CN210221113U - Inland river path planning system based on three-dimensional electronic channel chart - Google Patents
Inland river path planning system based on three-dimensional electronic channel chart Download PDFInfo
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- CN210221113U CN210221113U CN201921339783.0U CN201921339783U CN210221113U CN 210221113 U CN210221113 U CN 210221113U CN 201921339783 U CN201921339783 U CN 201921339783U CN 210221113 U CN210221113 U CN 210221113U
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Abstract
The utility model discloses an inland river route planning system based on three-dimensional electronic channel chart, including setting up the boats and ships terminal system on boats and ships and setting up data and the software algorithm platform in the high in the clouds, boats and ships terminal system includes man-machine interaction system and data transmission device, man-machine interaction system is used for submitting boats and ships navigation plan and upload navigation task information for the user, and data transmission device and man-machine interaction system adopt two-way data transmission to connect. The utility model discloses an information such as the hydrology information of three-dimensional electron topographic map data and real-time release, meteorological information, harbour and pier information, channel navigation information and navigation rule data that have established combine together, form real-time dynamic two dimension electron channel map to carry out dynamic boats and ships navigation and path planning according to this real-time two dimension dynamic electron channel map, effectively solved current boats and ships and lacked the problem of real-time dynamic electron channel map in navigation process.
Description
Technical Field
The invention relates to the technical field of inland river path planning, in particular to an inland river path planning system based on a three-dimensional electronic channel chart.
Background
The informatization and intellectualization level is an important mark for measuring the modernization development level of traffic transportation. The unmanned technology is taken as the key direction of the development of the traffic industry, can effectively improve the operation efficiency of a traffic system, and guarantees the life safety. At present, many domestic and foreign enterprises and research institutions develop relevant research on unmanned ships, and a series of products are provided, so that the functions of autonomous path planning, automatic navigation, automatic obstacle avoidance and the like of the unmanned ships can be realized to a certain extent.
However, the current path planning function of the ship in the inland river basin is still blank, the ship is driven manually according to the navigation mark information on the river surface by manpower, the operation pressure of personnel is high, the experience is strong, and the training of the ship driver is still basically in an old and new way. River channel management means are relatively backward, channel information release is communicated by means of beacon boat indication, channel management department short message notification, news release and the like, and development of modern intelligent shipping is limited scientifically and timely, so that the inland river path planning system based on the three-dimensional electronic channel map is provided.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides an inland river path planning system based on a three-dimensional electronic channel chart.
The inland river path planning system comprises a ship terminal system arranged on a ship and a data and software algorithm platform arranged at the cloud end, wherein the ship terminal system comprises a man-machine interaction system and a data transmission device, the man-machine interaction system is used for submitting a ship navigation plan and uploading navigation task information to a user, the data transmission device and the man-machine interaction system are connected in a bidirectional data transmission mode, and the data transmission device is connected through data transmission and collects multi-sensor data real-time collection equipment arranged on the ship in real time;
the cloud data and software algorithm platform comprises a three-dimensional electronic topographic map database, a channel information data acquisition system, a three-dimensional electronic channel map data module, a dynamic two-dimensional electronic channel map module and a dynamic real-time path planning module, wherein the three-dimensional electronic topographic map database and the channel information data acquisition system transmit data to the three-dimensional electronic channel map data module, information acquired by multi-sensor data real-time acquisition equipment and data uploaded by a human-computer interaction system are transmitted to the three-dimensional electronic channel map data module through a data transmission device, the three-dimensional electronic channel map data module generates a three-dimensional electronic channel map by using the received information and transmits the generated three-dimensional electronic channel map to the dynamic two-dimensional electronic channel map module, and the dynamic two-dimensional electronic channel map module divides the three-dimensional electronic channel map into two-dimensional electronic channel maps by using corresponding channel real-time hydrological information, and the two-dimensional electronic channel chart is transmitted to a dynamic real-time path planning module, the dynamic real-time path planning module carries out path planning and navigation on the two-dimensional electronic channel chart transmitted by the dynamic two-dimensional electronic channel chart module, the dynamic real-time path planning module transmits the received two-dimensional electronic channel chart and the generated path planning and navigation to a human-computer interaction system through a data transmission device, the human-computer interaction system further comprises display equipment, and the display equipment in the human-computer interaction system displays the two-dimensional electronic channel chart and the path planning and navigation received by the human-computer interaction system.
Preferably, the multi-sensor data real-time acquisition equipment is used for acquiring self information, course information, navigational speed information, position information and safety information of a ship.
Preferably, the three-dimensional electronic terrain map database is used for forming three-dimensional electronic navigation channel data by utilizing data acquired by an oblique photography technology, an underwater sonar imaging technology and a laser radar imaging technology, the oblique photography three-dimensional imaging technology and the laser radar three-dimensional imaging technology are used for constructing terrain features on the water surface and on two sides of a navigation channel, the underwater sonar three-dimensional imaging technology is used for constructing terrain features under the water surface, and the three-dimensional electronic terrain map database synthesizes the three-dimensional terrain features on the water surface, on the water surface and on two sides of the navigation channel to construct a complete three-dimensional navigation channel information model database and establish a three-dimensional navigation channel information model.
Preferably, the channel information data acquisition system is used for acquiring channel information data, and the channel information data comprises channel navigation rules, and hydrological information, meteorological information, port and wharf information and channel navigation information data issued by a maritime department, a meteorological department and a port department in real time.
Preferably, the three-dimensional electronic channel map data module extracts the three-dimensional electronic channel map data of the channel of the current ship navigation plan according to the information transmitted by the multi-sensor data real-time acquisition device received at the moment, and then extracts the three-dimensional electronic channel map data of the channel of the current ship navigation plan from the three-dimensional electronic topographic map database and the channel information data acquisition system to form the three-dimensional electronic channel map of the navigation plan.
Preferably, the dynamic two-dimensional electronic channel map module generates a dynamic two-dimensional electronic channel map which changes in real time by using real-time data of the three-dimensional electronic channel map in the current channel and combining with real-time contents of hydrological information, channel information, maritime information and the like.
The inland river path planning system based on the three-dimensional electronic channel map forms a real-time dynamic two-dimensional electronic channel map by combining the established three-dimensional electronic topographic map data with hydrological information, meteorological information, port and wharf information, channel navigation information, navigation rule data and other information which are published in real time, and carries out dynamic ship navigation and path planning according to the real-time two-dimensional dynamic electronic channel map, thereby effectively solving the problem that the existing ship lacks the real-time electronic channel map in the navigation process.
Drawings
Fig. 1 is a system block diagram of a inland river path planning system based on a three-dimensional electronic channel chart.
Detailed Description
The present invention will be further illustrated with reference to the following specific examples.
Examples
Referring to fig. 1, the embodiment provides a inland river path planning system based on a three-dimensional electronic channel chart, which includes a ship terminal system arranged on a ship and a data and software algorithm platform arranged at a cloud end, where the ship terminal system includes a human-computer interaction system and a data transmission device, the human-computer interaction system is used for submitting a ship navigation plan and uploading navigation task information to a user, the data transmission device and the human-computer interaction system are connected by bidirectional data transmission, and the data transmission device is connected with a multi-sensor data real-time acquisition device arranged on the ship by data transmission; the cloud data and software algorithm platform comprises a three-dimensional electronic topographic map database, a channel information data acquisition system, a three-dimensional electronic channel map data module, a dynamic two-dimensional electronic channel map module and a dynamic real-time path planning module, wherein the three-dimensional electronic topographic map database and the channel information data acquisition system transmit data to the three-dimensional electronic channel map data module, information acquired by multi-sensor data real-time acquisition equipment and data uploaded by a human-computer interaction system are transmitted to the three-dimensional electronic channel map data module through a data transmission device, the three-dimensional electronic channel map data module generates a three-dimensional electronic channel map by using the received information and transmits the generated three-dimensional electronic channel map to the dynamic two-dimensional electronic channel map module, and the dynamic two-dimensional electronic channel map module divides the three-dimensional electronic channel map into two-dimensional electronic channel maps by using corresponding channel real-time hydrological information, the invention combines the established three-dimensional electronic topographic map data with the hydrological information, meteorological information, port and wharf information, channel navigation information, navigation rule data and other information which are published in real time to form a real-time dynamic two-dimensional electronic channel map, and carries out dynamic ship navigation and path planning according to the real-time two-dimensional electronic channel map, the problem that the existing ship lacks a real-time electronic channel chart in the navigation process is effectively solved.
In this embodiment, the multi-sensor data real-time acquisition device is used for acquiring self information, course information, speed information, position information and safety information of a ship, the three-dimensional electronic terrain map database is three-dimensional electronic channel data formed by data acquired by oblique photography technology, underwater sonar imaging technology and laser radar imaging technology, the oblique photography three-dimensional imaging technology and the laser radar three-dimensional imaging technology are used for constructing topographic features on the water surface and on two sides of a channel, the underwater sonar three-dimensional imaging technology is used for constructing topographic features under the water surface, the three-dimensional electronic terrain map database integrates the three-dimensional topographic features on the water surface, the water surface and two sides of the channel to construct a complete three-dimensional channel information model database, and a three-dimensional channel information model is established, the channel information data acquisition system is used for acquiring channel information data, and the channel information data comprise channel navigation rules and maritime department, The invention relates to a method for generating a dynamic two-dimensional electronic channel map with real-time change by utilizing hydrological information, meteorological information, port and pier information and channel navigation information data which are issued by a meteorological department and a port department in real time, wherein a three-dimensional electronic channel map data module receives information transmitted by a multi-sensor data real-time acquisition device at the moment, and then extracts three-dimensional electronic channel map data of a channel of a current ship navigation plan from a three-dimensional electronic topographic map database and a channel information data acquisition system to form a three-dimensional electronic channel map of the navigation plan, and a dynamic two-dimensional electronic channel map module generates a dynamic two-dimensional electronic channel map with real-time change by utilizing the real-time data of the three-dimensional electronic channel map on the current channel and combining the real-time hydrological information, channel information, maritime information and the like The navigation information of the channel, navigation rule data and other information are combined to form a real-time dynamic two-dimensional electronic channel map, dynamic ship navigation and path planning are carried out according to the real-time two-dimensional dynamic electronic channel map, and the problem that the existing ship lacks the real-time electronic channel map in the navigation process is effectively solved.
In the embodiment, a user submits a ship navigation plan and uploads navigation task information through a man-machine interaction system, the data transmission device in a ship terminal system is connected with multi-sensor data real-time acquisition equipment, the ship terminal system is used for acquiring self information, course information, navigational speed information, position information and safety information of a ship through the multi-sensor data real-time acquisition equipment, the man-machine interaction system uploads the submitted ship navigation plan and the uploaded navigation task information to a three-dimensional electronic channel map data module through the data transmission device, the self information, the course information, the navigational speed information, the position information and the safety information of the ship acquired by the multi-sensor data real-time acquisition equipment are uploaded to the three-dimensional electronic channel map data module through the data transmission device, and the three-dimensional electronic channel map data module acquires the information transmitted by the equipment in real time according to the received multi-sensor data, then a three-dimensional electronic channel map data module extracts three-dimensional electronic channel map data of a channel of a current ship navigation plan from a three-dimensional electronic topographic map database and a channel information data acquisition system to form a three-dimensional electronic channel map of the navigation plan, the three-dimensional electronic channel map data module transmits the generated three-dimensional electronic channel map to a dynamic two-dimensional electronic channel map module, the dynamic two-dimensional electronic channel map module utilizes the real-time data of the three-dimensional electronic channel map on the current channel and divides the three-dimensional electronic channel map into two-dimensional electronic channel maps by combining the real-time contents of hydrological information, channel information, maritime information and the like, the dynamic two-dimensional electronic channel map module transmits the two-dimensional electronic channel map to a dynamic real-time path planning module, the dynamic real-time path planning module plans a path of the ship navigation, and the dynamic real-time path planning module transmits the planned path to a man-machine interaction system through a data transmission module, the man-machine interaction system can finally obtain the data of the dynamic two-dimensional electronic channel chart and display the data on the display equipment in the man-machine interaction system, the data of the dynamic two-dimensional electronic channel chart can be used for controlling, navigating, path planning and the like of the ship, and the problem that the existing ship lacks the real-time dynamic electronic channel chart in the navigation process is effectively solved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. An inland river path planning system based on a three-dimensional electronic channel map comprises a ship terminal system arranged on a ship and a data and software algorithm platform arranged at the cloud end, and is characterized in that the ship terminal system comprises a man-machine interaction system and a data transmission device, the man-machine interaction system is used for submitting a ship navigation plan and uploading navigation task information to a user, the data transmission device and the man-machine interaction system are connected in a bidirectional data transmission mode, and the data transmission device is connected through data transmission and collects multi-sensor data real-time collection equipment arranged on the ship in real time;
the cloud-arranged data and software algorithm platform comprises a three-dimensional electronic topographic map database, a channel information data acquisition system, a three-dimensional electronic channel map data module, a dynamic two-dimensional electronic channel map module and a dynamic real-time path planning module, wherein the three-dimensional electronic topographic map database and the channel information data acquisition system transmit data to the three-dimensional electronic channel map data module, information acquired by multi-sensor data real-time acquisition equipment and data uploaded by a human-computer interaction system are transmitted to the three-dimensional electronic channel map data module through a data transmission device, the three-dimensional electronic channel map data module generates a three-dimensional electronic channel map by using the received information and transmits the generated three-dimensional electronic channel map to the dynamic two-dimensional electronic channel map module, and the dynamic two-dimensional electronic channel map module divides the three-dimensional electronic channel map into two-dimensional electronic channel maps by using corresponding channel real-time hydrological information, and the two-dimensional electronic channel chart is transmitted to a dynamic real-time path planning module, the dynamic real-time path planning module carries out path planning and navigation on the two-dimensional electronic channel chart transmitted by the dynamic two-dimensional electronic channel chart module, the dynamic real-time path planning module transmits the received two-dimensional electronic channel chart and the generated path planning and navigation to a human-computer interaction system through a data transmission device, the human-computer interaction system further comprises display equipment, and the display equipment in the human-computer interaction system displays the two-dimensional electronic channel chart and the path planning and navigation received by the human-computer interaction system.
2. The inland river path planning system based on three-dimensional electronic channel chart of claim 1, wherein the multi-sensor data real-time acquisition equipment is used for acquiring self information, course information, speed information, position information and safety information of a ship.
3. The inland river route planning system based on the three-dimensional electronic channel map according to claim 1, characterized in that the three-dimensional electronic topographic map database is used for forming three-dimensional electronic channel data by utilizing data acquired by oblique photography technology, underwater sonar imaging technology and laser radar imaging technology, the oblique photography three-dimensional imaging technology and the laser radar three-dimensional imaging technology are used for constructing topographic features on the water surface and on two sides of the channel, the underwater sonar three-dimensional imaging technology is used for constructing topographic features under the water surface, and the three-dimensional electronic topographic map database synthesizes the three-dimensional topographic features on the water surface, on the water surface and on two sides of the channel to construct a complete three-dimensional channel information model database and establish a three-dimensional channel information model.
4. The inland river route planning system based on three-dimensional electronic channel map of claim 1, wherein said channel information data collection system is used for collecting channel information data, the channel information data include channel navigation rules and hydrologic information, meteorological information, port and wharf information, channel navigation information data published in real time by maritime department, meteorological department, and port department.
5. The inland river path planning system based on three-dimensional electronic channel map as claimed in claim 1, wherein the three-dimensional electronic channel map data module is used for extracting the three-dimensional electronic channel map data of the channel where the current ship navigation plan is located from the three-dimensional electronic topographic map database and the channel information data acquisition system according to the information transmitted by the multi-sensor data real-time acquisition device received at the moment, so as to form the three-dimensional electronic channel map of the navigation plan.
6. The inland river path planning system based on three-dimensional electronic channel map as claimed in claim 1, wherein the dynamic two-dimensional electronic channel map module generates a dynamic two-dimensional electronic channel map which changes in real time by using real-time data of the three-dimensional electronic channel map in the current channel and combining with real-time contents of hydrological information, channel information, maritime information and the like.
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| CN201921339783.0U CN210221113U (en) | 2019-08-19 | 2019-08-19 | Inland river path planning system based on three-dimensional electronic channel chart |
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