CN111880434A - Construction method and simulation system for navigation simulation geographical environment of intelligent ship - Google Patents
Construction method and simulation system for navigation simulation geographical environment of intelligent ship Download PDFInfo
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Abstract
The invention relates to a construction method of an intelligent ship navigation simulation geographical environment, which comprises the following steps: s21: acquiring points selected by a user on the base map as key points, and forming a bottom surface based on a plurality of key points; s22: obtaining a stretching height, and stretching the key points of the bottom surface according to the stretching height to form a top surface; s23: arranging and grouping the key points according to the key points on the bottom surface and the key points on the top surface, and filling textures according to the grouping to construct an island model and display the island model; s24: drawing a water area model of the island coastline according to the acquired water area parameters and the island model, and displaying the water area model on an interactive interface; s25: and carrying out obstacle analysis on the running of the ship by using a geographical environment model formed by combining the island model with the water area model, and marking an analysis result on an interactive interface. In the whole process, a user can complete the creation of the island model only by selecting a plurality of key points and setting the height on the base map, and the creation method is simple.
Description
Technical Field
The invention relates to the field of ship navigation simulation, in particular to a construction method and a simulation system of an intelligent ship navigation simulation geographical environment.
Background
The simulation test is an effective way for verifying the intellectualization of the ship, and the establishment of the simulation scene is the basis for carrying out the autonomous navigation simulation test of the intelligent ship, such as a global route planning test, a local dynamic route planning test and the like. The existing three-dimensional geographic environment for marine vessel navigation is mostly created by professional three-dimensional modeling tools, such as 3ds max and maya.
In the existing modeling software, the construction of a three-dimensional scene can only be carried out before the start of a simulation test, and a corresponding three-dimensional scene model cannot be constructed in real time according to the test requirements after the start of the simulation test, so that the flexibility is poor.
Disclosure of Invention
Technical problem to be solved
The invention provides a construction method and a simulation system for an intelligent ship navigation simulation geographical environment, and aims to solve the problems.
(II) technical scheme
In order to solve the above problems, the present invention provides a method for constructing a simulated geographical environment for navigation of an intelligent ship, the method comprising:
s21: obtaining points selected by a user on the base map on the interactive interface through responding to click events and forming a bottom surface based on the key points;
s22: obtaining a stretching height on the interactive interface by responding to a dragging event, and stretching the key points on the bottom surface according to the stretching height to form a top surface;
s23: arranging and grouping the key points according to the key points on the bottom surface and the key points on the top surface, and filling textures according to the grouping to construct an island model and display the island model;
s24: drawing a water area model of the island coastline according to the acquired water area parameters and in combination with the island model, and displaying the water area model on an interactive interface;
s25: and carrying out obstacle analysis on the running of the ship by using a geographical environment model formed by combining the island model with the water area model, and marking an analysis result on an interactive interface.
Preferably, the step S21 is specifically:
s211: acquiring points of the click events on the base map as key points, and sequentially connecting the key points according to the order of the click events;
s212: connecting the last key point with the first key point to form a bottom surface profile of the island model:
s213: and filling the bottom surface contour to form a bottom surface.
Preferably, the step S22 is specifically:
s221: obtaining corresponding stretching heights on the interactive interface according to the dragging events of the key points on the bottom surface outline one by one;
s222: stretching each key point of the bottom surface profile to a corresponding position according to the stretching height to obtain the top surface profile:
s223: and filling the top surface contour to form a top surface.
Preferably, the step S23 is specifically:
s231: determining that the number of key points on the top surface and the bottom surface is m;
s232: arranging and grouping the key points of the top surface and the key points of the bottom surface, wherein when i is more than 0 and less than m, Ti +1, Bi +1 and Bi are the ith group, connecting Ti in the ith group with Ti +1, connecting Ti +1 with Bi +1, connecting Bi +1 with Bi, and connecting Bi with Ti to form the ith side profile; when i is equal to m, Tm, T1, B1 and Bm are m groups, Tm in the m group is connected with T1, T1 is connected with B1, B1 is connected with Bm, and the Bm is connected with Tm to form an i side profile;
wherein Ti is the ith key point on the top surface or the top surface contour, Bi is the ith key point on the bottom surface or the bottom surface contour, Ti and Ti +1 are two adjacent key points on the top surface, and Bi +1 and Bi are two adjacent key points on the bottom surface;
s233: calling a triangulation algorithm to fill the ith side profile to form an ith side;
s234: determining the geographic environment textures of the top surface, the bottom surface and all the side surfaces of the island model for texture filling to obtain the island model.
Preferably, the step S213 is specifically:
firstly: dividing the outline of the bottom surface into a plurality of triangles and/or a convex polygon;
then: a triangulation algorithm is called to fill the triangles and/or convex polygons in the bottom surface outline to form a bottom surface;
the step S223 specifically includes:
firstly: dividing the top surface contour into a plurality of triangles and/or a convex polygon;
then: and calling a triangulation algorithm to fill the triangles and/or convex polygons in the top surface outline to form the top surface.
Preferably, in step S213, after the bottom surface profile is stretched to the island height to form the top surface profile, the key point Bi on the bottom surface profile obtained by stretching the key points Bi according to the island height is the key point Ti on the top surface profile.
Preferably, the step S234 specifically includes:
determining the island height according to the stretching height, and completing the creation of the height of the island model;
determining a geographic environmental texture of the top surface, the bottom surface, and all of the side surfaces of the island model;
determining a density and an offset of the geographic environment texture;
and respectively displaying the type of the geographic environment texture and the density and offset of the geographic environment texture on the corresponding top surface, the bottom surface and each side surface according to the type of the geographic environment texture determined on the top surface, the bottom surface and each side surface.
Preferably, the step S24 is specifically:
s241: constructing island coastline baselines from key points of the bottom surface:
s242: acquiring water area parameters within a preset distance range of an island coastline baseline on an interactive interface, wherein the water area parameters comprise water depth, water flow direction, water flow speed, and species and quantity of microorganisms in water;
s243: and displaying the water area parameters on an interactive interface.
Preferably, the step S25 is specifically:
s251: when a plurality of island models exist in the simulated geographical environment, calculating the channel attribute according to the water area models among the island models, wherein the channel attribute comprises channel width and channel depth;
s252: judging whether the channel attribute is airworthy or not by combining ship parameters, and if the channel attribute is airworthy, analyzing the water area model;
s253: judging whether water obstacle exists according to the analysis result of the water area model;
s254: judging whether the island model has a vacancy or not;
s255: comprehensively analyzing the obstacles according to the obstacles in the water and the control obstacles to obtain an analysis result;
s256: and marking the analysis result on the interactive interface.
Preferably, the invention further provides an intelligent ship navigation simulation system, wherein the intelligent ship navigation simulation system is used for simulating the navigation of a ship, and the simulated geographical environment in the intelligent ship navigation simulation system is constructed by the intelligent ship navigation simulated geographical environment construction method, wherein the simulated geographical environment comprises a plurality of island models.
(III) advantageous effects
The invention provides a method for constructing a navigation simulation geographical environment of an intelligent ship, which is characterized in that points selected by a user on a base map are obtained as key points by responding to click events on an interactive interface, a plurality of key points form a bottom surface, the bottom surface is stretched by a certain height to form a top surface, the key points on the bottom surface and the key points on the top surface are arranged and grouped, an island model is constructed by filling textures according to the grouping and is displayed, and a user only needs to select a plurality of key points on the interactive interface and set the height in the whole process to complete the creation of the island model, so that a corresponding three-dimensional scene model can be constructed in real time according to test requirements. Meanwhile, a water area model of an island coastline is obtained, and the island model is combined with a geographical environment model formed by the water area model to perform obstacle analysis on ship running, so that the safety of ship running is prompted, and the test function is enriched.
Drawings
FIG. 1 is a flow chart of a method for constructing a navigation simulation geographical environment of an intelligent ship according to the present invention;
FIG. 2 is a flowchart illustrating the step S21 according to the present invention;
FIG. 3 is a flowchart illustrating step S22 according to the present invention;
FIG. 4 is a flowchart illustrating the step S23 according to the present invention;
FIG. 5 is a flowchart illustrating step S24 according to the present invention;
fig. 6 is a flowchart illustrating step S25 in the present invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the invention provides a method for constructing a navigation simulation geographical environment of an intelligent ship, comprising the following steps:
s21: and obtaining points selected by a user on the base map on the interactive interface by responding to the click event as key points, and forming the bottom surface based on the key points.
S22: and obtaining a stretching height on the interactive interface by responding to the dragging event, and stretching the key points on the bottom surface according to the stretching height to form a top surface.
S23: and arranging and grouping according to the key points on the bottom surface and the key points on the top surface, and filling textures according to the grouping to construct an island model and displaying the island model.
S24: and drawing a water area model of the island coastline according to the acquired water area parameters and the island model, and displaying the water area model on an interactive interface.
S25: and carrying out obstacle analysis on the running of the ship by using a geographical environment model formed by combining the island model with the water area model, and marking an analysis result on an interactive interface.
The method for constructing the navigation simulation geographical environment of the intelligent ship does not need professional three-dimensional modeling tools and modeling personnel, is low in learning cost and fast to master, and can be used for finishing the fast construction of the three-dimensional scene of the port and the wharf of the intelligent ship by referring to the map or the electronic chart according to actual needs.
As shown in fig. 2, step S21 specifically includes:
s211: and acquiring points of the click events on the base map as key points, and sequentially connecting the key points according to the order of the click events. In a preferred embodiment, the obtaining of the point of the click event on the base map as the key point may specifically be obtaining of a way that a user clicks the point on the base map through a mouse as the key point, or obtaining a point corresponding to a coordinate input by the user on the base map as the key point, or obtaining a point touched by the user on a touch screen as the key point.
S212: connecting the last key point with the first key point to form the bottom surface profile of the island model:
s213: the bottom surface profile is filled to form a bottom surface.
As shown in fig. 3, step S22 specifically includes:
s221: obtaining corresponding stretching heights on the interactive interface according to the dragging events of the key points on the bottom surface outline one by one;
s222: stretching each key point of the bottom surface profile to a corresponding position according to the stretching height to obtain the top surface profile:
s223: and filling the top surface contour to form the top surface.
On the other hand, as shown in fig. 4, step S23 specifically includes:
s231: determining that the number of key points on the top surface and the bottom surface is m;
s232: arranging and grouping the key points on the top surface and the key points on the bottom surface, when i is more than 0 and less than m, taking Ti, Ti +1, Bi +1 and Bi as the ith group, connecting Ti in the ith group with Ti +1, connecting Ti +1 with Bi +1, connecting Bi +1 with Bi, and connecting Bi with Ti to form the ith side profile; when i is equal to m, Tm, T1, B1 and Bm are m groups, Tm in the m group is connected with T1, T1 is connected with B1, B1 is connected with Bm, and the Bm is connected with Tm to form an i side profile;
wherein Ti is the ith key point on the top surface or the top surface outline, Bi is the ith key point on the bottom surface or the bottom surface outline, Ti and Ti +1 are two adjacent key points on the top surface, and Bi +1 and Bi are two adjacent key points on the bottom surface;
s233: filling the ith side contour by calling a triangulation algorithm to form an ith side;
s234: and determining the texture of the geographical environment of the top surface, the bottom surface and all the side surfaces of the island model, and filling the texture to obtain the island model.
Further, step S213 is specifically:
firstly: dividing the outline of the bottom surface into a plurality of triangles and/or a convex polygon;
then: calling a triangulation algorithm to fill triangles and/or convex polygons in the outline of the bottom surface to form the bottom surface;
step S223 specifically includes:
firstly: dividing the top surface contour into a plurality of triangles and/or a convex polygon;
then: and calling a triangulation algorithm to fill the triangles and/or convex polygons in the top surface outline to form the top surface.
In step S213, after the bottom surface profile is stretched to the island height to form the top surface profile, the key point Bi on the bottom surface profile is stretched to the island height to obtain the key point Ti on the top surface profile.
Step S234 specifically includes:
determining the height of the island according to the stretching height, and completing the creation of the height of the island model;
determining the geographic environment texture of the top surface, the bottom surface and all the side surfaces of the island model;
determining the density and offset of the geographic environment texture;
and respectively displaying the top surface, the bottom surface and each side surface according to the type of the geographic environment texture determined on the top surface, the bottom surface and each side surface and the density and offset of the geographic environment texture.
In a more preferable embodiment, the intelligent ship navigation simulation geographical environment is automatically and quickly created in a mouse clicking and dragging mode, the geographical environment visualization effect is set in a texture library selecting mode, and compared with a traditional three-dimensional scene creating method, the method is simple, convenient and quick to operate, saves time, manpower and material resources, effectively improves the building efficiency of the intelligent ship autonomous navigation simulation test geographical environment, and can be applied to the building of a plurality of marine ship navigation scenes.
The simulated geographical environment constructed by the method can be applied before the simulation test is started, and can be interacted with the simulated geographical environment in real time based on the test requirement in the experimental process, so that the simulation flexibility is improved, and the module construction process is further integrated into the simulation experimental process.
Further, as shown in fig. 5, step S24 specifically includes:
s241: constructing island coastline baselines from key points of the bottom surface:
s242: obtaining water area parameters within a preset distance range of an island coastline baseline on an interactive interface, wherein the water area parameters comprise water depth, water flow direction, water flow speed, and species and quantity of microorganisms in water. The maximum water displacement of the ship capable of navigating can be determined through the water depth, the influence of the water flow direction and speed on the ship navigation speed is researched, and whether large-area algae exist in microorganisms in the sea area or not is judged, and the work of a propeller or a propeller is influenced.
S243: and displaying the water area parameters on the interactive interface. And relevant items influencing the ship are displayed on the interactive interface, so that the navigation safety is improved.
As shown in fig. 6, step S25 specifically includes:
s251: when a plurality of island models exist in the simulated geographical environment, calculating the channel attribute according to the water area models among the island models, wherein the channel attribute comprises channel width and channel depth;
s252: judging whether the channel attribute is airworthy or not by combining ship parameters, and if the channel attribute is airworthy, analyzing the water area model;
s253: judging whether water obstacle exists according to the analysis result of the water area model;
s254: judging whether the island model has a vacancy or not;
s255: comprehensively analyzing the obstacles according to the obstacles in the water and the control obstacles to obtain an analysis result;
s256: and marking the analysis result on the interactive interface.
In a preferred embodiment, the analysis results may be labeled at the interactive interface as follows: the ship cannot navigate here because of the water barrier (the microorganisms in the water form too much large areas of algae). Or because of an air barrier (a raised rock wall on the top surface between two islands), the ship cannot pass through and the channel should be changed.
The invention also provides an intelligent ship navigation simulation system, which is used for simulating the navigation of a ship, wherein the simulated geographical environment in the intelligent ship navigation simulation system is constructed by the intelligent ship navigation simulated geographical environment construction method, and the simulated geographical environment comprises a plurality of island models.
It should be understood that the above description of specific embodiments of the present invention is only for the purpose of illustrating the technical lines and features of the present invention, and is intended to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the above specific embodiments. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.
Claims (10)
1. A construction method of an intelligent ship navigation simulation geographical environment is characterized by comprising the following steps:
s21: obtaining points selected by a user on the base map on the interactive interface through responding to click events and forming a bottom surface based on the key points;
s22: obtaining a stretching height on the interactive interface by responding to a dragging event, and stretching the key points on the bottom surface according to the stretching height to form a top surface;
s23: arranging and grouping the key points according to the key points on the bottom surface and the key points on the top surface, and filling textures according to the grouping to construct an island model and display the island model;
s24: drawing a water area model of the island coastline according to the acquired water area parameters and in combination with the island model, and displaying the water area model on an interactive interface;
s25: and carrying out obstacle analysis on the running of the ship by using a geographical environment model formed by combining the island model with the water area model, and marking an analysis result on an interactive interface.
2. The method for constructing a navigation simulation geographical environment of an intelligent ship according to claim 1, wherein the step S21 specifically comprises:
s211: acquiring points of the click events on the base map as key points, and sequentially connecting the key points according to the order of the click events;
s212: connecting the last key point with the first key point to form a bottom surface profile of the island model:
s213: and filling the bottom surface contour to form a bottom surface.
3. The method for constructing a navigation simulation geographical environment of an intelligent ship according to claim 2, wherein the step S22 specifically comprises:
s221: obtaining corresponding stretching heights on the interactive interface according to the dragging events of the key points on the bottom surface outline one by one;
s222: stretching each key point of the bottom surface profile to a corresponding position according to the stretching height to obtain the top surface profile:
s223: and filling the top surface contour to form a top surface.
4. The method for constructing a navigation simulation geographical environment of an intelligent ship according to claim 3, wherein the step S23 specifically comprises:
s231: determining that the number of key points on the top surface and the bottom surface is m;
s232: arranging and grouping the key points of the top surface and the key points of the bottom surface when the key points are 0<i<When m is greater than the total number of the carbon atoms,Ti、Ti+1，Bi+1、Bifor the ith group, T in the ith groupiAnd Ti+1Are connected to each other, Ti+1And Bi+1Are connected to each other, Bi+1And BiAre connected to each other, BiAnd TiConnecting to form an ith side profile; when i ═ m, Tm、T1，B1、BmFor m groups, T in the m-th groupmAnd T1Are connected to each other, T1And B1Are connected to each other, B1And BmAre connected to each other, BmAnd TmConnecting to form an ith side profile;
wherein T isiIs the ith key point on the top surface or the top surface contour, BiIs the ith key point on the bottom surface or the bottom surface contour, and Ti、Ti+1Being two of said key points adjacent on said top surface, Bi+1、BiTwo adjacent key points on the bottom surface;
s233: calling a triangulation algorithm to fill the ith side profile to form an ith side;
s234: determining the geographic environment textures of the top surface, the bottom surface and all the side surfaces of the island model for texture filling to obtain the island model.
5. The method for constructing a simulated geographical environment for navigation of an intelligent ship according to claim 4, wherein the step S213 is specifically as follows:
firstly: dividing the outline of the bottom surface into a plurality of triangles and/or a convex polygon;
then: a triangulation algorithm is called to fill the triangles and/or convex polygons in the bottom surface outline to form a bottom surface;
the step S223 specifically includes:
firstly: dividing the top surface contour into a plurality of triangles and/or a convex polygon;
then: and calling a triangulation algorithm to fill the triangles and/or convex polygons in the top surface outline to form the top surface.
6. The method according to claim 4, wherein in step S213, the key point B on the bottom surface profile is formed by stretching the bottom surface profile to the island heightiThe point obtained after stretching according to the island height corresponds to the key point T on the top surface profilei。
7. The method for constructing a navigation simulation geographical environment of an intelligent ship according to claim 4, wherein the step S234 specifically comprises:
determining the island height according to the stretching height, and completing the creation of the height of the island model;
determining a geographic environmental texture of the top surface, the bottom surface, and all of the side surfaces of the island model;
determining a density and an offset of the geographic environment texture;
and respectively displaying the type of the geographic environment texture and the density and offset of the geographic environment texture on the corresponding top surface, the bottom surface and each side surface according to the type of the geographic environment texture determined on the top surface, the bottom surface and each side surface.
8. The intelligent ship navigation simulation geographical environment construction method according to any one of claims 1 to 7, wherein the step S24 specifically comprises:
s241: constructing island coastline baselines from key points of the bottom surface:
s242: acquiring water area parameters within a preset distance range of an island coastline baseline on an interactive interface, wherein the water area parameters comprise water depth, water flow direction, water flow speed, and species and quantity of microorganisms in water;
s243: and displaying the water area parameters on an interactive interface.
9. The method for constructing a navigation simulation geographical environment of an intelligent ship according to claim 8, wherein the step S25 specifically comprises:
s251: when a plurality of island models exist in the simulated geographical environment, calculating the channel attribute according to the water area models among the island models, wherein the channel attribute comprises channel width and channel depth;
s252: judging whether the channel attribute is airworthy or not by combining ship parameters, and if the channel attribute is airworthy, analyzing the water area model;
s253: judging whether water obstacle exists according to the analysis result of the water area model;
s254: judging whether the island model has a vacancy or not;
s255: comprehensively analyzing the obstacles according to the obstacles in the water and the control obstacles to obtain an analysis result;
s256: and marking the analysis result on the interactive interface.
10. A smart ship voyage simulation system for simulating the voyage of a ship, wherein a simulated geographical environment in the smart ship voyage simulation system is constructed by the smart ship voyage simulated geographical environment construction method according to any one of claims 1 to 9, wherein the simulated geographical environment includes a plurality of the island models.
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