CN113223162B - Construction method and device of inland waterway digital twin scene - Google Patents
Construction method and device of inland waterway digital twin scene Download PDFInfo
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- CN113223162B CN113223162B CN202110391804.9A CN202110391804A CN113223162B CN 113223162 B CN113223162 B CN 113223162B CN 202110391804 A CN202110391804 A CN 202110391804A CN 113223162 B CN113223162 B CN 113223162B
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Abstract
The invention discloses a method and a device for constructing a digital twin scene of a inland waterway, which relate to the technical field of traffic informatization and virtual reality and are used for solving the problems of video fragmentation, multi-source internet-of-things data separation and lack of relevance existing in current inland waterway supervision. The construction method of the inland waterway digital twin scene comprises the following steps: constructing a multi-scale channel scene, fusing multiple paths of videos in three-dimensional real time, and converging and fusing digital asset three-dimensional labels and Internet of things sensing data. The construction method and the construction device for the digital twin scene of the inland waterway are used for digitally creating the digital twin scene of the real inland waterway scene by utilizing the digital twin technology, so that the accurate positioning capability and the emergency response efficiency of intelligent management of the inland waterway are greatly improved.
Description
Technical Field
The invention relates to the technical field of traffic informatization and virtual reality, in particular to a method and a device for constructing a digital twin scene of a inland waterway.
Background
The inland waterway is one of important components of comprehensive traffic, and the rapid development and popularization of new equipment and new technology such as sensors, high-definition cameras, the Internet of things and artificial intelligence bring new opportunities and challenges for the operation monitoring and intelligent management of the inland waterway.
The inland waterway traffic monitoring has the typical characteristics of various scenes, complex areas, limited outfield conditions, large environmental influence, difficult dynamic tracking and the like, so that the intelligent management of the water traffic is always a challenging work. On the one hand, the key monitoring area of the water traffic comprises various scenes such as ports, important channels, ship locks, anchor grounds, water gas stations, dangerous goods wharfs and the like, and the different scenes cover the monitored area, monitor key points and acquire accuracyEtcThe requirements are different; on the other hand, the traffic management of the inland waterway comprises various business types such as operation monitoring, daily inspection, safe operation, emergency treatment, asset management, tracing evidence and the like, the requirements of different business types on video monitoring are different, along with the continuous increase of the video monitoring scale, the traditional matrix video wall display mode exposes out the outstanding problems such as video fragmentation, huge picture quantity, poor spatial relevance, easy visual fatigue and the like caused by independent dispersion of monitoring scenes, and the problems of multi-source Internet of things data separation and lack of relevance exist for monitoring and corresponding management of different scenes, so that the accurate positioning capability and emergency response efficiency of intelligent management of the inland waterway are greatly reduced.
Disclosure of Invention
The invention aims to provide a method and a device for constructing a digital twin scene of a inland waterway, which are used for solving the technical problems of video fragmentation, multi-source internet-of-things data separation and lack of relevance existing in current inland waterway supervision.
In a first aspect, the present invention provides a method for constructing a digital twin scene of a inland waterway, the method comprising the steps of: constructing a multi-scale channel scene, and constructing different scale objects in a real inland channel scene in a digital twin scene so as to obtain a three-dimensional scene model; three-dimensional real-time fusion of multiple paths of videos is carried out, and multiple paths of monitoring videos in the real inland waterway scene are fused into the three-dimensional scene model in real time, so that a digital twin scene with multiple paths of real-scene video fusion is formed; the digital asset three-dimensional labeling is carried out, and the digital asset information in the real inland waterway scene is labeled to the corresponding position of the digital twin scene in real time in a three-dimensional label mode; and converging and fusing the Internet of things sensing data, and converging the multi-source Internet of things sensing data in the real inland waterway scene into the digital twin scene in real time and three-dimensionally.
Compared with the prior art, in the construction method of the digital twin scene of the inland waterway, a digital twin technology is utilized to digitally create a virtual model of a physical entity of the inland waterway, and new capacity is added or expanded for the physical entity by means of virtual-real interaction feedback, data fusion analysis and decision iteration optimization means by simulating the behavior of the physical entity in a real environment through data; the digital twin scene basically consistent with the real inland navigation scene is constructed by integrating the multi-channel video three-dimensional real-time monitoring video, the digital asset three-dimensional labeling, the sensor dynamic data and the multi-source internet-of-things sensing data, and the accurate positioning capability and the emergency response efficiency of the inland navigation intelligent management are greatly improved by integrating virtual and real and virtual data and performing iterative interactive optimization on the virtual and real bidirectional data, so that the video is centralized, the multi-source internet-of-things data are integrated and have strong relevance, the inland navigation intelligent management and service with higher real time, high efficiency, intelligence, intuitiveness and convenience and artificial cost are realized.
In a second aspect, the present invention provides an apparatus for using the method of construction of a digital twin scene of a inland waterway, comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the method of construction of a digital twin scene of a inland waterway of any of the above when executing the computer program.
Compared with the prior art, the beneficial effects of the device using the construction method of the digital twin scene of the inland waterway are the same as those of the construction method of the digital twin scene of the inland waterway, which is disclosed by the technical scheme, and are not repeated here.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a basic flow diagram of a construction method of a digital twin scene of a inland waterway according to an embodiment of the present invention;
fig. 2 is a further flow diagram of a method for constructing a digital twin scene of a inland waterway according to an embodiment of the present invention;
fig. 3 is a specific flow chart of a ship information processing step of a construction method of a digital twin scene of a inland waterway according to an embodiment of the present invention;
Fig. 4 is a detailed schematic diagram of a real-time correlation step for a inland channel scene operation condition in a digital twin scene in the inland channel digital twin scene construction method provided by the embodiment of the invention;
fig. 5 is a schematic flow chart of simulation analysis, event duplication and prediction deduction steps of a construction method of a digital twin scene of a inland waterway provided by the embodiment of the invention;
fig. 6 is a schematic flow chart of a process for highlighting updating and iterative interactive optimization steps of a refined scene in the whole flow of a construction method of a digital twin scene of a inland waterway, which is provided by the embodiment of the invention;
fig. 7 is a schematic structural diagram of an apparatus using a method for constructing a digital twin scene of a inland waterway according to an embodiment of the present invention.
Detailed Description
In order to clearly describe the technical solution of the embodiments of the present invention, in the embodiments of the present invention, the words "first", "second", etc. are used to distinguish the same item or similar items having substantially the same function and effect. For example, the first threshold and the second threshold are merely for distinguishing between different thresholds, and are not limited in order. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.
In the present invention, the words "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
In the present invention, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, a and b, a and c, b and c, or a, b and c, wherein a, b, c can be single or multiple.
Fig. 1 illustrates a basic flow diagram of a construction method of a digital twin scene of a inland waterway, according to an embodiment of the present invention, as shown in fig. 1, the construction method includes the following steps: step 1: constructing a multi-scale channel scene, constructing a digital twin scene corresponding to a real inland channel scene in a virtual space, and constructing three-dimensional scene models of different scale objects in the real inland channel scene in the digital twin scene, wherein step 2: the method comprises the steps of three-dimensional real-time fusion of multiple paths of videos, constructing a topological relation between video content and a three-dimensional scene according to shooting parameters of multiple monitoring cameras, and three-dimensionally fusing the multiple paths of monitoring videos corresponding to the multiple monitoring cameras in a real inland waterway scene into a three-dimensional scene model constructed in the step 1 so as to form a digital twin scene fused by multiple paths of real-scene videos. Step 3: and 2, marking the digital asset information in the real inland waterway scene in real time in a three-dimensional label form to the corresponding position of the digital twin scene constructed in the step 2. Step 4: the method comprises the steps of converging and fusing the multi-source internet of things sensing data in a real inland channel scene, converging and fusing the multi-source internet of things sensing data in real time into a digital twin scene updated in the step 3, correlating, fusing and marking the multi-source internet of things sensing data and scale objects in a corresponding three-dimensional scene model, converging and fusing the multi-source internet of things sensing data and linkage application are realized through the step, various monitoring videos are fused in three dimensions in a virtual reality scene, thereby a virtual reality dynamic evolution environment fused with various videos can be provided, data and alarm information of the internet of things sensing equipment are accessed in real time in combination with the online traffic of the real inland channel scene, and the inland channel management service logic is combined, so that the rapid discovery and two-dimensional linkage response of emergency events are realized, and the rapid discovery and response of the emergency events are provided with technology and tool support (further detailed description will be made later). Therefore, the construction method of the inland waterway digital twin scene obtains the beneficial effects of video centralization, multi-source internet of things data integration and strong relevance through virtual-real fusion and virtual-real control bidirectional data iterative interaction optimization.
Fig. 2 illustrates a further flowchart of a construction method of a digital twin scene of a inland waterway, according to an embodiment of the present invention, as shown in fig. 2, after the step of converging and fusing the sensing data of the internet of things, the construction method further includes the following steps: step 5: and carrying out corresponding ship information processing according to the AIS data on the ships in the covered area and the uncovered area of the monitoring video in the digital twin scene. Step 6: and carrying out real-time correlation on the running condition of the inland waterway scene in the digital twin scene. Step 7: simulation analysis, event duplication and prediction deduction, in a digital twin scene, simulating and analyzing events in the operation of a real inland waterway scene based on service management requirements, and observing rules in the simulation and analysis; in the digital twin scene, carrying out three-dimensional duplication on the event according to the historical data, and verifying the reliability of the digital twin scene by combining the actual result; in the digital twin scene, the occurrence and development rules of the event are predicted and deduced based on historical data and an analysis model, and auxiliary decision suggestions are provided. Step 8: and (3) updating the digital twin scene according to the multisource thing networking sensing dynamic data in the digital twin scene constructed corresponding to the real inland waterway, and feeding back the simulation and analysis results of the digital twin scene to the traffic operation management of the real inland waterway. Step 9: and (3) carrying out feedback treatment on the real inland waterway scene according to the digital twin scene updated and obtained in the step (8).
As an achievable way, the above construction method constructs four kinds of elements in a real inland channel scene in a digital twin scene, and a synergistic and association relationship between the four kinds of elements, wherein the four kinds of elements include water traffic participants, water vehicles, channel infrastructure and channel area environment.
Specifically, the water traffic participants comprise ship drivers, crews, water traffic law enforcement personnel or/and inland channel facility management personnel, the water vehicles comprise cargo ships, pleasure boats or/and inland patrol boats sailing in a real inland channel, the channel infrastructure comprises inland channel and coastal buildings, water areas, ship locks, bridges, anchors, water service areas, jettisonand, wharf berthing gears, ferries, water intake ports or/and intelligent bays, the channel area environment comprises hydrology, geology or/and weather, and the cooperation and the association among the four elements are the mutual influence relationship among the elements.
As one way of realisation, the different scale objects include five types of objects, channel and coastal structures, channel waters, important navigation structures, remote structures in surveillance video areas and vessels.
As an achievable way, different geometric modeling methods are respectively adopted according to the characteristics of each class of objects in the five classes of objects, and a plurality of modeling methods are combined to realize multi-scale three-dimensional reconstruction and light-weight output of a large-scale water monitoring scene, specifically, the multi-scale channel scene construction in the step 1 comprises the following steps: step 1.1: modeling a channel and coastal building: unmanned aerial vehicle oblique photography is adopted to rapidly acquire and construct a basic geometric model of a channel and a coastal building, and in addition, it is to be understood that dynamic water surfaces, ships and other dynamic objects in a scene are preferably removed during modeling. Step 1.2: modeling a channel water area: the shallow water equation method is adopted to calculate and draw the surface morphology of the water body in real time on the water surface of the channel region, so that the water body modeling based on fluid dynamics is realized, and the real-time interaction with boundaries, ships and three-dimensional wind fields is supported. Step 1.3: modeling an important navigation building: the BIM modeling method is adopted to construct three-dimensional geometric models of important navigation buildings such as ship locks, bridges, water service areas and the like, but internal structures irrelevant to service management can not be constructed, so that the built and light BIM model is utilized to replace an initial basic model constructed by unmanned aerial vehicle oblique photography, and the accuracy of the geometric models of the important navigation buildings is ensured. Step 1.4: modeling remote buildings in a monitoring video area: the rapid scene modeling method based on the scene topological relation is adopted for modeling, and in addition, as the remote buildings in the video area influence the topological relation of video fusion, the method is not an important point of attention in the management of the inland waterway. Step 1.5: modeling a ship: according to the types and the sizes of the ships, a ship model library is built by using a BIM parameterized modeling method, different ships are drawn in real time according to ship AIS data driving, specifically, common ship models are built by using a BIM parameterized modeling method according to the types and the sizes of the ships which are allowed to pass through a real inland waterway, a parameterized ship model library is formed, and when the ships are required to be built in a digital twin scene, different ships are selected from the model library and drawn in real time based on the types, the parameters and the positions of the ships returned by the ship AIS data. Step 1.6: the modeling method and the modeling result are fused to form the digital twin geometric scene which is more consistent with the real inland waterway scene, and particularly, the digital twin geometric scene which is more consistent with the real inland waterway scene can be formed by combining the environment parameters such as sky, environment, illumination and the like.
As one implementation, the imaging parameters include camera point location, orientation, altitude, and/or camera in-out parameters.
As an achievable way, the three-dimensional real-time fusion of the multiple paths of videos in the step 2 includes the following steps: step 2.1: according to the position and the gesture of the camera in the real scene, calculating the position and the gesture value of the camera in the three-dimensional scene model; step 2.2: calculating a model view matrix and a projection matrix of the camera in the three-dimensional scene model according to the camera position and the gesture data; step 2.3: calculating a view cone structure of the camera in a three-dimensional space by using the model view matrix and the projection matrix; step 2.4: according to the shot image of the camera, calculating scene photo modeling and camera parameters, and establishing a projection relation between the video image and the model texture; step 2.5: projecting an original video image onto a three-dimensional scene model constructed in advance according to a projection relation; step 2.6: and performing fragment texturing and colorization rendering on the original video image, and fusing the original video image to a three-dimensional scene model projected by the original video image, so that three-dimensional registration and real-time fusion of the low-overlapping-degree water multi-path video can be realized.
As one implementation, the digital asset information includes ship locks, bridges, anchors, water service areas, jetty docks, docks berthing gear, ferries, water intake, smart gates, easy blocking points, docks berthing gear, or/and emergency material distribution.
As one possible way, the digital asset three-dimensional annotation in step 3 comprises the steps of: step 3.1: establishing a one-to-one association relationship between virtual and real objects: and establishing a one-to-one correspondence between the assets in the real inland channel scene and the digital asset objects in the digital twin scene, wherein the digital assets comprise important facilities and important equipment, and in addition, the digital assets also comprise digital assets corresponding to digital asset information with low static or update frequency requirements, and in addition, the digital assets can also select, model, associate and label new objects according to the requirements of users. Step 3.2: designing digital asset data interfaces and updating rules: data exchange interfaces and updating rules for other asset systems, such as existing digital asset systems, and digital twin databases, which can be understood as databases storing various relevant data for digital twin scenarios, are designed, and further, since digital asset data is mostly static data, frequent updates are not appropriate. Step 3.3: three-dimensional labeling of digital assets: the necessary three-dimensional labeling of important digital assets in a digital twinning scene is performed in the form of static tags, for example, and in addition, real-time association of tags with a digital asset database can be supported.
As one implementation, the multi-source internet of things sensing data includes sensing data of hydrology, weather, traffic, structural or/and service area intelligent monitoring facilities.
As one implementation, the hydrographic monitoring sensing data includes inland waterway flow direction, flow rate, water depth or/and shoreline, and the meteorological monitoring sensing data includes weather, air quality, wind speed, precipitation, visibility or/and temperature and humidity; the traffic monitoring sensing data comprises ship flow, ship flow direction, ship speed, ship track or/and ship snapshot, and the structure monitoring sensing data comprises: structural deformation of navigable buildings or/and coastal geological disasters; the sensing data of the intelligent monitoring facilities of the water service area comprise shore power, pollution discharge, water taking or/and berths.
As an achievable way, the aggregation and fusion of the sensing data of the internet of things in the step 4 includes the following steps: step 4.1: and establishing an association relation between the things-connected sensor objects in the virtual-real scene. Step 4.2: and designing a multi-source Internet of things sensing data interface and updating rules. Step 4.3: and carrying out necessary three-dimensional dynamic labeling of the sensing data of the Internet of things in the digital twin scene, and supporting dynamic updating of labeling content driven by the sensing data. Step 4.4: and driving and updating the dynamic labels and related object models in the digital twin scene according to the change of the sensing data of the internet of things according to a certain frequency. Step 4.5: analysis and alarm linkage: and analyzing the multi-source internet of things sensing data, and generating an alarm event in time when the data exceeds the limit, and linking alarm condition confirmation and subsequent emergency treatment.
As an implementation manner, fig. 3 illustrates a specific flow diagram of a ship information processing step of the method for constructing a digital twin scene of a inland waterway according to an embodiment of the present invention, and as shown in fig. 3, the ship information processing step specifically includes the following steps: step 5.1: and establishing a corresponding relation between the sensing positioning data of the sensors installed by the ships in the different scale objects running in the real inland waterway scene and the ships in the digital twin scene. Step 5.2: and judging whether the ship is in the coverage area of the monitoring video in the digital twin scene, if so, turning to the step 5.3, and if not, turning to the step 5.4. Step 5.3: and carrying out the AIS three-dimensional dynamic labeling of the ship, carrying out real-time association on ship information and corresponding ships in the monitoring video, and carrying out the labeling in a three-dimensional dynamic label mode. Step 5.4: and the AIS data drive the ship to strengthen and display, corresponding ships, sailing directions and sailing tracks are enhanced and drawn in real time in a three-dimensional mode according to the ship AIS information, and a ship dynamic operation model in the digital twin scene is constructed.
As one implementation, the sensed positioning data includes GPS, AIS, or/and Beidou satellite positioning data.
As an achievable way, the ship AIS three-dimensional dynamic labeling in step 5.3 comprises the following steps: step 5.3.1: designing a data interface and updating rules of an existing ship AIS system; step 5.3.2: accessing ship AIS data in an actual inland waterway area corresponding to the digital twin scene in real time; step 5.3.3: reading AIS data of ships traveling on a channel in a digital twin scene display area, and judging whether the ship position is in a monitoring video coverage area for each piece of ship AIS data; step 5.3.4: if yes, drawing a three-dimensional dynamic tag of the ship based on the position information in the AIS, and associating the dynamic tag with corresponding AIS data; step 5.3.5: if not, jumping to the step 5.4.
As one possible way, the AIS data driven marine enhanced display in step 5.4 comprises the steps of: step 5.4.1: and determining the ship position in the digital twin scene according to the ship position information in the AIS data. Step 5.4.2: selecting a corresponding model from the ship model library constructed in the step 1 and more specifically the step 1.5 according to the type and the size of the ship in the AIS data; step 5.4.3: drawing a parameterized ship model on a ship position in a digital twin scene, wherein the drawing supports self-defining drawing of heading, track and three-dimensional dynamic labels and is associated with corresponding AIS data; step 5.4.4: and updating and drawing in real time according to the position data change in the AIS data.
As an achievable manner, fig. 4 illustrates a detailed schematic diagram of a step of performing real-time association on a inland channel scene operation condition in a digital twin scene in the inland channel digital twin scene construction method provided by the embodiment of the present invention, as shown in fig. 4, where the inland channel scene operation condition includes a maritime patrol condition and a meteorological condition, and step 6 includes: step 6.1: the cruising track display and abnormal condition marking are carried out on the maritime patrol boat operation in different scale objects in the real inland waterway scene in real time, the cruising track is enhanced and displayed in the digital twin scene according to the on-board positioning and law enforcement recorder data, and the abnormal point positions and events in the maritime patrol operation are marked and recorded in three dimensions; step 6.2: the on-line meteorological data drives scene rendering, environmental parameters of the environment in the digital twin scene are set according to on-line meteorological data serving as meteorological conditions of the real inland waterway scene, and the digital twin scene is subjected to environment rendering, so that the digital twin scene is close to the real inland waterway scene.
As one possible way, the cruise trajectory display and abnormal situation flag in step 6.1 includes the steps of: step 6.1.1: and positioning the position of the maritime patrol boat in real time according to the positioning sensor arranged on the maritime patrol boat. Step 6.1.2: and drawing a historical patrol track in the digital twin scene according to the cruising historical data of the patrol boat. Step 6.1.3: in the cruising process of the maritime patrol boat, when an important point position or an abnormal condition is found, abnormal information reported by a user on the maritime patrol boat by using a handheld mobile terminal is received, and corresponding point positions are marked in a digital twin scene. Step 6.1.4: and associating the patrol record, video or picture data with the marked corresponding point positions, and providing patrol record checking and event backtracking in the digital twin scene. Therefore, the construction method of the digital twin scene of the inland waterway can realize on-site law enforcement cruise management of the inland waterway in the digital twin scene.
As one way of realising, the environment comprises lighting, haze, visibility, hydrology, rain and snow or/and wind farms, the on-line meteorological data driven scene rendering in step 6.2 comprises the steps of: step 6.2.1: setting dynamic environment illumination related parameters according to time, and setting fog, haze and visibility related parameters according to air monitoring data; updating relevant parameters of the three-dimensional wind field model according to the wind speed monitoring data; setting relevant parameters and boundary conditions of a water surface shallow water equation according to hydrologic data; and setting relevant parameters of rain and snow rendering according to the rain and snow monitoring data. Step 6.2.2: according to the settings, the scene environment is drawn in the digital twin scene and updated iteratively.
As an implementation manner, fig. 5 illustrates a specific flow diagram of steps of simulation analysis, event review and prediction deduction of a construction method of a digital twin scene of a inland waterway, where the steps of simulation analysis, event review and prediction deduction in step 7 include the following steps as shown in fig. 5: step 7.1: judging whether a new emergency event management requirement exists or not; step 7.2: if yes, simulating and analyzing the service management requirement in the digital twin scene by utilizing historical data; if not, jumping to the step 7.5; step 7.3: judging whether event duplication is needed or not, if yes, carrying out event duplication in a digital twin scene based on historical data and simulation analysis results; if not, jumping to the step 7.4; step 7.4: judging whether prediction deduction is needed, if yes, performing three-dimensional prediction deduction in the digital twin scene based on historical data, event duplication and simulation analysis results; if not, jumping to the step 7.5; step 7.5: and updating model parameters of the digital twin scene by using simulation analysis, event duplication and prediction deduction results, and feeding back auxiliary decision suggestions.
As an implementation manner, fig. 6 illustrates a flow chart of a step of highlighting and refining scene update and iterative interaction optimization in the whole flow of the method for constructing a digital twin scene of a inland waterway, where the method provided by the embodiment of the invention, as shown in fig. 6, the step of scene update and iterative interaction optimization in step 8 includes the following steps: step 8.1: confirming and executing feedback control operation; step 8.2: updating the digital twin scene; step 8.3: judging whether continuous monitoring is needed, if so, jumping to the step 4; if not, ending the real-time monitoring.
As one achievable approach, feedback handling includes: step 9.1: the digital twin three-dimensional automatic cruising is carried out in the built internal digital twin scene, the automatic cruising operation of the channel comprises the steps of supporting user-defined cruising lines, cruising point positions and cruising rules, and the digital twin three-dimensional automatic cruising comprises the following steps: step 9.1.1: setting a point position to be cruised and cruising height custom cruising point position; step 9.1.2: setting a line custom cruise line between cruise points; step 9.1.3: setting a cruise frequency, a cruise speed and a residence time to define a cruise time; step 9.1.4: according to the steps 9.1.1 to 9.1.3, the multi-channel real-time monitoring video and the multi-source internet of things sensing data are fused in the digital twin scene to obtain the three-dimensional automatic cruising, and a virtual cruising mode of simulating a patrol boat is supported.
As one possible way, the numerical representations of the above step 9.1 and the following steps 9.2 to 9.6 included in the feedback treatment are not limited to the respective orders, and are independent of each other and do not need to be all provided. Feedback treatments include: step 9.2: the digital twin off-site law enforcement can timely find out the violating ships and the violations of the ships in the digital twin scene and support off-site violation early warning, evidence obtaining and disposal, so that the off-site law enforcement of the ships against the violations is realized; step 9.3: the digital twin two-dimensional linkage emergency response carries out quick alarm condition confirmation, emergency response and tracing evidence obtaining on an alarm event actually happening in the operation of a real inland waterway in a digital twin scene, wherein the alarm event comprises waterway congestion, accidents, rescue and the like; step 9.4: carrying out digital twin flood season passing gate scheduling, carrying out two-three-dimensional linkage information checking on flood season passing gate ships in a digital twin scene, and carrying out passing gate scheduling by combining the field execution force of a real inland waterway; step 9.5: controlling the forbidden navigation area and the navigation section in the digital twin scene, and timely early warning, finding, evidence obtaining and disposing the ships which intrude into the forbidden navigation area; step 9.6: and carrying out digital twin ship position management, and carrying out ship position optimization, real-time monitoring, overrun early warning or/and traffic induction on the ship positions of the water service area and the anchor ground in the digital twin scene.
As one way of realisation, the digital twin off-site law enforcement of step 9.2 comprises the steps of: step 9.2.1: in the digital twin scene, marking the ship-borne AIS data in real time in association with a ship which runs or stops, and displaying the ship with the violation unprocessed record in a brightening way by using a red colored label; step 9.2.2: in a digital twin scene, detecting out violations such as overrun, overload, overspeed, unworn life jackets and the like in time by combining the things-connected sensing and the video data analysis, providing the violations to law enforcement personnel capable of visually checking the ship running process, and performing video or image evidence taking in a three-dimensional space of a real inland waterway scene; step 9.2.3: for a found offending vessel, wireless communication means such as telephone, broadcast, etc. are provided to contact the vessel pilot for direct communication and feedback.
As one possible way, the digital twin two-three-dimensional linked emergency response of step 9.3 includes the steps of: step 9.3.1: when an emergency event alarm is received, determining a specific point position of the digital twin scene on a two-dimensional electronic channel diagram of the digital twin scene according to alarm information obtained through feedback; step 9.3.2: receiving information of clicking a two-dimensional electronic channel map by a user, scheduling a three-dimensional scene at a corresponding position in a digital twin scene, and providing police conditions for checking and confirming; step 9.3.3: responding to emergency events in time in a digital twin scene, scheduling data, plans, personnel, materials and the like required by emergency treatment, and rapidly deducing various emergency plans; step 9.3.4: after the emergency event is treated, three-dimensional disc copying and tracing evidence obtaining are carried out on the event occurrence and development process in the digital twin scene.
As an implementation manner, the digital twin flood season pass gate scheduling means that when a flood season occurs, the pass gate of the ship needs to be controlled, only the ship with rescue, emergency or civil cargo is allowed to pass, and the process can be three-dimensionally scheduled in a digital twin scene, specifically, the digital twin flood season pass gate scheduling in step 9.4 includes the following steps: step 9.4.1: in the digital twin scene, dispatching to a gate and an upstream and downstream three-dimensional scene, and carrying out real-time association and label labeling display on AIS data of the ship to be passed through the gate and the ship in the digital twin scene; step 9.4.2: in the digital twin scene, displaying the ship labels of which the ship and the cargo types accord with the passing rule in AIS data in a green color, and displaying the ship labels which do not accord with the passing rule in another red color; step 9.4.3: in a digital twin scene, comparing whether the information of the goods displayed in green by the ship tag is consistent with the information of the actual goods in a gate fusion video, and prompting law enforcement personnel to check on board in a mode of telephone confirmation or notification of on-site law enforcement personnel for ships with inconsistent information; step 9.4.4: in the digital twin scene, the ship is displayed on a green label with consistent information, and direct passing information is provided; for red labels displaying ships, no traffic information is provided.
As one possible way, the digital twin navigation disabling control of step 9.5 refers to performing navigation disabling management on areas of bridge demolition, danger berthing, construction work, etc. on the channel, and includes the steps of: step 9.5.1: in the digital twin scene, setting an electronic fence perimeter for an area implementing navigation forbidden management and control; step 9.5.2: when the fact that the ship breaks into the restricted area is found, an alarm event is generated, and the alarm event is automatically scheduled to a corresponding digital twin scene to confirm the abnormal event; step 9.5.3: for an intruding vessel, the communication contacts the shipowner to confirm or notify the on-site law enforcement personnel to get it on board for law enforcement.
As one possible way, the digital twin ship management of step 9.6 comprises the steps of: step 9.6.1: in a digital twin scene, optimizing the ship position division of a water service area; step 9.6.2: in a digital twin scene, the space of the water service area is monitored in real time, and the number of the vacant space is counted in time; step 9.6.3: when the number of ships in the service area exceeds a certain threshold value or an abnormal event occurs, early warning information is timely generated; step 9.6.4: and carrying out berthing guidance, congestion reminding and traffic guidance on the ship.
According to the above description of various feedback treatments, the construction method of the digital twin scene of the inland waterway can form two-dimensional linkage management of the inland waterway based on digital twin, realize two-dimensional linkage management applications such as global monitoring of key water areas, three-dimensional intelligent cruising of key navigation sections, three-dimensional linkage of emergency rescue, three-dimensional unified time lines and the like, and assist in improving the daily monitoring of water safety, evidence obtaining of violations of ships and response management efficiency of emergency events.
Fig. 7 illustrates a schematic structural diagram of an apparatus 100 using a method for constructing a digital twin scene of a inland waterway according to an embodiment of the present invention, as shown in fig. 7, the apparatus 100 using a method for constructing a digital twin scene of a inland waterway includes an external field internet of things sensing device (not shown) including a radio frequency identification device, an infrared sensor, an environmental sensor, a global positioning system, a PDA handheld terminal, an RFID reader, etc., and the processor 110 implements the method for constructing a digital twin scene of a inland waterway according to any of the above embodiments when executing a computer program, and a memory 120 and computer instructions stored in the memory 120 and configured to be executed by the processor 110.
The computer instructions may be partitioned into one or more modules/units that are stored in memory and executed by a processor to perform the present invention. One or more of the modules/units may be a series of computer instruction segments capable of performing particular functions for describing the execution of a computer program in a method of construction using a digital twinning scenario for a inland waterway.
As shown in fig. 7, the apparatus 100 may further include a communication line 140. Communication line 140 may include a pathway to transfer information between the aforementioned components.
The processor may be a general purpose central processing unit (central processing unit, CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention.
The apparatus 100 may also include one or more communication interfaces 130. The communication interface 130 may use any transceiver-like device for communicating with other devices or communication networks.
The memory 120 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (electrically erasable programmable read-only memory, EEPROM), a compact disc read-only memory (compact disc read-only memory) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be stand alone and be coupled to the processor via a communication line. The memory may also be integrated with the processor.
Alternatively, the computer-executable instructions in the embodiments of the present invention may be referred to as application program codes, which are not particularly limited in the embodiments of the present invention.
In a particular implementation, as one embodiment, as shown in FIG. 7, processor 110 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 7.
In a specific implementation, as an embodiment, as shown in fig. 7, the apparatus may include a plurality of processors, such as processor 110 and processor 150 in fig. 7. Each of these processors may be a single-core processor or a multi-core processor.
The embodiment of the invention also provides a computer readable storage medium, which comprises stored computer execution instructions, wherein the equipment where the computer readable storage medium is located is controlled to execute the construction method of the inland waterway digital twin scene in any embodiment when the computer execution instructions run.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions is loaded and executed on a computer, the processes or functions of embodiments of the present invention are performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, a terminal, a user equipment, or other programmable apparatus. The computer program or instructions may be stored in or transmitted from one computer readable storage medium to another, for example, by wired or wireless means from one website site, computer, server, or data center. Computer readable storage media can be any available media that can be accessed by a computer or data storage devices such as servers, data centers, etc. that integrate one or more available media. Usable media may be magnetic media such as floppy disks, hard disks, magnetic tape; optical media, such as digital video discs (digital video disc, DVD); but also semiconductor media such as solid state disks (solid state drive, SSD).
Parts of the invention not described in detail are known to those skilled in the art. The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
It should be noted that, the specific numbers of the steps may be used only to describe the differences of the steps, and are not limited to determining the sequential order according to the sizes of the numbers, and the order may be different, so that, in the case of no conflict, it is necessary to determine, according to the inventive concept, whether the descriptions of the numbers corresponding to the steps are used to actually limit the order of the steps or to merely distinguish the differences of the steps.
Although the invention is described herein in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
Although the invention has been described in connection with specific features and embodiments thereof, it will be apparent that various modifications and combinations can be made without departing from the spirit and scope of the invention. Accordingly, the specification and drawings are merely exemplary illustrations of the present invention as defined in the appended claims and are considered to cover any and all modifications, variations, combinations, or equivalents that fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (6)
1. The construction method of the digital twin scene of the inland waterway is characterized by comprising the following steps of:
constructing a multi-scale channel scene, and constructing different scale objects in a real inland channel scene in a digital twin scene so as to obtain a three-dimensional scene model;
three-dimensional real-time fusion of multiple paths of videos is carried out, and multiple paths of monitoring videos in the real inland waterway scene are fused into the three-dimensional scene model in real time, so that a digital twin scene with multiple paths of real-scene video fusion is formed;
The digital asset three-dimensional labeling is carried out, and the digital asset information in the real inland waterway scene is labeled to the corresponding position of the digital twin scene in real time in a three-dimensional label mode;
converging and fusing the internet of things sensing data, and converging the multi-source internet of things sensing data in the real inland waterway scene into the digital twin scene in real time and three-dimensionally;
the objects with different scales comprise a channel and coastal buildings, a channel water area, an important navigation building, a remote building in a monitoring video area and a ship;
the multi-scale channel scene construction step specifically comprises the following steps:
modeling a channel and coastal building: adopting unmanned aerial vehicle oblique photography technology to rapidly acquire and construct a foundation geometric model of the navigation channel and coastal building;
modeling a channel water area: calculating the surface morphology of the water body in real time on the water surface of the channel area by adopting a shallow water equation method and drawing;
modeling an important navigation building: constructing a three-dimensional geometric model of the important navigation building by adopting a BIM modeling method;
modeling remote buildings in a monitoring video area: modeling a remote building in a monitoring video area by adopting a scene rapid modeling method based on a scene topological relation;
modeling a ship: according to the type and the size of the ship, constructing a ship model library by using a BIM parameterized modeling method, and drawing different ships in the digital twin scene in real time according to ship AIS data driving;
Fusing the modeling method and the results to form a digital twin geometric scene which is more consistent with the real inland waterway scene;
the multi-channel video three-dimensional real-time fusion step constructs a topological relation between video content and a three-dimensional scene according to point positions, directions, heights and internal and external parameters of a camera of a monitoring camera, fuses multi-channel monitoring videos in a real inland channel scene with a three-dimensional scene model of the inland channel in real time to form a digital twin scene with multi-channel real-scene video fusion, and the multi-channel video three-dimensional real-time fusion step specifically comprises:
according to the position and the gesture of the camera in the real scene, calculating the position and the gesture value of the camera in the three-dimensional scene model;
calculating a model view matrix and a projection matrix of the camera in the three-dimensional model scene according to the position and the posture value of the camera;
according to the model view matrix and the projection matrix, calculating a view cone structure of the camera in the three-dimensional scene model;
according to the shot image of the camera, calculating scene photo modeling and camera parameters, and establishing a projection relation between the video image and the model texture;
projecting an original video image onto the constructed three-dimensional scene model according to the projection relation;
Performing fragment texturing and colorization rendering on an original video image and fusing the original video image to the projected three-dimensional scene model;
the digital asset three-dimensional labeling step specifically comprises the following steps:
establishing a one-to-one association relationship between virtual and real objects: establishing a one-to-one correspondence between assets in the real inland channel scene and digital asset objects in the digital twin scene;
designing digital asset data interfaces and updating rules: designing data exchange interfaces and updating rules of other asset systems and digital twin databases;
three-dimensional labeling of digital assets: carrying out three-dimensional annotation on important digital assets in the digital twin scene;
the step of converging and fusing the sensing data of the Internet of things specifically comprises the following steps:
establishing an association relationship between the objects of the internet of things sensor in the virtual and real scene;
designing a multi-source Internet of things sensing data interface and updating rules;
carrying out three-dimensional dynamic labeling on the sensing data of the Internet of things in the digital twin scene;
according to the change of the sensing data of the Internet of things, driving and updating a dynamic tag and a related object model in the digital twin scene;
analysis and alarm linkage: the multi-source internet of things sensing data are analyzed, alarm events are timely generated aiming at the out-of-limit condition of the data obtained through analysis, and the alarm condition confirmation and the subsequent emergency treatment are linked.
2. The method of claim 1, further comprising, after the step of converging and fusing the sensing data of the internet of things, the steps of:
carrying out corresponding ship information processing according to AIS data on ships in a covered area and an uncovered area of the monitoring video in the digital twin scene;
carrying out real-time association on the running condition of the inland waterway scene in the digital twin scene;
simulation analysis, event multiplexing and prediction deduction, wherein events in the operation of the real inland waterway scene are simulated and analyzed in the digital twin scene, three-dimensional multiplexing is carried out on the events according to historical data, the reliability of the digital twin scene is verified by combining actual results, prediction deduction is carried out on occurrence and development rules of the events based on the historical data and an analysis model, and auxiliary decision advice is provided;
the scene updating and iterative interaction optimization are carried out repeatedly, the step of converging and fusing the sensing data of the Internet of things, the step of processing ship information, the step of real-time correlation, the step of simulation analysis, event duplication and prediction deduction are carried out repeatedly, the digital twin scene is updated, and the simulation and analysis results of the digital twin scene are fed back to traffic operation management of a real inland waterway;
And carrying out feedback treatment on the real inland waterway scene according to the digital twin scene updated in the scene updating and iterative interaction optimizing step.
3. The construction method according to claim 2, wherein the ship information processing step specifically includes:
establishing a corresponding relation between sensing positioning data of sensors installed by ships in the different scale objects running in the real inland waterway scene and the ships in the digital twin scene;
judging whether the ship is in the coverage area of the monitoring video in the digital twin scene, if so, turning to a ship AIS three-dimensional dynamic labeling step, and if not, turning to an AIS data driving ship enhancement display step;
carrying out ship AIS three-dimensional dynamic labeling, carrying out real-time association on ship information and corresponding ships in a monitoring video, and carrying out labeling in a three-dimensional dynamic label mode;
and the AIS data drive the ship to strengthen and display, and corresponding ships, navigation directions and navigation tracks are enhanced and drawn in real time in a three-dimensional mode according to the ship AIS information, so that a ship dynamic operation model in the digital twin scene is constructed.
4. The construction method according to claim 2, wherein the inland waterway scene operation condition includes a maritime patrol condition and a meteorological condition, and the step of performing real-time association specifically includes:
The cruising track display and abnormal condition marking are carried out on the operation of the maritime patrol boats in the objects with different scales in the real inland waterway scene in real time, the cruising track is enhanced and displayed in the digital twin scene according to the on-board positioning and law enforcement recorder data, and the abnormal point positions and events reported in the maritime patrol operation are marked and recorded in three dimensions;
and setting environmental parameters of the environment in the digital twin scene according to the online meteorological data serving as the meteorological conditions of the real inland waterway scene, and performing environment rendering on the digital twin scene.
5. The method of construction according to claim 2, wherein the feedback treatment comprises: digital twin three-dimensional automatic cruising, digital twin offsite law enforcement, digital twin two-dimensional linkage emergency response, digital twin flood season pass gate scheduling, digital twin navigation forbidden management and control or/and digital twin ship position management.
6. An apparatus for using a method of construction of a digital twin scene of a inland waterway, comprising an external field internet of things sensing device for providing internet of things sensing data to a method of construction of a digital twin scene of a inland waterway as defined in any one of claims 1 to 4, a processor, a memory, and computer-executable instructions stored in the memory and configured to be executed by the processor, the processor executing the computer-executable instructions to implement the method of construction of a digital twin scene of a inland waterway as defined in any one of claims 1 to 4.
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