Port mobile machinery navigation method and system based on environmental perception

Abstract

The invention discloses a port mobile machinery navigation method and system based on environmental perception, and relates to the technical field of navigation, a plurality of mechanical devices needing navigation are determined as a plurality of target devices, and projection chains are correspondingly arranged between the plurality of target devices and a port navigation model; setting a plurality of measurement points corresponding to the target equipment, and performing real-time construction on the environment information to obtain a regional model; and fusing the region model into the port navigation model in real time based on the projection chain, and performing real-time adjustment on navigation routes of all target equipment according to the port navigation model. According to the method, the port environment can be updated timely and clearly according to the surrounding environment information collected by the target equipment through the projection chain, and the route of the multiple equipment can be adjusted in real time according to the overall environment of the port, so that the situation that the cargo transfer of the port is affected due to the congestion of mobile machinery caused by an information error problem is avoided; and the orderly operation of the port equipment can be better ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation, and particularly to a navigation method and system for port mobile machinery based on environmental perception. Background Art

[0002] With the advancement of globalization and the prosperity of international trade, ports, as important nodes in logistics transportation, have increasingly higher requirements for operation efficiency and safety. To improve the operation efficiency of ports, transporting and navigating port equipment is an important link. Currently, due to the large scope of ports and the independent movement of equipment to handle goods, there are situations where parts or all of the routes are the same. Therefore, when there are obstacles on the route, it is difficult to timely and accurately transmit the perceived environment to other equipment, and it is difficult to ensure timeliness in adjusting the navigation of equipment in ports. Summary of the Invention

[0003] The purpose of the present invention is to provide a navigation method and system for port mobile machinery based on environmental perception to solve the deficiencies in the background art.

[0004] To achieve the above purpose, the present invention provides the following technical solutions: A navigation method for port mobile machinery based on environmental perception, including the following steps: Determine multiple mechanical equipment that need to be navigated as multiple target devices, and set projection chains between the multiple target devices and the port navigation model; Set multiple measurement points corresponding to the target devices, collect environmental information around the target devices according to the measurement points, and perform real-time construction on the environmental information to obtain a regional model; Based on the projection chain, integrate the regional model into the port navigation model in real time, and adjust the navigation routes of all target devices in real time according to the port navigation model.

[0005] In a preferred embodiment, the step of determining multiple mechanical equipment that need to be navigated as multiple target devices and setting projection chains between the multiple target devices and the port navigation model includes: Obtain port environmental information, where the port environmental information includes port fixed information and port geographical information, and perform three-dimensional construction according to the port environmental information to obtain a port navigation model; Respectively use multiple mechanical equipment that need to be navigated as multiple target devices, and configure corresponding construction groups for the multiple target devices, where the construction group includes a construction area and a data conversion area corresponding to the construction area; Establish a corresponding connection relationship between the data conversion area and the port navigation model, and use the corresponding connection relationship between the construction group and the data conversion area and the port navigation model as the projection chain.

[0006] In a preferred embodiment, the steps of taking a plurality of mechanical devices to be navigated as a plurality of target devices respectively and configuring corresponding building clusters for the plurality of target devices include: Taking the target device as the center, taking the range within a preset square distance as the environment perception area, and setting a plurality of contour points in the environment perception area corresponding to the target device as the building area; Setting a projection space corresponding to the building area, wherein the projection space includes an upper space, a first side space, and a second side space, and setting a plurality of projection points in the projection space to obtain a data conversion area; Establishing a connection relationship between the building area and the data conversion area, and projecting and connecting the contour points with the projection points in the upper space, the first side space, and the second side space respectively to obtain a building cluster.

[0007] In a preferred embodiment, the steps of establishing a corresponding connection relationship between the data conversion area and the port navigation model, and taking the corresponding connection relationship between the building cluster and the data conversion area and the port navigation model as a projection chain include: Configuring corresponding data bearing surfaces for the upper space, the first side space, and the second side space respectively, and establishing a connection relationship between the plurality of projection points in the upper space, the first side space, and the second side space and the corresponding data bearing surfaces; Setting a fixed point corresponding to the target device, setting a following point in the port navigation model, taking the range within a preset square distance with the following point as the center as the update area, the range of the update area is the same as that of the building area, and establishing a corresponding connection relationship between the fixed point and the following point; Connecting the projection space of the data conversion area with the fixed point to obtain the connection relationship between the projection space of the data conversion area and the following point in the port navigation model.

[0008] In a preferred embodiment, the steps of setting a plurality of measurement points corresponding to the target device, collecting the environmental information around the target device according to the measurement points, and performing real-time construction on the environmental information to obtain a regional model include: Setting a plurality of measurement points corresponding to the plurality of target devices respectively, and collecting the real-time device information and real-time geographical information around the target device according to the measurement points as the environmental information; Constructing a three-dimensional model of the environmental information within the range of the environment perception area of the target device as the regional model.

[0009] In a preferred embodiment, the steps of integrating the regional model into the port navigation model in real time based on the projection chain and adjusting the navigation routes of all the target devices in real time according to the port navigation model include: Storing the regional model in the building area, and attaching the contour of the regional model through the contour points in the building area; Obtain the position and shape diagrams of the projection points in the upper space, the first side space, and the second side space through the projection connections between the projection points and the contour points in the upper space, the first side space, and the second side space; Store the position and shape diagrams in the corresponding data carrier surface, and transmit the corresponding data carrier surface to the fixed point through the upper space, the first side space, and the second side space and then to the follower point through the fixed point; Restore the data carrier surfaces corresponding to the upper space, the first side space, and the second side space into a regional model through the follower point and update the corresponding updated areas in the port navigation model; Adjust the navigation routes of all target devices in real time according to the updated port navigation model.

[0010] The present invention also provides a port mobile machinery navigation system based on environmental perception, including: A setting module, configured to determine a plurality of mechanical devices that need to be navigated as a plurality of target devices, and set a projection chain between the plurality of target devices and the port navigation model; A construction module, connected to the setting module, configured to set a plurality of measurement points corresponding to the target devices, collect environmental information around the target devices according to the measurement points, and perform real-time construction on the environmental information to obtain a regional model; An adjustment module, connected to the construction module, configured to integrate the regional model into the port navigation model in real time based on the projection chain, and adjust the navigation routes of all target devices in real time according to the port navigation model.

[0011] In the above technical solution, the technical effects and advantages provided by the present invention are: Through the projection chain, the present invention can update the port environment in a timely and clear manner with the information of the surrounding environment collected by the target device, and can adjust the routes of multiple devices in real time according to the overall port environment, avoiding congestion of mobile machinery caused by information error problems, affecting the cargo transfer of the port, and better ensuring the orderly operation of port equipment. Description of the Drawings

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings.

[0013] Figure 1 It is the method flow chart of the present invention.

[0014] Figure 2 It is the system block diagram of the present invention. Detailed Embodiments

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0016] Embodiment 1. Please refer to Figure 1 As shown, the method for navigating port mobile machinery based on environmental perception in this embodiment includes the following steps: S1. Determine multiple mechanical equipment that needs to be navigated as multiple target devices, and set projection chains between the multiple target devices and the port navigation model; S2. Set multiple measurement points corresponding to the target devices, collect the environmental information around the target devices according to the measurement points, and perform real-time construction on the environmental information to obtain a regional model; S3. Integrate the regional model into the port navigation model in real time based on the projection chain, and adjust the navigation routes of all target devices in real time according to the port navigation model.

[0017] In one embodiment, step S1 of determining multiple mechanical equipment that needs to be navigated as multiple target devices and setting projection chains between the multiple target devices and the port navigation model includes: S11. Obtain the port environmental information, where the port environmental information includes port fixed information and port geographical information, and perform three-dimensional construction according to the port environmental information to obtain the port navigation model; S12. Respectively use multiple mechanical equipment that needs to be navigated as multiple target devices, and configure corresponding construction groups for the multiple target devices. Among them, the construction group includes a construction area and a data conversion area corresponding to the construction area; S13. Establish a corresponding connection relationship between the data conversion area and the port navigation model, and use the corresponding connection relationship between the construction group and the data conversion area and the port navigation model as the projection chain; As described in the above steps S11 - S13, first, obtain the fixed information of the port and the geographical information of the port. The fixed information of the port here includes the fixed cargo storage locations for long - term placement of goods and the port equipment at the fixed working locations. The geographical information of the port includes the range dimension information and the geographical shape information of the port. Then, perform three - dimensional construction on the geographical information of the port to obtain a port environment model. Perform three - dimensional construction on the fixed information of the port in the port and add it to the port environment model to obtain a port navigation model. This port navigation model is used as a reference for decision - making analysis of subsequent equipment navigation avoidance. Then, configure corresponding construction groups for multiple target devices respectively. After that, establish a corresponding connection relationship between the data conversion area and the port navigation model, and use the construction groups and the corresponding connection relationship between the data conversion area and the port navigation model as a projection chain. Through the projection chain, the environment sensed by the target device can be constructed into the port navigation model in real - time, so that the port navigation model can be updated in real - time. Furthermore, according to the real - time port navigation model, the navigation of multiple target devices can be adjusted.

[0018] In one embodiment, step S12 of using multiple mechanical devices that need to be navigated as multiple target devices and configuring corresponding construction groups for multiple target devices respectively includes: S121. Take the target device as the center and use the range within a preset square distance as the environment perception area, and set multiple contour points in the environment perception area corresponding to the target device as the construction area; S122. Set a projection space corresponding to the construction area. Among them, the projection space includes an upper space, a first side space, and a second side space, and set multiple projection points in the projection space to obtain a data conversion area; S123. Establish a connection relationship between the construction area and the data conversion area, and projectively connect the contour points to the projection points in the upper space, the first side space, and the second side space respectively to obtain a construction group; In one embodiment, step S13 of establishing a corresponding connection relationship between the data conversion area and the port navigation model and using the construction groups and the corresponding connection relationship between the data conversion area and the port navigation model as a projection chain includes: S131. Configure corresponding data - carrying surfaces for the upper space, the first side space, and the second side space respectively, and establish a connection relationship between the multiple projection points in the upper space, the first side space, and the second side space and the corresponding data - carrying surfaces; S132. Set a fixed point corresponding to the target device, set a following point in the port navigation model, take the following point as the center and use the range within a preset square distance as the update area. The range of the update area is the same as that of the construction area, and establish a corresponding connection relationship between the fixed point and the following point; S133. Connect the projection space of the data conversion area with the fixed point to obtain the connection relationship between the projection space of the data conversion area and the random points in the port navigation model; As described in the above steps S12 and S13, in order to update the surrounding environmental information collected by the target device in real time to the port navigation model, first, the range within the preset radius centered on the target device is used as the environmental perception area. The environmental perception area is a virtualized range within the preset radius around the target device. Here, the environmental perception area is represented as a data space through virtualization. Multiple contour points are set as the construction area corresponding to the environmental perception area of the target device. Here, the environmental perception area is used as the area for the target device to collect the surrounding environmental information. Multiple contour points are set in this area. Among them, the contour points are network nodes, and the network nodes can be attached to the outer contour of the virtual three-dimensional model inside the subsequent construction area. Then, a projection space is set corresponding to the construction area. Among them, the projection space includes an upper space, a first side space, and a second side space. The upper space, the first side space, and the second side space are all represented by a data layer, and the data layer is a data space. Then, multiple projection points are respectively set in the upper space, the first side space, and the second side space to obtain a data conversion area. The projection points can be connected to the contour points, and the connection method is a projection connection, which means that the connection between the projection points and the contour points is a one-to-one straight-line connection. It is equivalent to projecting the upper and left and right sides of the virtual three-dimensional model inside the construction area after the contour points are subsequently attached to the outer contour of the virtual three-dimensional model inside the construction area. In this way, the virtual three-dimensional model inside the construction area can be converted into a plane, and the planes at three angles can represent the virtual three-dimensional model inside the construction area. In this way, in the subsequent process, the virtual three-dimensional model inside the construction area constructed from the surrounding environmental information collected by the target device can be quickly transmitted and updated to the port navigation model in real time. The contour points are respectively connected to the projection points in the upper space, the first side space, and the second side space through projection connections. The projection connection here is the straight-line orthographic projection connection between the contour points and the projection points, and a construction group is obtained.After the construction group is built on the target device, continue to build the connection between the port navigation model and the construction group. First, configure the corresponding data-carrying surfaces for the upper space, the first side space, and the second side space respectively. The data-carrying surface is a data carrier used to carry the shape of the projection points after the projection connection between the projection points and the contour points on the corresponding upper space, the first side space, and the second side space. The data-carrying surface is used to transmit the shape of the projection points after the projection connection between the projection points and the contour points to the port navigation model to update the port navigation model in real time. Set a fixed point for the corresponding target device, and the fixed point is the port of the corresponding target device. Set a follow point in the port navigation model, and the follow point is at the port of the target device corresponding to the port navigation model. The port navigation model, as a data carrier, can load the follow point. There is a positional entanglement relationship between the fixed point and the follow point, and the follow point can move following the fixed point. Take the range within the preset square distance centered on the follow point as the update area, and the range of the update area is the same as that of the construction area. Establish the corresponding connection relationship between the fixed point and the follow point, connect the projection space of the data conversion area to the fixed point, and obtain the connection relationship between the projection space of the data conversion area and the follow point in the port navigation model. The upper space, the first side space, and the second side space in the projection space are all data layers (databases), so that the data-carrying surface can be transmitted to the fixed point through the projection space and then transmitted to the follow point through the fixed point.

[0019] In one embodiment, the step S2 of setting a plurality of measurement points for the corresponding target device, collecting environmental information around the target device according to the measurement points, and performing real-time construction on the environmental information to obtain a regional model includes: S21. Set a plurality of measurement points for each of the plurality of target devices, and collect the real-time device information and real-time geographical information around the target device according to the measurement points as environmental information; S22. Construct a three-dimensional model of the environmental information within the environmental perception area range of the target device as the regional model; As described in the above steps S21 and S22, a plurality of measurement points are set for each target device. Among them, the measurement points include various types of sensors such as lidar, cameras, and millimeter-wave radars to increase the measurement dimension of environmental information, effectively expand the detection range, and enhance environmental robustness. Collect the real-time device information and real-time geographical information around the target device according to the measurement points as environmental information. After obtaining the environmental information, perform three-dimensional construction on the environmental information within the environmental perception area range of the target device to obtain a regional model, and this regional model is a real-time model collected by the target device; In one embodiment, the step S3 of integrating the regional model into the port navigation model in real time based on the projection chain and adjusting the navigation routes of all target devices in real time according to the port navigation model includes: S31. Store the area model in the construction area and attach the contour of the area model through the contour points in the construction area; S32. Obtain the position and shape diagrams of the projection points in the upper space, the first side space, and the second side space through the projection connections between the projection points and the contour points in the upper space, the first side space, and the second side space; S33. Store the position and shape diagrams in the corresponding data carrier surface, and transmit the corresponding data carrier surface to the fixed point through the upper space, the first side space, and the second side space and then transmit it to the follower point through the fixed point; S34. Restore the data carrier surfaces corresponding to the upper space, the first side space, and the second side space into an area model through the follower point and update the corresponding updated area in the port navigation model; S35. Real-time adjust the navigation routes of all target devices according to the updated port navigation model; As described in the above steps S31 - S35, the construction area is represented by the data space and multiple contour points are set. The area model is stored in the construction area, and the contour of the area model is attached through the contour points in the construction area. According to the principle of obtaining the three - sided planar graph of the 3D model by projection: the position and shape diagrams of the projection points in the upper space, the first side space, and the second side space are obtained through the projection connections between the projection points and the contour points in the upper space, the first side space, and the second side space. Then, the position and shape diagrams are attached to the data - carrying surface for transmission. By collecting and transmitting the plane, the efficiency of data transmission can be ensured, thereby improving the real - time performance of data transfer. In this way, the area model collected when the target device is at one position can be updated to the port navigation model in a timely manner. The target device is constantly moving and will move to other positions in the next moment. If the transmission is not efficient enough, there will be a delay in the transmission of the area model and it may cause a deviation in the position of the area model update in the port navigation model. At the same time, the transmitted data is relatively simple, being a planar image, which can ensure the security of data transmission. The simplicity of the data means that the transmission process is efficient and it is not easy to have data chaos and loss. First, the corresponding data - carrying surfaces in the upper space, the first side space, and the second side space are transmitted to the fixed point and then to the follow - up point through the fixed point. After receiving the information, the follow - up point restores the data - carrying surfaces corresponding to the upper space, the first side space, and the second side space into the area model through the follow - up point and updates the corresponding update area in the port navigation model. The restoration of the 3D model here is based on at least three - sided planar projection diagrams. The entire port navigation model can be updated in real - time through the perception of the environment by multiple target devices. Through the update of the entire port navigation model, the route of the target device can be better planned. For example, the nearest route between the starting point and the destination is preferentially selected. However, when it is found through the collection, model, and update of the environmental perception of other target devices that there are obstacles in the nearest route, the route of this target device can be adjusted to another nearest route that does not pass through the blocked route. According to the updated port navigation model, the navigation routes of all target devices are adjusted in real - time. Through the projection chain, the information on the surrounding environment collected by the target device can be used to update the port environment in a timely manner. Multiple devices can have their routes adjusted in real - time according to the overall port environment, avoiding equipment blockage caused by information error problems and affecting the cargo flow in the port, and better ensuring the orderly operation of port equipment. To ensure the accuracy of environmental perception, multiple measurement points are set for each target device. Therefore, the data is different, and directly transmitting information is prone to chaos. Therefore, to ensure the accuracy of environmental perception and to ensure that the data is not easily chaotic, multiple measurement points are set. Here, in the projection chain of the target device, the area model is constructed and the area model is simplified for transmission, which not only ensures the accuracy of environmental perception but also simplifies the transmission to ensure efficiency, and has a good effect on updating the port navigation model.Better adjust the adaptive routes for all target devices in the port.

[0020] Example 2, please refer to Figure 2 As shown, the port mobile machinery navigation system based on environmental perception in this embodiment includes: A setting module, configured to determine multiple mechanical equipment that need to be navigated as multiple target devices, and set projection chains between the multiple target devices and the port navigation model; A construction module, connected to the setting module, configured to set multiple measurement points corresponding to the target devices, collect environmental information around the target devices according to the measurement points, and perform real-time construction on the environmental information to obtain a regional model; An adjustment module, connected to the construction module, configured to integrate the regional model into the port navigation model in real time based on the projection chain, and perform real-time adjustment on the navigation routes of all target devices according to the port navigation model; In the operation of large dry bulk cargo loading and unloading sites, the application of mobile machinery is relatively common. There are several common characteristics in the safety management of port mobile machinery applications: First, the individual operation has a large degree of randomness and it is difficult to control safety; second, the operation environment is changeable and it is difficult to pre-control safety. Most operation sites are mainly based on human-machine and machine-machine cooperation. The machinery moves frequently and the operation environment changes rapidly. It requires high requirements and great difficulty for drivers to master the surrounding safety environment. Safety hazards exist and change at all times, and it is difficult to understand the changes in the port environment in a timely and clear manner. Multiple target devices are all connected to the port navigation model. Through the port navigation model, real-time data of the port can be given to the target devices, and the target devices can also be directly controlled through the port navigation model.

[0021] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A port mobile machinery navigation method based on environment perception, characterized in that: The following steps are involved: Determine multiple mechanical equipment that needs to be navigated as multiple target equipment, and set up projection chains between the multiple target equipment and the port navigation model; Multiple measurement points are set corresponding to the target device, and the environmental information around the target device is collected according to the measurement points, and the environmental information is constructed in real time to obtain a regional model; Based on the projection chain, the regional model is integrated into the port navigation model in real time, and the navigation routes of all target equipment are adjusted in real time according to the port navigation model.

2. The method for port mobile machinery navigation based on environment perception according to claim 1 is characterized in that: The step of determining a plurality of mechanical devices that need to be navigated as a plurality of target devices and setting a projection chain between the corresponding plurality of target devices and the port navigation model includes: Acquire port environment information, wherein the port environment information includes port fixed information and port geographic information, and perform three-dimensional construction based on the port environment information to obtain a port navigation model; A plurality of mechanical devices that need to be navigated are respectively used as a plurality of target devices, and corresponding construction groups are configured corresponding to the plurality of target devices, wherein the construction group includes a construction area and a data conversion area corresponding to the construction area; The corresponding connection relationship between the data conversion area and the port navigation model is established, and the corresponding connection relationship between the construction group and the data conversion area and the port navigation model is used as a projection chain.

3. The method for navigation of mobile port machinery based on environment perception according to claim 2, characterized in that: The step of using the plurality of mechanical devices that need to be navigated as a plurality of target devices respectively and configuring corresponding construction groups for the plurality of target devices includes: Taking the target device as the center, the range within the preset radius is taken as the environmental perception area, and a plurality of contour points corresponding to the environmental perception area of ​​the target device are set as the construction area; A projection space is set corresponding to the construction area, wherein the projection space includes an upper space, a first side space and a second side space, and a plurality of projection points are set in the projection space to obtain a data conversion area; A connection relationship between the construction area and the data conversion area is established, and the contour points are projected and connected with the projection points in the upper space, the first side space and the second side space respectively to obtain a construction group.

4. The method for navigation of mobile port machinery based on environment perception according to claim 3 is characterized in that: The step of establishing a corresponding connection relationship between the data conversion area and the port navigation model and using the construction group and the corresponding connection relationship between the data conversion area and the port navigation model as a projection chain includes: Corresponding data bearing surfaces are configured for the upper space, the first side space, and the second side space, respectively, and connection relationships are established between a plurality of projection points in the upper space, the first side space, and the second side space and the corresponding data bearing surfaces; Set a fixed point for the target device, set a random point in the port navigation model, and use the random point as the center to take the range within the preset radius as the update area. The update area is the same as the construction area, and establish a corresponding connection relationship between the fixed point and the random point; The projection space of the data conversion area is connected with the fixed point to obtain the connection relationship between the projection space of the data conversion area and the random point in the port navigation model.

5. The method for navigation of mobile port machinery based on environment perception according to claim 1, characterized in that: The step of setting a plurality of measurement points corresponding to the target device, collecting environmental information around the target device according to the measurement points, and constructing the environmental information in real time to obtain a regional model includes: Multiple measuring points are respectively set corresponding to multiple target devices, and real-time device information and real-time geographic information around the target devices are collected as environmental information according to the measuring points; A three-dimensional model of environmental information within the environmental perception area of ​​the target device is constructed as a regional model.

6. The method for navigation of mobile port machinery based on environment perception according to claim 1, characterized in that: The step of integrating the regional model into the port navigation model in real time based on the projection chain and adjusting the navigation routes of all target devices in real time according to the port navigation model includes: The regional model is stored in the construction area, and the contour of the regional model is attached through the contour points in the construction area; Obtaining position shape diagrams of the projection points in the upper space, the first side space, and the second side space by projecting connections between the projection points and the contour points in the upper space, the first side space, and the second side space; The position shape diagram is stored in the corresponding data bearing surface, and the corresponding data bearing surface is transmitted to the fixed point through the upper space, the first side space and the second side space, and then transmitted to the random point through the fixed point; The data bearing surfaces corresponding to the upper space, the first side space and the second side space are restored into a regional model by point by point, and the corresponding update area in the port navigation model is updated; The navigation routes of all target equipment are adjusted in real time according to the updated port navigation model.

7. A port mobile machinery navigation system based on environment perception, used to implement the port mobile machinery navigation method based on environment perception according to any one of claims 1 to 6, characterized in that: include: A setting module, used for determining a plurality of mechanical devices that need to be navigated as a plurality of target devices, and setting a projection chain between the corresponding plurality of target devices and the port navigation model; A construction module, connected to the setting module, is used to set a plurality of measurement points corresponding to the target device, collect environmental information around the target device according to the measurement points, and construct the environmental information in real time to obtain a regional model; The adjustment module is connected with the construction module and is used to integrate the regional model into the port navigation model in real time based on the projection chain, and adjust the navigation routes of all target devices in real time according to the port navigation model.

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