Virtual reality-based ship lossless lightering device control method and system

Abstract

The invention relates to a ship lossless lightering device control method and system based on virtual reality, and belongs to the technical field of ship control. Predicting the positioning precision characteristic data information of the dynamic positioning system in the current ship through the positioning precision prediction model, and finally generating related control information according to the initial virtual scene model and the positioning precision characteristic data information of the dynamic positioning system in the current ship. And carrying out connection control on the current ship based on the related control information. According to the method, the positioning precision of the dynamic positioning machine system is predicted, so that the real-time driving position information of the current ship is compensated according to the positioning precision characteristic data of the dynamic positioning machine system, the control precision of lightering between ships can be improved, and the lightering success rate is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship control, and in particular to a control method and system for a ship non-destructive transfer device based on virtual reality. Background Art

[0002] As ships grow larger, their tonnage and draft continue to increase, making some ports unable to accommodate berthing requirements. To improve efficiency and reduce the risks of large ships operating in ports, ship-to-ship transfers are rapidly developing. Currently, transfers are typically handled manually, but manual course adjustment lacks the ability to self-adjust to the ship's motion and environmental changes, and is also susceptible to subjective factors. Therefore, automated transfer control is essential. However, dynamic positioning systems (DPs) ensure that ships follow a predetermined trajectory or remain at a predetermined position, using thrusters to mitigate marine disturbances. Due to long periods of time at sea, these thrusters must operate continuously to mitigate marine disturbances. However, over time, DP performance degrades, resulting in a decrease in positioning accuracy. This ultimately leads to poor control accuracy during automated transfers, hindering ship-to-ship transfers. Summary of the Invention

[0003] The present invention overcomes the deficiencies of the prior art and provides a method and system for controlling a ship non-destructive transfer device based on virtual reality.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A first aspect of the present invention provides a method for controlling a ship non-destructive transfer device based on virtual reality, comprising the following steps:

[0006] Obtaining outline drawing information of the current ship and outline drawing information of the target docking ship, and constructing an initial virtual scene model based on the outline drawing information of the current ship and the outline drawing information of the target docking ship;

[0007] Acquire laser image data information through a laser camera installed on the current ship, and obtain positioning information of the non-destructive transfer device of the target docking ship by identifying the laser image data information;

[0008] Acquiring historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and constructing a positioning accuracy prediction model based on the historical positioning accuracy characteristic data information, and predicting the positioning accuracy characteristic data information of the dynamic positioning system in the current ship using the positioning accuracy prediction model;

[0009] Relevant control information is generated according to the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and docking control is performed on the current ship based on the relevant control information.

[0010] Furthermore, in this method, obtaining the outline drawing information of the current ship and the outline drawing information of the target docking ship, and constructing the initial virtual scene model based on the outline drawing information of the current ship and the outline drawing information of the target docking ship, specifically includes:

[0011] Obtaining outline drawing information of the current ship and outline drawing information of the target docking ship, and constructing a three-dimensional model diagram of the current ship and the three-dimensional model diagram of the target docking ship based on the outline drawing information of the current ship and the outline drawing information of the target docking ship;

[0012] Obtaining geographic location information of the current ship and geographic location information of the target docking ship, and establishing a positional relationship based on the geographic location information of the current ship and the geographic location information of the target docking ship to construct a virtual scene;

[0013] The three-dimensional model image of the current ship and the three-dimensional model image of the target docking ship are input into the virtual scene in sequence, and the three-dimensional model image of the current ship and the three-dimensional model image of the target docking ship in the virtual scene are adjusted according to the positional relationship to generate an initial virtual scene model.

[0014] Furthermore, in this method, laser image data information is obtained by a laser camera installed on the current ship, and the positioning information of the non-destructive transfer device of the target docking ship is obtained by identifying the laser image data information, which specifically includes:

[0015] Acquire laser image data information through a laser camera installed on the current vessel, and obtain pre-processed laser image information by filtering and denoising the laser image data information;

[0016] Performing feature contour processing on the pre-processed laser image information to obtain contour feature data information, and constructing a real-time three-dimensional model diagram of the non-destructive barge device based on the contour feature data information;

[0017] A three-dimensional model image of the target docking ship is obtained, and the real-time three-dimensional model image of the non-destructive transfer device is used as a search target. The three-dimensional model image of the target docking ship is searched based on the search target, and the non-destructive transfer device is positioned to obtain positioning information of the non-destructive transfer device of the target docking ship.

[0018] Furthermore, in this method, historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship is obtained, and a positioning accuracy prediction model is constructed based on the historical positioning accuracy characteristic data information. The positioning accuracy characteristic data information of the dynamic positioning system in the current ship is predicted by the positioning accuracy prediction model, specifically including:

[0019] Acquire historical positioning accuracy feature data information of the dynamic positioning system of the current ship through big data, build a positioning accuracy prediction model based on a deep neural network, and input the historical positioning accuracy feature data information of the dynamic positioning system of the current ship into the positioning accuracy prediction model for coding learning;

[0020] After coding learning, the trained positioning accuracy prediction model is obtained, and the positioning accuracy characteristic data information of the dynamic positioning system of the current ship within a preset time is obtained;

[0021] The positioning accuracy characteristic data information of the dynamic positioning system in the current ship within the preset time is input into the positioning accuracy prediction model for prediction to obtain the positioning accuracy characteristic data information of the dynamic positioning system in the current ship.

[0022] Furthermore, in this method, generating relevant control information based on the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship specifically includes:

[0023] By simulating docking between the three-dimensional model of the current ship and the three-dimensional model of the target docking ship in the initial virtual scene model, a plurality of driving path information are obtained, and the energy consumption value of each driving path information is calculated;

[0024] Constructing an energy consumption value ranking table, inputting the energy consumption value of each driving route information into the energy consumption value ranking table for ranking, obtaining a ranking result, and obtaining the driving route information with the minimum energy consumption value from the ranking result as the connecting driving route;

[0025] Obtaining a travel path estimation deviation characteristic parameter based on the positioning accuracy characteristic data information of the dynamic positioning system of the current ship, constantly monitoring the docking travel path, and obtaining the real-time travel position information of the current ship;

[0026] The real-time driving position information of the current ship is compensated according to the driving path estimation deviation characteristic parameter, relevant control information is generated, and the relevant control information is output.

[0027] Furthermore, in this method, the control method of the ship non-destructive transfer device based on virtual reality further includes the following steps:

[0028] Obtain positioning accuracy feature data information of the dynamic positioning system under each marine environment feature data through big data, and construct a knowledge graph based on the positioning accuracy feature data information of the dynamic positioning system under each marine environment feature data;

[0029] Obtaining ocean environment characteristic data of the current sea area, inputting the ocean environment characteristic data of the current sea area into the knowledge graph for data matching, and obtaining positioning accuracy characteristic data information of the dynamic positioning system under the ocean environment characteristic data of the current sea area;

[0030] Correcting the positioning accuracy characteristic data information of the dynamic positioning system of the current ship according to the positioning accuracy characteristic data information of the dynamic positioning system under the marine environment characteristic data of the current sea area;

[0031] The corrected positioning accuracy characteristic data information is output as the positioning accuracy characteristic data information of the dynamic positioning system in the current ship.

[0032] A second aspect of the present invention provides a control system for a non-destructive ship transfer device based on virtual reality. The control system includes a memory and a processor. The memory includes a program for a control method for a non-destructive ship transfer device based on virtual reality. When the control method for a non-destructive ship transfer device based on virtual reality is executed by the processor, the following steps are implemented:

[0033] Obtaining outline drawing information of the current ship and outline drawing information of the target docking ship, and constructing an initial virtual scene model based on the outline drawing information of the current ship and the outline drawing information of the target docking ship;

[0034] Acquire laser image data information through a laser camera installed on the current ship, and obtain positioning information of the non-destructive transfer device of the target docking ship by identifying the laser image data information;

[0035] Acquiring historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and constructing a positioning accuracy prediction model based on the historical positioning accuracy characteristic data information, and predicting the positioning accuracy characteristic data information of the dynamic positioning system in the current ship using the positioning accuracy prediction model;

[0036] Relevant control information is generated according to the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and docking control is performed on the current ship based on the relevant control information.

[0037] Furthermore, in this system, historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship is obtained, and a positioning accuracy prediction model is constructed based on the historical positioning accuracy characteristic data information. The positioning accuracy characteristic data information of the dynamic positioning system in the current ship is predicted by the positioning accuracy prediction model, specifically including:

[0038] Acquire historical positioning accuracy feature data information of the dynamic positioning system of the current ship through big data, build a positioning accuracy prediction model based on a deep neural network, and input the historical positioning accuracy feature data information of the dynamic positioning system of the current ship into the positioning accuracy prediction model for coding learning;

[0039] After coding learning, the trained positioning accuracy prediction model is obtained, and the positioning accuracy characteristic data information of the dynamic positioning system of the current ship within a preset time is obtained;

[0040] The positioning accuracy characteristic data information of the dynamic positioning system in the current ship within the preset time is input into the positioning accuracy prediction model for prediction to obtain the positioning accuracy characteristic data information of the dynamic positioning system in the current ship.

[0041] Furthermore, in this system, relevant control information is generated based on the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, specifically including:

[0042] By simulating docking between the three-dimensional model of the current ship and the three-dimensional model of the target docking ship in the initial virtual scene model, a plurality of driving path information are obtained, and the energy consumption value of each driving path information is calculated;

[0043] Constructing an energy consumption value ranking table, inputting the energy consumption value of each driving route information into the energy consumption value ranking table for ranking, obtaining a ranking result, and obtaining the driving route information with the minimum energy consumption value from the ranking result as the connecting driving route;

[0044] Obtaining a travel path estimation deviation characteristic parameter based on the positioning accuracy characteristic data information of the dynamic positioning system of the current ship, constantly monitoring the docking travel path, and obtaining the real-time travel position information of the current ship;

[0045] The real-time driving position information of the current ship is compensated according to the driving path estimation deviation characteristic parameter, relevant control information is generated, and the relevant control information is output.

[0046] The third aspect of the present invention provides a computer-readable storage medium, which includes a program for controlling a ship non-destructive transfer device based on virtual reality. When the program for controlling a ship non-destructive transfer device based on virtual reality is executed by a processor, the steps of any one of the methods for controlling a ship non-destructive transfer device based on virtual reality are implemented.

[0047] The present invention solves the defects existing in the background technology and has the following beneficial effects:

[0048] The present invention obtains the outline drawing information of the current ship and the outline drawing information of the target docking ship, and constructs an initial virtual scene model based on the outline drawing information of the current ship and the outline drawing information of the target docking ship, then obtains laser image data information through the laser camera installed on the current ship, and obtains the positioning information of the non-destructive transfer device of the target docking ship by recognizing the laser image data information, thereby obtaining the historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and constructs a positioning accuracy prediction model based on the historical positioning accuracy characteristic data information, predicts the positioning accuracy characteristic data information of the dynamic positioning system in the current ship through the positioning accuracy prediction model, and finally generates relevant control information based on the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and performs docking control on the current ship based on the relevant control information. The present invention predicts the positioning accuracy of the dynamic positioning system, thereby compensating the real-time driving position information of the current ship according to the positioning accuracy characteristic data of the dynamic positioning system, which can improve the control accuracy of the transfer between ships and improve the success rate of the transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, without paying any creative work, they can also obtain drawings of other embodiments based on these drawings.

[0050] Figure 1 The overall method flow chart of the control method of the ship non-destructive transfer device based on virtual reality is shown;

[0051] Figure 2 A first method flow chart of a method for controlling a ship non-destructive transfer device based on virtual reality is shown;

[0052] Figure 3 A second method flow chart of the control method of the ship non-destructive transfer device based on virtual reality is shown;

[0053] Figure 4 The system block diagram of the control system of the ship non-destructive transfer device based on virtual reality is shown. DETAILED DESCRIPTION

[0054] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0056] like Figure 1 As shown, the first aspect of the present invention provides a method for controlling a ship non-destructive transfer device based on virtual reality, comprising the following steps:

[0057] S102: Obtaining outline drawing information of the current ship and outline drawing information of the target docking ship, and constructing an initial virtual scene model based on the outline drawing information of the current ship and the outline drawing information of the target docking ship;

[0058] S104: Acquire laser image data information through a laser camera installed on the current ship, and obtain positioning information of the non-destructive transfer device of the target docking ship by identifying the laser image data information;

[0059] S106: Obtain historical positioning accuracy characteristic data information of the dynamic positioning system of the current ship, and build a positioning accuracy prediction model based on the historical positioning accuracy characteristic data information, and predict the positioning accuracy characteristic data information of the dynamic positioning system of the current ship using the positioning accuracy prediction model;

[0060] S108: Generate relevant control information according to the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and perform docking control on the current ship based on the relevant control information.

[0061] It should be noted that the present invention predicts the positioning accuracy of the dynamic positioning system, and thus compensates the current real-time driving position information of the ship according to the positioning accuracy characteristic data of the dynamic positioning system, which can improve the control accuracy of the transfer between ships and increase the success rate of the transfer.

[0062] Furthermore, in this method, the outline drawing information of the current ship and the outline drawing information of the target docking ship are obtained, and an initial virtual scene model is constructed based on the outline drawing information of the current ship and the outline drawing information of the target docking ship, which specifically includes:

[0063] Obtaining outline drawing information of the current ship and outline drawing information of the target docking ship, and constructing a three-dimensional model diagram of the current ship and a three-dimensional model diagram of the target docking ship based on the outline drawing information of the current ship and the outline drawing information of the target docking ship;

[0064] Obtaining the geographic location information of the current ship and the geographic location information of the target docking ship, and building a position relationship based on the geographic location information of the current ship and the geographic location information of the target docking ship to construct a virtual scene;

[0065] The three-dimensional model of the current ship and the three-dimensional model of the target docking ship are input into the virtual scene in sequence, and the three-dimensional model of the current ship and the three-dimensional model of the target docking ship in the virtual scene are adjusted according to the position relationship to generate an initial virtual scene model.

[0066] It should be noted that the 3D model diagram of the current ship and the 3D model diagram of the target docking ship both include a 3D model diagram of the transfer device, which can be modeled using 3D modeling software to construct a 3D visualization of the ship transfer.

[0067] Furthermore, in this method, laser image data information is obtained by a laser camera installed on the current ship, and the positioning information of the non-destructive transfer device of the target docking ship is obtained by identifying the laser image data information, which specifically includes:

[0068] The laser image data information is obtained by the laser camera installed on the current ship, and the laser image data information is filtered and denoised to obtain pre-processed laser image information;

[0069] By performing feature contour processing on the pre-processed laser image information, contour feature data information is obtained, and a real-time three-dimensional model diagram of the non-destructive barge device is constructed based on the contour feature data information;

[0070] The three-dimensional model of the target docking ship is obtained, and the real-time three-dimensional model of the non-destructive transfer device is used as the search target. The three-dimensional model of the target docking ship is searched based on the search target, and the non-destructive transfer device is positioned to obtain the positioning information of the non-destructive transfer device of the target docking ship.

[0071] It should be noted that the position of the transfer device can be located through this method.

[0072] Furthermore, in this method, historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship is obtained, and a positioning accuracy prediction model is constructed based on the historical positioning accuracy characteristic data information. The positioning accuracy characteristic data information of the dynamic positioning system in the current ship is predicted by the positioning accuracy prediction model, specifically including:

[0073] The historical positioning accuracy feature data of the dynamic positioning system of the current ship is obtained through big data, and a positioning accuracy prediction model is constructed based on a deep neural network. The historical positioning accuracy feature data of the dynamic positioning system of the current ship is input into the positioning accuracy prediction model for coding learning;

[0074] After coding learning, the trained positioning accuracy prediction model is obtained, and the positioning accuracy characteristic data information of the dynamic positioning system of the current ship within a preset time is obtained;

[0075] The positioning accuracy characteristic data information of the dynamic positioning system in the current ship within a preset time is input into the positioning accuracy prediction model for prediction, so as to obtain the positioning accuracy characteristic data information of the dynamic positioning system in the current ship.

[0076] It should be noted that a dynamic positioning system (DP) involves a vessel navigating along a predetermined trajectory or remaining at a predetermined position, using thrusters to counteract environmental disturbances. Since vessels spend extended periods at sea, these thrusters must operate continuously to counteract environmental disturbances. However, DP performance degrades over time, leading to a decrease in the DP's positioning accuracy. This method can further predict the positioning accuracy characteristics of the DP system on a current vessel, thereby determining the deviation between the vessel's real-time trajectory and the estimated trajectory.

[0077] like Figure 2 As shown, further, in this method, the relevant control information is generated according to the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, specifically including:

[0078] S202: simulating docking between the three-dimensional model of the current ship and the three-dimensional model of the target docking ship in the initial virtual scene model to obtain a number of driving path information, and calculating the energy consumption value of each driving path information;

[0079] S204: Constructing an energy consumption value ranking table, inputting the energy consumption value of each driving route information into the energy consumption value ranking table for ranking, obtaining a ranking result, and obtaining the driving route information with the minimum energy consumption value from the ranking result as the connecting driving route;

[0080] S206: Obtaining a travel path estimation deviation characteristic parameter based on the positioning accuracy characteristic data information of the dynamic positioning system of the current ship, constantly monitoring the docking travel path, and obtaining the real-time travel position information of the current ship;

[0081] S208: Compensate the real-time driving position information of the current ship according to the driving path estimation deviation characteristic parameters, generate relevant control information, and output the relevant control information.

[0082] It should be noted that this method can further improve the control accuracy of ship-to-ship transfer and increase the success rate of ship transfer.

[0083] like Figure 3 As shown, further, in this method, the control method of the ship non-destructive transfer device based on virtual reality also includes the following steps:

[0084] S302: Obtain positioning accuracy feature data information of the dynamic positioning system under each marine environment feature data through big data, and construct a knowledge graph based on the positioning accuracy feature data information of the dynamic positioning system under each marine environment feature data;

[0085] S304: Obtaining ocean environment characteristic data of the current sea area, inputting the ocean environment characteristic data of the current sea area into the knowledge graph for data matching, and obtaining positioning accuracy characteristic data information of the dynamic positioning system under the ocean environment characteristic data of the current sea area;

[0086] S306: Correcting the positioning accuracy characteristic data information of the dynamic positioning system of the current ship according to the positioning accuracy characteristic data information of the dynamic positioning system under the marine environment characteristic data of the current sea area;

[0087] S308: Output the corrected positioning accuracy characteristic data information as the positioning accuracy characteristic data information of the dynamic positioning system in the current ship.

[0088] It should be noted that the marine environment characteristic data include the temperature, humidity, salinity, etc. of the seawater. The ship sails along a predetermined track or stays at a predetermined position and uses thrusters to resist interference from the marine environment. Due to the influence of the marine environment characteristics, the positioning accuracy characteristic data information of the dynamic positioning system will produce a certain positioning deviation, thereby affecting the positioning accuracy of the dynamic positioning system. Therefore, this method can further correct the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, thereby improving the control accuracy of the ship's transshipment.

[0089] In addition, the method may further comprise the following steps:

[0090] Obtain electromagnetic wave interference feature data information of the current ship's navigation area, and obtain the ship barge success rate under each electromagnetic wave interference feature data information through big data, and store the ship barge success rate under each electromagnetic wave interference feature data information in the knowledge graph;

[0091] Inputting the electromagnetic wave interference characteristic data information of the current ship's sailing area into the knowledge graph, and obtaining the ship transshipment success rate under the electromagnetic wave interference characteristic data information of the current ship transshipment;

[0092] When the ship transshipment success rate is greater than a preset transshipment success rate, the corresponding driving area is used as a transshipment area, and the transshipment area is displayed in a preset manner;

[0093] When the ship transshipment success rate is not greater than a preset transshipment success rate, the corresponding driving area is used as a transshipment warning area, and the transshipment warning area is displayed in a preset manner.

[0094] It should be noted that the electromagnetic wave interference characteristic data information includes the type, frequency, period and other data of the electromagnetic wave. The transfer between ships may be affected by the interference of electromagnetic waves. Through this method, suitable transfer areas can be further screened for transfer between ships, thereby improving the success rate of transfer.

[0095] like Figure 4 As shown, the second aspect of the present invention provides a control system 4 for a ship non-destructive transfer device based on virtual reality. The control system 4 includes a memory 41 and a processor 42. The memory 41 includes a program for controlling a ship non-destructive transfer device based on virtual reality. When the control method for controlling a ship non-destructive transfer device based on virtual reality is executed by the processor 62, the following steps are implemented:

[0096] Obtaining outline drawing information of the current ship and outline drawing information of the target docking ship, and constructing an initial virtual scene model based on the outline drawing information of the current ship and the outline drawing information of the target docking ship;

[0097] The laser image data information is obtained through the laser camera installed on the current ship, and the positioning information of the non-destructive transfer device of the target docking ship is obtained by identifying the laser image data information;

[0098] Acquire historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship, build a positioning accuracy prediction model based on the historical positioning accuracy characteristic data information, and predict the positioning accuracy characteristic data information of the dynamic positioning system in the current ship through the positioning accuracy prediction model;

[0099] Relevant control information is generated according to the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and the docking control of the current ship is performed based on the relevant control information.

[0100] Furthermore, in this system, historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship is obtained, and a positioning accuracy prediction model is constructed based on the historical positioning accuracy characteristic data information. The positioning accuracy characteristic data information of the dynamic positioning system in the current ship is predicted by the positioning accuracy prediction model, specifically including:

[0101] The historical positioning accuracy feature data of the dynamic positioning system of the current ship is obtained through big data, and a positioning accuracy prediction model is constructed based on a deep neural network. The historical positioning accuracy feature data of the dynamic positioning system of the current ship is input into the positioning accuracy prediction model for coding learning;

[0102] After coding learning, the trained positioning accuracy prediction model is obtained, and the positioning accuracy characteristic data information of the dynamic positioning system of the current ship within a preset time is obtained;

[0103] The positioning accuracy characteristic data information of the dynamic positioning system in the current ship within a preset time is input into the positioning accuracy prediction model for prediction, so as to obtain the positioning accuracy characteristic data information of the dynamic positioning system in the current ship.

[0104] Furthermore, in this system, relevant control information is generated based on the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, specifically including:

[0105] By simulating docking between the three-dimensional model of the current ship and the three-dimensional model of the target docking ship in the initial virtual scene model, a number of driving path information are obtained, and the energy consumption value of each driving path information is calculated;

[0106] Construct an energy consumption value sorting table, input the energy consumption value of each driving path information into the energy consumption value sorting table for sorting, obtain the sorting result, and obtain the driving path information with the minimum energy consumption value from the sorting result as the connecting driving path;

[0107] Obtain the estimated deviation characteristic parameters of the driving path based on the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, monitor the docking driving path at all times, and obtain the real-time driving position information of the current ship;

[0108] The real-time driving position information of the current ship is compensated according to the driving path estimation deviation characteristic parameters, and the relevant control information is generated and output.

[0109] The third aspect of the present invention provides a computer-readable storage medium, which includes a program for controlling a ship non-destructive transfer device based on virtual reality. When the program for controlling a ship non-destructive transfer device based on virtual reality is executed by a processor, any step of the method for controlling a ship non-destructive transfer device based on virtual reality is implemented.

[0110] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0111] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0112] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0113] Those skilled in the art will appreciate that all or part of the steps of the above-mentioned method embodiments may be implemented by hardware associated with program instructions, and the aforementioned program may be stored in a computer-readable storage medium. When the program is executed, the program executes the steps of the above-mentioned method embodiments. The aforementioned storage medium includes various media that can store program codes, such as mobile storage devices, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0114] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

[0115] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A control method for a ship non-destructive transfer device based on virtual reality, characterized in that: The following steps are involved: Obtaining outline drawing information of the current ship and outline drawing information of the target docking ship, and constructing an initial virtual scene model based on the outline drawing information of the current ship and the outline drawing information of the target docking ship; Acquire laser image data information through a laser camera installed on the current ship, and obtain positioning information of the non-destructive transfer device of the target docking ship by identifying the laser image data information; Acquiring historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and constructing a positioning accuracy prediction model based on the historical positioning accuracy characteristic data information, and predicting the positioning accuracy characteristic data information of the dynamic positioning system in the current ship using the positioning accuracy prediction model; Relevant control information is generated according to the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and docking control is performed on the current ship based on the relevant control information.

2. The control method of the ship non-destructive transfer device based on virtual reality according to claim 1 is characterized in that: Obtaining outline drawing information of the current ship and outline drawing information of the target docking ship, and constructing an initial virtual scene model based on the outline drawing information of the current ship and the outline drawing information of the target docking ship, specifically including: Obtaining outline drawing information of the current ship and outline drawing information of the target docking ship, and constructing a three-dimensional model diagram of the current ship and the three-dimensional model diagram of the target docking ship based on the outline drawing information of the current ship and the outline drawing information of the target docking ship; Obtaining geographic location information of the current ship and geographic location information of the target docking ship, and establishing a positional relationship based on the geographic location information of the current ship and the geographic location information of the target docking ship to construct a virtual scene; The three-dimensional model image of the current ship and the three-dimensional model image of the target docking ship are input into the virtual scene in sequence, and the three-dimensional model image of the current ship and the three-dimensional model image of the target docking ship in the virtual scene are adjusted according to the positional relationship to generate an initial virtual scene model.

3. The control method of the ship non-destructive transfer device based on virtual reality according to claim 1 is characterized in that: The laser image data information is obtained by a laser camera installed on the current ship, and the positioning information of the non-destructive transfer device of the target docking ship is obtained by identifying the laser image data information, specifically including: Acquire laser image data information through a laser camera installed on the current vessel, and obtain pre-processed laser image information by filtering and denoising the laser image data information; Performing feature contour processing on the pre-processed laser image information to obtain contour feature data information, and constructing a real-time three-dimensional model diagram of the non-destructive barge device based on the contour feature data information; A three-dimensional model image of the target docking ship is obtained, and the real-time three-dimensional model image of the non-destructive transfer device is used as a search target. The three-dimensional model image of the target docking ship is searched based on the search target, and the non-destructive transfer device is positioned to obtain positioning information of the non-destructive transfer device of the target docking ship.

4. The control method of the ship non-destructive transfer device based on virtual reality according to claim 1 is characterized in that: Acquiring historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and building a positioning accuracy prediction model based on the historical positioning accuracy characteristic data information, and predicting the positioning accuracy characteristic data information of the dynamic positioning system in the current ship by using the positioning accuracy prediction model, specifically including: Acquire historical positioning accuracy feature data information of the dynamic positioning system of the current ship through big data, build a positioning accuracy prediction model based on a deep neural network, and input the historical positioning accuracy feature data information of the dynamic positioning system of the current ship into the positioning accuracy prediction model for coding learning; After coding learning, the trained positioning accuracy prediction model is obtained, and the positioning accuracy characteristic data information of the dynamic positioning system of the current ship within a preset time is obtained; The positioning accuracy characteristic data information of the dynamic positioning system in the current ship within the preset time is input into the positioning accuracy prediction model for prediction to obtain the positioning accuracy characteristic data information of the dynamic positioning system in the current ship.

5. The control method of the ship non-destructive transfer device based on virtual reality according to claim 1 is characterized in that: Generate relevant control information based on the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, specifically including: By simulating docking between the three-dimensional model of the current ship and the three-dimensional model of the target docking ship in the initial virtual scene model, a plurality of driving path information are obtained, and the energy consumption value of each driving path information is calculated; Constructing an energy consumption value ranking table, inputting the energy consumption value of each driving route information into the energy consumption value ranking table for ranking, obtaining a ranking result, and obtaining the driving route information with the minimum energy consumption value from the ranking result as the connecting driving route; Obtaining a travel path estimation deviation characteristic parameter based on the positioning accuracy characteristic data information of the dynamic positioning system of the current ship, constantly monitoring the docking travel path, and obtaining the real-time travel position information of the current ship; The real-time driving position information of the current ship is compensated according to the driving path estimation deviation characteristic parameter, relevant control information is generated, and the relevant control information is output.

6. The control method of the ship non-destructive transfer device based on virtual reality according to claim 4 is characterized in that: The following steps are also included: Obtain positioning accuracy feature data information of the dynamic positioning system under each marine environment feature data through big data, and construct a knowledge graph based on the positioning accuracy feature data information of the dynamic positioning system under each marine environment feature data; Obtaining ocean environment characteristic data of the current sea area, inputting the ocean environment characteristic data of the current sea area into the knowledge graph for data matching, and obtaining positioning accuracy characteristic data information of the dynamic positioning system under the ocean environment characteristic data of the current sea area; Correcting the positioning accuracy characteristic data information of the dynamic positioning system of the current ship according to the positioning accuracy characteristic data information of the dynamic positioning system under the marine environment characteristic data of the current sea area; The corrected positioning accuracy characteristic data information is output as the positioning accuracy characteristic data information of the dynamic positioning system in the current ship.

7. The control system of ship non-destructive transfer device based on virtual reality is characterized by: The control system includes a memory and a processor. The memory includes a program for controlling a ship non-destructive transfer device based on virtual reality. When the program is executed by the processor, the following steps are implemented: Obtaining outline drawing information of the current ship and outline drawing information of the target docking ship, and constructing an initial virtual scene model based on the outline drawing information of the current ship and the outline drawing information of the target docking ship; Acquire laser image data information through a laser camera installed on the current ship, and obtain positioning information of the non-destructive transfer device of the target docking ship by identifying the laser image data information; Acquiring historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and constructing a positioning accuracy prediction model based on the historical positioning accuracy characteristic data information, and predicting the positioning accuracy characteristic data information of the dynamic positioning system in the current ship using the positioning accuracy prediction model; Relevant control information is generated according to the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and docking control is performed on the current ship based on the relevant control information.

8. The control system for ship non-destructive transfer device based on virtual reality according to claim 7 is characterized in that: Acquiring historical positioning accuracy characteristic data information of the dynamic positioning system in the current ship, and building a positioning accuracy prediction model based on the historical positioning accuracy characteristic data information, and predicting the positioning accuracy characteristic data information of the dynamic positioning system in the current ship by using the positioning accuracy prediction model, specifically including: Acquire historical positioning accuracy feature data information of the dynamic positioning system of the current ship through big data, build a positioning accuracy prediction model based on a deep neural network, and input the historical positioning accuracy feature data information of the dynamic positioning system of the current ship into the positioning accuracy prediction model for coding learning; After coding learning, the trained positioning accuracy prediction model is obtained, and the positioning accuracy characteristic data information of the dynamic positioning system of the current ship within a preset time is obtained; The positioning accuracy characteristic data information of the dynamic positioning system in the current ship within the preset time is input into the positioning accuracy prediction model for prediction to obtain the positioning accuracy characteristic data information of the dynamic positioning system in the current ship.

9. The control system for ship non-destructive transfer device based on virtual reality according to claim 7, characterized in that: Generate relevant control information based on the initial virtual scene model and the positioning accuracy characteristic data information of the dynamic positioning system in the current ship, specifically including: By simulating docking between the three-dimensional model of the current ship and the three-dimensional model of the target docking ship in the initial virtual scene model, a plurality of driving path information are obtained, and the energy consumption value of each driving path information is calculated; Constructing an energy consumption value ranking table, inputting the energy consumption value of each driving route information into the energy consumption value ranking table for ranking, obtaining a ranking result, and obtaining the driving route information with the minimum energy consumption value from the ranking result as the connecting driving route; Obtaining a travel path estimation deviation characteristic parameter based on the positioning accuracy characteristic data information of the dynamic positioning system of the current ship, constantly monitoring the docking travel path, and obtaining the real-time travel position information of the current ship; The real-time driving position information of the current ship is compensated according to the driving path estimation deviation characteristic parameter, relevant control information is generated, and the relevant control information is output.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a program for controlling a ship non-destructive transfer device based on virtual reality. When the program for controlling a ship non-destructive transfer device based on virtual reality is executed by a processor, the steps of the method for controlling a ship non-destructive transfer device based on virtual reality as described in any one of claims 1 to 6 are implemented.

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