A data consistency verification method for ship ladder cable-coupled virtual-real twin model

Abstract

The present application relates to the technical field of data consistency verification, and specifically to a data consistency verification method for a ship ladder cable-coupled virtual-real twin model, the method comprising: calculating the relative distance difference between corresponding position areas through the position value difference between the entity of the ship ladder cable and each corresponding position area of ​​the digital twin model, calculating the surface abnormal distortion of the ship ladder cable based on the relative distance difference, and obtaining the data confidence of each position area of ​​the ship ladder cable; calculating the TIC coefficient of the virtual-real model through the data confidence and the output of each position area in the entity of the ship ladder cable and the digital twin model, and performing data consistency verification of the ship ladder cable-coupled virtual-real model through the TIC coefficient, thereby avoiding the problem of virtual-real data difference caused by wind and wave interference in traditional methods, improving the accuracy of data consistency verification of the virtual-real twin model, and being beneficial to ensuring the operation safety of the ship ladder cable system, and thus ensuring the operation safety of the ship ladder and the ship.

Description

Technical Field

[0001] The present application relates to the technical field of data consistency verification, and in particular to a data consistency verification method for a ship ladder cable-coupled virtual-real twin model. Background Art

[0002] Marine elevators (or simply ladders) are specialized electromechanical equipment permanently installed on ships, providing vertical or oblique transport services for passengers, crew, or cargo. Ocean-going ladders must reliably withstand complex sea conditions such as typhoons, high waves, and localized weather anomalies. The ladder's accompanying cable, in particular, is crucial infrastructure for ensuring power supply and information transmission between the elevator car and the control cabinet. Under uncertain operating conditions such as roll, pitch, and heave, it can become stuck, fall out of the groove, or become stacked. Advances in modern technology and virtual reality (VR) have provided new avenues for monitoring the cable's condition. By collecting data from the physical structure of the ladder's cable, digital twin technology is used to generate a digital twin model of the cable. This twin model is then used to monitor the cable. However, the generated digital twin model must be highly consistent with the physical structure of the cable to ensure accurate monitoring and ultimately ensure ladder safety.

[0003] Verifying the consistency of virtual-physical twin models is a key technology for ensuring that the constructed digital twin maintains a high degree of synchronization with the physical entity during dynamic operation. Traditional methods for verifying the consistency of virtual-physical twin models typically compare the output of the twin model with the output of the physical entity, such as using the Time-Invariant Consistency (TIC) coefficient. However, for ladder cables on ships (such as warships, boats, and aircraft carriers), the multi-dimensional dynamic responses of the ship's voyage, such as swaying and heaving, can cause significant discrepancies between the twin model output and the physical data output. Verifying the data consistency of the ladder cable coupled virtual-physical twin model using the traditional TIC (Time-Invariant Consistency) coefficient is susceptible to interference from perturbed and outlier data, leading to inaccurate consistency checks or even failure. This can ultimately lead to divergence and collapse of the model coupling structure. Summary of the Invention

[0004] In order to solve the above technical problems, the present application provides a data consistency verification method for a ship ladder cable-coupled virtual-real twin model to solve the existing problems.

[0005] The data consistency verification method of the ship ladder cable-coupled virtual-real twin model in this application adopts the following technical solution:

[0006] One embodiment of the present application provides a data consistency verification method for a ship ladder cable-coupled virtual-real twin model, the method comprising the following steps:

[0007] The physical entity of the ship ladder cable and its digital twin model are marked and segmented to obtain each section of the ship ladder cable; the surface of each section of the ship ladder cable is divided into blocks, and each block is used as the position area of ​​each section of the ship ladder cable; the three-dimensional position coordinates of each position area of ​​the physical ship ladder cable are obtained through displacement sensors as the position value of each position area; and the position value of each position area of ​​the ship ladder cable digital twin model is read;

[0008] Based on the position value difference between the entity of each section of the ship ladder and the corresponding position areas of the digital twin model, the relative distance difference between the entity of each section of the ship ladder and the corresponding position areas of the digital twin model is constructed;

[0009] A surface distance matrix of the ship ladder cable is constructed based on the relative distance differences between all corresponding position areas; fitting curves of each row element and each column element in the surface distance matrix are obtained respectively, and the surface abnormal distortion of each position area of ​​the ship ladder cable is constructed based on the difference between each element in the surface distance matrix and the value on the corresponding fitting curve;

[0010] The data confidence of each location area of ​​the ship ladder and cable is constructed based on the surface abnormal distortion of each location area;

[0011] Based on the data confidence of all location areas and the output of each location area in the physical and digital twin models of the ship ladder and cable, the TIC coefficient of the virtual-real twin model of the ship ladder and cable is calculated; based on the TIC coefficient, the data consistency of the ship ladder and cable coupled virtual-real twin model is checked.

[0012] In one embodiment, the process of obtaining the relative distance difference between the entity of each section of the ship ladder and the corresponding position areas of the digital twin model is as follows:

[0013] Get the distance between the entity of the i-th section of the ship ladder and the j-th position area of ​​the digital twin model, which is recorded as , The expression is: , where 、 They represent the position values ​​of the entity of the i-th section of the ship ladder and the j-th position area of ​​the digital twin model respectively; represents the Euclidean distance function, Represents the Euclidean distance between the entity of the i-th section of the ship ladder and the position value of the j-th position area of ​​the digital twin model; represents the sign function;

[0014] The relative distance difference between the entity of each section of the ship ladder with the cable and the corresponding position area of ​​the digital twin model is determined based on the distance between the entity of each section of the ship ladder with the cable and the corresponding position area of ​​the digital twin model.

[0015] In one embodiment, the relative distance difference is expressed as:

[0016] , where Represents the relative distance difference between the entity of the i-th section of the ship ladder and the j-th position area of ​​the digital twin model; represents the minimum value function; Represents the set of distances between the entity of the i-th section of the ship ladder and all corresponding position areas of the digital twin model.

[0017] In one embodiment, the process of obtaining the surface distance matrix of the ship ladder cable is: taking the relative distance difference between the physical ship ladder cable and the position area of ​​the u-th row and v-th column of the digital twin model as the element of the u-th row and v-th column in the surface distance matrix to obtain the surface distance matrix.

[0018] In one embodiment, the process of obtaining the fitting curves of each row element and each column element in the surface distance matrix is:

[0019] The data sequence composed of the elements in each row of the surface distance matrix is ​​used as the input of the curve fitting algorithm to obtain the fitting curve of the data sequence of the elements in each row; the data sequence composed of the elements in each column of the surface distance matrix is ​​used as the input of the curve fitting algorithm to obtain the fitting curve of the data sequence of the elements in each column.

[0020] In one embodiment, the process of obtaining the abnormal surface distortion of each position area of ​​the ship ladder cable is as follows:

[0021] Calculate the absolute value of the difference between any element in the surface distance matrix and its value on the fitting curve of the element data sequence in the same row, and record it as the first absolute value of the difference; calculate the absolute value of the difference between the value of any element and its value on the fitting curve of the element data sequence in the same column, and record it as the second absolute value of the difference; determine the surface abnormal distortion of each position area of ​​the ship ladder following the cable based on the first absolute value of the difference and the second absolute value of the difference.

[0022] In one embodiment, the surface abnormal distortion of each position area of ​​the ship ladder cable is specifically: the product of the absolute value of the first difference and the absolute value of the second difference of the elements in the a-th row and b-th column of the surface distance matrix is ​​used as the surface abnormal distortion of the position area of ​​the a-th row and b-th column of the ship ladder cable surface.

[0023] In one embodiment, the data confidence level of each position area where the ship ladder follows the cable is expressed as follows:

[0024] , where Indicates the data confidence level of the area at row a and column b on the surface of the ship ladder; is the abnormal surface distortion of the area at row a and column b on the cable surface of the ship ladder; It represents the set of surface abnormal distortions at all locations on the surface of the ship ladder cable; 、 Respectively represent the minimum function and the maximum function; Represents an exponential function with a natural constant as its base.

[0025] In one embodiment, the expression of the TIC coefficient of the virtual-real twin model of the ship ladder following the cable is:

[0026] , where The TIC coefficient of the virtual-real twin model of the ship ladder following the cable; Indicates the data confidence of the kth position area of ​​the ship ladder following the cable; represents the output of the ship ladder cable digital twin model at the kth position area; It represents the output of the physical ladder cable at the kth position area; N represents the number of position areas on the entire ladder cable surface.

[0027] In one embodiment, the consistency check of the ship ladder cable-coupled virtual-real twin model data based on the TIC coefficient is specifically as follows:

[0028] If the TIC coefficient of the virtual-real twin model of the ship ladder and cable is less than or equal to the preset TIC coefficient threshold, it is determined that the ship ladder and cable coupled virtual-real twin model has passed the data consistency check; if the TIC coefficient of the virtual-real twin model of the ship ladder and cable is greater than the preset TIC coefficient threshold, it is determined that the ship ladder and cable coupled virtual-real twin model has failed the data consistency check.

[0029] This application has at least the following beneficial effects:

[0030] This application calculates the relative distance difference between the corresponding position areas through the position value difference between the entity of the ship ladder cable and the corresponding position areas of the digital twin model, calculates the surface abnormal distortion of the ship ladder cable based on the relative distance difference, and obtains the data confidence of each position area of ​​the ship ladder cable, effectively avoiding the problem of virtual and real data difference caused by wind and wave interference in traditional methods. Compared with the traditional method of using only the TIC coefficient, this solution can more accurately identify data anomalies, thereby improving the accuracy of data consistency verification of the virtual and real twin model, and providing a more reliable basis for status monitoring of the ship ladder cable; through data confidence and the output of each position area in the entity and digital twin model of the ship ladder cable, the TIC coefficient of the virtual and real twin model of the ship ladder cable is calculated, and the calculated TIC coefficient is used to perform data consistency verification of the ship ladder cable coupled virtual and real twin model, thereby improving the accuracy of data consistency verification of the virtual and real twin model, and being able to timely discover potential faults of the ship ladder cable, such as jamming, disengagement or stacking problems. This not only improves the operational safety of the ship ladder's cable-following system, but also reduces or avoids ladder-related safety accidents such as people being trapped, hitting the top or squatting on the bottom due to cable-following failures, and reduces the potential impact of cable-following failures on ship operation safety, thereby significantly improving the overall reliability of the ship ladder's cable-following system and providing strong protection for the safe navigation of ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] Figure 1 This is a flow chart of a data consistency verification method for a ship ladder cable-coupled virtual-real twin model provided in this application;

[0033] Figure 2 Schematic diagram of the process of obtaining surface abnormal distortion. DETAILED DESCRIPTION

[0034] To further illustrate the technical means and effectiveness employed by this application to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effectiveness of a data consistency verification method for a ship ladder cable-coupled virtual-real twin model proposed in this application. In the following description, references to different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0035] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0036] The following describes in detail a specific scheme of a data consistency verification method for a ship ladder cable-coupled virtual-real twin model provided by the present application with reference to the accompanying drawings.

[0037] An embodiment of the present application provides a method for verifying data consistency of a ship ladder cable-coupled virtual-real twin model.

[0038] Specifically, a data consistency verification method for the ship ladder cable-coupled virtual-real twin model is provided as follows. Figure 1 , the method comprises the following steps:

[0039] Step S1: The physical entity of the ship ladder and its digital twin model are marked and segmented to obtain each section of the ship ladder; the surface of each section of the ship ladder is divided into blocks, and each block is used as the position area of ​​each section of the ship ladder; the three-dimensional position coordinates of each position area of ​​the physical ship ladder are obtained through a displacement sensor as the position value of each position area; and the position value of each position area of ​​the ship ladder digital twin model is read.

[0040] A ship ladder cable is an auxiliary device used on ship ladders. Once installed, it maintains a fixed length, unaffected by stretching or contracting during use. This cable is shaped like a wide ribbon, and its width ensures sufficient stability to effectively carry and transmit force.

[0041] After the ship ladder cable is installed on the ship ladder, it is first marked and segmented. The ship ladder cable is marked every 20 cm in the length direction, and the cable is divided into several sections according to the marked position. It should be noted that if the length of the last section is less than 20 cm, the last section is still considered as a section. Then the surface of each section of the ship ladder cable is divided every 1 cm in the length and width direction, so that the surface of each section of the ship ladder cable is divided into several sections. Each block is used as a position area on the surface of each section of the ship ladder. It should be noted that if the area of ​​each block in the last row or column is less than , each block in the last row or column is still considered a location area. The three-dimensional coordinates of each location area are obtained using a displacement sensor as the location value of each location area. The method of obtaining the location coordinates of each location area using a displacement sensor is well known in the art, and the specific process is not repeated here.

[0042] Furthermore, based on the digital twin model of the ship ladder cable, the same division method as that of the position areas in each section of the physical ship ladder cable is adopted to obtain the position areas of each section of the ship ladder cable in the digital twin model, and obtain the position value of each position area in the digital twin model, wherein the position value of each position area in the digital twin model can be read directly from the model.

[0043] Step S2: construct the relative distance difference between the entity of each section of the ship ladder with the cable and the corresponding position areas of the digital twin model based on the position value difference between the entity of each section of the ship ladder with the cable and the corresponding position areas of the digital twin model.

[0044] Because the digital twin model is generated based on the physical ladder cable, the digital twin model data for each section of the ladder cable corresponds one-to-one with the physical ladder cable data. The digital twin model, a virtual model constructed from the physical model, can simulate and test the actual operating status of the ladder cable. The digital twin model must maintain consistency with the physical ladder cable during use.

[0045] In the digital twin model of a ship's ladder cable, consistency between the virtual and real data is a key indicator of the model's construction quality. When the physical ladder cable and the twin model are in the same position, the smaller the positional discrepancy between the physical and twin models, the higher the data consistency and the more accurate the digital twin model construction. However, when a ship is at sea, the ladder cable is subject to disturbances from wind and waves, causing it to sway and heave. Due to the high flexibility of the ladder cable, different parts of it may sway in different directions. If they are not in the same position, the positional discrepancy between the physical ladder cable and the twin model will be very large.

[0046] Therefore, the distance between the entity of each section of the ship ladder and the corresponding position area of ​​the digital twin model is calculated, and the expression is:

[0047]

[0048]

[0049] Where, Represents the distance between the entity of the i-th section of the ship ladder and the j-th position area of ​​the digital twin model; 、 They represent the position values ​​of the entity of the i-th section of the ship ladder and the j-th position area of ​​the digital twin model respectively; represents the Euclidean distance function, Represents the Euclidean distance between the entity of the i-th section of the ship ladder and the position value of the j-th position area of ​​the digital twin model; It represents the sign function, and its rule is: if the value of any dimension in the three-dimensional data of the position value in the brackets is negative, then The value of is -1. If the three dimensions of the position value in the brackets are all positive numbers, then The value is 1. If the three dimension data of the position value in the brackets are all 0, then The value is 0;

[0050] Represents the relative distance difference between the entity of the i-th section of the ship ladder and the j-th position area of ​​the digital twin model; represents the minimum value function; Represents the set of distances between the entity of the i-th section of the ship ladder and all corresponding position areas of the digital twin model.

[0051] The smaller the relative distance difference between the actual ladder cable and the digital twin model, the better the match between the actual data and the twin data, and the greater the model's accuracy. This means that using this low relative distance difference data for model correction and optimization can more effectively improve the dynamic adaptability of the digital twin model. During the real-time model update and self-correction process, this low relative distance difference effectively reduces the risk of error accumulation caused by deviations between virtual and real data, resulting in higher data consistency in the virtual and real twin models.

[0052] Step S3, constructing a surface distance matrix of the ship ladder cable based on the relative distance differences between all corresponding position areas; obtaining fitting curves of each row element and each column element in the surface distance matrix respectively, and constructing the surface abnormal distortion of each position area of ​​the ship ladder cable based on the difference between each element in the surface distance matrix and the value on the corresponding fitting curve.

[0053] A two-dimensional matrix is ​​constructed with the width of the entire ship ladder cable as rows and the length as columns. The elements in the u-th row and v-th column of the two-dimensional matrix are the relative distance differences between the physical ship ladder cable and the u-th row and v-th column position areas of the digital twin model. The two-dimensional matrix is ​​recorded as the surface distance matrix of the ship ladder cable. For the virtual and real data of the ship ladder cable, when the data consistency is high, the value of the relative distance difference between the virtual and real data is small, and the values ​​of the relative distance difference for different position areas on the ship ladder cable are relatively close or the same. However, in the actual measurement process, due to operational errors and substandard equipment accuracy, some singular values ​​appear in the relative distance differences of all position areas on the ship ladder cable. Considering the impact of singular values ​​on the data, it is necessary to calculate the credibility of the data for the relative distance difference of each position area on the ship ladder cable, specifically:

[0054] First, obtain each row element and each column element in the surface distance matrix respectively, arrange each column element from small to large according to the row value, and arrange each row element from small to large according to the column value, and obtain the data sequence of each row element and each column element respectively.

[0055] Furthermore, due to the high strength and toughness requirements of the ship ladder cable, it generally only undergoes relatively simple deformations such as bending and torsion during use, so the changes between the data in the data series are also relatively simple. Each data series is used as the input for a least squares curve fitting, where the fitting order is 3, and the output is a fitting curve for each data series. Thus, a fitting curve is obtained for each row and column of data in the surface distance matrix, representing the changing state of each position area of ​​the ship ladder cable in different directions. The calculation of the least squares fitting curve is a well-known technique, and the specific calculation process is not repeated here.

[0056] It should be noted that for the curve fitting of each data sequence, only one curve fitting method is provided in the embodiment of the present application. There are many existing curve fitting methods, and the implementer may also use other curve fitting algorithms to perform curve fitting on each data sequence. This application does not impose any specific restrictions.

[0057] Furthermore, for each element in the surface distance matrix of the ship ladder cable, the value of the element on the fitting curve of the data sequence of the elements in the same row and the value of the element on the fitting curve of the data sequence of the elements in the same column are obtained respectively;

[0058] Furthermore, the absolute value of the difference between any element in the surface distance matrix and its value on the fitted curve of the same row element data sequence is calculated, recorded as the first absolute value of the difference; the absolute value of the difference between the value of any element and its value on the fitted curve of the same column element data sequence is calculated, recorded as the second absolute value of the difference; and the surface abnormal distortion degree of each position area of ​​the ship ladder cable is determined based on the first absolute value of the difference and the second absolute value of the difference. The surface abnormal distortion degree of each position area is positively correlated with the first absolute value of the difference and the second absolute value of the difference of the corresponding element in the surface distance matrix.

[0059] Preferably, in an embodiment of the present application, the process of obtaining the surface abnormal distortion of each position area can be: taking the product of the absolute value of the first difference and the absolute value of the second difference of the elements in the a-th row and b-th column in the surface distance matrix as the surface abnormal distortion of the a-th row and b-th column position area of ​​the ship ladder cable surface.

[0060] This analysis of data discrepancies in both the horizontal and vertical directions effectively mitigates data discrepancies caused by distortion of the ladder cable due to wind and wave interference. The greater the surface distortion at a particular location, the greater the distortion of the ladder cable measurement data at that location, and the lower the confidence level of the measurement data at that location. Data with high surface distortion requires model correction and optimization, effectively reducing the risk of error accumulation due to measurement bias and improving the accuracy of data consistency verification for the digital twin model.

[0061] Step S4: constructing the data confidence of each position area of ​​the ship ladder following the cable based on the abnormal surface distortion of each position area.

[0062] For the surface anomaly distortion of different positions of the ship ladder cable, since the value is calculated by the difference between the fitted value and the actual value, the calculated surface anomaly distortion value may be very large. When using the surface anomaly distortion to process the virtual and real twin data of the ship ladder cable, it cannot be used directly. It is necessary to limit the surface anomaly distortion of the ship ladder cable and use the calculation of the TIC coefficient of the virtual and real twin data of the ship ladder cable. Under normal circumstances, the value of the surface anomaly distortion of a certain position area should be small, and the difference between the surface anomaly distortion of other position areas is small. However, when the data of a certain position area has an abnormal error, the surface anomaly distortion calculated in this position area will be large, and there will be a large difference between the surface anomaly distortion of the normal position area.

[0063] Therefore, through the above analysis, the data confidence of each position area on the ship ladder cable is calculated, and the expression is:

[0064]

[0065] Where, Indicates the data confidence level of the area at row a and column b on the surface of the ship ladder; is the abnormal surface distortion of the area at row a and column b on the cable surface of the ship ladder; It represents the set of surface abnormal distortions at all locations on the surface of the ship ladder cable; 、 Respectively represent the minimum function and the maximum function; Represents an exponential function with a natural constant as its base. Traditional normalization algorithms, when used with normal data, will cause the normal data to be evenly distributed between [0, 1], which has drawbacks in data adjustment. Therefore, this application combines exponential functions for normalization.

[0066] By calculating the data confidence level for each location on each ladder cable segment using this method, we can effectively avoid data discrepancies caused by distortion of the ladder cable due to wind and wave interference. We can also eliminate the flaws of traditional normalization algorithms in processing normal data. When all data is normal, traditional normalization maps the maximum value in the normal data to 1. However, this formula can map the value to a very small value, close to 0.

[0067] Step S5, based on the data confidence of all location areas and the output of each location area in the physical and digital twin models of the ship ladder and cable, calculate the TIC coefficient of the virtual-real twin model of the ship ladder and cable; based on the TIC coefficient, perform data consistency verification of the ship ladder and cable coupled virtual-real twin model.

[0068] Substitute the data confidence calculated in the above steps into the TIC formula and calculate as follows:

[0069]

[0070] Where, The TIC coefficient of the virtual-real twin model of the ship ladder following the cable; Indicates the data confidence of the kth position area of ​​the ship ladder following the cable; represents the output of the ship ladder cable digital twin model at the kth position area; represents the output of the ladder cable entity at the kth position area; N represents the number of position areas on the entire ladder cable surface. The calculation formula of the TIC coefficient is well known.

[0071] The smaller the TIC coefficient of the ship ladder cable-coupled virtual-real twin model, the higher the data consistency of the ship ladder cable-coupled virtual-real twin model, and the better the coupling between the ship ladder cable digital twin model and the entity.

[0072] When the TIC coefficient is used to determine data consistency, a TIC coefficient threshold is preset. Preferably, in the embodiment of the present application, the TIC coefficient threshold is set to 0.3. If the TIC coefficient of the virtual-real twin model of the ladder and cable is less than or equal to the TIC coefficient threshold, the ladder and cable coupled virtual-real twin model is determined to have passed the data consistency check; if the TIC coefficient of the virtual-real twin model of the ladder and cable is greater than the TIC coefficient threshold, the ladder and cable coupled virtual-real twin model is determined to have failed the data consistency check.

[0073] The schematic diagram of the process of obtaining abnormal surface distortion is as follows: Figure 2 shown.

[0074] To sum up, the embodiment of the present application calculates the relative distance difference between the corresponding position areas through the position value difference between the entity of the ship ladder cable and the corresponding position areas of the digital twin model, calculates the surface abnormal distortion of the ship ladder cable based on the relative distance difference, and obtains the data confidence of each position area of ​​the ship ladder cable, effectively avoiding the problem of virtual and real data difference caused by wind and wave interference in traditional methods. Compared with the traditional method of using only the TIC coefficient, this scheme can more accurately identify data anomalies, thereby improving the accuracy of data consistency verification of the virtual and real twin model, and providing a more reliable basis for status monitoring of the ship ladder cable; through the data confidence and the output of each position area in the entity and digital twin model of the ship ladder cable, the TIC coefficient of the virtual and real twin model of the ship ladder cable is calculated, and the calculated TIC coefficient is used to perform data consistency verification of the ship ladder cable coupled virtual and real twin model, thereby improving the accuracy of data consistency verification of the virtual and real twin model, and being able to timely discover potential faults of the ship ladder cable, such as jamming, disengagement or stacking problems. This not only improves the operational safety of the ship ladder's cable-following system, but also reduces or avoids ladder-related safety accidents such as people being trapped, hitting the top or squatting on the bottom due to cable-following failures, and reduces the potential impact of cable-following failures on ship operation safety, thereby significantly improving the overall reliability of the ship ladder's cable-following system and providing strong protection for the safe navigation of ships.

[0075] It should be noted that the order in which the embodiments of the present application are presented is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. Furthermore, the above descriptions are of specific embodiments of the present application. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential sequence shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0076] The various embodiments in this application are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0077] The above-described embodiments are only used to illustrate the technical solutions of the present application, and not to limit them. Modifications to the technical solutions described in the aforementioned embodiments, or equivalent replacements of some of the technical features therein, do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A data consistency verification method for a ship ladder cable-coupled virtual-real twin model, characterized in that: The method comprises the following steps: The physical entity of the ship ladder cable and its digital twin model are marked and segmented to obtain each section of the ship ladder cable; the surface of each section of the ship ladder cable is divided into blocks, and each block is used as the position area of ​​each section of the ship ladder cable; the three-dimensional position coordinates of each position area of ​​the physical ship ladder cable are obtained through displacement sensors as the position value of each position area; and the position value of each position area of ​​the ship ladder cable digital twin model is read; Based on the position value difference between the entity of each section of the ship ladder and the corresponding position areas of the digital twin model, the relative distance difference between the entity of each section of the ship ladder and the corresponding position areas of the digital twin model is constructed; A surface distance matrix of the ship ladder cable is constructed based on the relative distance differences between all corresponding position areas; fitting curves of each row element and each column element in the surface distance matrix are obtained respectively, and the surface abnormal distortion of each position area of ​​the ship ladder cable is constructed based on the difference between each element in the surface distance matrix and the value on the corresponding fitting curve; The data confidence of each location area of ​​the ship ladder and cable is constructed based on the surface abnormal distortion of each location area; Based on the data confidence of all location areas and the output of each location area in the physical and digital twin models of the ship ladder and cable, the TIC coefficient of the virtual-real twin model of the ship ladder and cable is calculated; based on the TIC coefficient, the data consistency of the ship ladder and cable coupled virtual-real twin model is checked.

2. The data consistency verification method of the ship ladder cable-coupled virtual-real twin model according to claim 1 is characterized in that: The process of obtaining the relative distance difference between the entity of each section of the ship ladder and the corresponding position areas of the digital twin model is as follows: Get the distance between the entity of the i-th section of the ship ladder and the j-th position area of ​​the digital twin model, which is recorded as , The expression is: , where 、 They represent the position values ​​of the entity of the i-th section of the ship ladder and the j-th position area of ​​the digital twin model respectively; represents the Euclidean distance function, Represents the Euclidean distance between the entity of the i-th section of the ship ladder and the position value of the j-th position area of ​​the digital twin model; represents the sign function; The relative distance difference between the entity of each section of the ship ladder with the cable and the corresponding position area of ​​the digital twin model is determined based on the distance between the entity of each section of the ship ladder with the cable and the corresponding position area of ​​the digital twin model.

3. The data consistency verification method of the ship ladder cable-coupled virtual-real twin model according to claim 2 is characterized in that: The expression of the relative distance difference is: , where Represents the relative distance difference between the entity of the i-th section of the ship ladder and the j-th position area of ​​the digital twin model; represents the minimum value function; Represents the set of distances between the entity of the i-th section of the ship ladder and all corresponding position areas of the digital twin model.

4. The data consistency verification method of the ship ladder cable-coupled virtual-real twin model according to claim 1 is characterized in that: The process of obtaining the surface distance matrix of the ship ladder cable is as follows: the relative distance difference between the position area of ​​the u-th row and v-th column of the physical ship ladder cable and the digital twin model is used as the element of the u-th row and v-th column in the surface distance matrix to obtain the surface distance matrix.

5. The data consistency verification method of the ship ladder cable-coupled virtual-real twin model according to claim 1 is characterized in that: The process of obtaining the fitting curves of each row element and each column element in the surface distance matrix is ​​as follows: The data sequence composed of the elements in each row of the surface distance matrix is ​​used as the input of the curve fitting algorithm to obtain the fitting curve of the data sequence of the elements in each row; the data sequence composed of the elements in each column of the surface distance matrix is ​​used as the input of the curve fitting algorithm to obtain the fitting curve of the data sequence of the elements in each column.

6. The data consistency verification method of the ship ladder cable-coupled virtual-real twin model according to claim 1 is characterized in that: The process of obtaining the abnormal surface distortion of each position area of ​​the ship ladder cable is as follows: Calculate the absolute value of the difference between any element in the surface distance matrix and its value on the fitting curve of the same row element data sequence, and record it as the first absolute value of the difference; The absolute value of the difference between any one of the elements and its value on the fitting curve of the element data sequence in the same column is calculated and recorded as the second absolute value of the difference; and the surface abnormal distortion degree of each position area of ​​the ship ladder following the cable is determined based on the first absolute value of the difference and the second absolute value of the difference.

7. The data consistency verification method of the ship ladder cable-coupled virtual-real twin model according to claim 6 is characterized in that: The surface abnormal distortion degree of each position area of ​​the ship ladder cable is specifically: the product of the absolute value of the first difference and the absolute value of the second difference of the elements in the a-th row and b-th column of the surface distance matrix is ​​used as the surface abnormal distortion degree of the position area of ​​the a-th row and b-th column of the ship ladder cable surface.

8. The data consistency verification method of the ship ladder cable-coupled virtual-real twin model according to claim 1 is characterized in that: The expression of the data confidence of each position area of ​​the ship ladder following the cable is: , where Indicates the data confidence level of the area at row a and column b on the surface of the ship ladder; is the abnormal surface distortion of the area at row a and column b on the cable surface of the ship ladder; It represents the set of surface abnormal distortions at all locations on the surface of the ship ladder cable; 、 Respectively represent the minimum function and the maximum function; Represents an exponential function with a natural constant as its base.

9. The data consistency verification method of the ship ladder cable-coupled virtual-real twin model according to claim 1 is characterized in that: The expression of the TIC coefficient of the virtual-real twin model of the ship ladder following the cable is: , where The TIC coefficient of the virtual-real twin model of the ship ladder following the cable; Indicates the data confidence of the kth position area of ​​the ship ladder following the cable; represents the output of the ship ladder cable digital twin model at the kth position area; It represents the output of the physical ladder cable at the kth position area; N represents the number of position areas on the entire ladder cable surface.

10. The data consistency verification method of the ship ladder cable-coupled virtual-real twin model according to claim 1 is characterized in that: The data consistency check of the ship ladder cable-coupled virtual-real twin model based on the TIC coefficient is specifically as follows: If the TIC coefficient of the virtual-real twin model of the ship ladder and cable is less than or equal to the preset TIC coefficient threshold, it is determined that the ship ladder and cable coupled virtual-real twin model has passed the data consistency check; if the TIC coefficient of the virtual-real twin model of the ship ladder and cable is greater than the preset TIC coefficient threshold, it is determined that the ship ladder and cable coupled virtual-real twin model has failed the data consistency check.

Images