Virtual navigation mark full-process automatic management and control method and system

Abstract

The invention provides a virtual navigation mark full-process automatic management and control method and system, and belongs to the technical field of data processing. In order to meet the requirements of bridge superstructure hoisting and port and wharf construction, virtual navigation mark integrated intelligent production software is independently researched and developed and put into production and use, and the related corresponding processing method can be displayed based on a software form and is written based on a python language; the multifunctional application software is smooth in interactive interface, convenient in information editing and efficient in batch production. The method mainly comprises the sub-functions of virtual navigation mark distribution, automatic channel announcement generation, virtual navigation mark confirmation list generation and the like, an external production system and office software can be automatically associated, and a user can quickly define and edit navigation mark parameters across multiple systems through a single software operation interface, so that the user experience is improved. The navigation channel announcement and navigation mark confirmation list and other diversified functions are intelligently compiled and generated, and related virtual navigation mark information only needs to be filled and recorded at a time and does not need to be repeatedly recorded.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to a method and system for fully automated control of a virtual beacon. Background Art

[0002] In the shipping industry, virtual navigation marks are becoming increasingly important as key facilities to ensure the safety of ship navigation and optimize the use of waterways. However, the current planning and management of virtual navigation marks is still based on manual experience and traditional surveying and mapping methods, which is significantly different from the demand for automated control.

[0003] When planning virtual navigation marks manually, it is difficult to fully analyze the complex and ever-changing marine and inland environmental factors due to the limitations of human cognition. For example, the dynamic changes of water flow and the complex topography of the seabed and riverbed are difficult to accurately capture and process manually. In addition, manual planning is inefficient and it is difficult to respond quickly when virtual navigation marks need to be set up in large areas of sea, inland waters or in emergency situations.

[0004] Traditional surveying and mapping technologies have inherent defects in data collection and processing, and the data accuracy and real-time performance cannot meet the needs of automated management and control. As a result, the planning and layout of virtual navigation marks lack precision and cannot provide reliable data support for intelligent shipping systems.

[0005] With the intelligent upgrade of the transportation industry, the continuous growth of the number of ships and the continuous improvement of the demand for intelligent navigation, higher requirements are placed on the automated control capabilities of virtual navigation marks. If the full process automation of virtual navigation marks from planning and design to dynamic adjustment cannot be achieved, it will not only fail to meet the development needs of intelligent shipping, but will also restrict the improvement of ship navigation efficiency and safety.

[0006] Therefore, there is an urgent need for a full-process automated control method and system for virtual navigation marks that can improve the automation effect of the entire process. Summary of the invention

[0007] Based on the above problems, the present invention is proposed to provide a method and system for fully automated management and control of virtual navigation marks that overcome the above problems or at least partially solve the above problems.

[0008] According to one aspect of the present invention, a method for fully automated management and control of a virtual navigation mark is provided, comprising the following steps: Establish a route model corresponding to the construction route of the construction project and determine the different construction nodes included in the construction project; In response to reaching any monitoring cycle, a virtual construction area is determined in the route model based on the current construction situation of each construction node, and a virtual construction navigation mark is formed to mark the virtual construction area; When it is determined that any vessel is sailing on the construction route, a construction prediction is made for each construction node based on the time difference between the planned sailing time of the corresponding vessel and the adjacent monitoring period, forming a virtual prediction beacon that marks the virtual prediction area determined based on the prediction result.

[0009] Optionally, in the method according to the present invention, determining a virtual construction area in the route model based on the current construction status of each construction node, and forming a virtual construction beacon for marking the virtual construction area, comprises: Obtain the node coordinate points corresponding to each construction node, and control the drone to fly to the node coordinate points for collection, and obtain the node image corresponding to each node coordinate point; Determine an image construction area located in the node image and indicating a real construction area, and generate image points having the same point spacing based on an image contour corresponding to the image construction area; Generate an image connection line between each image point and the image center point of the corresponding image construction area, and determine an image extension point with a preset navigation mark distance from the image point along the image extension direction of the image connection line; Based on the dimensional conversion relationship between the node image and the route model, the construction extension point corresponding to each image extension point located on the route model is determined, and based on the construction extension point, a virtual construction beacon is formed to mark the virtual construction area corresponding to the image construction area.

[0010] Optionally, in the method according to the present invention, determining the image construction area indicating the actual construction area located in the node image includes: Performing image recognition on the node image, and determining whether the node image has an image landing area indicating a real landing area based on the recognition result; When it is determined that there is no node, the drone is controlled to successively perform an ascending operation corresponding to a preset ascending height from the initial flight altitude, and data is collected based on each ascending operation to obtain an updated node image; When it is determined that there is, binarization is performed on all other areas of the node image except the image shore area to obtain water flow pixel points corresponding to the first pixel value and noise pixel points corresponding to the second pixel value; The noise pixel points in the adjacent relationship are connected point by point, and the obtained image noise area containing the image points of the corresponding node coordinate points is determined as the image construction area indicating the actual construction area.

[0011] Optionally, in the method according to the present invention, a virtual construction navigation mark for marking a virtual construction area corresponding to the image construction area is formed based on the construction extension point, and then the method further includes: Connecting adjacent virtual construction navigation marks corresponding to the same virtual construction area to obtain a navigation mark fence surrounding each virtual construction area; In response to overlapping parts between different beacon fences, all beacon fences corresponding to the same overlapping part are aggregated into the same beacon merge group; Determine the route extension direction corresponding to the construction route based on the route model, and coordinate the route model to obtain a model coordinate system, wherein the Y axis in the model coordinate system is parallel to the route extension direction; Obtaining the model coordinate points of each navigation mark fence that constitutes the same navigation mark merging group, and generating a horizontal merging line and a vertical merging line that are perpendicular to and parallel to the extension direction of the route based on the model coordinate points corresponding to the transverse coordinate extreme values ​​and the longitudinal coordinate extreme values; A merged fence is generated based on the horizontal merged line and the vertical merged line to surround each navigation mark fence located in the same navigation mark merged group, and an updated virtual construction navigation mark is formed based on each merged point at the same point spacing of the merged fence.

[0012] Optionally, in the method according to the present invention, construction prediction is performed for each construction node based on the time difference between the planned sailing time of the corresponding sailing vessel and the adjacent monitoring period, and a virtual prediction navigation mark is formed to mark the virtual prediction area determined based on the prediction result, including: Obtaining the construction time period corresponding to each construction node, and summarizing each construction node corresponding to the construction time period and having different overlapping time periods with the time difference period into a prediction group; Determine a monitoring period close to the planned sailing time as a target period, and determine a monitoring period before the target period as a comparison period; Determine the area cycle change between the virtual construction area corresponding to the target period and the virtual construction area corresponding to the comparison period for each construction node in the prediction group based on the route model, and determine the time period ratio between the overlapping time period and the construction time period corresponding to the same construction node; Based on the regional period changes of each construction node, the regional time period changes of the corresponding time period proportion are determined, and the construction prediction of the construction node is performed based on the regional time period changes, and a virtual prediction beacon is formed to mark the virtual prediction area determined based on the prediction result.

[0013] Optionally, in the method according to the present invention, the regional time period change of the corresponding time period proportion is determined based on the regional period change of each construction node, and the construction prediction of the construction node is performed based on the regional time period change, so as to form a virtual prediction beacon for marking the virtual prediction area determined based on the prediction result, including: Determine the newly added construction area corresponding to the construction node based on the periodic change of each area, and generate each newly added point with the same point spacing based on the newly added contour of the corresponding newly added construction area; Generate a new connection line between each newly added point and the newly added center point of the corresponding newly added construction area, and determine the newly added extension direction of the newly added connection line corresponding to the maximum line segment length as the newly added construction direction; Determine the area overlap segment based on the area comparison between the virtual construction area corresponding to the comparison period and the virtual construction area corresponding to the target period, and determine the additional construction distance between each additional point and the area overlap segment based on the direction perpendicular to the additional construction direction; Calculate the product of each newly added construction distance and the time period proportion, and determine each predicted point along the newly added construction direction based on the obtained predicted construction distance; Each prediction point at an adjacent position is connected point by point, a virtual prediction area connected to the newly added construction area is determined, and a virtual prediction beacon for marking the virtual prediction area is formed.

[0014] Optionally, in the method according to the present invention, forming a virtual prediction beacon for marking the virtual prediction area includes: Generate a prediction connection line between each prediction point and the prediction center point of the corresponding virtual prediction area, and determine a prediction extension point with a preset navigation mark distance from the prediction point along the prediction extension direction of the prediction connection line; A virtual prediction navigation mark is formed based on the construction extension point to mark the virtual prediction area, and pixel rendering corresponding to a first pixel value is performed on the virtual construction navigation mark, and pixel rendering corresponding to a second pixel value is performed on the virtual prediction navigation mark.

[0015] Optionally, in the method according to the present invention, the method further comprises: The navigation coordinate points of the sailing vessel are acquired in real time, a virtual vessel corresponding to the sailing vessel is established in the route model based on the navigation coordinate points, and the route model is sent to the sailing vessel for display.

[0016] Combine the virtual construction navigation mark and the virtual prediction navigation mark corresponding to the same construction node to obtain a virtual combined navigation mark; Determine the route extension direction corresponding to the construction route based on the route model, and determine all the passing areas for each virtual combined navigation mark along the route extension direction; Determine the passage width of each passage area in the extension direction of the corresponding route, and determine the passage area whose corresponding passage width is greater than the width of the corresponding sailing ship as having a passage attribute, otherwise determine it as having a prohibited attribute; In response to determining that the sailing distance between the virtual ship and any virtual combined navigation mark is less than a preset distance along the extension direction of the route, all passage areas with passage attributes corresponding to the virtual combined navigation mark are filled with corresponding passage identifiers based on the route model.

[0017] Optionally, in the method according to the present invention, the method further comprises: The method further comprises: In response to multiple sailing vessels having the same planned sailing time, obtaining passage areas with passage attributes corresponding to all sailing vessels respectively based on each virtual combined navigation mark, and determining the number of all sailing vessels corresponding to the same passage area; When it is determined that the number of ships corresponding to any passage area is greater than one, the navigation order is obtained by sorting the ships based on the navigation urgency of each ship. Pixel rendering corresponding to different identification pixel values ​​is performed for each sailing vessel, and in response to any sailing vessel being determined to pass through the passage area based on the sailing order, the passage identifier is rendered with pixels corresponding to the identification pixel value.

[0018] In response to multiple ships passing through the same passage area at any time, the passage area will be filled with corresponding warning identifiers.

[0019] According to another aspect of the present invention, a virtual navigation mark full-process automated management and control system is provided, comprising: A model building module is configured to build a route model corresponding to a construction route of the construction project and determine various construction nodes included in the construction project; A construction navigation mark module is configured to respond to the arrival of any monitoring cycle, determine a virtual construction area in the route model based on the current construction situation of each construction node, and form a virtual construction navigation mark for marking the virtual construction area; The prediction navigation mark module is configured to, when it is determined that any sailing vessel is sailing on the construction route, make a construction prediction for each construction node based on the time difference between the planned sailing time of the corresponding sailing vessel and the adjacent monitoring period, and form a virtual prediction navigation mark for the virtual prediction area determined based on the prediction result.

[0020] The present invention is beneficial in that: According to the technical solution of the present application, firstly, by establishing a route model and determining construction nodes, the foundation can be laid for subsequent precise control. On this basis, virtual construction navigation marks can be generated according to the construction situation. With the help of drone image collection and precise image processing technology, the boundaries of the construction area can be accurately defined, so that passing ships can clearly understand the danger range and effectively avoid mistakenly entering the construction area, thus ensuring navigation safety. When a ship is sailing, the server can make construction predictions based on the time difference between the planned sailing time and the monitoring period, and generate virtual predicted navigation marks. This measure allows the crew to know the changing trend of the construction area in advance, plan safe routes in advance, and further reduce potential risks. It reduces risks and improves the safety and smoothness of navigation. In addition, it obtains the coordinates of sailing ships in real time and establishes virtual ships. The passage area is determined by combining the virtual construction area and the predicted area. At the same time, the passage attributes are judged according to the width of the passage area and the width of the ship. This not only provides intuitive and clear navigation guidance for the crew and improves navigation efficiency, but also can sort multiple ships based on the urgency of navigation, reasonably arrange the passage order, ensure that emergency mission ships pass first, maintain the overall order of water traffic, comprehensively improve the level of navigation safety management during water construction, optimize the utilization efficiency of waterway resources, and realize the automated control effect of virtual navigation marks. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A flowchart of a method for fully automated management and control of a virtual navigation mark according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of a node image in this embodiment is shown; Figure 3 A structural block diagram of a virtual navigation mark full-process automated management and control system according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0022] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0023] To solve the problems existing in the above-mentioned prior art, the inventor proposes the solution of the present invention. One embodiment of the present invention provides a method for automatic management and control of the entire process of a virtual navigation mark, which can be executed in a computing device, wherein the computing device can be understood as a terminal with data processing function, such as a mobile phone or a computer.

[0024] It can be explained that in order to meet the needs of bridge superstructure hoisting and port terminal construction, this embodiment is based on the self-developed virtual navigation mark integrated intelligent production software and put into production. Among them, the corresponding processing methods involved can be presented in the form of software, and it is written in Python language. It is a multifunctional application software with smooth interactive interface, convenient information editing, and efficient batch production. It mainly includes sub-functions such as virtual navigation mark distribution, automatic generation of channel notices and virtual navigation mark confirmation sheets, which can automatically associate external production systems and office software. Users can use a single software operation interface to quickly define and edit navigation mark parameters across multiple systems, and intelligently write and generate channel notices and navigation mark confirmation sheets. The virtual navigation mark information involved only needs to be filled in once, without repeated entry; among them, each sub-function can be used in combination according to the requirements of hoisting construction, or applied separately according to other actual needs.

[0025] Figure 1 A flowchart of a method for fully automated control of a virtual navigation mark provided in this embodiment is shown as follows: Figure 1 As shown, the method starts at step S101, and in step S101, the following contents are included: Establish a route model corresponding to the construction route of the construction project, and determine the different construction nodes included in the construction project.

[0026] For example, in this embodiment, the construction project can be understood as a construction plan generated in advance by engineering personnel in order to construct a construction route. The route construction can include bridge construction, dock construction, etc. on the construction route. In addition, in order to ensure the orderly progress of the construction project, in general, the construction project can have different construction nodes, and each construction node can be understood as different construction contents corresponding to different route positions. For example, along the route extension direction of the construction route, the construction route can be divided into three route parts. Different construction nodes are established based on the three route parts, so that different construction contents can be constructed based on different construction nodes during the actual construction process.

[0027] It can be explained that when engineering personnel are constructing routes based on construction projects, as the construction progress of the route construction progresses, corresponding construction areas will be formed on the construction routes, and the size of the area corresponding to each construction area may also change according to the progress of the construction. For example, in the process of building a navigation terminal, as the construction progresses, the construction area corresponding to the navigation terminal will continue to expand in size to eventually form a complete navigation terminal. In this case, if any navigation vessel needs to sail through the construction route, in order to avoid the navigation vessel from colliding with the construction area during navigation, it is necessary to establish corresponding construction navigation marks based on the construction area to mark the construction area. In order to improve the warning effect of the corresponding construction navigation mark, in this embodiment, the corresponding construction navigation mark can be displayed in an online form to help the navigation vessel more intuitively obtain the relative position between the navigation vessel and the construction navigation mark.

[0028] Based on the above content, in order to display the corresponding generated construction navigation marks in an online form, this embodiment can first obtain the digital twin data of the corresponding construction route, and establish a route model corresponding to the construction route based on the digital twin data, thereby completing the online display of the construction route, so as to further realize the online display of the construction navigation marks in the subsequent process.

[0029] In step S102, the following contents are included: In response to reaching any monitoring cycle, a virtual construction area is determined in the route model based on the current construction situation of each construction node, and a virtual construction beacon is formed to mark the virtual construction area.

[0030] For example, in this embodiment, since the construction beacon is used to mark the construction area, and the size of the construction area corresponding to each construction node may also change with the advancement of the construction progress, in order to regularly determine the construction status of each construction area (that is, the corresponding area size) for monitoring, a corresponding regular monitoring task can be established, wherein the regular monitoring task can be based on different monitoring cycles. Based on the general construction time and rest time, the monitoring cycle can be set to, for example, 6 a.m. every day, that is, the construction status of each construction area will be monitored at 6 a.m. every day, so as to determine the virtual construction area in the route model established in the above steps based on the current construction status corresponding to each construction node, and form a virtual construction beacon to mark the virtual construction area based on its area position and area size.

[0031] Furthermore, in this embodiment, the above-mentioned “determining a virtual construction area in the route model based on the current construction situation of each construction node, and forming a virtual construction navigation mark for marking the virtual construction area” may also include the following steps: Obtain the node coordinate points corresponding to each construction node, and control the drone to fly to the node coordinate points for collection, and obtain the node image corresponding to each node coordinate point; Determine an image construction area located in the node image and indicating a real construction area, and generate image points having the same point spacing based on an image contour corresponding to the image construction area; Generate an image connection line between each image point and the image center point of the corresponding image construction area, and determine an image extension point with a preset navigation mark distance from the image point along the image extension direction of the image connection line; Based on the dimensional conversion relationship between the node image and the route model, the construction extension point corresponding to each image extension point located on the route model is determined, and based on the construction extension point, a virtual construction beacon is formed to mark the virtual construction area corresponding to the image construction area.

[0032] For example, in this embodiment, the specific process of monitoring the current construction status of each construction node for the corresponding periodic monitoring task and forming a virtual construction beacon based on the virtual construction area determined based on the monitoring result can be described as follows: First, obtain the node coordinate points corresponding to each construction node, for example, use high-precision positioning technology (GPS) to accurately determine these coordinates. The node coordinate points can be understood as the construction starting points corresponding to each construction node, that is, the construction areas formed subsequently should all be constructed based on the corresponding construction starting points; Then, the server can control the drone to fly to the node coordinate point for collection. Here, it can be explained that the drone can be equipped with high-resolution image acquisition equipment to obtain clear and accurate node images corresponding to each node coordinate point. The beneficial effect of this step is that by collecting images through the drone, real-time image information of the construction area can be obtained efficiently and comprehensively. Compared with manual on-site surveys, it not only improves the efficiency of information collection, but also ensures the safety of personnel and avoids potential dangers to personnel caused by the complex environment of the construction area; Next, an image construction area indicating a real construction area located in the node image is determined, and after the image construction area is identified, each image point with the same point spacing is generated based on the image contour of the corresponding image construction area; it can be explained that the uniformly distributed image point setting provides a basis for more accurately determining the boundary of the virtual construction area in the subsequent process, which can make the division of the virtual construction area more accurate and reduce errors; Subsequently, the server can generate an image connection line between each image point and the image center point of the corresponding image construction area, and determine the image extension point with a preset navigation mark spacing from the image point along the image extension direction of the image connection line. Such an operation can reasonably expand the identification range of the virtual construction area according to the shape and characteristics of the image construction area, so that the virtual construction navigation mark can cover the actual construction area more comprehensively, effectively reminding passing ships to pay attention to avoid; Finally, based on the dimensional conversion relationship between the node image and the route model, the construction extension point corresponding to each image extension point located on the route model can be determined, and further based on the construction extension point, a virtual construction navigation mark is formed to mark the virtual construction area corresponding to the image construction area. That is, this embodiment can combine the image information with the route model through accurate dimensional conversion, and the generated virtual construction navigation mark can accurately mark the construction area in the route model, providing intuitive and accurate navigation warnings for sailing ships, greatly improving navigation safety and management efficiency during waterway construction.

[0033] Furthermore, in this embodiment, the above-mentioned “determining the image construction area indicating the actual construction area located in the node image” may also include the following steps: Performing image recognition on the node image, and determining whether the node image has an image landing area indicating a real landing area based on the recognition result; When it is determined that there is no node, the drone is controlled to successively perform an ascending operation corresponding to a preset ascending height from the initial flight altitude, and data is collected based on each ascending operation to obtain an updated node image; When it is determined that there is, binarization is performed on all other areas of the node image except the image shore area to obtain water flow pixel points corresponding to the first pixel value and noise pixel points corresponding to the second pixel value; The noise pixel points in the adjacent relationship are connected point by point, and the obtained image noise area containing the image points of the corresponding node coordinate points is determined as the image construction area indicating the actual construction area.

[0034] For example, in this embodiment, after the corresponding node image is acquired, determining the image construction area indicating the actual construction area based on the node graph image can be specifically implemented based on the following contents: First, the server can further perform image recognition on the node image, and use advanced image recognition algorithms to determine whether the node image has an image landing area indicating a real landing area based on the recognition result. That is, through accurate image recognition, the landing area information in the image can be quickly screened out, laying the foundation for subsequent accurate judgment of the construction area, thereby improving the accuracy and efficiency of the judgment of the construction area. Here, the recognition of the real landing area can be performed based on an image recognition model obtained by model training methods such as a neural network learning model or a machine learning model; Then, when it is determined that there is no landing area in the image, the drone can be controlled to perform ascending operations corresponding to the preset ascending heights from the initial flight altitude one by one, and data can be collected based on each ascending operation to obtain an updated node image; that is, when the image acquired from the initial altitude cannot identify the landing area, new images can be collected by controlling the drone to ascend, and the image acquisition range can be expanded accordingly to obtain more comprehensive scene information, thereby avoiding the omission of all areas of the actual construction area due to shooting angle or range limitations, thereby ensuring that the complete construction area can be accurately determined; Next, when the server determines that there is an image landing area, it can perform binarization processing on all other areas of the node image except the image landing area to obtain water flow pixel points corresponding to the first pixel value and noise pixel points corresponding to the second pixel value. Binarization processing can simplify complex image information, highlight water flow pixel points and noise pixel points, facilitate subsequent extraction of construction areas, and improve the efficiency and pertinence of image processing; Subsequently, the noise pixel points in an adjacent relationship are connected, and the obtained image noise area containing the image points of the corresponding node coordinate points is determined as the image construction area indicating the actual construction area. That is, the construction area can be determined by connecting adjacent noise pixel points. The correlation between the noise pixel points and the construction area can be utilized to accurately lock the scope of the construction area while excluding the interference of the shore area and water flow pixel points, providing a reliable basis for the subsequent generation of virtual construction navigation marks based on the area, ensuring the accuracy of the virtual navigation mark marking the construction area, and then effectively guiding passing ships to avoid the construction area and ensure navigation safety.

[0035] For example, Figure 2 A schematic diagram of the node image in this embodiment is shown, based on Figure 2 From the content, we can see that there is an image construction area in the node image, and the image construction area roughly corresponds to the middle of the construction route.

[0036] It can be explained that in actual application scenarios, when any sailing vessel is sailing on a construction route, if there is a corresponding construction area on the construction route, the sailing vessel needs to avoid the construction area to sail, so as to ensure that the sailing vessel does not collide with the construction area. If at least two virtual construction areas are close to each other, there may be an overlap of virtual construction beacons corresponding to different virtual construction areas. In this case, in order to further improve the integration of virtual construction beacons and the navigation safety of the corresponding sailing vessel, in this embodiment, after "forming a virtual construction beacon for marking the virtual construction area corresponding to the image construction area based on the construction extension point", the following steps may be further included: Connecting adjacent virtual construction navigation marks corresponding to the same virtual construction area to obtain a navigation mark fence surrounding each virtual construction area; In response to overlapping parts between different beacon fences, all beacon fences corresponding to the same overlapping part are aggregated into the same beacon merge group; Determine the route extension direction corresponding to the construction route based on the route model, and coordinate the route model to obtain a model coordinate system, wherein the Y axis in the model coordinate system is parallel to the route extension direction; Obtaining the model coordinate points of each navigation mark fence that constitutes the same navigation mark merging group, and generating a horizontal merging line and a vertical merging line that are perpendicular to and parallel to the extension direction of the route based on the model coordinate points corresponding to the transverse coordinate extreme values ​​and the longitudinal coordinate extreme values; A merged fence is generated based on the horizontal merged line and the vertical merged line to surround each navigation mark fence located in the same navigation mark merged group, and an updated virtual construction navigation mark is formed based on each merged point at the same point spacing of the merged fence.

[0037] For example, in this embodiment, when the corresponding virtual construction navigation marks overlap due to the small distance between at least two different virtual construction areas, the virtual construction navigation marks may be updated accordingly based on the following content: First, the server connects all the virtual construction buoys corresponding to the same virtual construction area. It can be explained that in a complex water construction environment, a single virtual construction buoy provides limited information. By connecting the buoys in the same virtual construction area, a closed buoy fence can be formed, which clearly and explicitly outlines the boundaries of the virtual construction area, providing more intuitive and comprehensive warnings for passing ships, and effectively reducing the risk of ships mistakenly entering the construction area. This step significantly improves the visualization and warning effect of the construction area signs, ensuring the navigation safety of passing ships; Then, based on the relative position of each navigation fence, it can be determined whether there is an overlap between the navigation fences, and in response to the overlap between different navigation fences, all navigation fences corresponding to the same overlapping part are aggregated into the same navigation merge group; it can be explained that in actual construction, due to the complexity and diversity of the construction area, the virtual construction areas set for different construction stages or different construction tasks may overlap, so aggregating the navigation fences of the overlapping parts can unify the management of these complex areas, avoid the confusion of signs caused by multiple independent fences, and improve the systematicness and orderliness of the management of virtual construction areas; Next, the server can further determine the route extension direction of the corresponding construction route based on the route model, and coordinate the route model to obtain a model coordinate system, wherein the Y axis in the model coordinate system is parallel to the route extension direction; here, by establishing such a model coordinate system, a standardized reference framework can be provided for subsequent coordinate calculation and navigation mark positioning, so that when dealing with complex construction areas and navigation routes, all location information can be accurately analyzed and calculated under a unified coordinate system, greatly improving the accuracy and efficiency of construction area identification and navigation management; Subsequently, the server can obtain the model coordinate points of each navigation mark fence that constitutes the same navigation mark merging group, and generate horizontal merging lines and vertical merging lines that are perpendicular to and parallel to the extension direction of the route based on the model coordinate points corresponding to the transverse coordinate extreme values ​​(including the transverse coordinate maximum value and the transverse coordinate minimum value) and the longitudinal coordinate extreme values ​​(including the longitudinal coordinate maximum value and the longitudinal coordinate minimum value); that is, by using the coordinate extreme values ​​to generate the merging lines, the boundary range of the overlapping area can be accurately determined, which further optimizes the definition of the complex construction area and provides an accurate basis for the subsequent generation of a unified merging fence; Finally, a merged fence is generated based on the horizontal merged lines and the vertical merged lines to surround each navigation mark fence located in the same navigation mark merged group, and an updated virtual construction navigation mark is formed based on each merged point at the same point spacing of the merged fence. By generating the merged fence and updating the virtual construction navigation mark, the originally complex and overlapping construction area signs can be integrated into a clear and unified sign, avoiding navigation misleading caused by chaotic navigation mark settings, further improving the guidance effect for passing ships, ensuring the safe and orderly passage of the waterway during construction, and also improving the navigation safety of the corresponding ships.

[0038] In step S103, the following contents are included: When it is determined that any vessel is sailing on the construction route, a construction prediction is made for each construction node based on the time difference between the planned sailing time of the corresponding vessel and the adjacent monitoring period, forming a virtual prediction beacon that marks the virtual prediction area determined based on the prediction result.

[0039] For example, in this embodiment, in combination with the above content and the relevant content of step S103, it can be known that the corresponding construction route may have corresponding sailing vessels to sail at any time, wherein the sailing purpose of the sailing vessel may correspond to transporting goods or transporting passengers, etc.; and when any sailing vessel is determined to be on the construction route for sailing, the server can contact the sailing vessel, or contact the management end of the corresponding construction route in advance, to obtain the planned sailing time corresponding to the sailing destination, wherein the planned sailing time can be understood as the sailing start time of the corresponding sailing vessel; based on the above content, it can be known that in this embodiment, since the size of the virtual construction area is based on the corresponding monitoring area The size of the virtual construction area indicates the construction status of each monitoring period. Therefore, in order to determine the construction status during the planned sailing time, it is necessary to use the time difference between the planned sailing time and the adjacent monitoring period (for example, the planned sailing time is 10 a.m. on April 20, and the corresponding adjacent monitoring period is 6 a.m. on April 20) to make a construction forecast for each construction node, so as to determine the virtual prediction area based on the forecast result, and further form a virtual prediction buoy to mark the virtual prediction area, so as to help the sailing ships understand the real-time construction status based on the virtual prediction buoy, and improve the navigation safety of the sailing ships.

[0040] Furthermore, in this embodiment, the above-mentioned "construction prediction for each construction node based on the time difference between the planned sailing time of the corresponding sailing vessel and the adjacent monitoring period, and forming a virtual prediction beacon for marking the virtual prediction area determined based on the prediction result" may also include the following steps: Obtaining the construction time period corresponding to each construction node, and summarizing each construction node corresponding to the construction time period and having different overlapping time periods with the time difference period into a prediction group; Determine a monitoring period close to the planned sailing time as a target period, and determine a monitoring period before the target period as a comparison period; Determine the area cycle change between the virtual construction area corresponding to the target period and the virtual construction area corresponding to the comparison period for each construction node in the prediction group based on the route model, and determine the time period ratio between the overlapping time period and the construction time period corresponding to the same construction node; Based on the regional period changes of each construction node, the regional time period changes of the corresponding time period proportion are determined, and the construction prediction of the construction node is performed based on the regional time period changes, and a virtual prediction beacon is formed to mark the virtual prediction area determined based on the prediction result.

[0041] For example, in this embodiment, the formation process of the virtual prediction navigation mark can be implemented based on the following contents: First, the server can obtain the construction time period corresponding to each construction node. This information can be accurately obtained through the planning documents and progress records of the construction project. The construction time period is the regular construction time corresponding to the construction node, such as 8 am to 6 pm every day; Then, the server aggregates each construction node with different overlapping time periods between the corresponding construction time period and the time difference period into the prediction group. It can be explained that through this step, the construction nodes that may be in a construction state change near the planned sailing time of the sailing ship can be screened out, and the key nodes can be focused on for subsequent analysis, avoiding invalid calculations of irrelevant nodes, improving the pertinence and efficiency of construction prediction, and helping to accurately grasp the dynamics of the construction area that may affect navigation safety; Next, the server can determine the monitoring period close to the planned sailing time as the target period, and determine the monitoring period before the target period as the comparison period. By clarifying the target period and the comparison period, a time reference benchmark is provided for subsequent analysis of changes in the construction area. Furthermore, by comparing the construction area conditions in different periods, the development trend of the construction area can be effectively explored, providing reliable data support for construction prediction, making the prediction results more in line with the actual construction progress changes, and enhancing the accuracy of early warning for sailing ships. Subsequently, the server determines the regional cycle changes between the virtual construction area of ​​the target cycle and the virtual construction area of ​​the comparison cycle for each construction node in the prediction group based on the route model, and determines the time period ratio between the overlapping time period and the construction time period corresponding to the same construction node; here, by analyzing the regional cycle changes, the expansion, contraction or position change of the construction area in different monitoring cycles can be intuitively understood; and the calculation of the time period ratio can quantify the degree of correlation between the planned sailing time of the sailing ship and the construction time of the construction node, and the acquisition of these two data can lay the foundation for a more accurate prediction of the future status of the construction node, improve the scientificity and reliability of the construction prediction, and enable the sailing ship to know the possibility and degree of the change of the construction area in advance; Finally, after completing the corresponding regional period changes and time period proportions, the regional time period changes of the corresponding time period proportions can be further determined based on the regional period changes of each construction node, and the construction prediction of the construction node can be performed based on the regional time period changes, and a virtual prediction beacon can be formed to mark the virtual prediction area determined based on the prediction results; that is, the server can more accurately predict the construction status of the construction node near the planned sailing time of the sailing ship by comprehensively considering the regional period changes and the time period proportions, thereby determining the virtual prediction area, and the virtual prediction beacon generated based on the virtual prediction area provides an early warning for the sailing ship, helping the crew to plan the sailing route in advance and avoid potential construction danger areas, greatly ensuring the safety and smoothness of the navigation of the waterway.

[0042] Furthermore, in this embodiment, the above-mentioned "determining the regional time period change of the corresponding time period proportion based on the regional period change of each construction node, and performing construction prediction on the construction node based on the regional time period change, and forming a virtual prediction beacon for marking the virtual prediction area determined based on the prediction result" may also include the following steps: Determine the newly added construction area corresponding to the construction node based on the periodic change of each area, and generate each newly added point with the same point spacing based on the newly added contour of the corresponding newly added construction area; Generate a new connection line between each newly added point and the newly added center point of the corresponding newly added construction area, and determine the newly added extension direction of the newly added connection line corresponding to the maximum line segment length as the newly added construction direction; Determine the area overlap segment based on the area comparison between the virtual construction area corresponding to the comparison period and the virtual construction area corresponding to the target period, and determine the additional construction distance between each additional point and the area overlap segment based on the direction perpendicular to the additional construction direction; Calculate the product of each newly added construction distance and the time period proportion, and determine each predicted point along the newly added construction direction based on the obtained predicted construction distance; Each prediction point at an adjacent position is connected point by point, a virtual prediction area connected to the newly added construction area is determined, and a virtual prediction beacon for marking the virtual prediction area is formed.

[0043] For example, in this embodiment, after the acquisition of the regional periodic changes corresponding to each construction node is completed, the construction prediction of the construction node can be performed based on the regional periodic changes through the following content to further form the corresponding virtual prediction beacon: First, the newly added construction area of ​​the corresponding construction node can be determined through the periodic changes of each area, and further comparative analysis of the construction area data of different monitoring periods can be performed to accurately identify the expansion or newly opened part of the construction area, that is, the newly added construction area; Then, each new point with the same point spacing can be generated based on the new contour of the corresponding new construction area. Here, the evenly distributed new points can provide key nodes for the subsequent accurate determination of the construction direction and prediction area, which helps to more carefully characterize the characteristics of the new construction area, improve the accuracy and reliability of the prediction, and provide more accurate construction area boundary information for passing ships. Next, based on the newly added points, a new connection line can be further generated between each newly added point and the newly added center point of the corresponding newly added construction area, and the newly added extension direction of the newly added connection line corresponding to the maximum line segment length is determined as the newly added construction direction. It is very important to accurately predict the expansion trend of the construction area by clarifying the newly added construction direction. It can help determine the main advancement direction of the construction activities, so that passing ships can know in advance the direction in which the construction area may expand, so as to plan a safer navigation route in advance and effectively avoid navigation hazards caused by changes in the construction area; Subsequently, the server can determine the corresponding regional overlap segments based on the regional comparison between the virtual construction areas of the corresponding comparison period and the virtual construction areas of the corresponding target period, and determine the new construction distance between each new point and the regional overlap segment based on the direction perpendicular to the new construction direction. Here, determining the regional overlap segments can understand the relatively stable parts of the construction area in different periods, and determining the new construction distance quantifies the relative position relationship between the new point and the existing construction area. These data provide an important basis for further accurately predicting the change range of the construction area, enhance the scientificity and practicality of the prediction results, and ensure the safety of passing ships. Afterwards, each newly added construction distance can be multiplied by the time period ratio, and each predicted point can be determined along the newly added construction direction based on the obtained predicted construction distance. It can be explained that by combining the newly added construction distance and the time period ratio for calculation, the relationship between the planned sailing time of the sailing ship and the construction progress is fully considered, so that the determination of the predicted point is more in line with the actual construction situation, and more accurately reflects the possible location of the construction area when the ship is sailing, providing more timely and effective warning for the ship; Finally, the server can connect each prediction point in adjacent positions to determine a virtual prediction area connected to the newly added construction area, and further form a virtual prediction beacon to mark the virtual prediction area. Here, connecting the prediction points to form a virtual prediction area and setting a virtual prediction beacon can intuitively show the possible scope of the future construction area to passing ships, allowing crew members on the sailing ships to clearly identify and avoid potential danger areas during navigation, greatly improving the navigation safety and orderliness of the waterway during water construction.

[0044] Furthermore, in this embodiment, the above-mentioned “forming a virtual prediction navigation mark for marking the virtual prediction area” may also include the following steps: Generate a prediction connection line between each prediction point and the prediction center point of the corresponding virtual prediction area, and determine a prediction extension point with a preset navigation mark distance from the prediction point along the prediction extension direction of the prediction connection line; A virtual prediction navigation mark is formed based on the construction extension point to mark the virtual prediction area, and pixel rendering corresponding to a first pixel value is performed on the virtual construction navigation mark, and pixel rendering corresponding to a second pixel value is performed on the virtual prediction navigation mark.

[0045] For example, in this embodiment, forming a virtual prediction navigation mark based on the virtual prediction area can be implemented based on the following content: First, the server can generate a prediction connection line between each prediction point and the prediction center point of the corresponding virtual prediction area. By determining these prediction connection lines, the relative position relationship between each prediction point and the center of the virtual prediction area can be clearly determined, providing a geometric reference for the subsequent determination of the navigation mark position. This helps to more accurately plan the distribution of the virtual prediction navigation mark, so that the navigation mark can be more closely around the virtual prediction area, improving the warning effect on passing ships; Then, a predicted extension point with a preset navigation mark spacing from the predicted point can be further determined along the predicted extension direction of the predicted connection line. In this embodiment, the preset navigation mark spacing is set according to the navigation safety requirements of the passing ships and the environmental factors of the actual waterway. In this way, the predicted extension point can ensure the rationality of the navigation mark distribution while ensuring that the passing ships have enough time and space to respond to the navigation mark during the navigation process, plan the avoidance route in advance, effectively avoid the ship from mistakenly entering the virtual prediction area, and ensure navigation safety. Next, the server can form a virtual prediction beacon to mark the virtual prediction area based on the construction extension point. Here, the construction extension point is a key position closely related to the actual construction area. The virtual prediction beacon is formed based on it, so that the virtual prediction beacon is directly connected with the actual construction area, which improves the accuracy and reliability of the virtual prediction beacon's prediction of the construction area. Passing ships can intuitively understand the approximate scope of the future construction area through these virtual prediction beacons, so as to better plan the navigation route; Finally, in order to distinguish between virtual construction beacons and virtual predicted beacons, pixel rendering corresponding to the first pixel value can be performed on the virtual construction beacon, and pixel rendering corresponding to the second pixel value can be performed on the virtual predicted beacon, that is, rendering with different pixel values ​​can be performed. In the navigation equipment or monitoring system of the sailing ship, the virtual construction beacon and the virtual predicted beacon can be distinguished by different colors or brightness. This enables the crew to quickly identify different types of beacons when checking the navigation information, clearly distinguish the current construction area and possible future construction areas, avoid confusion, and further improve the safety and navigation efficiency during navigation.

[0046] In addition, in this embodiment, when a sailing vessel is navigating on the construction route, it is necessary to avoid each actual construction area located on the construction route to ensure its navigation safety. Since the actual construction area has a certain area, the construction route can be divided based on the actual construction area along the heading extension direction of the corresponding construction route to obtain corresponding passable areas. In order to determine whether each sailing vessel can pass through the corresponding navigation area and further instruct the sailing vessel based on the determination result, in this embodiment, the following steps may also be included: The navigation coordinate points of the sailing vessel are acquired in real time, a virtual vessel corresponding to the sailing vessel is established in the route model based on the navigation coordinate points, and the route model is sent to the sailing vessel for display.

[0047] Combine the virtual construction navigation mark and the virtual prediction navigation mark corresponding to the same construction node to obtain a virtual combined navigation mark; Determine the route extension direction corresponding to the construction route based on the route model, and determine all the passing areas for each virtual combined navigation mark along the route extension direction; Determine the passage width of each passage area in the extension direction of the corresponding route, and determine the passage area whose corresponding passage width is greater than the width of the corresponding sailing ship as having a passage attribute, otherwise determine it as having a prohibited attribute; In response to determining that the sailing distance between the virtual ship and any virtual combined navigation mark is less than a preset distance along the extension direction of the route, all passage areas with passage attributes corresponding to the virtual combined navigation mark are filled with corresponding passage identifiers based on the route model.

[0048] For example, in this embodiment, the acquisition of the passage area and the instruction of the sailing vessel based on the passage area can be implemented based on the following specific process: First, the server can obtain the navigation coordinates of the sailing vessel in real time. For example, with the help of a high-precision positioning system (Global Navigation Satellite System (GNSS)), the position data of the sailing vessel can be continuously and accurately collected. Based on these real-time navigation coordinates, a virtual vessel corresponding to the sailing vessel is established in the pre-built route model. The real sailing vessel can be accurately mapped to the route model, providing an intuitive digital object for subsequent navigation analysis and guidance, and facilitating the monitoring center and the vessel itself to grasp the position status of the vessel near the construction area in real time. The server can then send the generated route model to the sailing vessel for display, so that the crew can directly view the route model including the position of their own vessel on board, clearly understand the surrounding construction areas and potential dangers, and make reasonable navigation decisions in a timely manner, effectively improving the safety and autonomy of navigation; Then, the virtual construction beacon and the virtual prediction beacon corresponding to the same construction node are combined to obtain a virtual combined beacon. Through this combination, the virtual construction beacon and the virtual prediction beacon can be integrated based on the current status of the construction area and the possible future change range to form a more comprehensive and forward-looking regional representation; it is helpful to uniformly manage and analyze the construction area, and at the same time, it allows sailing ships to understand all potential impact areas related to the same construction node at one time, avoiding misjudgment caused by scattered information, and improving the accuracy and reliability of navigation planning; Next, the route extension direction of the corresponding construction route is determined based on the route model, and all the passage areas for each virtual combined navigation mark are determined along the route extension direction. By accurately determining the route extension direction and the passage area, key basic information is provided for evaluating whether the sailing ship can safely pass through the construction area. This allows the actual situation of the construction area to be fully considered when planning the navigation route, and a feasible passage path can be reasonably selected to avoid falling into a dangerous area due to blind route selection, thus ensuring the smoothness and safety of navigation. Subsequently, the passage width of each passage area corresponding to the extension direction of the route is determined, and based on the comparison result of the passage width and the width of the sailing ship, the passage area with a passage width greater than the corresponding width of the sailing ship is determined to have a pass attribute, otherwise it is determined to have a no-pass attribute. In other words, by accurately quantifying the size of the passage area and judging its passage attribute, a clear quantitative basis is provided for navigation decisions. Based on this information, the crew can quickly determine which areas can be safely passed and which areas need to be avoided, which greatly improves the efficiency and accuracy of navigation decisions and effectively reduces navigation risks; Finally, when the server determines that the sailing distance between the virtual ship and any virtual combined navigation mark is less than the preset distance along the extension direction of the route, the server can fill in the corresponding pass identifiers (for example, corresponding eye-catching symbols, such as exclamation marks, etc.) for all the pass areas with pass attributes of the virtual combined navigation mark based on the route model. That is, when the sailing vessel approaches the construction area, this timely identifier filling operation can highlight the passable area in the route model, provide clear navigation guidance for the crew, help them quickly find a safe pass area, avoid wasting time in finding a feasible route in an emergency, and further ensure the safety and efficiency of the ship's navigation near the construction area.

[0049] It can be explained that since there may be multiple different ships sailing on the construction route in the same time period, which may cause congestion on the construction route, in this case, the following method steps can be used to recommend corresponding passage areas for each ship to alleviate the congestion of the construction route as much as possible and improve the navigation safety of the ships: In response to multiple sailing vessels having the same planned sailing time, obtaining passage areas with passage attributes corresponding to all sailing vessels respectively based on each virtual combined navigation mark, and determining the number of all sailing vessels corresponding to the same passage area; When it is determined that the number of ships corresponding to any passage area is greater than one, the navigation order is obtained by sorting the ships based on the navigation urgency of each ship. Pixel rendering corresponding to different identification pixel values ​​is performed for each sailing vessel, and in response to any sailing vessel being determined to pass through the passage area based on the sailing order, the passage identifier is rendered with pixels corresponding to the identification pixel value.

[0050] For example, in this embodiment, in order to enable multiple ships to pass through the same passage area in an orderly manner, it can be implemented specifically based on the following methods: First, when the server determines that multiple ships have the same planned sailing time, it can respond to this situation by obtaining the passage areas with passage attributes corresponding to all ships based on each virtual combined navigation mark, and determine the number of ships corresponding to the same passage area; that is, in actual port operation scenarios, the sailing plans of different ships may overlap, and obtaining this information is crucial. By accurately counting the number of ships in the same passage area, we can intuitively understand the navigation pressure in the area, provide data support for the subsequent reasonable arrangement of the passage order of ships, avoid congestion and collision risks caused by multiple ships competing for the passage, and ensure the orderly passage of the waterway; Then, when it is determined that the number of ships corresponding to any passage area is greater than one, the navigation order is obtained based on the navigation urgency of each sailing ship. Here, the navigation urgency can be comprehensively determined based on the nature of the ship's mission (such as rescue ships, emergency material transport ships, etc. have higher priority), the situation of personnel and cargo on board, etc. Since it can be set based on the personnel themselves, this embodiment does not limit the specific method for obtaining the navigation urgency. Through this sorting method, it is possible to give priority to ensuring the smooth passage of ships with high urgency, minimize delays to ships with important missions, improve overall shipping efficiency, and maintain the emergency response capability and normal order of water transportation; Next, pixel rendering corresponding to different identification pixel values ​​is performed for each sailing vessel. It can be explained that on the navigation display system or monitoring platform of the vessel, different identification pixel values ​​mean different display effects, such as different colors or brightness, which enables the crew and monitoring personnel to clearly distinguish different vessels, facilitates rapid identification and tracking of target vessels in complex navigation environments, and improves the visualization and operational convenience of navigation management; Finally, in response to any sailing vessel passing through the passage area determined based on the navigation order, the passage identifier is rendered with pixels of the corresponding identification pixel value. That is, when a sailing vessel is preparing to enter the passage area according to the navigation order, based on the above content, it can be known that if the sailing distance between the sailing vessel and the virtual combined navigation mark of the corresponding passage area is less than the preset distance, the passage identifier symbol of the passage area will be determined. By rendering the passage identifier as the same identification pixel value as that of the ship, the association between the currently passing ship and the corresponding passage area can be intuitively displayed on the navigation display, which is convenient for other ships and monitoring personnel to know the passage situation in time, reasonably plan their own navigation routes and operations, avoid misjudgment and conflict, and further improve the safety and orderliness of waterway passage.

[0051] For example, in an actual application scenario, when there are three ships that need to pass through the same passage area at the same time, it can be known in advance that ship A has the highest navigation urgency, ship B has the second highest navigation urgency, and ship C has the lowest navigation urgency, and ship A corresponds to a red identification pixel value, ship B corresponds to a yellow identification pixel value, and ship C corresponds to a green identification pixel value. In this case, based on the navigation order, ship A can be planned to pass first, then ship B, and finally ship C. Therefore, when the navigation distance of ship A is less than the preset distance, in order to inform ship A that it can pass, the passage identifier can be filled with pixels corresponding to the red identification pixel value. When it is determined that ship A has completed the passage of the corresponding passage area based on the navigation coordinate point of ship A, other sailing ships can be notified in turn based on the navigation order.

[0052] In summary, based on the technical solution proposed in this embodiment, firstly, by establishing a route model and determining the construction nodes, a foundation can be laid for subsequent precise control. On this basis, a virtual construction navigation mark is generated according to the construction situation. With the help of drone image collection and precise image processing technology, the boundary of the construction area can be accurately defined, so that passing ships can clearly understand the danger range, effectively avoid mistakenly entering the construction area, and ensure navigation safety; when a ship is sailing, the server can make a construction prediction based on the time difference between the planned sailing time and the monitoring period, and generate a virtual predicted navigation mark. This measure allows the crew to know the changing trend of the construction area in advance, plan a safe route in advance, and further reduce It reduces potential risks and improves the safety and smoothness of navigation. In addition, it obtains the coordinates of sailing ships in real time and establishes virtual ships. The passage area is determined by combining the virtual construction area and the predicted area. At the same time, the passage attributes are judged according to the width of the passage area and the width of the ship. This not only provides intuitive and clear navigation guidance for the crew and improves navigation efficiency, but also can sort multiple ships based on the urgency of navigation, reasonably arrange the passage order, ensure that emergency mission ships pass first, maintain the overall order of water traffic, comprehensively improve the level of navigation safety management during water construction, optimize the utilization efficiency of waterway resources, and realize the automated control effect of virtual navigation marks.

[0053] Another embodiment of the present invention further provides a virtual navigation mark full-process automated management and control system, wherein: Figure 3 The relevant structural block diagram is shown, such as Figure 3 As shown, the system includes: A model building module is configured to build a route model corresponding to a construction route of the construction project and determine various construction nodes included in the construction project; A construction navigation mark module is configured to respond to the arrival of any monitoring cycle, determine a virtual construction area in the route model based on the current construction situation of each construction node, and form a virtual construction navigation mark for marking the virtual construction area; The prediction navigation mark module is configured to, when it is determined that any sailing vessel is sailing on the construction route, make a construction prediction for each construction node based on the time difference between the planned sailing time of the corresponding sailing vessel and the adjacent monitoring period, and form a virtual prediction navigation mark for the virtual prediction area determined based on the prediction result.

[0054] In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the examples of the present invention. According to the above description, it is obvious that the structure required for constructing such systems. In addition, the present invention is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to implement the content of the present invention described herein, and the above description of specific languages ​​is for the purpose of disclosing the preferred embodiment of the present invention.

[0055] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0056] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof.

[0057] Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in the devices described in the embodiment, or alternatively may be located in one or more devices different from the devices in the examples. The modules in the foregoing examples may be combined into one module or may be divided into multiple submodules.

[0058] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of submodules or subunits or subcomponents.

[0059] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

[0060] In addition, some of the embodiments are described herein as methods or combinations of method elements that can be implemented by a processor of a computer system or by other devices that perform the functions. Therefore, a processor with necessary instructions for implementing the method or method elements forms a device for implementing the method or method elements. In addition, the elements described herein of the device embodiments are examples of devices for implementing the functions performed by the elements for the purpose of implementing the invention.

[0061] As used herein, unless otherwise specified, the use of ordinal numbers "first," "second," "third," etc. to describe common objects merely indicates that different instances of similar objects are involved, and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0062] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is primarily selected for readability and instructional purposes, rather than for explaining or limiting the subject matter of the present invention.

Claims

1. A method for full-process automated control of virtual navigation marks, characterized in that: The following steps are involved: Establish a route model corresponding to the construction route of the construction project and determine the different construction nodes included in the construction project; In response to reaching any monitoring cycle, a virtual construction area is determined in the route model based on the current construction situation of each construction node, and a virtual construction navigation mark is formed to mark the virtual construction area; When it is determined that any vessel is sailing on the construction route, a construction prediction is made for each construction node based on the time difference between the planned sailing time of the corresponding vessel and the adjacent monitoring period, forming a virtual prediction beacon that marks the virtual prediction area determined based on the prediction result.

2. The method for full-process automated control of virtual navigation marks according to claim 1 is characterized in that: Determining a virtual construction area in the route model based on the current construction status of each construction node, and forming a virtual construction navigation mark for marking the virtual construction area, including: Obtain the node coordinate points corresponding to each construction node, and control the drone to fly to the node coordinate points for collection, and obtain the node image corresponding to each node coordinate point; Determine an image construction area located in the node image and indicating a real construction area, and generate image points having the same point spacing based on an image contour corresponding to the image construction area; Generate an image connection line between each image point and the image center point of the corresponding image construction area, and determine an image extension point with a preset navigation mark distance from the image point along the image extension direction of the image connection line; Based on the dimensional conversion relationship between the node image and the route model, the construction extension point corresponding to each image extension point located on the route model is determined, and based on the construction extension point, a virtual construction beacon is formed to mark the virtual construction area corresponding to the image construction area.

3. The method for full-process automated control of virtual navigation marks according to claim 2 is characterized in that: Determining an image construction area located in the node image and indicating a real construction area includes: Performing image recognition on the node image, and determining whether the node image has an image landing area indicating a real landing area based on the recognition result; When it is determined that there is no node, the drone is controlled to successively perform an ascending operation corresponding to a preset ascending height from the initial flight altitude, and data is collected based on each ascending operation to obtain an updated node image; When it is determined that there is, binarization is performed on all other areas of the node image except the image shore area to obtain water flow pixel points corresponding to the first pixel value and noise pixel points corresponding to the second pixel value; The noise pixel points in the adjacent relationship are connected point by point, and the obtained image noise area containing the image points of the corresponding node coordinate points is determined as the image construction area indicating the actual construction area.

4. The method for full-process automated control of virtual navigation marks according to claim 2 is characterized in that: A virtual construction navigation mark is formed based on the construction extension point to mark the virtual construction area corresponding to the image construction area, and then further includes: Connecting adjacent virtual construction navigation marks corresponding to the same virtual construction area to obtain a navigation mark fence surrounding each virtual construction area; In response to overlapping parts between different beacon fences, all beacon fences corresponding to the same overlapping part are aggregated into the same beacon merge group; Determine the route extension direction corresponding to the construction route based on the route model, and coordinate the route model to obtain a model coordinate system, wherein the Y axis in the model coordinate system is parallel to the route extension direction; Obtaining the model coordinate points of each navigation mark fence that constitutes the same navigation mark merging group, and generating a horizontal merging line and a vertical merging line that are perpendicular to and parallel to the extension direction of the route based on the model coordinate points corresponding to the transverse coordinate extreme values ​​and the longitudinal coordinate extreme values; A merged fence is generated based on the horizontal merged line and the vertical merged line to surround each navigation mark fence located in the same navigation mark merged group, and an updated virtual construction navigation mark is formed based on each merged point at the same point spacing of the merged fence.

5. The method for full-process automated control of virtual navigation marks according to claim 1 is characterized in that: A construction forecast is made for each construction node based on the time difference between the planned sailing time of the corresponding navigation vessel and the adjacent monitoring period, and a virtual forecast navigation mark is formed to mark the virtual forecast area determined based on the forecast result, including: Obtaining the construction time period corresponding to each construction node, and summarizing each construction node corresponding to the construction time period and having different overlapping time periods with the time difference period into a prediction group; Determine a monitoring period close to the planned sailing time as a target period, and determine a monitoring period before the target period as a comparison period; Determine the area cycle change between the virtual construction area corresponding to the target period and the virtual construction area corresponding to the comparison period for each construction node in the prediction group based on the route model, and determine the time period ratio between the overlapping time period and the construction time period corresponding to the same construction node; Based on the regional period changes of each construction node, the regional time period changes of the corresponding time period proportion are determined, and the construction prediction of the construction node is performed based on the regional time period changes, and a virtual prediction beacon is formed to mark the virtual prediction area determined based on the prediction result.

6. The method for full-process automated control of virtual navigation marks according to claim 5 is characterized in that: Determine the regional time period change of the corresponding time period proportion based on the regional period change of each construction node, and perform construction prediction on the construction node based on the regional time period change, and form a virtual prediction beacon for marking the virtual prediction area determined based on the prediction result, including: Determine the newly added construction area corresponding to the construction node based on the periodic change of each area, and generate each newly added point with the same point spacing based on the newly added contour of the corresponding newly added construction area; Generate a new connection line between each newly added point and the newly added center point of the corresponding newly added construction area, and determine the newly added extension direction of the newly added connection line corresponding to the maximum line segment length as the newly added construction direction; Determine the area overlap segment based on the area comparison between the virtual construction area corresponding to the comparison period and the virtual construction area corresponding to the target period, and determine the additional construction distance between each additional point and the area overlap segment based on the direction perpendicular to the additional construction direction; Calculate the product of each newly added construction distance and the time period proportion, and determine each predicted point along the newly added construction direction based on the obtained predicted construction distance; Each prediction point at an adjacent position is connected point by point, a virtual prediction area connected to the newly added construction area is determined, and a virtual prediction beacon for marking the virtual prediction area is formed.

7. The method for full-process automated control of virtual navigation marks according to claim 6 is characterized in that: Forming a virtual prediction beacon for marking the virtual prediction area includes: Generate a prediction connection line between each prediction point and the prediction center point of the corresponding virtual prediction area, and determine a prediction extension point with a preset navigation mark distance from the prediction point along the prediction extension direction of the prediction connection line; A virtual prediction navigation mark is formed based on the construction extension point to mark the virtual prediction area, and pixel rendering corresponding to a first pixel value is performed on the virtual construction navigation mark, and pixel rendering corresponding to a second pixel value is performed on the virtual prediction navigation mark.

8. The method for full-process automated control of virtual navigation marks according to claim 1 is characterized in that: The method further comprises: Acquiring the navigation coordinate points of the sailing vessel in real time, establishing a virtual vessel corresponding to the sailing vessel in the route model based on the navigation coordinate points, and sending the route model to the sailing vessel for display; Combine the virtual construction navigation mark and the virtual prediction navigation mark corresponding to the same construction node to obtain a virtual combined navigation mark; Determine the route extension direction corresponding to the construction route based on the route model, and determine all the passing areas for each virtual combined navigation mark along the route extension direction; Determine the passage width of each passage area in the extension direction of the corresponding route, and determine the passage area whose corresponding passage width is greater than the width of the corresponding sailing ship as having a passage attribute, otherwise determine it as having a prohibited attribute; In response to determining that the sailing distance between the virtual ship and any virtual combined navigation mark is less than a preset distance along the extension direction of the route, all passage areas with passage attributes corresponding to the virtual combined navigation mark are filled with corresponding passage identifiers based on the route model.

9. The method for full-process automated control of virtual navigation marks according to claim 8, characterized in that: The method further comprises: In response to multiple sailing vessels having the same planned sailing time, obtaining passage areas with passage attributes corresponding to all sailing vessels respectively based on each virtual combined navigation mark, and determining the number of all sailing vessels corresponding to the same passage area; When it is determined that the number of ships corresponding to any passage area is greater than one, the navigation order is obtained by sorting the ships based on the navigation urgency of each ship. Pixel rendering corresponding to different identification pixel values ​​is performed for each sailing vessel, and in response to any sailing vessel being determined to pass through the passage area based on the sailing order, the passage identifier is rendered with pixels corresponding to the identification pixel value.

10. A virtual navigation mark full process automated control system, characterized in that: include: A model building module is configured to build a route model corresponding to a construction route of the construction project and determine various construction nodes included in the construction project; A construction navigation mark module is configured to respond to the arrival of any monitoring cycle, determine a virtual construction area in the route model based on the current construction situation of each construction node, and form a virtual construction navigation mark for marking the virtual construction area; The prediction navigation mark module is configured to, when it is determined that any sailing vessel is sailing on the construction route, make a construction prediction for each construction node based on the time difference between the planned sailing time of the corresponding sailing vessel and the adjacent monitoring period, and form a virtual prediction navigation mark for the virtual prediction area determined based on the prediction result.

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