A hand-held interactive drawing system and method for sensing and displaying fusion

Abstract

The application discloses a kind of induction display fusion handheld interactive drawing system and use method, for realizing intelligent navigation drawing, the system includes positioning module, control module, image module, display module, man-machine module and power module, wherein positioning module is used to sense man-machine module position signal and send to control module;Control module is used to process the position coordinate information of positioning module, and control the power supply voltage to positioning module;Image module receives the image display information of control module, after processing, information is displayed to display module;Display module is used to display the image information of image module;Man-machine module includes handwriting component, for carrying out man-machine interactive operation on positioning module;Power module is used to power supply for other modules.The application is through the closed-loop design of "induction is displayed", so that crew can directly observe the fusion scene of virtual track and real sea condition when touch drawing, significantly improve decision intuitiveness.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of navigation technology, in particular to a hand-held interactive plotting system with sensing and display fusion and a use method. BACKGROUND

[0002] The traditional technical means of navigation plotting operation has long relied on the combined operation mode of basic drawing tools, such as the alternative use of geometric tools such as ruler, protractor, angle gauge, etc. This operation method requires the operator to frequently switch different tools to complete the procedures of route plotting, angle measurement, distance marking, etc. The multi-tool collaborative operation not only easily produces cumulative human errors, but in large-scale chart operation, the small angle deviation or distance error of tool splicing will grow in geometric progression with the expansion of the drawing size, directly affecting the accuracy of the track calculation. At the same time, the traditional tools are limited by physical form, and have the defects of inconvenience to carry and poor adaptability to marine environment, etc. In complex working conditions such as ship rolling, the operation error is more likely to be aggravated.

[0003] With the acceleration of the process of maritime electrification, electronic auxiliary plotting systems gradually replace traditional manual drawing. However, the existing systems generally have the problem of discrete function modules, such as the dispersion of core functions such as course correction, wind and current pressure difference calculation, error analysis in different software and hardware platforms, and lack of integrated data processing capability. Some electronic devices still continue the tool design idea, only realizing single function digitization (such as electronic protractor). At the automation level, most systems still rely on manual input of basic parameters, and lack intelligent prediction mechanism for key links such as dynamic changes of wind and current elements and real-time correction of track error. In the process of paperless, the insufficient digital conversion rate of charts leads to a large number of operations still relying on paper media, and the mixed mode of electronic screen and traditional drawing tools increases the operation complexity. These systematic defects restrict the transformation and upgrading of navigation plotting towards intelligence and efficiency. SUMMARY

[0004] In view of the problems existing in the prior art, the purpose of the present application is to provide a hand-held interactive plotting system with sensing and display fusion and a use method, which through the closed-loop design of "sensing and display", enables the crew to directly observe the fusion scene of virtual track and real sea conditions when touching and drawing, significantly improving the intuitiveness of decision-making.

[0005] In order to achieve the above object, the application provides a handheld interactive drawing system for realizing intelligent navigation drawing, which comprises a positioning module, a control module, an image module, a display module, a man-machine module and a power module, wherein the positioning module is used for sensing the position signal of the man-machine module and sending the signal to the control module; the control module is used for processing the position coordinate information of the positioning module and controlling the power supply voltage of the positioning module; the image module receives the image display information of the control module, processes the information and displays the information to the display module; the display module is used for displaying the image information of the image module; the man-machine module comprises a handwriting component and is used for performing man-machine interactive operation on the positioning module; and the power module is used for supplying power to other modules.

[0006] Further, the positioning module, the control module, the image module, the power module and the display module are combined into one whole.

[0007] Further, the control module, the image module, the power module and the display module are combined into one whole, and the positioning module is separated from other modules and used separately.

[0008] Further, the connection and folding are realized through a hinge, and the hinge is a magnetic attraction hinge, which is used for connecting and disassembling the positioning module through magnetic attraction.

[0009] Further, an electromagnetic induction coil grid is built in the positioning plate to generate an electromagnetic field and accept the resonance signal of the man-machine module; the handwriting component of the man-machine module is a handwriting pen, which is provided with a resonance circuit, and when the handwriting pen approaches the positioning plate, the internal resonance circuit resonates with the electromagnetic field of the positioning plate to obtain power through the electromagnetic field of the positioning plate.

[0010] Further, the man-machine module further comprises an AR component, the AR component adopts AR glasses, can superimpose and display drawing information in the physical world, and performs gesture recognition through a binocular camera to operate a software interface; the handwriting pen is used for generating a path node by tapping the positioning plate, a microelectronic chip of the control module converts the coordinates into route data, and a user inputs parameters through an AR glasses drawing panel, so that the software automatically generates a compliant geometric route and projects the route to an AR field of view.

[0011] Further, the positioning module comprises a positioning plate and a control plate, the control plate is used for receiving the signal sensed by the positioning plate from the man-machine module, the signal is processed by a processor of the control plate to obtain the position coordinates of the man-machine module, and the position coordinate information is sent to the control module through a control plate interface.

[0012] Further, the center of the positioning module is aligned with the center of the display module and is set as a physical zero point of drawing; in an initial state, the physical zero point is coincided with a software zero point, and when the software zero point is moved and scaled, the physical zero point is converted into the software zero point according to a moving ratio and a scaling ratio.

[0013] Further, the control module comprises a processor, a memory and an interface; the processor processes position coordinate information of the positioning module, software information in the memory and AR information; the memory stores software required for drawing calculation, which is composed of a visualization unit, a database unit and a drawing calculation unit; the visualization unit adopts a modular layout, and a left tool bar integrates multiple types of navigation drawing core functions; the database unit adopts SQLite to build a lightweight database system, and realizes efficient management of multiple source data through a layered storage architecture; the drawing calculation unit builds a navigation positioning system with multiple algorithm cooperation, and supports dynamic combination of manual strategy selection and intelligent parameter optimization.

[0014] A use method of a hand-held interactive drawing system with inductive display fusion, the method comprising the following steps:

[0015] S1. System initialization; open the device to the start mode, calibrate the hand writing component by lightly touching the center physical zero point of the positioning module, load the electronic chart on the display unit, and automatically load the ship navigation data and AIS target information on the database unit;

[0016] S2. Initial situation plotting; click to enter the line drawing mode using the hand writing component, draw the ship course line on the positioning module, input the instruction to mark the ship position, lock the target ship B by calling the observed data, and generate the absolute motion line;

[0017] S3. Collision avoidance scheme generation; activate the intelligent collision avoidance module by double-clicking the body key of the hand writing component: the drawing calculation unit calculates the safe turning mode by calling the algorithm, the database unit retrieves historical collision avoidance cases to generate recommended schemes or performs the avoidance operation through the hand writing component: the user can select to draw a new course line in the safe sector, and the system displays the corrected track in real time;

[0018] S4. Dynamic correction verification; after the drawing is completed, fine-tune the drawn track according to the automatically generated compensation track of the system, or perform independent fine-tuning using the hand writing component, at this time, the tactile motor feedback confirms the operation node, and the display module synchronously updates the DR track calculation result;

[0019] S5. Track record storage; trigger data encapsulation by three-finger tapping the screen: store the original track, the correction scheme and the compensation track in layers, generate a time-space stamp bound JSON instruction set, and the device generates a collision avoidance report.

[0020] The beneficial effects of the present application are as follows:

[0021] The application provides a handheld interactive plotting system and a use method for inductive display fusion, taking inductive display fusion as the core, reconstructing the interactive paradigm of marine plotting through the deep cooperation of hardware induction and dynamic display. The system captures the millimeter-level displacement and pressure change of the handwriting pen in real time through electromagnetic resonance technology, synchronously drives the dual display of AR glasses and ink screen, the trajectory of the pen tip is superimposed with dynamic three-dimensional grid and track prediction line in the AR field after algorithm processing, and high-precision vector charts are generated on the ink screen, realizing seamless mapping of physical operation and digital information. The closed-loop design of "induction display" enables the crew to directly observe the fusion scene of virtual track and real sea conditions when touching the drawing, significantly improving the intuitiveness of decision-making.

[0022] The system further enhances the intelligence of display feedback through multi-modal induction. For example, the pressure signal of the handwriting pen triggers automatic switching of the display mode: when the pressure is light, the AR interface renders the Bezier curve drawn freely, and when the pressure is heavy, the precise node positioning is activated, and the ink screen synchronously marks the heading parameters; after the gesture action (such as circular motion) is captured by the binocular camera, the AR interface instantly scales the chart scale and highlights the correction area. The real-time mutual driving of induction data and display content not only reduces the fragmented feeling of traditional tools, but also maintains the plotting accuracy and display stability in a bumpy ship environment through a dynamic error compensation algorithm.

[0023] In addition, the inductive display fusion concept runs through the whole data flow. The physical zero point of the positioning module is dynamically aligned with the software coordinates to ensure that the plotting results are always consistent with the real space on the display end; the database binds the induction data and display instructions through time and space stamps to realize visual backtracking of track correction history. In the folding design, the separation induction of the magnetic hinge triggers the dual-screen collaboration mode - the positioning plate independently induces drawing input, and the display module dynamically splits the screen to present local details and overall situation, further expanding the interactive flexibility in complex scenarios. The application promotes the evolution of marine plotting from tool-based operation to immersive intelligent decision-making through the deep fusion of induction and display. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is the overall architecture schematic diagram of the handheld interactive plotting system for inductive display fusion according to the application;

[0025] Figure 2 is the structure schematic diagram of the handheld interactive plotting system for inductive display fusion of the first embodiment;

[0026] Figure 3 is the use step 1 schematic diagram of the first embodiment;

[0027] Figure 4 is the use step 2 schematic diagram of the first embodiment;

[0028] Figure 5is the use step 3 schematic diagram of example one;

[0029] Figure 6 is the folding type induction display fusion handheld interactive drawing system structure schematic diagram of example two;

[0030] Figure 7 is the schematic diagram of the hinge connection and folding of the positioning module and other modules in example two;

[0031] Figure 8 is the schematic diagram of the separation of the positioning module and other modules in example two;

[0032] Figure 9 is the comparison schematic diagram of the light pressure and heavy pressure of the pen tip in example two;

[0033] Figure 10 is the step 1 schematic diagram of the drawing process in the use method embodiment of the application;

[0034] Figure 11 is the step 2 schematic diagram of the drawing process in the use method embodiment of the application;

[0035] Figure 12 is the step 3 schematic diagram of the drawing process in the use method embodiment of the application;

[0036] Figure 13 is the step 4 schematic diagram of the drawing process in the use method embodiment of the application. DETAILED DESCRIPTION

[0037] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0038] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0039] In the description of the present application, it should be noted that unless otherwise expressly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] The specific embodiments of the present application are described in detail below. Figures 1-13 It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0041] The present application provides a hand-held interactive drawing system for realizing intelligent navigation drawing. As shown in the figure, the system comprises a positioning module, a control module, an image module, a display module, a man-machine module and a power module. The positioning module is used for sensing the position of the man-machine module and sending it to the control module; the control module is used for processing the position coordinate information of the positioning module and controlling the power supply voltage of the positioning module; the image module receives the image display information of the control module, processes it and displays the information to the display module; the display module is used for displaying the image information of the image module; the man-machine module is used for man-machine interactive operation on the positioning module; the power module is used for power supply for other modules. Figure 1

[0042] The specific implementation of each module is as follows:

[0043] (I) Positioning module

[0044] The positioning module comprises a positioning plate and a control plate. The control plate is composed of a processor and an interface. The control plate is used for receiving the signal from the man-machine module sensed by the positioning plate, obtaining the position coordinates of the man-machine module through the processor of the control plate, and sending the position coordinate information to the control module through the interface of the control plate. The positioning plate of the positioning module can be provided with a coil for wireless charging of the man-machine module.

[0045] The interface of the control plate comprises a communication interface and a power supply interface. The communication interface can be set as a limited interface such as USB, network port, etc.; or a wireless interface such as Bluetooth, WiFi, etc. The power supply interface can be transmitted integrally through USB, or powered separately through a cable.

[0046] The center of the positioning module is aligned with the center of the display module, and is set as the physical zero point of drawing. In the initial state, the physical zero point coincides with the software zero point, when the software zero point moves and scales, the physical zero point is converted into the software zero point according to the moving scale and the scaling scale, and the formula is as follows: ​

[0047] ;

[0048] wherein, is the software zero point, is the moving scale, is the scaling scale, is the physical zero point. Other coordinates are proportionally converted accordingly.

[0049] (II) Control module

[0050] The control module includes a processor, a memory and an interface.

[0051] The processor processes the position coordinate information of the positioning module, the software information in the memory and the AR information, and controls the power supply voltage to the positioning module.

[0052] The memory stores the software required for drawing calculation, which is composed of a visualization unit, a database unit and a drawing calculation unit. Specifically as follows:

[0053] a. Visualization unit

[0054] The visualization unit adopts a modular layout, and the left toolbar integrates multiple types of navigation drawing core functions. The toolbar contains eight operation modules such as selection, point drawing, line drawing, etc. The functions are subdivided through hierarchical menus: the "selection module" supports point selection and box selection modes, which can accurately locate single or multiple graphic elements; the "point drawing tool" provides basic point and line segment midpoint drawing functions to adapt to different positioning needs; the "line drawing component" includes line segment, straight line and ray three modes to meet the needs of heading annotation and trajectory extension; "face domain construction" supports square, circular and polygon generation to cover basic graphic drawing needs; "measurement system" integrates angle and distance measurement functions to ensure accurate acquisition of navigation parameters; "erasing module" provides local deletion and global emptying dual modes for dynamic adjustment of drawing content; "setting panel" has built-in professional drawing grid switching function to adapt to different charting standards.

[0055] Each functional unit adopts dynamic interactive design, and displays function prompts when the mouse hovers, and expands secondary menu after clicking. The graphic generation process follows the navigation mapping specification, and the measurement accuracy reaches the professional level standard, with an error controlled within the industry allowed range. The interface layout takes into account the operation efficiency and visual clarity, and distinguishes the function areas through color coding, and important controls use high-contrast design to ensure operation reliability in complex sea conditions.

[0056] b. Database unit

[0057] The database unit adopts SQLite to build a lightweight database system, and realizes efficient management of multi-source data through a hierarchical storage architecture. The core data table focuses on the dynamic parameters of the ship, and designs 13 types of structured fields including space-time benchmarks (such as timestamp, relative bearing), navigation state (speed, heading angle) and action type identifier, forming a complete data chain of ship motion characteristics. The table structure draws on the design concept of object-oriented databases, abstracting complex entities into extensible data objects, facilitating the subsequent call and analysis of the track calculation module.

[0058] The database unit also sets a unified data source table at the data integration level, which distinguishes between three types of data sources: manual plotting, form input and background import. In manual plotting mode, the system captures real-time touch plotting trajectories and converts them into coordinate sequences for storage, adapting to the rapid recording needs of sudden heading adjustments in maritime operations; form input supports structured parameter input, combining JSON format storage to ensure data traceability; the background import mechanism realizes batch data asynchronous loading through timed polling of external APIs, with built-in exception retry and data validation functions to ensure data transmission reliability in adverse sea conditions. This multi-modal data fusion strategy is consistent with the spatial data management idea under the B / S architecture, realizing the unified scheduling of massive information through standardized data interfaces.

[0059] In addition, the database unit also sets up a data tracking mechanism throughout the entire operation process, using foreign key association and timestamp markers to build a data relationship network. The core table and the data source table form a cascading relationship through drawing_id, combined with the time sequence record of the created_at field, which can accurately restore the generation path of any track data. The log system records the details of data changes, and its audit function not only meets the requirements of maritime safety regulations, but also provides original evidence for subsequent error analysis of intelligent algorithms. This design ensures the advantages of SQLite transaction processing while reserving the source_type extension bit, laying the foundation for future access to new data sources such as AIS (Automatic Identification System) or visual sensors.

[0060] c. Plotting unit

[0061] The drawing calculation unit constructs a multi-algorithm cooperative navigation positioning system, integrates classic algorithms such as two-azimuth two-element and three-azimuth one-element, supports the dynamic combination of manual strategy selection and intelligent parameter optimization, and adopts a time-space coupled instruction-based architecture. The system defines 12 types of drawing instructions such as "point(RE)" for polar coordinate offset positioning, "llinsec" for calculating intersection warning points of the route, and "arc(PR)" for generating dynamic protection circles through standardized JSON protocol. Each instruction is embedded with a time-space double-checking mechanism, carrying a millisecond-level timestamp and a time interval parameter, and combined with an element identity system (such as the "P3-L2-C1" coding rule) to build a data bloodline network, ensuring the consistency of the situation in complex navigation scenarios.

[0062] The core operation engine is based on typical navigation positioning algorithms, which construct the target motion trajectory through mathematical modeling, and realize noise suppression and error correction combined with filtering technology. Using the WebSocket bidirectional communication pipeline, sub-second data synchronization is achieved: the front end transmits coordinate and heading data through measPxy / measLL events, the back end initializes, dynamically calculates and optimizes the trajectory through multi-stage functions, and finally pushes the autoDraw instruction to the front end for dynamic rendering. The algorithm layer has a built-in dynamic error compensation algorithm, which can reduce the impact of ocean current fluctuations on drawing accuracy. The specific formula is as follows:

[0063] ;

[0064] In the above formula, is the pitch acceleration, is the roll acceleration, is the ship deformation coupling matrix, and z is the average height of the stylus from the deck.

[0065] The drawing calculation unit uses layered rendering technology, with basic elements rendered by a vector graphics engine and complex scenes using accelerated rendering schemes. The communication layer integrates trajectory optimization algorithms to control network load while ensuring trajectory accuracy. The system has a neural network prediction model based on LSTM, which has target trajectory prediction and efficient instruction processing capabilities, with error controlled within a reasonable range, and an abnormal recovery mechanism ensures continuous operation in the event of communication interruption. The design framework is compatible with multi-dimensional situation expansion requirements, providing technical support for three-dimensional navigation operations. The gate unit calculation of the LSTM-based neural network prediction model is as follows:

[0066] ;

[0067] Where represents the forget gate output vector, represents the forget gate weight matrix, represents the previous hidden state, represents the current input vector, representing a forget gate bias term, representing a Sigmoid activation function, representing an input gate output vector, representing an input gate weight matrix, representing a candidate cell state, representing a current cell state.

[0068] In addition, the loss function used by the model is as follows:

[0069] ;

[0070] wherein, representing a model prediction value, representing a true value, representing a learnable uncertainty parameter.

[0071] The interface includes a communication interface and a power interface. The communication interface can be a wired interface such as a USB, a network interface, etc.; or a wireless interface such as Bluetooth, WiFi, etc. The power interface can be transmitted integrally through the USB, or can be powered separately through a cable.

[0072] (Three) image module

[0073] The image module receives the image display information of the control module, and after processing, displays the information to the display module. The image module is built-in image display control algorithm, increases the image refresh rate and display gray scale effect, and supplies power to the display module, the formula is as follows:

[0074] ;

[0075] wherein A is the RGB matrix of the current image, B is the RGB matrix of the image to be updated at the next moment, and C is the difference matrix of the two.

[0076] The image module can be built-in in the processor chip of the control module, or can be realized through a separate programmable embedded hardware.

[0077] (Four) display module

[0078] The display module is used to display the image information of the image module. The display module can be an LED / OLED / LCD screen display, an ink screen display. In order to ensure the display precision and match the positioning accuracy of the positioning module, the typical pixel (point) distance of the display module should be less than or equal to 0.2mm.

[0079] (Five) man-machine module

[0080] The man-machine module comprises a handwriting component for positioning the plate with high-precision induction and an AR component for information display and gesture recognition. The handwriting component is specifically an electromagnetic stylus, and the stylus is operated on the display screen of the display module to realize marine plotting. The handwriting component of the man-machine module is wirelessly charged by electromagnetic resonance with the positioning module, and the man-machine module is internally provided with a plurality of capacitors for storing and releasing energy. The handwriting component is smoothed by a built-in Bezier curve algorithm to achieve the purpose of optimizing the trajectory, and the specific formula is as follows:

[0081] ;

[0082] wherein, represents the starting point coordinate of the handwriting, represents the starting point coordinate of the handwriting, and the control point is dynamically generated by a speed adaptive algorithm, and satisfies:

[0083] ;

[0084] wherein is a smoothing factor, is an original trajectory angular velocity.

[0085] The AR component adopts AR glasses, can superimpose and display drawing information in the physical world, and can perform gesture recognition through a binocular camera to perform zoom-in / zoom-out operations on a software interface.

[0086] (6) Power module

[0087] The power module divides and supplies power to the control module and the image module according to different voltage requirements.

[0088] The application also provides a use method of the handheld interactive plotting system with induction and display fusion.

[0089] When the system is started, the user presses the power key of the man-machine module to activate the device, the power module divides and supplies power to each component, the electromagnetic coil array of the positioning module generates a stable electromagnetic field covering the display area, and the built-in resonance circuit of the electromagnetic stylus establishes wireless energy transmission.

[0090] The control module synchronously loads a special software system, the display module presents a standardized marine plotting interface, the left tool bar dynamically adapts to the current chart scale, and the right parameter panel automatically connects the regional database.

[0091] The user holds the electromagnetic stylus and touches the center physical zero point of the display module to complete coordinate system calibration, the AR glasses project a three-dimensional dynamic grid, the grid spacing is intelligently adjusted according to the drawing scale, and accurate mapping of physical coordinates and software coordinates is realized.

[0092] In the route planning stage, the handwriting pen captures the pen tip trajectory, and the pen pressure sensing technology automatically switches the operation mode: light pressure triggers free drawing, and the system optimizes the trajectory through the Bezier curve algorithm to smooth the hand-drawn jitter; heavy pressure handwriting pen can activate precise drawing, and each touch point generates millimeter-level positioning nodes. When the pen tip stays for more than 0.5 seconds, the drawing algorithm module starts the trajectory prediction, and the AR interface superimposes the future 3 trajectory points, and synchronously updates the heading angle and distance parameters in the side bar of the ink screen. After completing the path drawing, double-click the pen body key, the control module calls the algorithm to optimize the trajectory, and the database unit stores the original data and the correction parameters in space-time alignment.

[0093] The dynamic adjustment link enhances operation efficiency through AR gesture interaction: open palm action calls out the parameter panel, pinch gesture locks the target element, and circular gesture activates the calculation mode. The radius of the handwriting pen movement is mapped to the correction coefficient in real time. When the foldable device is unfolded, the dual-screen supports multitasking.

[0094] After the operation is completed, three-finger tapping the screen triggers the data packaging protocol, packages the structured trajectory data, and synchronously generates the vector chart and the AR enhanced situation map. The whole process forms a closed loop control through the dynamic error compensation algorithm and the LSTM-based neural network prediction, and still maintains stable drawing accuracy in the ship pitching environment. The intelligent power management of the power module supports long-time continuous operation, and realizes seamless transition from traditional drawing to intelligent decision-making.

[0095] Embodiment one: flat panel type

[0096] As shown in Figure 2 , the positioning module 1, the control module 3, the image module 4, the power module 5 and the display mode 2 are combined into one whole, becoming a flat panel type sensing display fusion handheld interactive drawing system. The positioning module 1 includes a positioning plate 11 and a control plate 12. The display module 2 and the positioning plate 11 are aligned with the center as the zero point. The positioning module 1 adopts EMR (Electro-Magnetic Resonance, electromagnetic resonance) technology, and the human-computer module 6 adopts a handwriting pen form. The electromagnetic induction coil grid is built-in in the positioning plate 11 to generate an electromagnetic field and accept the resonance signal of the human-computer module 6. The handwriting assembly of the human-computer module 6 is built-in with a resonance circuit, and when the handwriting assembly is close to the positioning plate, the internal resonance circuit resonates with the electromagnetic field of the positioning plate 11 to obtain electric quantity. The human-computer module 6 includes a handwriting assembly 61 and an AR assembly 62, and the AR assembly 62 of the human-computer module 6 adopts AR glasses, which can superimpose and display drawing information in the physical world, and perform zoom in / out and other operations on the software interface through the binocular camera.

[0097] The control module 3 uses a microelectronic chip as the main controller and running processor, and is attached with a memory chip for storing software, system and related content. It is connected with the positioning module control board and the image module through FPC soft wire.

[0098] The display module 2 uses an ink screen, which is connected with the image module through FPC soft wire. The image module 4 uses a programmable processor as the main controller and running processor, and is attached with a memory chip for storing software, system and related content.

[0099] The specific use steps of the tablet type inductive display fusion handheld interactive drawing system are as follows:

[0100] Step 101: After the equipment is started, the ink screen automatically loads a special drawing interface, and the side panel expands the geometric tool, free drawing and symbol library function modules. The user holds the stylus to contact the positioning plate, the built-in electromagnetic induction coil captures the coordinate data of the stylus tip in real time, and synchronously maps to the software interface to form a dynamic cursor. As shown in Figure 3 .

[0101] Step 102: After the user selects the line drawing component, the user generates path nodes by tapping the positioning plate with the stylus, the microelectronic chip of the control module converts the coordinates into route data, the user inputs parameters through the AR glasses drawing panel, and the software automatically generates a compliant geometric route and projects it into the AR field of view. At the same time, the user-drawn route rendered by the programmable processor of the image module will also be displayed on the ink screen. As shown in Figure 4 .

[0102] Step 103: When the user switches to the free drawing mode, the continuous movement trajectory of the stylus is preprocessed by the control module, the software intelligently corrects the hand-drawn jitter, and the dual-camera automatically zooms in the canvas ratio after recognizing the double-finger open gesture. Similarly, the drawn route will also be displayed on the ink screen at the same time. As shown in Figure 5 .

[0103] Step 104: After the drawing is completed, the user can fix the point by staring at it through the AR glasses, pinch the gesture to call up the coordinate panel, and input instructions such as "X-axis correction + 0.5 meters" to achieve millimeter-level adjustment. In addition, all operation data of the user are stored in the memory chip in real time, and when the user wants to undo the operation, a fist gesture can trigger a 10-step operation backtracking (undo function).

[0104] Step 105: The final scheme is exported through a three-finger upward swipe gesture, the programmable processor of the image module renders it into a low-power ink screen situation map, and synchronously displays it in the AR glasses superimposed reality scene.

[0105] Example two: folding type

[0106] As shown in Figure 6As shown, the folding inductive display integrated handheld interactive drawing system separates the positioning module 1 from other modules, and connects and folds through the hinge 100. Specifically, the display module 2, the control module 3, the image module 4 and the power module 5 are combined into one whole flat structure, the positioning module 1 containing the control board 12 and the positioning board 11 is another flat structure adapted thereto, and the two are foldably connected through the hinge 100, which is a magnetic hinge, connected and disassembled through magnetic attraction, so that the positioning module 1 can be separated and used alone. The power module is powered through the power connector installed by the magnetic hinge.

[0107] The folding inductive display integrated handheld interactive drawing system is used as follows:

[0108] Step 201: Initially, the device is in a folded state, and the magnetic hinge 100 closes and locks the positioning module 1 and the display module 2. After the user powers on, the system automatically activates the dual-screen cooperation mode - the positioning module 1 independently runs the drawing function, and the display module 2 synchronously projects the drawing view.

[0109] Step 202: The user unfolds the device, and the stylus of the human-computer module 6 draws a trajectory on the separated positioning module 1, and the control module 3 transmits coordinate data to the graphics engine of the display module 2 in real time through a low-delay wireless protocol, realizing dynamic linkage of the dual screens.

[0110] Step 203: When the user needs to disassemble the device into independent modules for use, the positioning module 1 switches to the portable drawing board mode, the stylus contacts the trigger software simplified interface (only the core geometric tools are retained), and the hinge magnetic attraction contact enters the dormant state.

[0111] Step 204: When the user draws a path, the stylus tip pressure sensor dynamically adjusts the line width parameter - light pressure generates a thin dashed line (identifies a covert action path), and heavy pressure generates a thick solid line (annotates a surprise attack path), and the pressure threshold is fed back in real time through the tactile motor.

[0112] Step 205: After the sketch is completed, the data is quickly returned to the display module through the magnetic hinge contact, and the software automatically converts the drawing board mode data packet into a complete scheme format. Double-click the hinge physical button, and the system saves the scheme as a joint instruction set and synchronously updates to the dual-screen display module and the storage unit.

[0113] Example Three: Use Method

[0114] In this embodiment, a scenario will be set, ship A (the ship) heading 030°, speed 15 knots; ship B (target ship) heading 150°, speed 14 knots. Two ships are in cross encounter situation, there is a risk of collision. Ship A needs to take right turn to avoid measures according to the COLREGs rules. In this scenario, the use method (i.e. drawing process) of the sensing display integrated handheld interactive plotting system of the present application is as follows:

[0115] Step S1. System initialization

[0116] The operator opens the device to the power-on mode, and the stylus touches the center of the positioning module to complete the calibration (O0→O s Mapping), the ink screen loads the electronic chart, and the database module automatically loads the ship's navigation data and AIS target information.

[0117] Step S2. Initial situation plotting

[0118] The operator uses the stylus to click into the line drawing mode, draws the ship's heading line (030° thin solid line) on the positioning module, inputs the "point (RE)" instruction to mark the position, the system calls the observed data to lock the target ship B, and generates the absolute motion line (150° thick solid line).

[0119] Step S3. Avoidance scheme generation

[0120] Double-click the pen body key to activate the intelligent collision avoidance module: the calculation unit calls the algorithm to calculate the safe turning mode, the database unit retrieves the historical collision avoidance cases to generate the recommended scheme, and then the operator can select. The operator can also manually execute the avoidance operation through the stylus: the operator can select to draw a new course (060° thick dashed line) in the safe sector, and the system displays the corrected track in real time.

[0121] Step S4. Dynamic correction verification

[0122] When the operator finishes plotting, the operator can fine-tune the plotted track according to the automatically generated compensation track (065° thin dashed line); or use the stylus for independent fine-tuning, for example: the operator can use light pressure to fine-tune the heading to 065°, at which time the tactile motor feedback confirms the operation node, and the ink screen synchronously updates the DR track calculation results.

[0123] Step S5. Track record storage

[0124] Finally, the operator triggers data packaging by three-finger tapping the screen: the original track (030° thin solid line), the correction scheme (060° thick dashed line), and the compensation track (065° thin dashed line) are stored in layers, a JSON instruction set bound by time and space is generated, and the device generates a collision avoidance report (PDF+vector diagram).

[0125] Any procedural or methodological descriptions in the flowcharts of the present application or otherwise described herein can be understood as representing modules, segments or portions of code that include executable instructions for implementing the specific logic functions or steps, which can be implemented in any computer readable medium for use by an instruction execution system, apparatus, or device, which can be any of the above mentioned computer readable media, including read-only memory, magnetic disks or optical disks.

[0126] In the description of the present specification, the description referring to the terms "embodiment", "example", and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms are not necessarily directed to the same embodiment or example. In addition, a person skilled in the art can combine or combine the different embodiments or examples described in the present specification and the features thereof without producing a contradiction.

[0127] Although the above has shown and described the embodiments of the present application, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and a person skilled in the art can make changes, modifications, replacements and modifications of the above embodiments within the scope of the present application.

Claims

1. A handheld interactive drawing system integrating sensing and display, used to realize intelligent nautical drawing calculations, characterized in that, The system includes a positioning module, a control module, an image module, a display module, a human-machine interface module, and a power supply module. The positioning module senses the position signal of the human-machine interface module and sends it to the control module. The control module processes the position coordinate information of the positioning module and controls the power supply voltage to the positioning module. The image module receives the image display information from the control module, processes it, and displays the information on the display module. The display module is used to display image information from the image module; the human-machine module includes a handwriting component for human-machine interaction on the positioning module; the power module is used to supply power to other modules. The control module includes a calculation unit, which constructs the target motion trajectory through mathematical modeling and combines filtering technology to achieve noise suppression and error correction. The algorithm layer of the plotting unit incorporates a dynamic error compensation algorithm to mitigate the impact of ocean current fluctuations on plotting accuracy. The formula is as follows: ； in, For pitch acceleration, For roll acceleration, Let z be the hull deformation coupling matrix, and z be the average height of the stylus from the deck. The communication layer of the drawing unit integrates trajectory optimization algorithms to ensure trajectory accuracy while controlling network load.

2. The handheld interactive rendering system with sensor display fusion according to claim 1, characterized in that, The positioning module, control module, image module, power supply module, and display module are combined into a single unit.

3. The handheld interactive rendering system with sensor display fusion according to claim 1, characterized in that, The control module, image module, power module, and display module are combined into one unit, while the positioning module is separate from the other modules and used independently.

4. The handheld interactive rendering system with sensor display fusion according to claim 3, characterized in that, The connection and folding are achieved through a hinge, which is a magnetic hinge. The positioning module is connected and disassembled through magnetic attraction.

5. The handheld interactive rendering system with sensor display fusion according to any one of claims 1-4, characterized in that, An electromagnetic induction coil grid is built into the positioning plate to generate an electromagnetic field and receive the resonant signal from the human-machine module. The handwriting component of the human-machine module is a stylus with a built-in resonant circuit. When the stylus is close to the positioning plate, the internal resonant circuit resonates with the electromagnetic field of the positioning plate, and the power is obtained through the electromagnetic field of the positioning plate.

6. The handheld interactive rendering system with sensor display fusion according to claim 5, characterized in that, The human-machine module also includes an AR component, which uses AR glasses to overlay and display drawing information in the physical world and uses a binocular camera to recognize gestures and operate the software interface. The user taps the positioning plate with a stylus to generate path nodes, and the microelectronic chip of the control module converts the coordinates into flight path data. The user inputs parameters through the AR glasses' drawing panel, and the software automatically generates a compliant geometric flight path and projects it into the AR field of view.

7. The handheld interactive rendering system with sensor display fusion according to claim 6, characterized in that, The positioning module includes a positioning board and a control board. The control board is used to receive signals from the human-machine module sensed by the positioning board. The signals are processed by the control board processor to obtain the position coordinates of the human-machine module, and the position coordinate information is sent to the control module through the control board interface.

8. The handheld interactive rendering system with sensor display fusion according to claim 7, characterized in that, The center of the positioning module is aligned with the center of the display module and set as the physical zero point for drawing. In the initial state, the physical zero point coincides with the software zero point. When the software zero point moves and scales, the physical zero point is converted into the software zero point according to the movement ratio and scaling ratio.

9. The handheld interactive rendering system with sensor display fusion according to claim 1, characterized in that, The control module includes a processor, memory, and interfaces. The processor processes the position coordinates of the positioning module, software information in the memory, and AR information. The memory stores the software required for drawing calculations, which consists of a visualization unit, a database unit, and a drawing calculation unit. The visualization unit adopts a modular layout, and the left toolbar integrates multiple core functions for nautical drawing calculations. The database unit uses SQLite to build a lightweight database system, achieving efficient management of multi-source data through a hierarchical storage architecture. The drawing calculation unit constructs a multi-algorithm collaborative nautical positioning system, supporting the dynamic combination of manual strategy selection and intelligent parameter optimization.

10. A method of using a handheld interactive rendering system with sensor-based display fusion, characterized in that, The method of use is implemented according to any one of claims 1-9 of the handheld interactive rendering system with sensor display fusion, and the method of use includes the following steps: S1. System initialization; turn on the device to power-on mode, lightly touch the center physical zero point of the positioning module with the handwriting component to complete the calibration, the display unit loads the electronic nautical chart, and the database unit automatically loads the ship's navigation data and AIS target information; S2. Initial situation plotting; Use the handwriting component to click to enter the line drawing mode, draw the ship's course line in the positioning module, input the command to mark the ship's position, the system calls the observed data to lock the target ship B, and generates the absolute motion line; S3. Collision avoidance scheme generation; Double-click the body button of the handwriting component to activate the intelligent collision avoidance module: The drawing unit calls the algorithm to calculate the safe steering mode, and the database unit retrieves historical collision avoidance cases to generate a recommended scheme or executes the collision avoidance operation through the handwriting component: The user selects to draw a new route in the safe sector, and the system calculates and displays the corrected track in real time; S4. Dynamic correction and verification; After the calculation is completed, the drawn track is fine-tuned according to the compensation track automatically generated by the system, or the handwriting component is used for autonomous fine-tuning. At this time, the haptic motor provides feedback to confirm the operation node, and the display module updates the DR track calculation results synchronously. S5. Track record storage; Three-finger tap screen triggers data encapsulation: The original track, correction scheme, and compensation track are stored in layers, and a JSON instruction set with time and space stamps is generated, and the device generates a collision avoidance report.

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