Ship undocking control device, method, equipment and medium based on digital twinning

Abstract

The application discloses a ship undocking control device and method based on digital twinning, equipment and medium, and belongs to the field of ship launching, towing out or entering a dry dock. The device comprises a digital twinning image construction module, which is used for acquiring a dock model and constructing a digital twinning image of the dock according to the dock model; a water level data acquisition module, which is used for acquiring water level data in the dock through a sensor during the process of water filling or water draining of the dock; and a dynamic digital twinning effect drawing generation module, which is used for combining the water level data into the digital twinning image to obtain a dynamic digital twinning effect drawing in the process of water filling or water draining and displaying the dynamic digital twinning effect drawing. According to the technical scheme, the dynamic digital twinning effect drawing can be made according to the real-time water level in the dock, the process of water filling or water draining of the dock can be observed in real time through the displayed dynamic digital twinning effect drawing, the process of water filling or water draining of the dock is more directly displayed, and the control efficiency of the ship entering or leaving the dock is improved.

Description

Technical Field

[0001] This application belongs to the field of ship launching, towing out or entering dry dock technology, specifically relating to a ship undocking control device, method, equipment and medium based on digital twin. Background Technology

[0002] During shipbuilding, a ship needs to be installed in multiple dry docks. Each time a ship enters a dry dock, it is first filled with water using flooding systems. Once the water level inside and outside the dock is equal, the dock gate is opened, and the ship is slowly towed into the dock using traction equipment. Afterward, the water is pumped out, allowing the ship to rest on the keel. When a ship needs to leave the dock, it is first filled with water until the water level inside and outside the dock gate is equal before the gate is opened and the ship is towed out.

[0003] Therefore, the efficiency of water injection and drainage within a dry dock significantly impacts the efficiency of ships entering and leaving the dock. Currently, the observation of water injection and drainage within a dry dock is primarily done manually, which is not only time-consuming and labor-intensive but also suffers from information transmission delays. Therefore, how to achieve real-time observation of water injection and drainage within a dry dock to improve the efficiency of ships entering and leaving the dock is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a ship launching control device, method, equipment, and medium based on digital twins. It can create a dynamic digital twin effect diagram based on the dock model and the real-time water level in the dock, and observe the process of dock water injection or drainage in real time through the displayed dynamic digital twin effect diagram. This helps staff to understand the dock water injection or drainage process more intuitively, improves the efficiency of ship entering and leaving the dock, and simplifies the ship launching process.

[0005] In a first aspect, embodiments of this application provide a ship undocking control device based on digital twins, the device comprising:

[0006] A digital twin image construction module is used to acquire a dock model and construct a digital twin image of the dock based on the dock model. The water level data acquisition module is used to acquire water level data in the dock through sensors during the process of filling or draining water from the dock. The dynamic digital twin effect image generation module is used to combine the water level data into the digital twin image to obtain a dynamic digital twin effect image of the water injection or drainage process, and then display it.

[0007] Furthermore, the dynamic digital twin rendering module is specifically used for: Based on the water level data obtained from each sensor, determine the water injection rate or drainage rate; The water injection flow data is determined based on the water injection rate and the water inlet of the dock model; or, the drainage flow data is determined based on the drainage rate and the drainage inlet of the dock model. Based on the water injection flow data or drainage flow data, a dynamic water injection flow effect diagram during the water injection process is displayed in a digital twin image, or a dynamic drainage flow effect diagram during the drainage process is displayed in a digital twin image.

[0008] Furthermore, the device also includes: The status acquisition module is used to acquire the opening and closing status of each water inlet of the dock, or to acquire the opening and closing status of each drainage outlet of the dock. Accordingly, the dynamic digital twin rendering module is also used for: Based on the water injection rate and the opening / closing status of each water injection port, determine the water flow data of the open water injection port; or, Based on the drainage velocity and the opening / closing status of each drainage outlet, the drainage flow data of the open drainage outlets are determined.

[0009] Furthermore, the device also includes: The location acquisition module is used to acquire the location of each water inlet and each water outlet in the dock. Accordingly, the dynamic digital twin rendering module is specifically used for: Based on the water flow data of the opened water inlet and the setting position of the opened water inlet, a dynamic water flow effect diagram during the water injection process is displayed in a digital twin image. or, Based on the drainage flow data of the opened drain outlet and the location of the opened drain outlet, a dynamic drainage flow effect diagram is displayed in a digital twin image.

[0010] Furthermore, the device also includes: The towing vessel position acquisition module is used to acquire the position of the towing vessel. The dynamic digital twin rendering module is used to combine the position of the towing vessel into a digital twin image when the towing vessel is in the dock, to obtain a dynamic digital twin rendering of the towing vessel, and then display it.

[0011] Furthermore, the dynamic digital twin effect display module is also used for: Acquire the position data of the first positioning sensor and the second positioning sensor of the traction vessel; The direction information of the traction vessel is determined based on the position data from the first positioning sensor and the position data from the second positioning sensor. The position and orientation information of the traction vessel are combined into the digital twin image to obtain a dynamic digital twin rendering of the traction vessel.

[0012] Furthermore, acquiring the position data of the first positioning sensor and the position data of the second positioning sensor of the traction vessel includes: The first positioning sensor is located at the bow of the centerline of the traction vessel; the second positioning sensor is located at the stern of the centerline of the traction vessel.

[0013] Secondly, embodiments of this application provide a ship undocking control method based on digital twins, the method comprising: Obtain a dock model, and construct a digital twin image of the dock based on the dock model; During the process of filling or draining water from the dock, sensors are used to acquire water level data within the dock. The water level data is combined with the digital twin image to obtain a dynamic digital twin effect diagram of the water injection or drainage process, which is then displayed.

[0014] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0015] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0016] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0017] In this embodiment, a digital twin image construction module is used to acquire a dock model and construct a digital twin image of the dock based on the dock model; a water level data acquisition module is used to acquire water level data within the dock through sensors during the process of filling or draining water; and a dynamic digital twin effect image generation module is used to combine the water level data into the digital twin image to obtain a dynamic digital twin effect image during the filling or draining process, and then display it. Through the aforementioned ship launching control device based on digital twins, a dynamic digital twin effect image can be created based on the dock model and the real-time water level within the dock. The process of filling or draining water in the dock can be observed in real time through the displayed dynamic digital twin effect image, which helps staff to understand the process more intuitively, improves the efficiency of ship entry and exit from the dock, and simplifies the ship launching process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the ship launching control device based on digital twin provided in Embodiment 1 of this application; Figure 2 This is a schematic diagram of the structure of the ship launching control device based on digital twin provided in Embodiment 2 of this application; Figure 3 This is a schematic diagram of the structure of the ship launching control device based on digital twin provided in Embodiment 3 of this application; Figure 4 This is a schematic diagram of the structure of the ship launching control device based on digital twin provided in Embodiment 4 of this application; Figure 5 This is a schematic diagram of the structure of the ship launching control device based on digital twin provided in Embodiment 5 of this application; Figure 6 This is a schematic diagram of the structure of the ship launching control device based on digital twin provided in Embodiment Six of this application; Figure 7 This is a flowchart illustrating the ship undocking control method based on digital twin provided in Embodiment 7 of this application; Figure 8 This is a schematic diagram of the structure of the electronic device provided in Embodiment 8 of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0020] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0021] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0022] The following description, in conjunction with the accompanying drawings, details the ship undocking control device, method, equipment, and medium based on digital twins provided in this application through specific embodiments and application scenarios.

[0023] Example 1 Figure 1 This is a schematic diagram of the structure of the ship undocking control device based on digital twin provided in Embodiment 1 of this application. Figure 1 As shown, the specific steps include the following: The digital twin image construction module 110 is used to acquire a dock model and construct a digital twin image of the dock based on the dock model. The water level data acquisition module 120 is used to acquire water level data in the dock through sensors during the process of filling or draining water from the dock. The dynamic digital twin effect image generation module 130 is used to combine the water level data into the digital twin image to obtain a dynamic digital twin effect image of the water injection or drainage process, and then display it.

[0024] This solution can be applied in scenarios where a smart terminal generates a dynamic digital twin based on real-time monitoring data of the water level in the dock and the dock model. Specifically, the acquisition of the dock model and water level data, the analysis of the digital twin image, and the display of the dynamic digital twin can all be performed by the smart terminal. After generating the dynamic digital twin, it can be displayed on the smart terminal's display device, allowing staff to better understand the dock's water filling or drainage process.

[0025] Based on the above application scenarios, it is understood that the executing entity of this application can be the smart terminal or the software running in the smart terminal, without further limitations here.

[0026] The digital twin image construction module 110 can be a program designed by a smart terminal to construct a digital twin image of a dock. A dock can be a dock-type structure used for shipbuilding and repair, with three sides connected to land and one side facing water. When flooded, it allows ships to enter and exit; when dewatered, it allows for shipbuilding and repair on a dry bottom. A dock model can be a three-dimensional model that reflects the structural characteristics of a dock.

[0027] Digital twin imaging is a technology that creates a replica of a real physical system in digital space. By deploying sensors within the physical system, it dynamically converts the system into digital information, and then displays the state information using 3D visualization methods. This real-time digital spatial mirror of the physical system enables simulation of its entire lifecycle. Based on real information, it supports simulation-related applications such as analysis, prediction, and decision-making. It connects the physical and virtual systems, feeding back the evolution of virtual information to the physical system, thus playing a crucial role in optimizing the physical system. The physical system can be a simulation system describing the similarity between different sized systems of the same physical process (such as mechanical motion or electrical dynamics) in a real system, or a simulation system of two different physical processes with the same mathematical description.

[0028] One way to obtain a dock model is to use software such as CADMATIC to develop a 3D model based on the dock's shape and structure, and then obtain the dock's 3D feature curves through parametric modeling and other methods. Finally, the overall shape and structure of the dock can be expressed through 3D surfaces.

[0029] One way to construct a digital twin image of a dock is to use a three-dimensional model of the dock as a basis, acquire real-time water level data through sensors, drive the three-dimensional model with the data, and combine it with a mathematical model to deduce the changing trend of the three-dimensional model of the dock, so as to realistically and accurately simulate the dynamic effect of the dock water level system, thereby realizing the real-time mapping of the real dock water level system in digital space.

[0030] The water level data acquisition module 120 can be a program designed for a smart terminal to acquire water level data within the dock. Water injection can involve releasing water into the dock to raise the water level. Water drainage can involve draining water from the dock to lower the water level. The sensor can be a hydrostatic level sensor used to acquire the dock's water level data. The water level data can be the height of the water surface from the bottom of the dock.

[0031] One way to obtain water level data in the dock is to place a sensor at the bottom of the dock. When water level data is needed, liquid is introduced into the positive pressure chamber of the sensor. The negative pressure chamber is connected to the atmosphere. The pressure was measured, and the formula was applied: ; In the formula, This indicates the pressure exerted on the liquid-facing surface of the sensor. This represents atmospheric pressure above the water surface. This indicates the density of the water in the dock. Indicates the local gravitational acceleration. This indicates the water depth in the dock. Substituting the detected pressure data into a formula similar to the one described above yields the water level data within the dock.

[0032] The dynamic digital twin rendering module 130 can be a program designed for a smart terminal to generate dynamic digital twin renderings. The dynamic digital twin rendering can be generated by collecting as much dock water level data as possible, and updating, correcting, and supplementing the model based on the digital twin image and real-time data, thus achieving real-time mapping and short-term prediction of the real system.

[0033] The display of dynamic digital twin renderings can be achieved through smart terminals using display devices such as computers, tablets, and screens to present the dynamic digital twin renderings in 3D. Specifically, a water flow rendering method coupling Eulerian mesh and SPH (Smoothed Particle Hydrodynamics) can be used to render the static water flow elements in the digital twin model. The Eulerian mesh fluid rendering method can represent the dynamic water flow under realistic water level data. A Lagrange fluid rendering method based on SPH particles can be used to represent details such as waves and splashes generated by the interaction between the water flow and the ship's edges.

[0034] In this embodiment, the following method for constructing a dynamic digital twin effect diagram is specifically provided for reference: Taking the 3D modeling application Blender as an example, the first step is to create an overall scene composition for the dock, simply representing the large surfaces within the dock, and then refining the details of these surfaces. For the construction of equipment within the dock, a modular approach can be used, building recurring equipment separately and then integrating it into the dock model. Next, using Blender's texture model, surface mapping is applied to the dock model based on the different materials of the equipment within the dock.

[0035] After the dock model is built, 3D spatial data is extracted from the model, such as dock size, shape, and equipment information. This 3D spatial data is then integrated to form a spatial database. Real-time data such as water level, flow velocity at water inlets / outlets, and water flow rate at water inlets / outlets are collected using various sensors. A dynamic, interactive simulation system is built for the dock model using computer simulation technology. The 3D spatial data and real-time data are used to construct a 3D dynamic visualization model, establishing a connection between the data and the dynamic model. The initially constructed dynamic digital twin is used for model training, reflecting changes in the dock's water level. The accuracy of the digital twin is verified by comparing it with actual data. The digital twin is also used to simulate and test sudden events such as abrupt changes in water level and sudden changes in the state of water inlets / outlets to improve the ability to respond to emergencies. Based on the simulation and testing results, the dynamic digital twin is continuously optimized to improve its reliability and application performance. Using similar methods, dynamic digital twin renderings can be generated.

[0036] In this embodiment, a dock model is obtained, and a digital twin image of the dock is constructed based on the dock model. During the process of filling or draining the dock, water level data within the dock is acquired through sensors. The water level data is then combined with the digital twin image to obtain a dynamic digital twin effect diagram of the filling or draining process, which is then displayed. Through the aforementioned ship launching control device based on digital twins, a dynamic digital twin effect diagram can be created based on the dock model and the real-time water level within the dock. The process of filling or draining the dock can be observed in real time through the displayed dynamic digital twin effect diagram, which helps staff to more intuitively understand the process of filling or draining the dock, improves the efficiency of the ship entering and leaving the dock, and simplifies the ship launching process.

[0037] In this solution, specifically, the concept of a five-dimensional digital twin model can be adopted, as shown in the following formula: MDT=(PE,VE,Ss,DD,CN); Wherein: PE represents physical entity, VE represents virtual entity, Ss represents service, DD represents twin data, and CN represents the connection between the components.

[0038] The five-dimensional model of digital twins can meet the new requirements of digital twin applications mentioned in the previous section. First, MDT is a general reference architecture applicable to different applications in different fields. Second, its five-dimensional structure can be integrated and merged with new IT technologies such as the Internet of Things, big data, and artificial intelligence, meeting the needs of cyber-physical system integration, cyber-physical data fusion, and bidirectional virtual-physical connection and interaction. Third, twin data (DD) integrates information data and physical data, meeting the consistency and synchronization requirements of information space and physical space, and providing more accurate and comprehensive full-element / full-process / full-business data support. Services (Ss) encapsulate various data, models, algorithms, simulations, and results required by different fields, different levels of users, and different businesses in the process of digital twin applications, and provide them to users in the form of application software or mobile apps, realizing convenient and on-demand use of services. Connectivity (CN) realizes universal industrial interconnection between physical entities, virtual entities, services, and data, thereby supporting real-time virtual-physical interconnection and fusion. Virtual entities (VE) characterize and describe physical entities from multiple dimensions, multiple spatial scales, and multiple temporal scales.

[0039] Physical entity (PE); PE is the foundation of the five-dimensional model of digital twin. Accurate analysis and effective maintenance of PE is the premise for establishing MDT. PE has a hierarchical structure. According to function and structure, it generally includes three levels: unit-level PE, system-level PE and system of systems-level PE. Taking the digital twin workshop [2] as an example, each piece of equipment in the workshop can be regarded as a unit-level PE, which is the smallest unit for realizing the function; according to the process and procedure of the product, the production line composed of equipment combination configuration can be regarded as a system-level PE, which can complete the processing task of specific parts; the workshop composed of production lines can be regarded as a complex system-level PE, which is a comprehensive complex system including material flow, energy flow and information flow, which can realize the organization, coordination and management between subsystems. According to different application requirements and control granularity, the PE is layered, which is the basis for the layered construction of MDT. For example, a unit-level MDT can be built for a single device to enable monitoring, fault prediction, and maintenance of that device; a system-level MDT can be built for a production line to analyze and optimize production line scheduling, progress control, and product quality control; and a complex system-level MDT can be built for the entire workshop to describe the interactions and coupling relationships between subsystems, thereby analyzing and predicting the evolution of the entire system.

[0040] Virtual Entity (VE); The VE, as shown in the following formula, includes a geometric model (Gv), a physical model (Pv), a behavioral model (Bv), and a rule model (Rv). These models can describe and characterize the PE from multiple time scales and multiple spatial scales. VE=(Gv,Pv,Bv,Rv); Gv is a 3D model that describes the geometric parameters (such as shape, size, and position) and relationships (such as assembly relationships) of PE. It has good spatiotemporal consistency with PE, and the rendering of details can make Gv visually closer to PE. Gv can be created using 3D modeling software (such as SolidWorks, 3D MAX, ProE, AutoCAD, etc.) or instruments and equipment (such as 3D scanners).

[0041] Pv adds physical properties, constraints, and characteristics of PE to Gv. It can usually be dynamically mathematically approximated and characterized at both macroscopic and microscopic scales using tools such as ANSYS, ABAQUS, and Hypermesh, such as structural, fluid, electric field, and magnetic field modeling and simulation analysis.

[0042] Bv describes the real-time response and behavior of a PE (Programmer) at different granularities, spatial scales, and time scales, resulting from the combined effects of external environments and disturbances, as well as internal operating mechanisms. This includes time-varying evolutionary behavior, dynamic functional behavior, and performance degradation behavior. Creating a behavioral model of a PE is a complex process involving the construction of various models, such as problem models, evaluation models, and decision models. Finite state machines, Markov chains, neural networks, complex networks, and ontology-based modeling methods can be used to create Bv.

[0043] Regression Verification (RV) includes patterns and rules based on historical correlation data, experience summarized from tacit knowledge, and relevant domain standards and guidelines. These rules self-grow, self-learn, and self-evolve over time, enabling Entities (VEs) to make real-time judgments, evaluations, optimizations, and predictions. This allows for not only controlling and guiding the operation of Physical Entities (PEs) but also correcting and analyzing the consistency of VEs. RV can be obtained by integrating existing knowledge or by continuously generating new rules through machine learning algorithms.

[0044] By assembling, integrating, and fusing the above four types of models, a complete VE corresponding to the PE is created. Simultaneously, model verification, validation, and validation (VV&A) are used to verify the consistency, accuracy, and sensitivity of the VE, ensuring that the VE accurately maps the PE. Furthermore, VR and AR technologies can be used to achieve virtual-real overlay and fusion display of the VE and PE, enhancing the immersion, realism, and interactivity of the VE.

[0045] Service (Ss); Ss refers to the service-oriented encapsulation of various data, models, algorithms, simulations, and results required in the application of digital twins, which supports the operation and implementation of internal functions of digital twins in the form of tool components, middleware, module engines, etc., and "business services (BService)" which meet the different business needs of different users in different fields in the form of application software, mobile apps, etc., where FService provides support for the implementation and operation of BService.

[0046] FService mainly includes: ① Model management services for VE, such as modeling and simulation services, model assembly and fusion services, model VV&A services, and model consistency analysis services; ② Data management and processing services for DD, such as data storage, encapsulation, cleaning, association, mining, and fusion services; ③ Comprehensive connectivity services for CN, such as data acquisition services, sensor access services, data transmission services, protocol services, and interface services.

[0047] BService primarily includes: ① Operational guidance services for on-site operators, such as virtual assembly services, equipment repair and maintenance services, and process training services; ② Specialized technical services for technical personnel, such as multi-level and multi-stage energy consumption simulation and evaluation services, adaptive equipment control strategy services, dynamic optimization scheduling services, and dynamic process simulation services; ③ Intelligent decision-making services for management personnel, such as demand analysis services, risk assessment services, and trend prediction services; ④ Product services for end users, such as user experience services, virtual training services, and remote maintenance services. These services act as a black box for users, shielding them from the internal heterogeneity and complexity of the digital twin. They provide standardized inputs and outputs through application software and mobile apps, thereby reducing the professional skills and knowledge requirements for users in digital twin applications and enabling convenient on-demand use.

[0048] Twin data (DD); DD is the driving force behind digital twins. As shown in the following formula, DD mainly includes PE data (Dp), VE data (Dv), Ss data (Ds), knowledge data (Dk), and fused derived data (Df).

[0049] DD=(Dp,Dv,Ds,Dk,Df); In the formula: Dp mainly includes physical element attribute data reflecting PE specifications, functions, performance, relationships, etc., and dynamic process data reflecting PE operating status, real-time performance, environmental parameters, sudden disturbances, etc., which can be collected through sensors, embedded systems, data acquisition cards, etc.; Dv mainly includes VE-related data, such as geometric model-related data such as geometric dimensions, assembly relationships, and positions; physical model-related data such as material properties, loads, and characteristics; behavioral model-related data such as driving factors, environmental disturbances, and operating mechanisms; rule model-related data such as constraints, rules, and correlation relationships; and simulation data based on the above models for process simulation, behavioral simulation, process verification, evaluation, analysis, and prediction; Ds mainly includes... It should include FService-related data (such as algorithms, models, data processing methods, etc.) and BService-related data (such as enterprise management data, production management data, product management data, market analysis data, etc.); Dk includes expert knowledge, industry standards, rule constraints, reasoning and inference, commonly used algorithm libraries and model libraries, etc.; Df is the derived data obtained after Dp, Dv, Ds, Dk have undergone data transformation, preprocessing, classification, association, integration, fusion and other related processing. By integrating physical reality data with multi-temporal and spatial related data, historical statistical data, expert knowledge and other information data, we can obtain cyber-physical fusion data, thereby reflecting more comprehensive and accurate information and realizing information sharing and value-added.

[0050] Connection (CN); The CN enables interconnection and interoperability among the various components of the MDT. As shown in the following formula, the CN includes connections between PE and DD (CN_PD), PE and VE (CN_PV), PE and Ss (CN_PS), VE and DD (CN_VD), VE and Ss (CN_VS), and Ss and DD (CN_SD). CN = (CN_PD, CN_PV, CN_PS); CN_VD, CN_VS, CN_SD); In the formula: CN_PD enables interaction between PE and DD: PE data can be acquired in real time using various sensors, embedded systems, data acquisition cards, etc., and transmitted to DD via protocols such as MTConnect, OPC-UA, and MQTT; correspondingly, processed data or instructions in DD can be transmitted and fed back to PE via protocols such as OPC-UA, MQTT, and CoAP, achieving PE operation optimization. CN_PV enables interaction between PE and VE: CN_PV is implemented in a similar way to CN_PD, transmitting the acquired PE real-time data to VE for updating and correcting various digital models; the acquired VE simulation analysis data is converted into control commands and issued to the PE actuator, achieving real-time control of the PE. CN_PS enables interaction between PE and Ss: Similarly, CN_PS is implemented in a similar way to CN_PD, transmitting the acquired PE real-time data to Ss for updating and optimizing Ss; the operation guidance, professional analysis, and decision optimization results generated by Ss are provided to users in the form of application software or mobile apps, allowing manual operation to control the PE. CN_VD enables interaction between VE and DD: Through database interfaces such as JDBC and ODBC, it stores simulation and related data generated by VE in real time into DD, and simultaneously reads fused data, correlated data, and lifecycle data from DD to drive dynamic simulation. CN_VS enables interaction between VE and Ss: It enables bidirectional communication between VE and Ss through software interfaces such as Socket, RPC, and MQSeries, completing direct command transmission, data sending and receiving, and message synchronization. CN_SD enables interaction between Ss and DD: Similar to CN_VD, through database interfaces such as JDBC and ODBC, it stores Ss data in real time into DD, and simultaneously reads historical data, rule data, commonly used algorithms, and models from DD in real time to support the operation and optimization of Ss.

[0051] Example 2 Figure 2 This is a flowchart illustrating the ship launching control method based on digital twins provided in Embodiment 2 of this application. This solution makes further improvements to the above embodiment, specifically: the dynamic digital twin effect diagram generation module is used to: determine the water injection speed or drainage speed based on the water level data obtained from each sensor; determine water injection flow data based on the water injection speed combined with the water inlet of the dock model; or, determine drainage flow data based on the drainage speed combined with the drainage outlet of the dock model; and display a dynamic water injection flow effect diagram during the water injection process, or a dynamic drainage flow effect diagram during the drainage process, in the digital twin image based on the water injection flow data or drainage flow data.

[0052] like Figure 2 As shown, it specifically includes the following: The digital twin image construction module 210 is used to acquire a dock model and construct a digital twin image of the dock based on the dock model. The water level data acquisition module 220 is used to acquire water level data in the dock through sensors during the process of filling or draining water from the dock. The dynamic digital twin effect image generation module 230 is used to combine the water level data into the digital twin image to obtain a dynamic digital twin effect image of the water injection or drainage process, and then display it.

[0053] Among them, the dynamic digital twin effect diagram generation module 230 is specifically used to determine the water injection speed or drainage speed based on the water level data obtained by each sensor; The water injection flow data is determined based on the water injection rate and the water inlet of the dock model; or, the drainage flow data is determined based on the drainage rate and the drainage inlet of the dock model. Based on the water injection flow data or drainage flow data, a dynamic water injection flow effect diagram during the water injection process is displayed in a digital twin image, or a dynamic drainage flow effect diagram during the drainage process is displayed in a digital twin image.

[0054] The rate of water filling can be defined as the amount of water added to the dock per unit time. The rate of water draining can be defined as the amount of water removed from the dock per unit time.

[0055] The method for determining the water injection or drainage rate can be based on the difference in water level data detected by sensors per unit time. For example, if the water level in the dock is detected to be 3.55 meters, and one hour later the water level in the dock is 4.67 meters, then the water injection rate of the dock is: ; Using a method similar to the one described above, a water injection rate of 1.12 meters per hour can be obtained.

[0056] Accordingly, if the water level in the dock is detected to be 3.55 meters, and one hour later the water level in the dock is 2.47 meters, then the drainage rate of the dock is: ; Using a similar listing method, a drainage velocity of 1.08 meters per hour can be obtained.

[0057] The water inlets of a dock model are channels used to fill the dock with water. Water flow data can include the location of the inlets, the water flow rate, and the water injection speed. Similarly, the water outlets of a dock model are channels used to drain water from the dock. Drainage flow data can include the location of the outlets, the water flow rate, and the drainage speed.

[0058] The methods for determining water injection flow data or drainage flow data include marking the location of the water injection or drainage outlet in the dock model and obtaining the three-dimensional coordinates of that location, collecting the water injection speed or drainage speed, and calculating the water flow rate based on the size of the water injection or drainage outlet, etc.

[0059] Dynamic water injection flow effect diagrams or dynamic drainage flow effect diagrams can be generated by using Eulerian mesh fluid rendering methods to represent the flow effect of water at the water injection or drainage outlet. Based on real-time collected water injection or drainage flow data, necessary information such as the size and velocity of the water flow is determined. After the intelligent terminal analyzes and processes this information, a dynamic water flow model similar to the actual water flow is obtained. The dynamic water flow model is then fitted with a digital twin image to obtain the dynamic water injection flow effect diagram or dynamic drainage flow effect diagram.

[0060] The advantage of this scheme is that it allows for the acquisition of dynamic water injection and drainage flow diagrams based on the calculated water injection and drainage rates. This enables staff to more intuitively monitor the dock's water injection and drainage processes, thereby improving water injection and drainage efficiency.

[0061] Example 3 Figure 3 This is a flowchart illustrating the ship launching control method based on digital twins provided in Embodiment 2 of this application. This solution makes further improvements to the above embodiment, specifically: the device further includes a status acquisition module, used to acquire the opening and closing status of each water inlet of the dock, or to acquire the opening and closing status of each drainage outlet of the dock; correspondingly, the dynamic digital twin effect diagram generation module is further used to: determine the water flow data of the open water inlet based on the water injection speed and the opening and closing status of each water inlet; or, determine the drainage flow data of the open drainage outlet based on the drainage speed and the opening and closing status of each drainage outlet.

[0062] like Figure 3 As shown, it specifically includes the following: The digital twin image construction module 310 is used to acquire a dock model and construct a digital twin image of the dock based on the dock model. The water level data acquisition module 320 is used to acquire water level data in the dock through sensors during the process of filling or draining water from the dock. The dynamic digital twin effect image generation module 330 is used to combine the water level data into the digital twin image to obtain a dynamic digital twin effect image of the water injection or drainage process, and then display it.

[0063] The status acquisition module 340 is used to acquire the opening and closing status of each water inlet of the dock, or to acquire the opening and closing status of each drainage outlet of the dock.

[0064] Among them, the dynamic digital twin effect diagram generation module 330 is specifically used to determine the water injection speed or drainage speed based on the water level data obtained by each sensor; The water injection flow data is determined based on the water injection rate and the water inlet of the dock model; or, the drainage flow data is determined based on the drainage rate and the drainage inlet of the dock model. Based on the water injection flow data or drainage flow data, a dynamic water injection flow effect diagram during the water injection process is displayed in a digital twin image, or a dynamic drainage flow effect diagram during the drainage process is displayed in a digital twin image.

[0065] The dynamic digital twin effect diagram generation module 330 is also used to determine the water flow data of the open water inlet based on the water injection speed and the opening and closing status of each water inlet. or, Based on the drainage velocity and the opening / closing status of each drainage outlet, the drainage flow data of the open drainage outlets are determined.

[0066] The status acquisition module 340 can be a program designed for a smart terminal to acquire the opening and closing status of each water inlet or outlet in the dock. The method for acquiring the opening and closing status of each water inlet or outlet can be that the smart terminal retrieves the status information of the water inlet or outlet from the dock control system. Specifically, the smart terminal first determines the location of each water inlet or outlet in the dock model, then finds the corresponding water inlet or outlet in the dock control system based on the location information, and retrieves the opening and closing status information of that water inlet or outlet.

[0067] The method for determining water injection flow data or drainage flow data can be based on the opening and closing status of each water injection or drainage outlet. If the water injection or drainage outlet is open, the water injection flow data or drainage flow data can be determined based on the water injection speed or drainage speed and the dock model. If the water injection or drainage outlet is closed, it is not necessary to determine the water injection flow data or drainage flow data.

[0068] The advantage of this scheme is that it allows for the detection of the opening and closing status of the water inlet or outlet before determining the water flow data or drainage flow data. Only the data of the open water inlet or outlet is calculated, which reduces the amount of calculation and improves the calculation efficiency to a certain extent.

[0069] Example 4 Figure 4This is a flowchart illustrating the ship launching control method based on digital twins provided in Embodiment 2 of this application. This solution makes further improvements to the above embodiment, specifically: the device further includes: a location acquisition module, used to acquire the location of each water inlet and each water outlet in the dock; correspondingly, the dynamic digital twin effect diagram generation module is specifically used to: display a dynamic water inlet flow effect diagram in a digital twin image based on the water inlet flow data and the location of the opened water inlet; or, display a dynamic drainage flow effect diagram in a digital twin image based on the drainage flow data and the location of the opened drainage outlet.

[0070] like Figure 4 As shown, it specifically includes the following: The digital twin image construction module 410 is used to acquire a dock model and construct a digital twin image of the dock based on the dock model. The water level data acquisition module 420 is used to acquire water level data in the dock through sensors during the process of filling or draining water from the dock. The dynamic digital twin effect image generation module 430 is used to combine the water level data into the digital twin image to obtain a dynamic digital twin effect image of the water injection or drainage process, and then display it.

[0071] The status acquisition module 440 is used to acquire the opening and closing status of each water inlet of the dock, or to acquire the opening and closing status of each drainage outlet of the dock.

[0072] The location acquisition module 450 is used to acquire the location of each water inlet and each water outlet in the dock. Among them, the dynamic digital twin effect diagram generation module 430 is specifically used to determine the water injection speed or drainage speed based on the water level data obtained by each sensor; The water injection flow data is determined based on the water injection rate and the water inlet of the dock model; or, the drainage flow data is determined based on the drainage rate and the drainage inlet of the dock model. Based on the water injection flow data or drainage flow data, a dynamic water injection flow effect diagram during the water injection process is displayed in a digital twin image, or a dynamic drainage flow effect diagram during the drainage process is displayed in a digital twin image.

[0073] The dynamic digital twin effect diagram generation module 430 is also used to determine the water flow data of the open water inlet based on the water injection speed and the opening and closing status of each water inlet. or, Based on the drainage velocity and the opening / closing status of each drainage outlet, the drainage flow data of the open drainage outlets are determined.

[0074] The dynamic digital twin effect diagram generation module 430 is specifically used to: display the dynamic water injection flow effect diagram in the digital twin image based on the water injection flow data of the opened water injection port and the setting position of the opened water injection port. or, Based on the drainage flow data of the opened drain outlet and the location of the opened drain outlet, a dynamic drainage flow effect diagram is displayed in a digital twin image.

[0075] The location acquisition module 450 can be a program designed for a smart terminal to acquire the location of each water inlet and each drainage outlet in the dock. The location of each water inlet and each drainage outlet in the dock can be acquired by workers marking the location of each water inlet and each drainage outlet in the dock model, or by using a 3D laser scanner or a coordinate measuring machine to perform 3D scanning or measurement of the location of each water inlet and each drainage outlet, obtaining 3D point data of each water inlet and each drainage outlet, and then marking the location of each water inlet and each drainage outlet in the dock model using differentiated display based on the 3D point data.

[0076] The method for obtaining dynamic water injection flow effect diagrams or dynamic drainage flow effect diagrams can be to mark the location of the open water injection or drainage outlet in a digital twin image, then create a dynamic water flow model of the open water injection or drainage outlet based on the water injection flow data or drainage flow data, and fit the model with the digital twin image of the marked location of the open water injection or drainage outlet to obtain the dynamic water injection flow effect diagram or dynamic drainage flow effect diagram.

[0077] The advantage of this setup is that it allows us to obtain the location of each water inlet and outlet in the dock and mark that location on the dynamic flow diagram. This makes it easier for staff to view the location of each water inlet and outlet, and helps them to more intuitively monitor the water injection and drainage process.

[0078] Example 5 Figure 5 This is a flowchart illustrating the ship undocking control method based on digital twins provided in Embodiment 2 of this application. This solution makes further improvements to the above embodiment, specifically: the device further includes: a traction vessel position acquisition module for acquiring the position of the traction vessel; and a dynamic digital twin effect display module for combining the position of the traction vessel with a digital twin image when the traction vessel is in the dock, obtaining a dynamic digital twin effect image of the traction vessel, and displaying it.

[0079] like Figure 5 As shown, it specifically includes the following: The digital twin image construction module 510 is used to acquire a dock model and construct a digital twin image of the dock based on the dock model. The water level data acquisition module 520 is used to acquire water level data in the dock through sensors during the process of filling or draining water from the dock. The dynamic digital twin effect image generation module 530 is used to combine the water level data into the digital twin image to obtain a dynamic digital twin effect image of the water injection or drainage process, and then display it.

[0080] The towing vessel position acquisition module 540 is used to acquire the position of the towing vessel; The dynamic digital twin rendering display module 550 is used to combine the position of the towing vessel into a digital twin image when the towing vessel is in the dock, to obtain a dynamic digital twin rendering of the towing vessel, and to display it.

[0081] The towing vessel position acquisition module 540 can be a program designed for a smart terminal to acquire the position of the towing vessel. The position of the towing vessel can be acquired through communication technologies such as RFID (Radio Frequency Identification). Electronic tags are pre-installed on each towing vessel, and these tags transmit radio frequency signals to feed back their own positions to the smart terminal. After receiving the feedback signals from each towing vessel, the smart terminal marks the position of the towing vessel in the dock model.

[0082] The dynamic digital twin rendering of the towing vessel can be based on the digital twin image of the dock, with the display icon of the towing vessel added. Based on the real-time position data fed back by electronic tags, the positions of the towing vessel at different times are connected to form the movement trajectory of the towing vessel, generating a dynamic position trajectory display of the towing vessel.

[0083] The advantage of this setup is that it allows for the acquisition of the location of towing vessels and the generation of dynamic digital twin images of them, making it easier for staff to locate the number and position of towing vessels within the dock.

[0084] Example 6 Figure 6This is a flowchart illustrating the ship launching control method based on digital twins provided in Embodiment 2 of this application. This solution makes further improvements to the above embodiment, specifically: the dynamic digital twin effect display module is further configured to: acquire position data from the first positioning sensor and the second positioning sensor of the towing vessel; determine the direction information of the towing vessel based on the position data from the first and second positioning sensors; and combine the position and direction information of the towing vessel into a digital twin image to obtain a dynamic digital twin effect of the towing vessel. Optionally, the first positioning sensor is located at the bow position of the centerline of the towing vessel; the second positioning sensor is located at the stern position of the centerline of the towing vessel.

[0085] like Figure 6 As shown, it specifically includes the following: The digital twin image construction module 610 is used to acquire a dock model and construct a digital twin image of the dock based on the dock model. The water level data acquisition module 620 is used to acquire water level data in the dock through sensors during the process of filling or draining water from the dock. The dynamic digital twin effect image generation module 630 is used to combine the water level data into the digital twin image to obtain a dynamic digital twin effect image of the water injection or drainage process, and then display it.

[0086] The towing vessel position acquisition module 640 is used to acquire the position of the towing vessel; The dynamic digital twin rendering display module 650 is used to combine the position of the towing vessel into a digital twin image when the towing vessel is in the dock, to obtain a dynamic digital twin rendering of the towing vessel, and to display it.

[0087] The dynamic digital twin effect display module 650 is also used to acquire the position data of the first positioning sensor and the position data of the second positioning sensor of the traction vessel. The direction information of the traction vessel is determined based on the position data from the first positioning sensor and the position data from the second positioning sensor. The position and orientation information of the traction vessel are combined into the digital twin image to obtain a dynamic digital twin rendering of the traction vessel.

[0088] Optionally, the first positioning sensor is located at the bow position of the centerline of the traction vessel; the second positioning sensor is located at the stern position of the centerline of the traction vessel.

[0089] The first positioning sensor can be an electronic tag located at the bow of the towing vessel. The second positioning sensor can be an electronic tag located at the stern of the towing vessel where the first positioning sensor is located.

[0090] The position data of the first and second positioning sensors of the towing vessel can be obtained by electronic tags located at the bow and stern of the towing vessel, which simultaneously report their own positions to the smart terminal. After receiving the position data, the smart terminal marks the three-dimensional coordinates of the first and second positioning sensors in the dock model.

[0091] Directional information for towing vessels can include the direction of the towing vessel's bow and its movement trend.

[0092] One way to determine the direction information of a towing vessel is to draw an arrow from the position of the second positioning sensor to the position of the first positioning sensor within the same towing vessel, and use the direction of the arrow as the vessel's direction information. For example, if the coordinates of the first positioning sensor of a towing vessel are measured to be (1, 2, 3.5) and the coordinates of the second positioning sensor are (1, 1, 3.5), then drawing an arrow from the position of the second positioning sensor to the position of the first positioning sensor will show that the towing vessel is heading due north.

[0093] A dynamic digital twin of a towing vessel can be created by displaying the position and orientation information of the towing vessel at every moment in a digital twin image, connecting the position and orientation of the towing vessel at each moment to form the trajectory change of the towing vessel, analyzing and predicting the trajectory of the towing vessel, and thus obtaining a real-time dynamic digital twin of the towing vessel.

[0094] Based on this technical solution, optionally, the first positioning sensor is located at the bow position of the centerline of the traction vessel; the second positioning sensor is located at the stern position of the centerline of the traction vessel.

[0095] The advantage of this technical solution is that it can acquire the directional information of the towing vessel through the positioning sensor and display the directional information in the dynamic digital twin effect diagram, which makes it convenient for staff to obtain the directional information of the towing vessel and improves the efficiency of staff to direct the towing vessel to tow the vessel.

[0096] Example 7 Figure 7 This is a flowchart illustrating the ship undocking control method based on digital twin provided in Embodiment 8 of this application.

[0097] like Figure 7 As shown, it specifically includes the following: S701. Obtain the dock model and construct a digital twin image of the dock based on the dock model; S702. During the process of filling or draining water from the dock, the water level data inside the dock is obtained through sensors. S703. Combine the water level data into the digital twin image to obtain a dynamic digital twin effect diagram of the water injection or drainage process, and display it.

[0098] In this embodiment, a dock model is obtained, and a digital twin image of the dock is constructed based on the dock model. During the process of filling or draining the dock, water level data within the dock is acquired through sensors. The water level data is then combined with the digital twin image to obtain a dynamic digital twin effect diagram of the filling or draining process, which is then displayed. Through the aforementioned ship launching control device based on digital twins, a dynamic digital twin effect diagram can be created based on the dock model and the real-time water level within the dock. The process of filling or draining the dock can be observed in real time through the displayed dynamic digital twin effect diagram, which helps staff to more intuitively understand the process of filling or draining the dock, improves the efficiency of the ship entering and leaving the dock, and simplifies the ship launching process.

[0099] The ship undocking control method based on digital twins provided in this application embodiment has the same functional modules and beneficial effects as the ship undocking control device based on digital twins provided in the above embodiments. To avoid repetition, it will not be described again here.

[0100] Example 8 like Figure 8 As shown, this application embodiment also provides an electronic device 800, including a processor 801, a memory 802, and a program or instructions stored in the memory 802 and executable on the processor 801. When the program or instructions are executed by the processor 801, they implement the various processes of the above-described embodiment of the ship undocking control device based on digital twins and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0101] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0102] Example 9 This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described embodiment of the ship undocking control device based on digital twins and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0103] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0104] Example 10 This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described embodiment of the ship undocking control device based on digital twin, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0105] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0106] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0107] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0108] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0109] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the claims.

Claims

1. A ship undocking control device based on digital twin, characterized in that, The device includes: A digital twin image construction module is used to acquire a dock model and construct a digital twin image of the dock based on the dock model. The water level data acquisition module is used to acquire water level data in the dock through sensors during the process of filling or draining water from the dock. The dynamic digital twin effect image generation module is used to combine the water level data into the digital twin image to obtain a dynamic digital twin effect image of the water injection or drainage process, and then display it.

2. The ship undocking control device based on digital twin according to claim 1, characterized in that, The dynamic digital twin rendering module is specifically used for: Based on the water level data obtained from each sensor, determine the water injection rate or drainage rate; The water injection flow data is determined based on the water injection rate and the water inlet of the dock model; or, the drainage flow data is determined based on the drainage rate and the drainage inlet of the dock model. Based on the water injection flow data or drainage flow data, a dynamic water injection flow effect diagram during the water injection process is displayed in a digital twin image, or a dynamic drainage flow effect diagram during the drainage process is displayed in a digital twin image.

3. The ship undocking control method based on digital twin according to claim 2, characterized in that, The device further includes: The status acquisition module is used to acquire the opening and closing status of each water inlet of the dock, or to acquire the opening and closing status of each drainage outlet of the dock. Accordingly, the dynamic digital twin rendering module is also used for: Based on the water injection rate and the opening / closing status of each water injection port, determine the water flow data of the open water injection port; or, Based on the drainage velocity and the opening / closing status of each drainage outlet, the drainage flow data of the open drainage outlets are determined.

4. The ship undocking control device based on digital twin according to claim 3, characterized in that, The device further includes: The location acquisition module is used to acquire the location of each water inlet and each water outlet in the dock. Accordingly, the dynamic digital twin rendering module is specifically used for: Based on the water flow data of the opened water inlet and the setting position of the opened water inlet, a dynamic water flow effect diagram during the water injection process is displayed in a digital twin image. or, Based on the drainage flow data of the opened drain outlet and the location of the opened drain outlet, a dynamic drainage flow effect diagram is displayed in a digital twin image.

5. The ship undocking control device based on digital twin according to claim 1, characterized in that, The device further includes: The towing vessel position acquisition module is used to acquire the position of the towing vessel. The dynamic digital twin rendering module is used to combine the position of the towing vessel into a digital twin image when the towing vessel is in the dock, to obtain a dynamic digital twin rendering of the towing vessel, and then display it.

6. The ship undocking control device based on digital twin according to claim 5, characterized in that, The dynamic digital twin effect display module is also used for: Acquire the position data of the first positioning sensor and the second positioning sensor of the traction vessel; The direction information of the traction vessel is determined based on the position data from the first positioning sensor and the position data from the second positioning sensor. The position and orientation information of the traction vessel are combined into the digital twin image to obtain a dynamic digital twin rendering of the traction vessel.

7. The ship undocking control device based on digital twin according to claim 6, characterized in that, The first positioning sensor is located at the bow of the centerline of the traction vessel; the second positioning sensor is located at the stern of the centerline of the traction vessel.

8. A ship undocking control method based on digital twin, characterized in that, The method includes: Obtain a dock model, and construct a digital twin image of the dock based on the dock model; During the process of filling or draining water from the dock, sensors are used to acquire water level data within the dock. The water level data is combined with the digital twin image to obtain a dynamic digital twin effect diagram of the water injection or drainage process, which is then displayed.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the digital twin-based ship undocking control method as described in any one of claims 1-7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the ship undocking control method based on digital twins as described in any one of claims 1-7.

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