCPA and / or DCPA.

[0023] Furthermore, it also includes:

[0024] Generate a test scene through the three-dimensional vision module;

[0025] The test scenarios include test time, test sea conditions, and test wind and waves.

[0026] Furthermore, generating a test scene through the three-dimensional vision module also includes:

[0027] The test scene can be changed through the 3D vision module to conduct multiple tests.

[0028] Furthermore, the test results of the test ship under the virtual-reality fusion environment include:

[0029] Determine whether the test results meet the test requirements; wherein the test results specifically include the perception fusion effect, collision avoidance effect and autonomous navigation control effect of the test ship;

[0030] If the test result meets the test requirements, the test ends;

[0031] If the test result does not meet the test requirements, adjust the test parameters and perform the test again.

[0032] A second object of the present invention is to provide a ship testing system, which uses a ship testing method.

[0033] The third object of the present invention is to provide an electronic device, comprising: a memory on which a program code is stored; a processor, which is connected to the memory and implements a ship testing method when the program code is executed by the processor.

[0034] A fourth object of the present invention is to provide a computer-readable storage medium having program instructions stored thereon, wherein a ship testing method is implemented when the program instructions are executed.

[0035] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0036] The instantiation of the perceived target is achieved through the three-dimensional vision module, and the dynamic display of the risk of ship collision is realized in the form of three-dimensional images. Based on virtual reality technology, functions such as sea conditions and weather systems are realized to simulate the test environment, allowing shore operators to feel the navigation status of the ship more intuitively. The test environment is changed multiple times for testing, which improves the accuracy of the test.

[0037] The human-computer interaction module realizes the superposition of routes and target ships through virtual-real interaction, performs target recognition on the image information of the test ship terminal, frames and highlights the target ship within the field of view, so as to achieve the effect of visual enhancement for assisted navigation. At the same time, the navigation status of the ship is presented in a graphical way, and the collision risk of the target ship relative to the ship can be dynamically expressed in the form of a three-dimensional model in the human-computer interaction module. By calculating the degree of danger of the target ship relative to the test ship, the shore user's intuitive judgment of the danger of ship navigation is increased, which is convenient for the operator to make timely adjustments to the ship's navigation to ensure navigation safety.

[0038] Compared with traditional real ship testing, the test method of the present application can be carried out in a relatively controlled environment, effectively avoiding the unpredictable risks that may be encountered in offshore testing, such as bad weather, complex sea conditions, etc., and reducing the high cost of pure real ship testing. During the test process of the test ship, the method sets up both the actual target ship and the virtual target ship for virtual-real fusion testing, which combines the reliability of real ship testing with the efficiency of virtual simulation, reduces the risk of real ship testing, reduces virtual testing errors, and improves the accuracy and credibility of test results; simulates multiple test scenarios, improves test accuracy, and reduces test costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 This is a flow chart of a ship testing method provided in Embodiment 1 of the present invention;

[0041] Figure 2 It is a flow chart of setting a virtual target ship in a ship testing method provided in Embodiment 1 of the invention;

[0042] Figure 3 This is a communication connection flow chart of a ship testing method provided in Embodiment 1 of the present invention;

[0043] Figure 4It is a virtual-real fusion flow chart in a ship testing method provided in Embodiment 1 of the invention;

[0044] Figure 5 is a flow chart of evaluation test results in a ship testing method provided in Embodiment 1 of the invention;

[0045] Figure 6 is a schematic diagram of an electronic device provided in Embodiment 3 of the present invention;

[0046] Figure 7 It is a schematic diagram of a storage medium provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0048] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0049] Figure 1 This is a flow chart of a ship testing method provided by Example 1 of the present invention. Example 1 of the present invention is suitable for simultaneously conducting virtual tests and real tests on unmanned ships to evaluate the perception, collision avoidance and autonomous navigation control capabilities of unmanned ships in a virtual-real fusion test scenario to obtain more accurate test results. The virtual-real fusion test method here combines data from simulated environments and real environments to improve the comprehensiveness and reliability of the test.

[0050] Example 1

[0051] The present specification embodiment proposes a ship testing method, such as Figure 1 , specifically including the following steps:

[0052] S1: Set up a virtual target ship in the test area and deploy the actual target ship simultaneously;

[0053] In this embodiment, the test sea area is a real offshore sea area, which is convenient for ships to enter and exit the port. If any problems occur during the test, they can return to the port in time for maintenance or adjustment.

[0054] The target ship is a ship used as a reference, simulation object or for a specific test purpose during the test process. Its role is to provide a comparison, reference or part of the test scenario for the test ship, to help evaluate the performance of the test ship or test the functions of related systems. In this embodiment, the target ship includes an actual target ship and a virtual target ship, both of which are used to help the test ship to conduct perception, collision avoidance and autonomous navigation control tests to verify its ability to cope with complex environments. Considering that the virtual-reality fusion test has the risk of real ship collision, all target ships in this test are regarded as non-cooperative ships.

[0055] It should be noted that if Figure 2 , setting up a virtual target ship in the test sea area specifically includes:

[0056] S101: The three-dimensional vision module obtains the initial position of the test ship in the test sea area according to the GPS information sent back by the test ship, and sets the global path of the test ship according to the initial position;

[0057] S102: setting at least one virtual target ship around the global path; the virtual target ship and the test ship form a virtual encounter situation;

[0058] S103: The test ship terminal receives the global path and the virtual target ship, and displays the global path and the virtual encounter situation on the test ship terminal interface.

[0059] In this embodiment, the virtual target ship is used to simulate various ship behaviors that may be encountered in real navigation. Its dynamic behavior is controlled in real time by the three-dimensional vision module on the shore. Through dynamic parameters such as preset navigation trajectories, it interacts with the test ship to verify the perception, collision avoidance and autonomous navigation control capabilities of the test ship in complex environments.

[0060] The 3D vision module supports setting dynamic parameters such as the appearance, size, speed, and navigation trajectory of the virtual target ship, enhancing the authenticity and effectiveness of the test.

[0061] It should be noted that the virtual encounter situation refers to the encounter relationship and navigation situation between the test ship and the virtual target ship. According to the "International Regulations for Preventing Collisions at Sea, 1972", the encounter situation of ships is divided into three types: "head-on encounter", "overtaking" and "crossing encounter", and the ship is given the attributes of "give-way ship" or "straight-through ship". The collision avoidance algorithm divides the situation of other ships relative to the ship into five types: head-on encounter, left crossing, right crossing, overtaking and being overtaken. For example, in the head-on encounter and right crossing situation, the ship is a give-way ship and avoids to the right; in the overtaking situation, the ship is a give-way ship and can choose to avoid to the left or right; in the left crossing and being overtaken situation, the ship is a straight-through ship and maintains the original course and speed.

[0062] For example, when the relative azimuth angle of the other ship θ∈[0°, 6°)∪[350°, 360°), if the relative heading angle of the other ship The situation is identified as overtaking. If When , the situation is identified as left crossing. When , the situation is identified as a confrontation. , the situation is identified as right crossing; when the relative azimuth angle of the other ship θ∈6°, 22.5°), if the relative heading angle of the other ship The situation is identified as overtaking. If When , the situation is identified as letting go, if When , the situation is identified as right crossing; when the relative azimuth angle of the other ship θ∈[22.5°, 112.5°, if When , the situation is identified as letting go, if When , the situation is identified as right crossing; when the relative azimuth angle of the other ship θ∈[112.5°,247.5°), if When , the situation is identified as being overtaken. If When , the situation is identified as giving way; when the relative azimuth angle of the other ship θ∈[247.5°,337.5°), if When , the situation is identified as left crossing. , the situation is identified as giving way; when the relative azimuth angle of the other ship θ∈[337.5°,350°) The situation is identified as overtaking. If When , the situation is identified as right crossing. , the situation is identified as letting go.

[0063] The collision avoidance algorithm divides the ship's area into a safe area (greater than 5.5 nautical miles), a collision risk (3.5-5.5 nautical miles), an urgent situation (3.5-0.5 nautical miles), and an urgent danger (less than 0.5 nautical miles). In the case of a head-on encounter, right crossing, or overtaking, our ship is a give-way ship, and we will give way to other ships in the collision risk area. In the case of a left crossing or being overtaken, our ship is a straight-line ship, and we can wait for other ships to give way in the collision risk area. If other ships do not actively give way to our ship, and when they enter the urgent situation of our ship, they are defined as non-cooperative ships. At this time, in order to avoid collision, our ship will also actively give way.

[0064] It should be noted that if Figure 3 Before setting up the virtual target ship in the test sea area, the test ship mooring stage is also included, which includes:

[0065] S4: Connect the equipment of the test ship to the shore; the shore includes a three-dimensional vision module and a human-computer interaction module;

[0066] It should be noted that, in this embodiment, the equipment includes external sensors such as the global positioning system (GPS), inertial navigation system, automatic ship identification system (AIS), navigation radar, visible light / infrared cameras, VPN equipment, and propulsion equipment such as outboard motors and main engines.

[0067] S5: Use VPN to set the same network segment IP to establish a secure communication connection between the test ship and the shore.

[0068] Specifically, a fixed Internet Protocol address is assigned to the test ship and the shore base, so as to build a safe and efficient communication link, ensure the smooth transmission and interaction of data, and ensure that all data of the test ship during the test process can be transmitted back to the shore in real time. The three-dimensional vision module on the shore is used to generate a virtual test scene to simulate the real sea area. The human-computer interaction module is used to receive and process the data transmitted back by the test ship, realize real-time monitoring and intervention of the test process, and ensure the safety and effectiveness of the test.

[0069] In this embodiment, a connectivity test can also be performed before the test to verify the stability and reliability of the communication between the test ship and the shore, ensuring that data is transmitted correctly in the actual test. If the communication is unstable, the network configuration needs to be adjusted or the equipment needs to be replaced until the ideal state is achieved. In addition, the sensors of the test ship need to be calibrated before the test to ensure the accuracy and consistency of data collection. Through these preparatory work, the stability of the test environment and the reliability of the data are ensured, laying a solid foundation for the subsequent virtual-reality fusion test.

[0070] S2: Combine the virtual target ship and the actual target ship to form a virtual-real fusion environment;

[0071] It should be noted that if Figure 4 , combining the virtual target ship with the actual target ship specifically includes:

[0072] S201: The test ship starts to sail according to the global path, and the shore-based three-dimensional vision module determines the real-time position of the test ship in the test sea area according to the GPS sent back by the test ship terminal.

[0073] In this embodiment, the real-time position of the test ship in the test sea area can also be determined by using a differential global positioning system (DGPS). DGPS is a positioning technology developed on the basis of GPS. Through the DGPS technology, the real-time position data of the test ship is more accurate.

[0074] In another preferred embodiment, the precise locations of coastlines, islands, oceans and other elements around the test ship can also be determined.

[0075] S202: The test ship terminal performs fusion recognition on the actual target ship, displays the recognized actual target ship on the test ship terminal interface, and sends the actual target ship information to the shore end;

[0076] In this embodiment, the actual target ship and the virtual target ship cooperate to simulate complex encounter scenarios, providing a more comprehensive test environment to test the comprehensive navigation capability of the test ship in a mixed actual and virtual scenario.

[0077] S203: The three-dimensional vision module receives the actual target ship information, and combines the actual target ship information with the virtual target ship information to generate a collision avoidance path;

[0078] The target ship information includes the target ship's latitude and longitude, speed, heading, etc.

[0079] The collision avoidance path comprehensively considers the dynamic parameters of the actual and virtual target ships to ensure the safe navigation of the test ship.

[0080] S204: The human-computer interaction module visualizes the global path and the collision avoidance path, and graphically presents the navigation situation, calculates the collision risk of the actual target ship and the virtual target ship relative to the test ship in real time, and superimposes the collision risk on the human-computer interaction module interface.

[0081] It should be noted that the real-time calculation of the collision risk of the target ship relative to the test ship specifically includes:

[0082] The risk of collision is expressed by calculating TCPA and / or DCPA.

[0083] Among them, TCPA is the time when the distance between the test ship and the target ship is the smallest, DCPA is the distance between the test ship and the target ship to the closest point; the target ship includes the virtual target ship and the actual target ship.

[0084] By calculating TCPA, the crew can know when the two ships are expected to reach the closest state, so as to judge whether there is enough time to take avoidance measures, etc. For example, when the TCPA value is small, it means that the two ships will soon reach the closest point of encounter, the risk of collision is high, and timely action is needed; if the TCPA value is large, there is relatively more time to make decisions and operations, and the risk of collision is low.

[0085] If DCPA is zero or less than the safety distance, it indicates that there is a risk of collision between the two ships; if DCPA is greater than the safety distance, it is believed that the two ships will not collide under the current navigation situation.

[0086] By accurately calculating TCPA and DCPA, the two are combined to assess the risk of collision, providing scientific collision avoidance advice to the crew to ensure the safety of navigation. For example, when TCPA is greater than or equal to 0 and DCPA is less than or equal to the safe distance, there is a risk of collision between the test ship and the target ship, and avoidance measures must be taken immediately.

[0087] In this embodiment, the safety distance of the cooperative ship is set to 0.6 nautical miles, and the safety distance of the non-cooperative ship is set to 0.4 nautical miles.

[0088] The human-computer interaction module realizes the superposition of the path and the target ship through virtual-real interaction, performs target recognition on the image information of the display interface, frames and highlights the target ship within the viewing angle, so as to achieve the effect of visual enhancement for assisted navigation. At the same time, the navigation status of the ship is presented in a graphical way, and the collision risk of the target ship relative to the ship can be dynamically expressed in the form of a three-dimensional model in the human-computer interaction module. By calculating the degree of danger of the target ship relative to the ship, the shore user's intuitive judgment of the danger of ship navigation is increased, which facilitates the operator to make timely adjustments to the ship's navigation to ensure navigation safety.

[0089] In this embodiment, visual presentation refers to accurately depicting these paths on the display interface through graphics drawing algorithms and visualization technology. For example, the global path is presented in a coherent and clear line or trajectory, showing the approximate navigation route planning of the ship from the starting point to the destination, providing the operator with a macro navigation direction guide; while the collision avoidance path is highlighted by eye-catching signs or dynamic prompt elements to highlight the avoidance route that needs to be taken when encountering obstacles or other ships. Graphical presentation refers to the comprehensive presentation of information such as the ship's own position, speed, and heading, as well as target ships, obstacles, meteorological conditions, and sea conditions in the surrounding environment in a rich and diverse graphical manner. For example, different icons and colors are used to distinguish various targets, dynamic arrows are used to indicate the direction of movement and velocity vector of the ship, and gradient colors or shadows are used to reflect the changing trend of sea conditions. Through this intuitive graphical presentation method, the operator can not only monitor the dynamics of the test ship in real time, but also adjust the navigation strategy in time according to the collision risk, effectively avoid the risk of collision with the actual target ship or virtual target ship, and ensure navigation safety in complex sea conditions.

[0090] It should be noted that, in this embodiment, a ship testing method further includes:

[0091] Generate test scenes through 3D vision module;

[0092] Among them, the test scenarios include test time, test sea conditions, test wind and waves and other parameters.

[0093] The method ensures the consistency of the test scenes, improves the test accuracy and reduces the test cost by setting the test scenes of the actual target ship and the virtual target ship at the same time during the test process of the test ship.

[0094] In another preferred embodiment, generating a test scene by the three-dimensional vision module further comprises:

[0095] The test scene can be changed through the 3D vision module to conduct multiple tests.

[0096] The three-dimensional vision module is used to simulate different weather and sea conditions, evaluate the navigation performance of the test ship in various complex environments, and ensure that it can cope with various emergencies in actual navigation. In this embodiment, a test scene without sea conditions and sunny days is set by the three-dimensional vision module to simulate the navigation of the test ship on a calm sea. Subsequently, the wind and wave levels and complex sea conditions are gradually increased to observe the test ship. For example, the three-dimensional vision module is used to set the sea condition level 4, that is, in the test scene of strong winds and huge waves, the perception fusion effect and collision avoidance effect of the test ship under shaking conditions can be tested; the three-dimensional vision module is used to set the time to eight o'clock in the evening, that is, in the foggy scene with extremely low visibility, the fusion effect and collision avoidance effect of the test ship under poor visible light conditions can be tested. Through these comprehensive tests, it is ensured that the test ship can still maintain efficient and safe navigation capabilities under various extreme conditions.

[0097] Compared with traditional real ship tests, virtual-reality fusion tests can be carried out in a relatively controlled environment, effectively avoiding the unpredictable risks that may be encountered in offshore tests, such as bad weather, complex sea conditions, etc., and reducing the high costs brought by pure real ship tests. In addition, virtual-reality fusion tests can repeat the same scenario many times, ensuring the consistency of the test scenarios of virtual tests and real tests, ensuring the accuracy and consistency of the data, and providing a more reliable training and evaluation environment for crew members.

[0098] S3: Evaluate the test results of the test ship in the virtual-reality fusion environment.

[0099] The test results include key indicator data such as the perception fusion effect, collision avoidance effect and autonomous navigation control effect of the test ship, and can also be specifically expressed as whether the test ship can avoid obstacles and travel normally. By analyzing these data and situations, the comprehensive performance of the test ship in different environments is evaluated, and potential problems are identified and optimized.

[0100] It should be noted that if Figure 5 , the test results of the test ship under the virtual-reality fusion environment include:

[0101] S301: Determine whether the test results meet the test requirements; the test results specifically include the perception fusion effect, collision avoidance effect and autonomous navigation control effect of the test ship;

[0102] If the test result meets the test requirements, execute S302;

[0103] If the test result does not meet the test requirements, execute S303.

[0104] S302: End of test;

[0105] S303: Adjust the test parameters and perform the test again.

[0106] The test parameters may be navigation equipment accuracy, communication equipment performance, speed, stability, seakeeping, etc. In this embodiment, the test parameters refer to algorithm parameters.

[0107] Through repeated testing and parameter adjustments, the collision avoidance strategy is optimized and the autonomous navigation control system is improved to ensure that the test ship can operate stably in various test scenarios, thereby improving its safety and reliability in actual navigation.

[0108] In another preferred embodiment, the test ship can be first subjected to a virtual test, that is, only a virtual target ship is set up to conduct a preliminary collision avoidance strategy verification. After ensuring that the algorithm logic is correct, the actual target ship is introduced to conduct a virtual-reality fusion test to further verify the effectiveness and practicality of the collision avoidance strategy and ensure that the test ship can accurately respond to various complex situations in actual navigation. This method effectively reduces testing costs and risks and improves R&D efficiency.

[0109] Example 2

[0110] A ship testing system is provided, and a ship testing method is applied. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiment, and no further description is given here.

[0111] The system executes ship testing methods and accurately simulates test scenarios, integrating the reliability of real ship testing with the efficiency of virtual simulation, reducing the risks of real ship testing, lowering virtual testing errors, and improving the accuracy and credibility of test results.

[0112] Example 3

[0113] An electronic device 300, such as Figure 4 As shown, it includes: a memory 301 on which program codes are stored; a processor 302, which is connected to the memory, and when the program codes are executed by the processor, a ship testing method is implemented. For a detailed description of the method, reference can be made to the corresponding description in the above method embodiment, which will not be repeated here.

[0114] Example 4

[0115] A computer readable storage medium 400, such as Figure 5 As shown, a program instruction 401 is stored thereon, and when the program instruction is executed, a ship testing method is implemented. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiment, and no further description is given here.

[0116] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

[0117] In this specification, the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments described later, the description is relatively simple, and the relevant parts can be referred to the partial description of the previous embodiments.

[0118] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A ship testing method, characterized in that: The specific steps include: Set up a virtual target ship in the test sea area and deploy the actual target ship simultaneously; Combining the virtual target ship with the actual target ship to form a virtual-real fusion environment; Evaluate the test results of the test ship in the virtual-reality fusion environment.

2. The ship testing method according to claim 1, characterized in that: Before setting up the virtual target ship in the test sea area, the test ship mooring stage also includes: Connecting the equipment of the test ship to the shore; the shore includes a three-dimensional vision module and a human-computer interaction module; VPN is used to set the same network segment IP to establish a secure communication connection between the test ship and the shore.

3. The ship testing method according to claim 1, characterized in that: The setting of a virtual target ship in the test sea area specifically includes: The three-dimensional vision module obtains the initial position of the test ship in the test sea area according to the GPS information sent back by the test ship, and sets the global path of the test ship according to the initial position; At least one virtual target ship is arranged around the global path; the virtual target ship and the test ship form a virtual encounter situation; The test ship terminal receives the global path and the virtual target ship, and displays the global path and the virtual encounter situation on the test ship terminal interface.

4. The ship testing method according to claim 3, characterized in that: Combining the virtual target ship with the actual target ship specifically includes: The test ship navigates according to the global path, and the shore-based three-dimensional vision module determines the real-time position of the test ship in the test sea area according to the GPS information returned by the test ship terminal; The test ship terminal performs fusion recognition on the actual target ship, displays the recognized actual target ship on the test ship terminal interface, and sends the actual target ship information to the shore end; The three-dimensional vision module receives the actual target ship information, and combines the actual target ship information with the virtual target ship information to generate a collision avoidance path; The human-computer interaction module visualizes the global path and the collision avoidance path, and graphically presents the navigation situation, calculates the collision risk of the actual target ship and the virtual target ship relative to the test ship in real time, and superimposes the collision risk on the human-computer interaction module interface; wherein the collision risk is represented by calculating TCPA and / or DCPA.

5. The ship testing method according to claim 1, characterized in that: Also includes: Generate a test scene through the three-dimensional vision module; The test scenarios include test time, test sea conditions, and test wind and waves.

6. The ship testing method according to claim 5, characterized in that: Generating a test scene by means of the three-dimensional vision module also includes: The test scene can be changed through the 3D vision module to conduct multiple tests.

7. The ship testing method according to claim 1, characterized in that: The test results of the test ship in the virtual-reality fusion environment include: Determine whether the test results meet the test requirements; wherein the test results specifically include the perception fusion effect, collision avoidance effect and autonomous navigation control effect of the test ship; If the test result meets the test requirements, the test ends; If the test result does not meet the test requirements, adjust the test parameters and perform the test again.

8. A ship testing system, characterized in that: The method according to any one of claims 1 to 7 is applied.

9. An electronic device, characterized in that: include: A memory having program code stored therein; A processor connected to the memory, and when the program code is executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: Program instructions are stored thereon, and when the program instructions are executed, the method according to any one of claims 1 to 7 is implemented.

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