CN119714283A - Multi-sensor navigation device based on scenic spot electric pleasure boat - Google Patents

Abstract

The invention discloses a multi-sensor navigation device based on an electric pleasure boat in a scenic spot, which comprises a main boat body, a sensing assembly and a central processing assembly, wherein a top support is arranged on the main boat body; the tourist can automatically visit the scenic spot along the way through the weight setting module, the intelligent of the scenic spot water area tour is improved, the safety of the tourist ship is guaranteed through the obstacle avoidance analysis module, meanwhile, the driving state of the tourist ship is checked by the driving switching module, the corresponding homing scheme is automatically generated by matching the homing detection module with the docking switching position after the manual driving is finished, the driving ship returns to the automatic tourist spot and then completes the set tour process, the participation of the tourist is improved, and the practicability of the device is improved.

Description

Multi-sensor navigation device based on scenic spot electric pleasure boat

Technical Field

The invention relates to the technical field of intelligent management of scenic spot pleasure boats, in particular to a multi-sensor navigation device based on a scenic spot electric pleasure boat.

Background

The scenic spot pleasure boat is a tourist activity loved by vast tourists, can enable the tourists to closely contact the water surface and enjoy the scenic spot of a wave-light pool, can provide a unique view angle to view sceneries in the scenic spot, and is used as a main tourist means in the process of tourist in the water area scenic spot, the conventional scenic spot pleasure boat mostly carries out sightseeing through a manual visual method or carries out tourist through internal carried GPS navigation, the tourist process cannot be carried out automatically based on the operation of tourist drivers, the intelligent of the water area tourist in the scenic spot is influenced, meanwhile, visual display cannot be provided for the tourists on the boat in the tourist process, the actual experience of the tourists is influenced, the participation feeling of the tourists in the whole tourist process is lower, and the practicality of the tourist is influenced, so the design of the multi-sensor navigation device based on the scenic spot electric pleasure boat is very necessary.

Disclosure of Invention

The invention aims to provide a multi-sensor navigation device based on a scenic spot electric pleasure boat, which aims to solve the problems in the background technology.

The multi-sensor navigation device comprises a main hull, a top support, a sensing assembly and a central processing assembly, wherein the top support is arranged on the main hull, a laser radar and an IMU unit in the sensing assembly are respectively arranged on one side of the top support, two ultrasonic sensors are symmetrically arranged on bow of the main hull, the sensing assembly is controlled to be connected with a signal receiving module in the central processing assembly, the central processing assembly is formed by a signal receiving module, the signal receiving module is arranged on one side of the top of a circuit board, the circuit board is embedded and arranged in a cabin of the main hull, the signal receiving module is controlled to be connected with a classification receiving module, the classification receiving module is respectively controlled to be connected with a three-dimensional scanning module and a data transmission module, the three-dimensional scanning module and the data transmission module are respectively controlled to be connected with a map generation module and an environment monitoring module, and the map generation module and the environment monitoring module are respectively controlled to be connected with a display output module and an obstacle avoidance processing module.

As a further technical scheme of the invention, the sensing assembly consists of a laser radar, an IMU unit, a GPS module and ultrasonic sensors, wherein the laser radar and the IMU unit are arranged at the front end of the top support, the GPS module is embedded and arranged in a cabin of the main hull, and the two ultrasonic sensors are arranged on two sides of the ship bow.

The central processing assembly comprises a driving docking module, a signal receiving module, a classification receiving module, a three-dimensional scanning module, a map generating module, a display output module, a sightseeing platform module, a data transmission module, an environment monitoring module, an obstacle avoidance processing module, a circuit board and an operation capacity regulating module, wherein the signal receiving module, the classification receiving module, the three-dimensional scanning module, the map generating module and the display output module are respectively arranged on one side of the top of the circuit board, the sightseeing platform module, the data transmission module, the environment monitoring module, the obstacle avoidance processing module and the driving docking module are respectively arranged on the other side of the top of the circuit board, the operation capacity regulating module is arranged in the middle of the tail of the circuit board, and the operation capacity regulating module is respectively in control connection with the sightseeing platform module and the driving docking module.

As a further technical scheme of the invention, the display output module is in control connection with the obstacle avoidance processing module, the obstacle avoidance processing module is in control connection with the driving docking module, the driving docking module is in control connection with the sightseeing platform module, and the sightseeing platform module is in control connection with the display output module.

As a further technical scheme of the invention, the sightseeing platform module consists of a scenic spot checking module, a weight setting module, a time setting module, a speed setting module, a navigation output module, a driving switching module, a homing detection module and a position recording module, wherein the scenic spot checking module is controlled to be connected with the weight setting module.

As a further technical scheme of the invention, the weight setting module respectively controls the connection time setting module and the speed setting module, and the weight setting module controls the connection navigation output module.

As a further technical scheme of the invention, the navigation output module is controlled to be connected with the position recording module, the position recording module is controlled to be connected with the homing detection module, the homing detection module is controlled to be connected with the navigation output module and the driving switching module respectively, and the navigation output module is controlled to be connected with the driving switching module.

As a further technical scheme of the invention, the obstacle avoidance processing module consists of a data receiving module, an obstacle analysis module, a collision detection module, a collision early warning module, an obstacle avoidance analysis module and a driving intervention module, wherein the data receiving module is respectively controlled and connected with the obstacle analysis module and the collision detection module.

According to the further technical scheme, the collision detection module is controlled to be connected with the collision early warning module, the obstacle analysis module and the collision detection module are controlled to be connected with the obstacle avoidance analysis module, and the obstacle avoidance analysis module is controlled to be connected with the driving intervention module.

As a further technical scheme of the invention, the transport capacity regulation and control module consists of a scenic spot management module, a scenic spot distribution module, an independent filling module, an integrated filling module, an interference analysis module, a route receiving module, a scenic spot pressure analysis module, a route optimizing module and an auxiliary feedback module, wherein the scenic spot management module is controlled and connected with the scenic spot distribution module, the scenic spot distribution module is controlled and connected with the independent filling module, the independent filling module is controlled and connected with the integrated filling module, the integrated filling module is controlled and connected with the interference analysis module, the independent filling module is controlled and connected with the route receiving module, the interference analysis module is controlled and connected with the scenic spot pressure analysis module, the scenic spot pressure analysis module is controlled and connected with the route optimizing module, and the route optimizing module is controlled and connected with the auxiliary feedback module.

Compared with the prior art, the multi-sensor navigation device based on the scenic spot electric pleasure boat has the beneficial effects that the multi-sensor navigation device based on the scenic spot electric pleasure boat is characterized in that a main boat body is provided with a laser radar and an IMU unit, The multi-sensor fusion sensing assembly composed of the GPS module and the ultrasonic sensor can acquire environmental situation data of a water area where the pleasure boat is located in real time, information fusion is achieved according to water area environmental characteristics, laser pulses are transmitted through a laser radar before the pleasure boat, reflected signals are received, the whole water area environment is scanned, a high-precision three-dimensional map of the surrounding environment of the pleasure boat is constructed, the signal receiving module receives the data and uploads the data to the three-dimensional scanning module through the classification receiving module, a visual map of the scenic area of the water area is built through the map generating module in combination with the scanned laser data, the visual map is synchronously matched with the display output module to be displayed on a display end of the pleasure boat, and rolling of the boat body can be acquired in real time through an IMU unit in the process of the pleasure boat, Dynamic physical information such as pitching, yawing and the like ensures the stability of the pleasure boat in the running process, and meanwhile, the GPS module collects the position information under the global positioning system, including longitude, latitude, speed, Key data such as heading, the ultrasonic sensor sends high-frequency sound wave pulse and receives echo, the distance data between the pleasure boat and surrounding obstacles is accurately measured, the method is suitable for close-range collision early warning, the signal receiving module receives the sensor data, uploads the sensor data to the data transmission module through the classification receiving module, and synchronously feeds back the sensor data to the display end of the pleasure boat after the sensor data are detected by the environment monitoring module, so that the use experience of a user is improved; in the process of tour, tourists view scenic spot maps through a scenic spot viewing module, the tour time and the ship running speed of the scenic spots along the way are set through a weight setting module, a docking time setting module and a speed setting module, and the omnibearing environment around the tourists can be realized through the data fusion of an ultrasonic sensor and a laser radar, The intelligent navigation system comprises a high-precision sensing device, an ultrasonic sensor, a laser radar, a navigation output module, a navigation analysis module and a navigation analysis module, wherein the ultrasonic sensor is used for detecting a close-range obstacle, immediately triggering collision early warning when the ultrasonic sensor detects the close-range obstacle, reminding a pleasure boat driver or an automatic driving system to take obstacle avoidance measures, the three-dimensional information provided by the laser radar can help the pleasure boat to more accurately judge the position and shape of the obstacle so as to select an optimal obstacle avoidance path, the data fusion of the three-dimensional information acquired by the laser radar, dynamic gesture data provided by an IMU unit, absolute position information provided by a GPS and the like is carried out, the Dijkstra algorithm and the A-type algorithm are combined to carry out real-time data analysis, an optimal path is planned for the pleasure boat, the course is regulated in real time through the obstacle avoidance processing module so as to keep the pleasure boat to travel along the planned path, the navigation output module is matched to carry out automatic navigation, the intelligent navigation of the water area navigation in a scenic region, The collision detection module detects environmental obstacle, then the obstacle avoidance analysis module is matched for obstacle avoidance analysis, the driving safety of the pleasure boat is guaranteed, the driving switching module checks the driving state of the pleasure boat during the tour, the position recording module records the switching position when automatic driving switching manual driving occurs, the corresponding homing scheme is automatically generated through the docking switching position of the homing detection module when manual driving is switched again, the driving boat returns to the automatic tour point to complete the set tour process, the participation of tourists is improved, and the practicability of the device is improved.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic diagram of a CPU set according to the present invention;

FIG. 3 is a system flow diagram of the present invention;

FIG. 4 is a schematic diagram of a browsing platform module according to the present invention;

FIG. 5 is a schematic diagram of an obstacle avoidance module according to the present invention;

FIG. 6 is a schematic diagram of a capacity control module according to the present invention;

In the figure, 1, a main hull, 2, a top support, 3, a sensing assembly, 4, a central processing assembly, 31, a laser radar, 32, an IMU unit, 33, a GPS module, 34, an ultrasonic sensor, 40, a driving docking module, 41, a signal receiving module, 42, a classification receiving module, 43, a three-dimensional scanning module, 44, a map generating module, 45, a display output module, 46, a sightseeing platform module, 47, a data transmission module, 48, an environment monitoring module, 49, an obstacle avoidance processing module, 50, a circuit board, 461, a scenic spot viewing module, 462, a weight setting module, 463, a time setting module, 464, a speed setting module, 465, a navigation output module, 466, a driving switching module, 467, a homing detection module 468, a position recording module, 491, a data receiving module, 492, an obstacle analysis module, 493, a collision detection module, 494, a collision early warning module, 495, a driving obstacle analysis module, 496, an intervention module, 51, an operating force regulation module, 511, a scenic spot management module, 512, a region distribution module, 513, an independent filling module, a self-contained filling module, a 514, an integrated navigation line analysis module, a navigation line analysis module 518, an auxiliary analysis module, a navigation module 518, a navigation line analysis module, a navigation analysis module.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-6, the invention provides an embodiment of a multi-sensor navigation device for an electric pleasure boat based on scenic spots, which comprises a main boat body 1, a top support 2, The sensing assembly 3 and the central processing assembly 4 are arranged on the main hull 1, the top support 2 is arranged on the main hull 1, the laser radar 31 and the IMU unit 32 in the sensing assembly 3 are respectively arranged on one side of the top support 2, two ultrasonic sensors 34 are symmetrically arranged on bow of the main hull 1, the sensing assembly 3 is controlled to be connected with the signal receiving module 41 in the central processing assembly 4, the central processing assembly 4 is arranged on one side of the top of the circuit board 50 through the signal receiving module 41, the circuit board 50 is embedded and arranged in a cabin of the main hull 1, the signal receiving module 41 is controlled to be connected with the classification receiving module 42, the classification receiving module 42 is respectively controlled to be connected with the three-dimensional scanning module 43 and the data transmission module 47, the three-dimensional scanning module 43 and the data transmission module 47 are respectively controlled to be connected with the map generating module 44 and the environment monitoring module 48, the map generating module 44 and the environment monitoring module 48 are respectively controlled to be connected with the display output module 45 and the obstacle avoidance processing module 49, and the sensing assembly 3 is controlled by the laser radar 31 The system comprises an IMU unit 32, a GPS module 33 and an ultrasonic sensor 34, wherein the GPS module 33 is embedded and installed in a cabin of a main hull 1, a central processing assembly 4 comprises a driving docking module 40, a signal receiving module 41, a classification receiving module 42, a three-dimensional scanning module 43, a map generating module 44, a display output module 45, a sightseeing platform module 46, a data transmission module 47, an environment monitoring module 48, an obstacle avoidance processing module 49, a circuit board 50 and an operation capacity regulating module 51, the central processing assembly 4 is embedded and installed in the cabin of the main hull 1, and one side of the top of the circuit board 50 is respectively provided with the signal receiving module 41, The system comprises a classification receiving module 42, a three-dimensional scanning module 43, a map generating module 44 and a display output module 45, wherein a sightseeing platform module 46, a data transmission module 47, an environment monitoring module 48, an obstacle avoidance processing module 49 and a driving docking module 40 are respectively arranged on the other side of the top of a circuit board 50, an operational capacity regulating module 51 is arranged at the tail of the circuit board 50, the operational capacity regulating module 51 is respectively connected with the sightseeing platform module 46 and the driving docking module 40 in a control manner, the display output module 45 is connected with the obstacle avoidance processing module 49 in a control manner, the obstacle avoidance processing module 49 is connected with the driving docking module 40 in a control manner, the driving docking module 40 is connected with the sightseeing platform module 46 in a control manner, the sightseeing platform module 46 is connected with the display output module 45 in a control manner, and the sightseeing platform module 461 is arranged in a sightseeing area, A weight setting module 462, a time setting module 463, a speed setting module 464, a navigation output module 465, a driving switch module 466, The scenic spot view module 461 controls the connection weight setting module 462, the weight setting module 462 controls the connection time setting module 463 and the speed setting module 464 respectively, and the weight setting module 462 controls the connection of the navigation output module 465, the navigation output module 465 controls the connection of the position recording module 468, the position recording module 468 controls the connection of the homing detection module 467, the homing detection module 467 controls the connection of the navigation output module 465 and the driving switching module 466 respectively, and the navigation output module 465 controls the connection of the driving switching module 466, the obstacle avoidance processing module 49 is composed of the data receiving module 491, the obstacle avoidance processing module 49, The obstacle analysis module 492, the collision detection module 493, the collision early warning module 494, the obstacle avoidance analysis module 495 and the driving intervention module 496 are formed, the data receiving module 491 is respectively controlled to be connected with the obstacle analysis module 492 and the collision detection module 493, the collision detection module 493 is controlled to be connected with the collision early warning module 494, the obstacle analysis module 492 and the collision detection module 493 are respectively controlled to be connected with the obstacle avoidance analysis module 495, the obstacle avoidance analysis module 495 is controlled to be connected with the driving intervention module 496, the set obstacle avoidance analysis module 495 can be used for abutting the driving intervention module 496 to control a pleasure boat to complete the automatic obstacle avoidance process, and the transport capacity regulation module 51 is formed by the scenic spot management module 511, Scenic spot distribution module 512, independent filling module 513, integrated filling module 514, interference analysis module 515, course receiving module 516, scenic spot pressure analysis module 517, The scenic spot management module 511 is controlled to be connected with the scenic spot distribution module 512, the scenic spot distribution module 512 is controlled to be connected with the independent filling module 513, the independent filling module 513 is controlled to be connected with the integrated filling module 514, the integrated filling module 514 is controlled to be connected with the interference analysis module 515, the independent filling module 513 is controlled to be connected with the route receiving module 516, the interference analysis module 515 is controlled to be connected with the scenic spot pressure analysis module 517, the scenic spot pressure analysis module 517 is controlled to be connected with the route optimizing module 518, the route optimizing module 518 is controlled to be connected with the auxiliary feedback module 519, the scenic spot management module 511 sends a scenic spot map to the scenic spot distribution module 512 in the visiting process, then the independent filling module 513 receives preset routes of the route receiving module 516 to be independently filled in the independent filling module 513, and all preset routes of the integrated filling module 514 are integrated in one map, then the independent interference feedback is carried out through the interference analysis module 515, meanwhile the scenic spot pressure analysis module 517 analyzes the visiting pressure of the scenic spot, and then the route optimizing module 518 is controlled to be connected with the route optimizing module 518, the route and the auxiliary feedback module 519 is fed back to the auxiliary tourist.

Based on the above, the invention has the advantages that when in use, the multi-sensor fusion sensing assembly 3 consisting of the laser radar 31, the IMU unit 32, the GPS module 33 and the ultrasonic sensor 34 is carried on the main hull 1, so that the environmental situation data of the water area where the pleasure boat is located can be collected in real time, the information fusion is realized aiming at the environmental characteristics of the water area, the laser radar 31 is used for transmitting laser pulses and receiving reflected signals before the sightseeing, the whole water area environment is scanned, the high-precision three-dimensional map of the surrounding environment of the pleasure boat is constructed, the signal receiving module 41 is used for receiving the data and uploading the data to the three-dimensional scanning module 43 through the classification receiving module 42, the visual map of the water area scenic spot is built through the map generating module 44 in combination with the scanned laser data, the synchronous collocation display output module 45 is displayed on the display end of the pleasure boat,

Dynamic physical information such as rolling, pitching, yawing and the like of a ship body can be acquired in real time through the IMU unit 32 in the tour process, so that the stability of the pleasure boat in the driving process is ensured, meanwhile, the GPS module 33 acquires position information under the global positioning system, including key data such as longitude and latitude, speed, heading and the like, the ultrasonic sensor 34 sends high-frequency sound wave pulses and receives echoes, distance data between the pleasure boat and surrounding obstacles are accurately measured, the device is suitable for close-range collision early warning, the signal receiving module 41 receives the data and uploads the data to the data transmission module 47 through the classification receiving module 42, and the data are synchronously fed back to the display end of the pleasure boat after being detected by the environment monitoring module 48, so that the use experience of a user is improved; in the process of tour, tourists view a scenic spot map through a scenic spot viewing module 461, set the tour time and the ship traveling speed of the scenic spot along the way through a weight setting module 462, a docking time setting module 463 and a speed setting module 464, realize the omnibearing and high-precision perception of the surrounding environment of the tourist through the data fusion of an ultrasonic sensor 34 and a laser radar 31, immediately trigger collision early warning when the ultrasonic sensor 34 detects a close-range obstacle to remind a tourist driver or an automatic driving system to take obstacle avoidance measures, three-dimensional information provided by the laser radar 31 can help the tourist to judge the position and the shape of the obstacle more accurately, so that the optimal obstacle avoidance path is selected, real-time data analysis is carried out by combining the Dijkstra algorithm and the A-type algorithm to plan the optimal path for the tourist through the data fusion of three-dimensional information acquired by the laser radar 31, dynamic gesture data provided by an IMU unit 32, absolute position information provided by a GPS module 33 and the like, the course is adjusted in real time through the obstacle avoidance processing module 49 so as to keep the pleasure boat running along the planned path, and the comprehensive perception and accurate control of the surrounding environment can be realized through the multi-sensor application of the pleasure boat, so that the safety of the pleasure boat is greatly improved; the navigation system is matched with the navigation output module 465 to conduct autonomous navigation and autonomous planning of a path, the requirement of manual intervention is reduced, the intelligence of the water area tour of a scenic spot is improved, the obstacle analysis module 492 and the collision detection module 493 are used for detecting environmental obstacles in the tour process, then the obstacle avoidance analysis module 495 is matched for carrying out obstacle avoidance analysis, the accurate path planning and obstacle avoidance capability enable a tourist to be capable of running in the scenic spot more efficiently, the traveling efficiency of the tourist is improved, better tour experience is provided for the tourist, the driving switching module 466 during tour checks the driving state of the tourist, the position recording module 468 is used for recording the switching position when automatic driving switching manual driving occurs, the corresponding homing scheme is automatically generated when the manual driving is switched again, the driving ship returns to the automatic tour point and then completes the set tour process, the participation of the tourist is improved, and the practicability of the device is improved.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (10)

1. A multi-sensor navigation device based on scenic spot electric pleasure craft comprises a main hull (1), a top support (2), a perception component (3) and a central processing component (4), and is characterized in that the top support (2) is arranged on the main hull (1), a laser radar (31) and an IMU (32) in the perception component (3) are respectively arranged on one side of the top support (2), two ultrasonic sensors (34) are symmetrically arranged on bow of the main hull (1), the perception component (3) is in control connection with a signal receiving module (41) in the central processing component (4), the central processing component (4) is arranged on one side of the top of a circuit board (50) by the signal receiving module (41), the circuit board (50) is embedded in a cabin of the main hull (1), the signal receiving module (41) is in control connection with a classification receiving module (42), the classification receiving module (42) is respectively in control connection with a three-dimensional scanning module (43) and a data transmission module (47), the three-dimensional scanning module (43) and the data transmission module (47) are respectively in control connection with a map (48), the map generation module (44) and the environment monitoring module (48) are respectively in control connection with the display output module (45) and the obstacle avoidance processing module (49).

2. The multi-sensor navigation device based on the scenic spot electric pleasure boat according to claim 1, wherein the perception component (3) consists of a laser radar (31), an IMU unit (32), a GPS module (33) and an ultrasonic sensor (34), and the GPS module (33) is embedded and installed in a cabin of the main boat body (1).

3. The multi-sensor navigation device based on the scenic spot electric pleasure boat according to claim 1, wherein the central processing assembly (4) is composed of a driving docking module (40), a signal receiving module (41), a classification receiving module (42), a three-dimensional scanning module (43), a map generating module (44), a display output module (45), a sightseeing platform module (46), a data transmission module (47), an environment monitoring module (48), an obstacle avoidance processing module (49), a circuit board (50) and a capacity regulating module (51), one side of the top of the circuit board (50) is respectively provided with the signal receiving module (41), the classification receiving module (42), the three-dimensional scanning module (43), the map generating module (44) and the display output module (45), the other side of the top of the circuit board (50) is respectively provided with the sightseeing platform module (46), the data transmission module (47), the environment monitoring module (48), the obstacle avoidance processing module (49) and the driving docking module (40), the capacity regulating module (51) is arranged in the middle of the tail of the circuit board, and the capacity regulating module (51) respectively controls the connection of the sightseeing platform module (46) and the driving docking module (40).

4. The multi-sensor navigation device based on the scenic spot electric pleasure boat according to claim 3, wherein the display output module (45) is in control connection with the obstacle avoidance processing module (49), the obstacle avoidance processing module (49) is in control connection with the driving docking module (40), the driving docking module (40) is in control connection with the sightseeing platform module (46), and the sightseeing platform module (46) is in control connection with the display output module (45).

5. The multi-sensor navigation device of the scenic spot electric pleasure boat according to claim 3, wherein the scenic spot viewing platform module (46) comprises a scenic spot viewing module (461), a weight setting module (462), a time setting module (463), a speed setting module (464), a navigation output module (465), a driving switching module (466), a homing detection module (467) and a position recording module (468), and the scenic spot viewing module (461) controls the connection weight setting module (462).

6. The multi-sensor navigation device of claim 5, wherein the weight setting module (462) controls the connection time setting module (463) and the speed setting module (464), respectively, and the weight setting module (462) controls the connection navigation output module (465).

7. The multi-sensor navigation device of the scenic spot-based electric pleasure boat of claim 6, wherein the navigation output module (465) is controlled to connect with the position recording module (468), the position recording module (468) is controlled to connect with the homing detection module (467), the homing detection module (467) is controlled to connect with the navigation output module (465) and the driving switching module (466) respectively, and the navigation output module (465) is controlled to connect with the driving switching module (466).

8. The multi-sensor navigation device based on the scenic spot electric pleasure boat according to claim 3, wherein the obstacle avoidance processing module (49) is composed of a data receiving module (491), an obstacle analysis module (492), a collision detection module (493), a collision early warning module (494), an obstacle avoidance analysis module (495) and a driving intervention module (496), and the data receiving module (491) is respectively controlled to be connected with the obstacle analysis module (492) and the collision detection module (493).

9. The multi-sensor navigation device of claim 8, wherein the collision detection module (493) is in control connection with the collision early warning module (494), the obstacle analysis module (492) and the collision detection module (493) are both in control connection with the obstacle avoidance analysis module (495), and the obstacle avoidance analysis module (495) is in control connection with the driving intervention module (496).

10. The multi-sensor navigation device based on the scenic spot electric pleasure boat according to claim 3, wherein the capacity regulating module (51) is composed of a scenic spot management module (511), a scenic spot distribution module (512), an independent filling module (513), an integrated filling module (514), an interference analysis module (515), a route receiving module (516), a scenic spot pressure analysis module (517), a route optimizing module (518) and an auxiliary feedback module (519), the scenic spot management module (511) is controlled to be connected with the scenic spot distribution module (512), the scenic spot distribution module (512) is controlled to be connected with the independent filling module (513), the independent filling module (513) is controlled to be connected with the integrated filling module (514), the integrated filling module (514) is controlled to be connected with the interference analysis module (515), the independent filling module (513) is controlled to be connected with the route receiving module (516), the interference analysis module (515) is controlled to be connected with the scenic spot pressure analysis module (517), the scenic spot pressure analysis module (517) is controlled to be connected with the route optimizing module (518), and the route optimizing module (518) is controlled to be connected with the auxiliary feedback module (519).