CN117824654A - Ship route planning method and device, electronic equipment and storage medium - Google Patents
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Abstract
The present disclosure provides a ship route planning method, the method comprising: acquiring an instruction coordinate, and taking a connecting line of the current coordinate and the instruction coordinate as a navigation route; detecting whether an obstacle exists on a navigation route; if yes, detecting whether the current navigation route length is greater than a first distance: if yes, driving a first distance according to the navigation route to reach a first coordinate; taking the first coordinate as a current coordinate; executing the connection line of the current coordinate and the instruction coordinate as a navigation route; if not, driving to the instruction coordinates according to the navigation route; the first distance is a preset value; if not, acquiring the state information of the obstacle, acquiring a plurality of turning points according to the state information of the obstacle and the ship state information, correspondingly acquiring the collision avoidance line and the terminal point coordinates of the collision avoidance line, taking the terminal point coordinates as current coordinates, and executing the connection line of the current coordinates and the instruction coordinates as a navigation line. The disclosure also provides a ship route planning device, equipment and a storage medium.
Description
Technical Field
The present disclosure relates to the field of navigation safety, and more particularly, to a method and apparatus for planning a ship route, an electronic device, and a storage medium.
Background
In the actual voyage of an intelligent unmanned ship, when an obstacle ship is perceived to be close to the ship and the normal safe voyage of the ship can be violated, an intelligent collision avoidance program needs to be started. The operation of the collision avoidance program firstly accurately predicts the future navigation track of the obstacle ship, and carries out collision avoidance decision and route planning of the ship, the existing track prediction scheme is to assume that the obstacle target advances towards the speed keeping direction according to the direction and the speed of the current obstacle target, but the accuracy of the method is difficult to ensure, the finally predicted track becomes low in referent value, and the collision avoidance safety is reduced.
Disclosure of Invention
In view of the above, the present disclosure provides a ship route planning method for an unmanned ship.
The present disclosure provides a ship route planning method, comprising: acquiring an instruction coordinate, and taking a connecting line of the current coordinate and the instruction coordinate as a navigation route; detecting whether an obstacle exists on a navigation route; if not, detecting whether the length of the current navigation route is greater than a first distance; if yes, driving a first distance according to the navigation route to reach a first coordinate; taking the first coordinate as a current coordinate; executing the connection line of the current coordinate and the instruction coordinate as a navigation route; if not, driving to the instruction coordinates according to the navigation route; the first distance is a preset value; if yes, acquiring state information of the obstacle, acquiring a plurality of turning points according to the state information of the obstacle and the ship state information, correspondingly acquiring a collision avoidance line and terminal coordinates of the collision avoidance line, taking the terminal coordinates as current coordinates, and executing a connection line of the current coordinates and instruction coordinates as a navigation line.
According to an embodiment of the present disclosure, acquiring status information of an obstacle includes: the detection device scans the obstacle in real time and communicates with a third party to obtain obstacle state information; the third party comprises a monitoring center, a buoy station and other ships; responding to the obstacle as an no-pass area, communicating with a third party to obtain a chart of the no-pass area, and obtaining a plurality of turning points according to the chart; or responding to the obstacle as a static obstacle, and communicating with a third party to obtain a chart of the static obstacle, and obtaining a plurality of turning points according to the chart or obtaining a plurality of turning points according to real-time scanning of the detection device; or in response to the obstacle being a dynamic obstacle, detecting whether a collision will occur: if so, a plurality of turning points are obtained according to the state information of the dynamic barrier acquired through communication with a third party; or obtaining a plurality of turning points according to real-time scanning of the detection device; if not, executing the first distance driving according to the navigation route.
According to an embodiment of the present disclosure, responding to an obstacle being a static obstacle comprises: responding to the fact that no static obstacle information exists in a third party, acquiring a detection contour of one side which is arranged opposite to the ship according to real-time scanning of the detection device, and determining a deflection angle according to the positions of two ends of the detection contour and the current coordinates; and calculating a second distance according to the deflection angle, driving the second distance along the deflection angle, reaching the second coordinate, taking the second coordinate as the current coordinate, and executing a connecting line of the current coordinate and the instruction coordinate as a navigation route.
According to an embodiment of the present disclosure, the step of acquiring a side detection profile of an obstacle disposed opposite to a ship includes: and obtaining the distance between the obstacle and the opposite side of the ship by using a radar, and obtaining the detection profile of the obstacle.
According to an embodiment of the present disclosure, detecting whether a collision may occur includes: responding to the dynamic obstacle as other ships, acquiring state information of the other ships through a third party, and detecting whether collision occurs or not according to the ship state information and the state information of the other ships; and responding to the dynamic obstacle as other obstacles, acquiring the running speed and the running direction of the other obstacles through real-time scanning of the detection device, and detecting whether collision occurs.
According to an embodiment of the present disclosure, detecting whether a collision may occur and the state information of the dynamic obstacle acquired according to the communication with the third party further includes: acquiring the running speed and the running volume of a dynamic barrier; detecting whether the running speed and the running volume are larger than a preset evasion value or not; if yes, executing the state information of the dynamic barrier acquired according to the communication with the third party; if not, executing the first distance driving according to the navigation route.
A second aspect of the present disclosure provides a ship route planning apparatus configured to be usable to implement the above ship route planning method, comprising: the instruction module is used for acquiring instruction coordinates and taking a connecting line of the current coordinates and the instruction coordinates as a navigation route; the obstacle detection module is used for detecting whether an obstacle exists on a navigation route; the route planning module is used for detecting whether the length of the current navigation route is greater than a first distance or not if no obstacle exists on the navigation route; if yes, driving a first distance according to the navigation route to reach a first coordinate; taking the first coordinate as a current coordinate; executing the connection line of the current coordinate and the instruction coordinate as a navigation route; if not, driving to the instruction coordinates according to the navigation route; the first distance is a preset value; if an obstacle exists on the navigation route, acquiring state information of the obstacle, acquiring a plurality of turning points according to the state information of the obstacle and the ship state information, correspondingly acquiring end point coordinates of the collision avoidance route and the collision avoidance route, taking the end point coordinates as current coordinates, and executing a connection line of the current coordinates and instruction coordinates as the navigation route.
A third aspect of the present disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the above-described ship route planning method.
A fourth aspect of the present disclosure also provides a computer readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform the above-described vessel routing method.
According to the ship route planning method, the ship state information is re-planned according to the state information of the obstacle, and the collision avoidance route is re-planned for a plurality of times, so that the technical problem that the accuracy of the collision avoidance route based on prediction cannot be guaranteed is at least partially solved, and the technical effect of planning the navigation route is achieved.
Drawings
The foregoing and other objects, features and advantages of the disclosure will be more apparent from the following description of embodiments of the disclosure with reference to the accompanying drawings, in which:
FIG. 1 schematically illustrates a flow chart of a ship route planning method according to an embodiment of the present disclosure;
FIG. 2 schematically illustrates a schematic route in response to an obstacle being a static obstacle in accordance with an embodiment of the disclosure;
FIG. 3 schematically illustrates a collision avoidance path schematic of a plurality of obstacles in accordance with an embodiment of the disclosure;
FIG. 4 schematically illustrates a schematic diagram of collision avoidance route speed planning, according to an embodiment of the present disclosure;
fig. 5 schematically shows a block diagram of a ship route planning device according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
Fig. 1 schematically illustrates a flow chart of a method according to an embodiment of the present disclosure, as illustrated in fig. 1, which provides a ship route planning method, comprising: acquiring an instruction coordinate, and taking a connecting line of the current coordinate and the instruction coordinate as a navigation route; detecting whether an obstacle exists on a navigation route; if not, the first distance is travelled according to the navigation route, the first coordinate is reached, the first coordinate is taken as the current coordinate, and the connecting line of the current coordinate and the instruction coordinate is taken as the navigation route until the instruction coordinate is reached; the first distance is a preset value; if yes, acquiring state information of the obstacle, acquiring a plurality of turning points according to the state information of the obstacle and the ship state information, correspondingly acquiring a collision avoidance line and terminal coordinates of the collision avoidance line, taking the terminal coordinates as current coordinates, and executing a connection line of the current coordinates and instruction coordinates as a navigation line.
In this embodiment, the first distance may be set according to the real-time scanning distance of the probe means, the sailing speed of the vessel, for example, 50% of the real-time scanning distance of the probe means, the distance that the vessel can travel within 1 minute.
According to the embodiment of the disclosure, the collision avoidance route is re-planned for a plurality of times according to the state information of the obstacle, so that the technical problem that the accuracy of the collision avoidance route based on prediction cannot be guaranteed is at least partially solved, and the technical effect of planning the navigation route is achieved.
On the basis of the above embodiment, acquiring the state information of the obstacle includes: the detection device scans the obstacle in real time and communicates with a third party to obtain obstacle state information; the third party comprises a monitoring center, a buoy station and other ships; responding to the obstacle as an no-pass area, communicating with a third party to obtain a chart of the no-pass area, and obtaining a plurality of turning points according to the chart; or responding to the obstacle as a static obstacle, and communicating with a third party to obtain a chart of the static obstacle, and obtaining a plurality of turning points according to the chart or obtaining a plurality of turning points according to real-time scanning of the detection device; or in response to the obstacle being a dynamic obstacle, detecting whether a collision will occur: if so, a plurality of turning points are obtained according to the state information of the dynamic barrier acquired through communication with a third party; or obtaining a plurality of turning points according to real-time scanning of the detection device; if not, executing the first distance driving according to the navigation route.
In this embodiment, the detection means provided on the vessel may scan in real time for obstacles in the surrounding water, including static obstacles, dynamic obstacles, and other vessels. The detection device can detect information such as the position, the movement track and the like of the obstacle, and the information is used for navigation planning.
In this embodiment, obstacle state information is obtained in communication with a third party: the vessel may obtain further information about the obstacle, such as the type, size, movement status, etc., by communicating with a third party, such as a monitoring center, buoy station, or other vessel, etc.
It will be appreciated that the coordinates of the turning points can be obtained directly after the chart is acquired.
Through the embodiment of the disclosure, the collision avoidance route and the turning points are determined aiming at different types of obstacles by utilizing various information sources so as to ensure the efficiency and the safety of collision avoidance route planning.
On the basis of the embodiment, responding to the fact that static obstacle information does not exist in a third party, acquiring a detection contour of one side which is arranged opposite to a ship according to real-time scanning of a detection device, and determining a deflection angle according to the positions of two ends of the detection contour and the current coordinates; calculating a second distance according to the deflection angle, driving the second distance along the deflection angle, reaching a second coordinate, taking the second coordinate as a current coordinate, and executing a connecting line of the current coordinate and the instruction coordinate as a navigation route; the deflection angle is a smaller included angle between the connecting line of the two end positions and the current coordinate and the navigation route; wherein the second coordinate is the turning point.
Fig. 2 schematically illustrates a schematic route in response to an obstacle being a static obstacle, where a is a vessel, B is command coordinates, the contour is C to D facing a, and the angle CAB is a yaw angle α, according to an embodiment of the present disclosure; the angle BAD is the yaw angle β, and since the yaw angle α is smaller than the yaw angle β, the route AC has a smaller route offset than the route AD, and thus the collision avoidance route is from a to C.
In this embodiment, the optional second distance may be the side length, half side length, etc. of the side CA of the yaw angle in the triangle CAD, and the forward path safety is detected in real time by re-planning the insertion point in the collision avoidance line.
In this embodiment, obtaining the deflection angle from the coordinates and distance of both ends of the obstacle includes: connecting the current coordinates with coordinates of two ends of the obstacle to form a triangle; and acquiring the included angles between the navigation route and two sides of the triangle taking the current coordinate as the vertex, and taking the smaller included angle as the deflection angle. By taking the smaller included angle as the deflection angle, the deflection of the changed navigation route is smaller than that of the original route, and the travel route is short.
According to the embodiment of the disclosure, the contour line of the obstacle facing the ship is obtained through scanning of the detection device, and obstacle collision prevention is achieved through deflection angle calculation.
On the basis of the above embodiment, fig. 3 schematically illustrates a schematic view of collision avoidance routes of a plurality of obstacles according to an embodiment of the present disclosure, as shown in fig. 3, an overall avoidance calculation of the plurality of obstacles may be implemented in combination with a dynamic programming algorithm and a linear programming algorithm, for example, by obtaining obstacle state information through communication with a third party, defining a distance from a variable to each obstacle representing a ship, and defining variables representing a position and a speed of the ship; defining a state transfer equation for the vessel, if the vessel approaches an obstacle, it may choose to bypass the obstacle in a direction (e.g., the CA route or the CD route in FIG. 2), which choice will affect the next state of the vessel; defining an objective function as the time for the ship to reach the command coordinates; by populating a dynamic planning table, the optimal path from the current position to the commanded coordinates is found, the first line of the table being the time required for the vessel not to make any avoidance, and the next line being the time required for the vessel to make an operation (bypassing the obstacle in a certain direction). According to the dynamic programming table, at the moment, three obstacles need to be avoided by the dotted line path, and only two obstacles need to be avoided by the solid line path, so that the ship can avoid in the solid line direction with larger deflection angle when the obstacle represented by the triangle is avoided, and the time for reaching the instruction coordinate is shortened.
On the basis of the above embodiment, the step of acquiring a detection profile of a side of the obstacle disposed opposite to the ship includes: and obtaining the distance between the obstacle and the opposite side of the ship by using a radar, and obtaining the detection profile of the obstacle.
By the embodiment of the disclosure, the route planning of the ship is performed by acquiring the detection profile of the obstacle.
On the basis of the above embodiment, detecting whether a collision occurs includes: responding to the dynamic obstacle as other ships, acquiring state information of the other ships through a third party, and detecting whether collision occurs or not according to the ship state information and the state information of the other ships; and responding to the dynamic obstacle as other obstacles, acquiring the running speed and the running direction of the other obstacles through real-time scanning of the detection device, and detecting whether collision occurs.
According to the method and the device for determining the collision between the dynamic obstacle and the ship, the dynamic obstacle path and the path of the original navigation path of the ship are calculated, whether the dynamic obstacle collides with the ship is judged, and when collision avoidance is not needed, the path adjustment is not carried out, so that the path traveling efficiency is improved.
On the basis of the above embodiment, detecting whether a collision occurs or not and the state information of the dynamic obstacle acquired according to the communication with the third party further includes: acquiring the running speed and the running volume of a dynamic barrier; detecting whether the running speed and the running volume are larger than a preset evasion value or not; if yes, executing the state information of the dynamic barrier acquired according to the communication with the third party; if not, executing the first distance driving according to the navigation route.
In this embodiment, when the detected running speed and the detected volume are greater than the preset avoidance value, the detected running speed and the detected volume are dynamic obstacles to be avoided, and at this time, the state information of the dynamic obstacles acquired through communication with a third party needs to be executed, otherwise, the navigation route does not need to be adjusted regardless of the obstacle.
According to the method and the device for determining the risk of the obstacle on the navigation route, the risk determination is carried out on the obstacle on the navigation route, and route planning efficiency is improved.
On the basis of the embodiment, the target time for reaching the command coordinates is obtained, when route planning adjustment occurs according to the target time, the planned collision avoidance route is projected to the straight navigation route direction to obtain the projection length, the collision avoidance route navigation time is calculated according to the ratio of the projection length to the straight navigation route length during navigation, and the collision avoidance route navigation speed is adjusted.
In this embodiment, fig. 4 schematically illustrates a schematic view of a collision avoidance line speed planning according to an embodiment of the disclosure, where the collision avoidance line acquisition manner is as described above, and not described in detail herein, and as illustrated in fig. 4, the current coordinates of the ship are E, the command coordinates are J, the collision avoidance line is E to F to G to J, the line length from E to J is a (km), the target time is m (h), the length of the EF section is c (km), the EH length of the EF section projected to the sailing line when the straight sailing is b (km), the sailing time of the EF section is (b×m)/a (h), and the sailing speed of the section is (c×a)/(b×m) (km/h).
According to the embodiment of the disclosure, the speed of the ship sailing on the collision avoidance line is adjusted, so that the ship can reach the instruction coordinates at the target time.
Based on the ship route planning method, the disclosure also provides a ship route planning device. The device will be described in detail below in connection with fig. 5.
Fig. 5 schematically shows a block diagram of a ship route planning device according to an embodiment of the present disclosure.
As shown in fig. 5, the ship route planning device 500 of this embodiment includes an instruction module 501, an obstacle detection module 502, and a route planning module 503.
The instruction module 501 is configured to obtain instruction coordinates, and take a connection line between the current coordinates and the instruction coordinates as a navigation route.
The obstacle detection module 502 is configured to detect whether an obstacle exists on the sailing route, for example, radar, sonar, lidar, infrared imager, and camera, which should be noted that the disclosure is not limited to the detection device.
The route planning module 503 is configured to instruct a module to detect whether the current navigation route length is greater than a first distance if no obstacle exists on the navigation route; if yes, driving a first distance according to the navigation route to reach a first coordinate; taking the first coordinate as a current coordinate; executing the connection line of the current coordinate and the instruction coordinate as a navigation route; if not, driving to the instruction coordinates according to the navigation route; the first distance is a preset value; if an obstacle exists on the navigation route, acquiring state information of the obstacle, acquiring a plurality of turning points according to the state information of the obstacle and the ship state information, correspondingly acquiring end point coordinates of the collision avoidance route and the collision avoidance route, taking the end point coordinates as current coordinates, and executing a connection line of the current coordinates and instruction coordinates as the navigation route.
The present disclosure also provides an electronic device, including: one or more processors; and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the above-described ship route planning method.
The present disclosure also provides a computer-readable storage medium that may be embodied in the apparatus/device/system described in the above embodiments; or may exist alone without being assembled into the apparatus/device/system. The computer-readable storage medium carries one or more programs which, when executed, implement methods in accordance with embodiments of the present disclosure.
Embodiments of the present disclosure also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowcharts. The program code, when executed in a computer system, causes the computer system to perform the methods provided by embodiments of the present disclosure.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Those skilled in the art will appreciate that the features recited in the various embodiments of the disclosure and/or in the claims may be provided in a variety of combinations and/or combinations, even if such combinations or combinations are not explicitly recited in the disclosure. In particular, the features recited in the various embodiments of the present disclosure and/or the claims may be variously combined and/or combined without departing from the spirit and teachings of the present disclosure. All such combinations and/or combinations fall within the scope of the present disclosure.
The embodiments of the present disclosure are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.
Claims (9)
1. A method of planning a route for a vessel, comprising:
acquiring an instruction coordinate, and taking a connecting line of the current coordinate and the instruction coordinate as a navigation route;
detecting whether an obstacle exists on a navigation route;
if not, detecting whether the current navigation route length is greater than the first distance: if yes, driving a first distance according to the navigation route to reach a first coordinate; taking the first coordinate as a current coordinate; executing the connecting line of the current coordinate and the instruction coordinate as a navigation route; if not, driving to the instruction coordinates according to the navigation route; the first distance is a preset value;
if yes, acquiring state information of the obstacle, acquiring a plurality of turning points according to the state information of the obstacle and the ship state information, correspondingly acquiring a collision avoidance line and end point coordinates of the collision avoidance line, taking the end point coordinates as current coordinates, and executing the connection line of the current coordinates and instruction coordinates as a navigation line.
2. The ship route planning method of claim 1, wherein the acquiring the status information of the obstacle includes:
the detection device scans the obstacle in real time and communicates with a third party to obtain obstacle state information; wherein, the third party includes monitoring center, buoy station, other boats and ships:
responding to the obstacle as an no-pass area, communicating with a third party to obtain a chart of the no-pass area, and obtaining a plurality of turning points according to the chart; or (b)
Responding to the obstacle as a static obstacle, and communicating with a third party to obtain a chart of the static obstacle, and obtaining a plurality of turning points according to the chart or obtaining a plurality of turning points according to real-time scanning of the detection device; or (b)
In response to the obstacle being a dynamic obstacle, detecting whether a collision will occur: if so, a plurality of turning points are obtained according to the state information of the dynamic barrier, which is obtained through communication with a third party; or, according to the real-time scanning of the detection device, a plurality of turning points are obtained; if not, executing the first distance driving according to the navigation route.
3. The ship route planning method according to claim 2, wherein the responding to the obstacle being a static obstacle, obtaining a chart of the static obstacle in communication with a third party, obtaining a plurality of turning points according to the chart, or obtaining a plurality of turning points according to real-time scanning of the detection device, comprises:
responding to the state information that the third party does not have the static obstacle, acquiring a detection contour of one side which is arranged opposite to the ship according to real-time scanning of the detection device, and determining a deflection angle according to the positions of the two ends of the detection contour and the current coordinate; and calculating a second distance according to the deflection angle, driving the second distance along the deflection angle, reaching a second coordinate, taking the second coordinate as a current coordinate, and executing a connecting line of the current coordinate and the instruction coordinate as a navigation route.
4. A ship route planning method according to claim 3, wherein the step of acquiring a side detection profile of the obstacle disposed opposite to the ship comprises:
and obtaining the distance between the obstacle and the opposite side of the ship by using a radar, and obtaining the detection profile of the obstacle.
5. The ship route planning method of claim 2, wherein the detecting whether a collision occurs in response to the obstacle being a dynamic obstacle comprises:
responding to the dynamic obstacle as other ships, acquiring state information of the other ships through the third party, and detecting whether collision occurs or not according to the state information of the ships and the state information of the other ships;
and responding to the dynamic obstacle as other obstacles, acquiring the running speed and the running direction of the other obstacles through real-time scanning of the detection device, and detecting whether collision occurs.
6. The ship route planning method according to claim 2, wherein the detecting of whether collision occurs and the status information of the dynamic obstacle acquired from communication with a third party further include:
acquiring the running speed and the running volume of the dynamic barrier;
detecting whether the running speed and the running volume are larger than a preset evasion value or not;
if yes, executing the state information of the dynamic barrier acquired according to the communication with the third party;
and if not, executing the first distance travelled according to the navigation route.
7. A ship route planning device configured to be used to implement the ship route planning method of any one of claims 1 to 6, comprising:
the instruction module is used for acquiring instruction coordinates and taking a connecting line of the current coordinates and the instruction coordinates as a navigation route;
the obstacle detection module is used for detecting whether an obstacle exists on a navigation route;
the route planning module is used for detecting whether the length of the current navigation route is greater than a first distance or not if no obstacle exists on the navigation route; if yes, driving a first distance according to the navigation route to reach a first coordinate; taking the first coordinate as a current coordinate; executing the connecting line of the current coordinate and the instruction coordinate as a navigation route; if not, driving to the instruction coordinates according to the navigation route; the first distance is a preset value; if an obstacle exists on the navigation route, acquiring state information of the obstacle, acquiring a plurality of turning points according to the state information of the obstacle and the ship state information, correspondingly acquiring a collision avoidance route and terminal point coordinates of the collision avoidance route, taking the terminal point coordinates as current coordinates, and executing the connection line of the current coordinates and instruction coordinates as the navigation route.
8. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method of any of claims 1-6.
9. A computer readable storage medium having stored thereon executable instructions which, when executed by a processor, cause the processor to perform the method according to any of claims 1-6.
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| CN202410006858.2A CN117824654A (en) | 2024-01-03 | 2024-01-03 | Ship route planning method and device, electronic equipment and storage medium |
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| CN202410006858.2A CN117824654A (en) | 2024-01-03 | 2024-01-03 | Ship route planning method and device, electronic equipment and storage medium |
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