Method and device for constructing digital twinborn model of water traffic environment, and electronic equipment

Abstract

The invention relates to the technical field of ship navigation, in particular to a water area traffic environment digital twin model construction method and device, electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring initial water depth data of a target water area; acquiring real-time tide height data of the target water area; determining real-time water depth data of the target water area according to the initial water depth data and the real-time tide height data; and constructing a digital twinborn model of the target water area according to the real-time water depth data. According to the water area traffic environment digital twinborn model construction method and device, the electronic equipment and the computer readable storage medium provided by the invention, the technical effects of performing dynamic digital twinborn modeling on the water depth data and improving the navigation reliability of the water area traffic environment digital twinborn model can be realized.

Description

Technical Field

[0001] This application relates to the field of ship navigation technology, specifically to a method and apparatus for constructing a digital twin model of a water traffic environment, electronic equipment, and computer-readable storage medium. Background Technology

[0002] As a core hub for international trade, coastal economic development, and regional resource transportation, waterway traffic's safe navigation and efficient operation directly impact the quality of national economic development and the level of maritime management. With the deep integration of new-generation information technology and the shipping industry, digital twin technology, with its core advantages of "virtual-real mapping, real-time interaction, and dynamic iteration," has become a key supporting technology for intelligent scheduling, risk prediction, and infrastructure operation and maintenance of waterway traffic. Constructing a high-precision digital twin model of the waterway traffic environment can accurately replicate core elements such as waterway topography and hydrological dynamics, providing visualized decision-making basis for scenarios such as ship route planning, port berthing scheduling, and emergency rescue command. Water depth data, as a core basic parameter reflecting the navigation capacity of waterways, directly determines the application value of the digital twin model and is a crucial prerequisite for ensuring ship navigation safety and preventing grounding accidents.

[0003] In traditional ship navigation technology, water depth data primarily relies on nautical chart annotations for reference. Traditional nautical charts largely derive their water depth data from historical hydrological measurements, marking fixed, static water depth values. In the early stages of shipping development, this static annotation method provided basic data support for ship navigation, to some extent meeting the low-frequency, low-intelligence needs of shipping at that time. However, with the growth of global trade leading to larger ships and more intensive shipping, and the increasing demands for intelligent and precise maritime management, the limitations of traditional static water depth annotations have become increasingly apparent. Their insufficient accuracy has become a core bottleneck restricting the efficient operation of waterway traffic safety and the construction of digital twin models.

[0004] The inaccuracy of static water depth data from traditional static nautical charts not only restricts actual shipping safety and efficiency but also becomes a key obstacle to the construction of digital twin models of the waterway traffic environment. The core value of digital twin models lies in achieving a precise mapping between the physical and virtual worlds. However, water depth data, as a core input parameter of the model, suffers from lag and inaccuracy. This prevents the virtual model from accurately replicating the dynamic changes in waterway navigation capacity, significantly reducing the model's effectiveness in scenarios such as route optimization, risk warning, and emergency drills. In fact, data errors may even lead to misjudgments in decision-making. Summary of the Invention

[0005] In view of this, it is necessary to provide a method and apparatus for constructing a digital twin model of a water traffic environment, an electronic device and a computer-readable storage medium, so as to realize the technical effect of dynamic digital twin modeling of water depth data and improve the navigation reliability of the digital twin model of the water traffic environment.

[0006] To achieve the aforementioned technical effects, firstly, this application provides a method for constructing a digital twin model of a waterway traffic environment, including: Obtain initial water depth data for the target water area; Obtain real-time tidal height data for the target water area; The real-time water depth data of the target water area is determined based on the initial water depth data and the real-time tide height data; A digital twin model of the target water area is constructed based on the real-time water depth data.

[0007] In one possible embodiment, it further includes: Obtain the current navigation data of the current vessel; Determine the safe navigation depth of the vessel based on the current navigation data; The real-time navigable range of the current vessel is determined based on the safe navigation depth and the real-time depth data. A data twin ship corresponding to the current ship is established in the digital twin model, and the real-time navigable range is added to the digital twin model.

[0008] In one possible embodiment, the current navigation data includes the current navigation speed, and determining the safe navigation depth of the vessel based on the current navigation data includes: Obtain the current static draft of the vessel and the excess water depth of the target water area; The current ship's sinking amount is calculated based on the current sailing speed; The safe navigation depth is determined based on the static draft, the excess water depth, and the voyage subsidence.

[0009] In one possible embodiment, calculating the current ship's current sinking amount based on the current sailing speed includes: Based on the real-time water depth data, the target water area is divided into restricted water area and open water area, and the calculation constants for the subsidence of the restricted water area and the open water area are determined respectively. The navigation sinking amount corresponding to the restricted water area is calculated based on the sinking amount calculation constant of the restricted water area and the current navigation speed. The navigation sinking amount corresponding to the open water area is calculated based on the sinking amount calculation constant of the open water area and the current navigation speed.

[0010] In one possible embodiment, determining the real-time navigable range of the current vessel based on the safe navigation depth and the real-time depth data includes: For any sampling time, based on the real-time water depth data, obtain a number of navigation sampling points in the target water area whose real-time water depth is equal to the safe navigation water depth, and determine the first and last points among the number of navigation sampling points; Construct a navigable boundary connecting the first endpoint and the last endpoint; The straight-line distance between each of the navigation sampling points and the navigable boundary is calculated; The navigation sampling points whose straight-line distance is greater than or equal to a preset distance threshold are added to the navigable boundary to form the navigable area corresponding to the sampling time. The real-time navigable range is obtained based on the navigable area corresponding to all the sampling times.

[0011] In one possible embodiment, the step of creating a data twin ship corresponding to the current ship in the digital twin model includes: Obtain the ship type data of the current ship; Based on the ship type data, a data twin ship corresponding to the current ship is constructed in the digital twin model; After adding the real-time navigable range to the digital twin model, the method further includes: The data twin vessel is used to simulate navigation within the real-time navigable range to update the real-time navigable range.

[0012] In one possible embodiment, determining the real-time water depth data of the target water area based on the initial water depth data and the real-time tide height data includes: Acquire the initial water depth data and the real-time tide height data corresponding to several water depth sampling points, and determine the real-time water depth data of each water depth sampling point. Multiple interpolation points were determined in the target water area; For any interpolation point, multiple water depth sampling points within a set area surrounding the interpolation point are obtained as target water depth sampling points; The real-time water depth data of the interpolation point corresponding to the interpolation point is calculated based on the real-time water depth data of the water depth sampling points corresponding to the multiple target water depth sampling points; The real-time water depth data of the target water area is obtained by integrating the real-time water depth data of the water depth sampling points and the real-time water depth data of the interpolation points.

[0013] Secondly, this application provides a device for constructing a digital twin model of a waterway traffic environment, comprising: An initial water depth acquisition module is used to acquire initial water depth data of the target water area; A tide height acquisition module, which is used to acquire real-time tide height data of the target water area; A real-time water depth acquisition module is used to determine the real-time water depth data of the target water area based on the initial water depth data and the real-time tide height data. A model building module is used to build a digital twin model of the target water area based on the real-time water depth data.

[0014] Thirdly, this application also provides an electronic device, including a memory and a processor, wherein, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the method for constructing a digital twin model of the water traffic environment as described in any of the above implementations.

[0015] Fourthly, this application also provides a computer-readable storage medium for storing a computer-readable program or instructions, which, when executed by a processor, can implement the steps in the method for constructing a digital twin model of the waterway traffic environment described in any of the above implementations.

[0016] The beneficial effects of this application are: Compared with related technologies, the method, apparatus, electronic device, and computer-readable storage medium for constructing a digital twin model of a waterway traffic environment provided in this application obtain static water depth data of the target waterway from traditional static nautical charts as initial water depth data. Based on the initial water depth data, real-time tidal height data of the target waterway is obtained, and the static initial water depth data is corrected by real-time superelevation data to obtain real-time water depth data of the target waterway. A digital twin model of the target waterway is then constructed based on the real-time water depth data, thereby achieving dynamic digital twin modeling of water depth data and improving the navigation reliability of the digital twin model of the waterway traffic environment. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating the method for constructing a digital twin model of a waterway traffic environment provided in this application embodiment; Figure 2 A schematic diagram of water depth before and after interpolation in the method for constructing a digital twin model of the water traffic environment provided in the embodiments of this application; Figure 3 A schematic diagram of interpolation points in the digital twin model construction method for waterway traffic environment provided in the embodiments of this application; Figure 4 A flowchart illustrating a method for constructing a digital twin model of a waterway traffic environment, as provided in another embodiment of this application; Figure 5 This is a schematic diagram of the real-time navigable range in the digital twin model construction method for water traffic environment provided in another embodiment of this application; Figure 6 This is a schematic diagram illustrating the process of verifying navigable areas in a digital twin model of a waterway traffic environment in another embodiment of this application. Figure 7 This is a schematic diagram of the structure of the digital twin model construction device for the water traffic environment provided in the embodiments of this application; Figure 8 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0021] The terms "first," "second," etc., used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] This application provides a method and apparatus for constructing a digital twin model of a waterway traffic environment, an electronic device, and a computer-readable storage medium, which are described below.

[0024] Please refer to Figure 1 The method for constructing a digital twin model of the waterway traffic environment provided in this application includes: Step S101: Obtain the initial water depth data of the target water area.

[0025] In this step, the initial water depth data specifically refers to the static water depth data of the target water area.

[0026] Specifically, obtaining initial water depth data for the target water area includes: setting up multiple water depth sampling points in the target water area; extracting static water depth data of the sampling points from publicly available electronic nautical charts in the form of water depth sampling points; each water depth sampling point includes its corresponding geographic coordinates and static water depth value, forming initial water depth data, which is represented as a set as follows: , Including water depth sampling points The geographic coordinates and static water depth values.

[0027] Step S102: Obtain real-time tidal height data of the target water area.

[0028] In this step, for the target water area, if publicly available real-time tidal height data exists, such as tidal height data released in real-time by the management agencies of various sea areas, then the publicly available real-time tidal height data of the target water area is directly obtained. If the publicly available data only includes the high tide and low tide levels at each depth sampling point, then the high tide level is obtained separately. and low tide The corresponding climax times and low tide time Based on the periodicity of the tidal level variation approximated by the cosine function, real-time tidal height data at any given time and at each water depth sampling point are calculated. The specific calculation formula is as follows: ; in, For real-time tide height data, The current time and the time of the most recent high tide. Time difference, The current time and the time of the most recent low tide. Time difference; The time of the nearest adjacent high tide level and the recent low tide time The time interval between them.

[0029] Step S103: Determine the real-time water depth data of the target water area based on the initial water depth data and the real-time tide height data.

[0030] In this step, for each water depth sampling point Calculate real-time tide height data and initial water depth data The sum of As a water depth sampling point Real-time water depth data, integrating all water depth sampling points The real-time water depth data is used as the real-time water depth data of the target water area.

[0031] Please refer to Figure 2 , Figure 2 The dot plot in the image is a schematic diagram of the real-time water depth data before the difference is calculated. Figure 2 The bar chart in the image is a schematic diagram of the real-time water depth data after interpolation. Multiple interpolation points were also determined within the target water area. Through multiple interpolation points Real-time water depth data for water depth sampling points The real-time water depth data of the target water area is supplemented by integrating the real-time water depth data of the water depth sampling points and the real-time water depth data of the interpolation points.

[0032] For each interpolation point Real-time water depth data can be obtained based on each interpolation point. Multiple water depth sampling points within the surrounding designated area Interpolation points are obtained from real-time water depth data. Real-time water depth data. The defined area is specifically defined by interpolation points. A circular region with a center and a radius defined by a distance of [a certain distance]. It is understood that the foregoing is merely one specific example of defining a region; in some other embodiments of this application, interpolation points can also be used. The region is defined as a rectangle, pentagon, or other shape with a specified side length, centered on the geometry.

[0033] For details, please refer to Figure 3 The interpolation point's real-time water depth data, calculated based on the real-time water depth data of multiple target water depth sampling points, specifically includes: S1: For each water depth sampling point Calculate its relationship with the interpolation point Distance between The specific calculation formula is as follows: ;in, , Interpolation points and water depth sampling points Latitude and longitude coordinates.

[0034] S2: Based on distance Calculate the weight of each known point The specific calculation formula is as follows: .

[0035] S3: Through formula Calculate the interpolation points Real-time water depth data of interpolation points .in, It is a water depth sampling point Real-time water depth data, The parameter is a constant power, which determines the rate at which the weight changes with distance. In this embodiment, =2.

[0036] Step S104: Construct a digital twin model of the target water area based on real-time water depth data.

[0037] In this step, based on the real-time water depth data of the identified target water area, an initial mapping framework corresponding to the virtual space and the physical water area is established. Through data standardization processing, the real-time water depth data is embedded into a real-time update algorithm, enabling the virtual model to dynamically synchronize with the water depth distribution of the physical water area. The final constructed digital twin model can visualize the real-time water depth at different locations, realizing the construction of a digital twin model of the target water area.

[0038] Compared with related technologies, the method for constructing a digital twin model of a waterway traffic environment provided in this embodiment obtains static water depth data of the target waterway from traditional static nautical charts as initial water depth data. Based on the initial water depth data, real-time tidal height data of the target waterway is obtained, and the static initial water depth data is corrected by real-time superelevation data to obtain real-time water depth data of the target waterway. A digital twin model of the target waterway is then constructed based on the real-time water depth data, thereby achieving dynamic digital twin modeling of water depth data and improving the navigation reliability of the digital twin model of the waterway traffic environment.

[0039] Please refer to Figure 4 Another embodiment of this application provides a method for constructing a digital twin model of a waterway traffic environment, including: Step S401: Obtain the initial water depth data of the target water area.

[0040] Step S402: Obtain real-time tidal height data for the target water area.

[0041] Step S403: Determine the real-time water depth data of the target water area based on the initial water depth data and the real-time tide height data.

[0042] Step S404: Obtain the current navigation data of the current vessel.

[0043] In this step, the current navigation data specifically refers to the vessel's navigation data over a recent period, such as the navigation data from the most recent hour or half-day. This current navigation data includes various parameters such as current speed, current heading, and current turning rate.

[0044] Furthermore, in this embodiment, sample navigation data of sample vessels within the target waters can be acquired, and the current navigation data can be filtered using this sample navigation data. Specifically, the sample vessels are vessels navigating within the target waters that have similar vessel parameters (including vessel type, length, beam, etc.) to the current vessel. The sample navigation data specifically refers to the data generated by the sample vessels navigating within the target waters, such as the maximum and minimum speeds of the sample vessels within the target waters. The current navigation speed is then filtered using the maximum and minimum speeds to obtain current navigation speeds that are greater than the minimum speed but less than the maximum speed.

[0045] In addition, current navigation data can be filtered based on historical heading data; any heading exceeding [a certain threshold] can be filtered. All current navigation data is considered noise data and must be removed.

[0046] Step S405: Determine the safe navigation depth of the vessel based on the current navigation data.

[0047] In this step, the safe navigation depth is specifically calculated by combining the current static draft of the vessel, the excess water depth of the target water area, and the current voyage subsidence of the vessel.

[0048] The current static draft of the ship is specifically the draft of the ship under static conditions. It is related to factors such as the density of the water in the target area and the ship's own weight. It is usually measured in advance. In this embodiment, the known quantity measured in advance is directly obtained as the current static draft of the ship.

[0049] The allowable water depth in a target waterway is specifically the water depth reserved to ensure safe navigation and provide sufficient space for underwater maneuvering. It must be ensured that the water depth in the navigation area is greater than the ship's static draft, and a certain safety margin must be maintained below the keel; this is the allowable water depth. Its specifics are related to the relevant regulations of the target waterway. For example, the "Shanghai Port Yangtze River Estuary Waterway Traffic Management Rules" stipulate that "ships navigating within the waters to which these rules apply shall maintain a allowable water depth of not less than 0.7m." In the absence of or without access to local authorities' allowable water depth regulations, the allowable water depth is generally 20% of the ship's static draft in open ocean and deep water navigation, and 10% of the ship's static draft in shallow water and port access channels.

[0050] The sinking during navigation specifically refers to the additional sinking that occurs during a ship's navigation. When a ship travels at a certain speed on the water's surface, hydrodynamic effects cause the hull to sink relative to its stationary state; this additional sinking is the sinking during navigation. In this embodiment, it is specifically based on the formula... The current sinking of the ship during navigation is calculated. ,in, This is the ship's block coefficient, which is related to the current shape of the ship, assuming the current ship is already determined. Given a constant value, This is a constant for calculating the sinking amount, which is related to the navigation conditions of the navigation area and is a preset constant value. The speed of the ship.

[0051] Furthermore, for calculating the sinking amount during navigation, the target water area is divided into restricted water areas and open water areas based on real-time water depth data. Calculation constants for sinking amounts in restricted water areas and open water areas are determined separately. Restricted water areas are those with limited activity / navigation space constrained by underwater topography, water depth, and other boundaries. Open water areas are those with no obvious boundary constraints, open space, and few restrictions on navigation / activity. Specifically, restricted water areas have clear boundary constraints and narrow spaces (such as rivers, ports, and straits), while open water areas have no significant boundaries and vast spaces (such as oceans and large lakes). In this embodiment, the target water area can be divided into restricted water areas and open water areas based on the distance from the shore and real-time water depth data. Specifically, areas where the real-time water depth data is less than a set water depth threshold, or where the distance from the shore is less than a set threshold distance, are classified as restricted water areas. Areas where the real-time water depth data is greater than the set water depth threshold and where the distance from the shore is greater than the set threshold distance are classified as open water areas. In this embodiment, the calculation constant for the sinking amount in confined water areas is set to a range of 40 to 60, for example, 50; and the calculation constant for the sinking amount in open water areas is set to a range of 80 to 120, for example, 100.

[0052] Based on this, the formula for calculating the sinking amount during navigation in open water is: 100; and the formula for calculating the sinking during navigation in restricted waters is: 50.

[0053] Step S406: Determine the current real-time navigable range of the vessel based on the safe navigation depth and real-time depth data.

[0054] In this step, please refer to Figure 5 Specifically, for any given sampling time, several navigation sampling points within the target water area whose real-time water depth equals the safe navigation depth are obtained based on real-time water depth data. Determine the starting point among several navigation sampling points. and endpoint ;like Figure 5 In Figure a, construct the connection between the first and second endpoints. and endpoint Navigable boundaries ;Calculation of each navigation sampling point straight-line distance from navigable boundary The specific calculation formula is as follows: ; like Figure 5 Figures b and c show navigation sampling points whose straight-line distance is greater than or equal to a preset distance threshold, adding them to the navigable boundary, and discarding navigation sampling points whose straight-line distance is less than the preset distance threshold, forming a pattern as shown in Figures b and c. Figure 5Figures c and d show the navigable area boundaries corresponding to the sampling time.

[0055] Specifically, this includes: if ( (If the distance threshold is preset), then the corresponding point will be... Add a navigable boundary and divide the original point sequence into two sub-segments using that point. and The steps shown in Figures a and b are executed recursively, respectively; otherwise, all intermediate points are discarded, and only the endpoints are retained. This recursive process is repeated until all sub-segments meet the threshold condition. All navigation sampling points are then merged to form the navigable area boundary corresponding to the sampling time. The functional formula for the navigable area boundary is expressed as:

[0056] In the formula, This represents the number of remaining navigation sampling points; , The first The slope and intercept of a line segment; For indicator functions, specifically: .

[0057] By integrating the navigable areas corresponding to all sampling times, the real-time navigable range can be obtained.

[0058] Step S407: Create a data twin ship corresponding to the current ship in the digital twin model, and add the real-time navigable range to the digital twin model.

[0059] Please refer to Figure 6 Specifically, it includes: Step S601: Obtain the ship type data of the current ship.

[0060] In this step, the vessel type data specifically includes various types such as conventional motorized vessels, non-motorized vessels, sailboats, vessels with restricted maneuverability, out-of-control hulls, towing vessels, and trawler formations.

[0061] Step S602: Construct a data twin ship corresponding to the current ship in the digital twin model based on the ship type data.

[0062] In this step, for conventional motorized ships, an elliptical model is established with the ship's center of gravity as the reference, and the semi-major axis of the ellipse is 0.5. The minor semi-axis is 0.3. ( (For the captain), the specific formula is expressed as: ; in, This refers to the current position coordinates of the vessel, specifically latitude and longitude coordinates.

[0063] Non-motorized boats and sailboats, due to their relatively small geometric shape, are modeled as point targets, while boats with limited maneuverability or those out of control, being larger in size, are modeled as circular targets. The mathematical models for point and circular targets are as follows: ; In the formula, The radius of the target ship model.

[0064] Due to the presence of impassable physical connections, such as tow lines and fishing nets, trawler convoys and similar formations need to be defined as linear targets. Their endpoints are determined by the position of the outermost vessel in the convoy, and their mathematical model is as follows: ; in, , These are the position coordinates of the two endpoints of the linear target, specifically latitude and longitude coordinates.

[0065] Step S603: Use the data twin ship to simulate navigation within the real-time navigable range to update the real-time navigable range.

[0066] In this step, a digital twin ship is used to simulate navigation within the real-time navigable range to determine whether the entire real-time navigable range is accessible. Areas that are actually inaccessible during the simulation are removed to update the real-time navigable range.

[0067] It is understood that the aforementioned steps S401, S402, S403, and S407 are largely the same as the aforementioned steps S101 to S104, and specific details can be found in the detailed descriptions in the aforementioned embodiments.

[0068] Compared with related technologies, the method for constructing a digital twin model of the waterway traffic environment provided in this embodiment not only retains all the technical features and effects of the aforementioned embodiments, but also determines the real-time navigable range of the current vessel based on the actual navigation data of the current vessel, further improving the dynamic digital twin modeling of the target waterway and the current vessel, and further enhancing the navigation reliability of the digital twin model of the waterway traffic environment.

[0069] Furthermore, in some embodiments of this application, it also includes: constructing corresponding data twin ships in the digital twin model for other ships sailing in the sample area based on the methods of steps S601 to S603 described above, so that the current ship can avoid other ships when sailing in the sample area.

[0070] Furthermore, in some embodiments of this application, for objects such as buoys and floating base stations in the sample water area, corresponding digital twins can be constructed in the digital twin model, thereby reducing collisions with these objects when the current ship is navigating in the sample area.

[0071] To better implement the method for constructing a digital twin model of the waterway traffic environment in the embodiments of this application, based on the method for constructing a digital twin model of the waterway traffic environment, the corresponding method is as follows: Figure 7 As shown in the embodiment of this application, a device for constructing a digital twin model of a waterway traffic environment is also provided. The device includes: Initial water depth acquisition module 701 is used to acquire initial water depth data of the target water area; Tide height acquisition module 702 is used to acquire real-time tide height data of the target water area; The real-time water depth acquisition module 703 is used to determine the real-time water depth data of the target water area based on the initial water depth data and the real-time tide height data. Model building module 704 is used to build a digital twin model of the target water area based on real-time water depth data.

[0072] The device for constructing a digital twin model of a waterway traffic environment provided in the above embodiments can realize the technical solutions described in the embodiments of the method for constructing a digital twin model of a waterway traffic environment. The specific implementation principles of each module or unit can be found in the corresponding content in the embodiments of the method for constructing a digital twin model of a waterway traffic environment, which will not be repeated here.

[0073] Please refer to Figure 8 This application also provides an electronic device 800. The electronic device 800 includes a processor 801, a memory 802, and a display 803. Figure 8 Only some components of the electronic device 800 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0074] In some embodiments, processor 801 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 802 or process data, such as the method for constructing a digital twin model of water traffic environment in this application.

[0075] In some embodiments, processor 801 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 801 may be local or remote. In some embodiments, processor 801 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, intranet, multi-cloud, etc., or any combination thereof.

[0076] In some embodiments, memory 802 may be an internal storage unit of electronic device 800, such as a hard disk or memory of electronic device 800. In other embodiments, memory 802 may also be an external storage device of electronic device 800, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 800.

[0077] Furthermore, the memory 802 may include both internal storage units of the electronic device 800 and external storage devices. The memory 802 is used to store application software and various types of data installed on the electronic device 800.

[0078] In some embodiments, display 803 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 803 is used to display information from electronic device 800 and to display a visual user interface. Components 801-803 of electronic device 800 communicate with each other via a system bus.

[0079] In one embodiment, when processor 801 executes the digital twin model construction program for the waterway traffic environment in memory 802, the following steps can be implemented: Obtain initial water depth data for the target water area; Obtain real-time tidal height data for the target water area; The real-time water depth data of the target water area is determined based on the initial water depth data and the real-time tidal height data; A digital twin model of the target water area is constructed based on real-time water depth data.

[0080] It should be understood that when the processor 801 executes the digital twin model construction program for the water traffic environment in the memory 802, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0081] Furthermore, this application does not specifically limit the type of electronic device 800 mentioned in the embodiments. Electronic device 800 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of this application, electronic device 800 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0082] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions in the water traffic environment digital twin model construction method provided in the above-described method embodiments.

[0083] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0084] The above provides a detailed description of the method, apparatus, electronic device, and storage medium for constructing a digital twin model of the waterway traffic environment provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for constructing a digital twin model of a water transportation environment, characterized in that, The method comprises: acquiring initial water depth data of a target water area; acquiring real-time tide height data of the target water area; determining real-time water depth data of the target water area according to the initial water depth data and the real-time tide height data; constructing a digital twin model of the target water area according to the real-time water depth data.

2. The waterway traffic environment digital twin model construction method according to claim 1, characterized in that, The method further comprises: acquiring current navigation data of a current ship; determining a safe navigation water depth of the current ship according to the current navigation data; determining a real-time navigable range of the current ship according to the safe navigation water depth and the real-time water depth data; establishing a data twin ship corresponding to the current ship in the digital twin model, and adding the real-time navigable range in the digital twin model.

3. The waterway traffic environment digital twin model construction method according to claim 2, characterized in that, The current navigation data includes a current navigation speed, and the determination of the safe navigation water depth of the current ship according to the current navigation data comprises: acquiring a static draft depth of the current ship and a surplus water depth of the target water area; calculating a navigation subsidence amount of the current ship according to the current navigation speed; determining the safe navigation water depth according to the static draft depth, the surplus water depth, and the navigation subsidence amount.

4. The waterway traffic environment digital twin model construction method according to claim 3, characterized in that, The calculation of the navigation subsidence amount of the current ship according to the current navigation speed comprises: dividing the target water area into a restricted water area and an open water area according to the real-time water depth data, and determining a restricted water area subsidence calculation constant corresponding to the restricted water area and an open water area subsidence calculation constant corresponding to the open water area respectively; calculating the navigation subsidence amount corresponding to the restricted water area according to the restricted water area subsidence calculation constant and the current navigation speed, and calculating the navigation subsidence amount corresponding to the open water area according to the open water area subsidence calculation constant and the current navigation speed.

5. The waterway traffic environment digital twin model construction method of claim 2, wherein, The determination of the real-time navigable range of the current ship according to the safe navigation water depth and the real-time water depth data comprises: for any sampling time, acquiring a plurality of navigation sampling points in the target water area with real-time water depth equal to the safe navigation water depth according to the real-time water depth data, and determining a first end point and a last end point in the plurality of navigation sampling points; constructing a navigable boundary connecting the first end point and the last end point; calculating a straight-line distance between each navigation sampling point and the navigable boundary; adding the navigation sampling point with the straight-line distance greater than or equal to a preset distance threshold to the navigable boundary to form a navigable region corresponding to the sampling time; obtaining the real-time navigable range according to the navigable regions corresponding to all the sampling times.

6. The waterway traffic environment digital twin model construction method of claim 2, wherein, The establishment of the data twin ship corresponding to the current ship in the digital twin model comprises: acquiring ship type data of the current ship; constructing the data twin ship corresponding to the current ship in the digital twin model according to the ship type data. After adding the real-time navigable range in the digital twin model, the method further comprises: using the data twin ship to perform simulated navigation in the real-time navigable range to update the real-time navigable range.

7. The waterway traffic environment digital twin model construction method of claim 1, wherein, The real-time water depth data of the target water area is determined according to the initial water depth data and the real-time tide height data, and the method comprises the following steps: Obtaining the initial water depth data and the real-time tide height data corresponding to a plurality of water depth sampling points, and determining water depth sampling point real-time water depth data corresponding to each water depth sampling point; Determining a plurality of interpolation points in the target water area; For any interpolation point, a plurality of water depth sampling points in a set region around the interpolation point are obtained as target water depth sampling points; Interpolation point real-time water depth data corresponding to the interpolation point is calculated according to water depth sampling point real-time water depth data corresponding to a plurality of target water depth sampling points; The real-time water depth data of the target water area is obtained by integrating the water depth sampling point real-time water depth data and the interpolation point real-time water depth data. 8.A water traffic environment digital twin model construction device, characterized by, The method comprises the following steps: An initial water depth acquisition module is configured to acquire initial water depth data of a target water area; A tide height acquisition module is configured to acquire real-time tide height data of the target water area; A real-time water depth acquisition module is configured to determine real-time water depth data of the target water area according to the initial water depth data and the real-time tide height data; A model construction module is configured to construct a digital twin model of the target water area according to the real-time water depth data.

9. An electronic device, comprising: The method comprises the following steps: The memory is configured to store a program; The processor is coupled to the memory and is configured to execute the program stored in the memory to implement the steps of the water area traffic environment digital twin model construction method in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The program or instructions stored in the memory are computer readable, and when executed by the processor, the program or instructions can implement the steps of the water area traffic environment digital twin model construction method in any one of claims 1 to 7.

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