CN116993910A - Container port digital twin model building method and device and electronic equipment - Google Patents
Container port digital twin model building method and device and electronic equipment Download PDFInfo
- Publication number
- CN116993910A CN116993910A CN202310956028.1A CN202310956028A CN116993910A CN 116993910 A CN116993910 A CN 116993910A CN 202310956028 A CN202310956028 A CN 202310956028A CN 116993910 A CN116993910 A CN 116993910A
- Authority
- CN
- China
- Prior art keywords
- model
- container port
- digital twin
- entity structure
- dimensional coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 58
- 239000011159 matrix material Substances 0.000 claims description 14
- 239000013598 vector Substances 0.000 claims description 13
- 230000009466 transformation Effects 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 8
- 238000010276 construction Methods 0.000 claims description 3
- 230000008521 reorganization Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 15
- 238000005215 recombination Methods 0.000 abstract 1
- 230000006798 recombination Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 5
- 239000004973 liquid crystal related substance Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention relates to a method and a device for establishing a digital twin model of a container port, and electronic equipment, wherein the method comprises the following steps: acquiring a parameter data set of a target container port; constructing a container port three-dimensional coordinate model; classifying basic components of each entity structure of a container port and constructing a minimum component 3D model of each classification; the 3D model of each entity structure is obtained through recombination according to the three-dimensional coordinate model and the minimum assembly 3D model; the method comprises the steps of obtaining real-time parameters of a target container port, determining pose description parameters of each entity structure according to the real-time parameters, and projecting a structure 3D model to a three-dimensional coordinate model according to the pose description parameters to obtain a digital twin model of the target container port. According to the invention, each entity structure is decomposed into basic components and grouped, each group of minimum component 3D models are constructed, the model is simplified while the model accuracy is ensured, the calculated amount in the operation process is reduced, and the container port digital twin model with high real-time performance is obtained.
Description
Technical Field
The invention relates to the field of digital twinning, in particular to a method and a device for establishing a digital twinning model of a container port, electronic equipment and a computer readable storage medium.
Background
With the development of digital twinning and the maturation of related technologies such as 5G, internet of things, big data, cloud computing, intelligent perception and the like, the real-time mapping of the working ecological chain of the whole port in the virtual space is enabled to be possible, and the intelligent container port is realized. The digital twin model of the container port is built, and the whole flow control and monitoring of port automation operation are also an important direction of port development in the future. The core element of digital twinning is the data link and service between the physical entity and the virtual model, so that the digital twinning in the real sense is realized, the constructed virtual model is highly matched with the physical model, the physical characteristics, the technological process and the main functions of the physical entity can be truly and accurately reflected, and the real-time information is correctly transmitted and perceived, and the virtual model is accurately driven to act.
However, when the digital twin model is built for the container port in the prior art, the technological process of the container port is complex and changeable, the mechanical equipment and entity information are rich, the prior art generally directly builds a virtual model which tends to be consistent with each entity in the container port, and due to higher complexity of the model, time and labor are wasted, and due to limited computer resources, the operation effect can not meet the requirement of digital twin, and the real-time performance for reflecting the physical change of the port is lower. Therefore, to realize digital twin of the container port, the constructed digital twin model not only needs to meet the model precision, but also controls the complexity of the model, and simplifies the model on the premise of keeping the physical entity characteristics and main functions.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a method, an apparatus, an electronic device and a computer readable storage medium for establishing a digital twin model of a container port, which are used for solving the technical problems of high complexity of the digital twin model, large calculation amount of model operation and low real-time performance of the model operation in the prior art.
In order to solve the problems, the invention provides a method for establishing a digital twin model of a container port, which comprises the following steps:
acquiring a parameter data set of a target container port;
constructing a container port three-dimensional coordinate model according to the parameter data set;
classifying basic components of each entity structure of the container port according to the parameter data set and constructing a minimum component 3D model of each classification;
recombining each physical structure of the container port according to the container port three-dimensional coordinate model and the minimum assembly 3D model to obtain a structural 3D model of each physical structure;
and acquiring real-time parameters of the target container port, determining pose description parameters of each entity structure according to the real-time parameters, and projecting the 3D model of the structure to a three-dimensional coordinate model according to the pose description parameters to obtain a digital twin model of the target container port.
Further, acquiring a parameter data set of the target container port includes:
the method comprises the steps of obtaining shape data and size data of each entity structure and basic components in a target port, and carrying out datamation on the shape data and the size data of each entity structure and the basic components to obtain datamation parameters, and forming a parameter data set.
Further, constructing a container port three-dimensional coordinate model according to the parameter data set, including:
constructing a container port three-dimensional coordinate system by taking the center of the container port as an origin;
and determining the three-dimensional coordinates of each entity structure in the container port according to the parameter data set to obtain a port three-dimensional coordinate model.
Further, classifying basic components of each entity structure of the container port according to the parameter data set and constructing a minimum component 3D model of each classification, including:
grouping basic components of each entity structure in the container port in the parameter data set, and dividing similar basic components into the same group according to the component types and the component shapes;
and taking the basic component with the smallest size in each group as a minimum basic component unit, and constructing a minimum component 3D model of each type of basic component according to the minimum basic component unit.
Further, reorganizing each physical structure of the container port according to the three-dimensional coordinate model of the container port and the minimum assembly 3D model to obtain a structure 3D model of each physical structure, including:
determining the relative positions of all basic components of the entity structure according to the container port three-dimensional coordinate model;
adjusting the dimension data of the minimum component 3D model of each basic component of the entity structure according to the parameter data set to obtain a basic component 3D model;
and recombining the basic component 3D model according to the relative positions among the basic components to obtain a structural 3D model of the entity structure.
Further, acquiring real-time parameters of a target container port, determining pose description parameters of each entity structure according to the real-time parameters, and projecting the 3D model of the structure to a three-dimensional coordinate model according to the pose description parameters to obtain a digital twin model of the target container port, wherein the method comprises the following steps:
acquiring real-time parameters of the physical structures of all parts of the container port;
determining pose description parameters of each basic component in the entity structure according to the real-time parameters, wherein the pose description parameters comprise a position vector for determining the position of the basic component and a pose matrix for determining the three-dimensional pose of the basic component;
and projecting the structure 3D model of each entity structure into a three-dimensional coordinate model according to the pose description parameters of each basic component to obtain a digital twin model of the target container port.
Further, the method for establishing the digital twin model of the container port further comprises the following steps:
and when the basic component or the entity structure is moved, carrying out model position transformation on the basic component 3D model based on homogeneous matrix transformation to obtain a moved basic component 3D model or a structure 3D model of the entity structure.
The invention also provides a device for establishing the digital twin model of the container port, which comprises the following steps:
the data acquisition unit is used for acquiring a parameter data set of the port of the target container;
the coordinate system construction unit is used for constructing a container port three-dimensional coordinate model according to the parameter data set;
the minimum component constructing unit is used for classifying basic components of each entity structure of the container port according to the parameter data set and constructing a minimum component 3D model of each classification;
the structure model reorganization unit is used for reorganizing each entity structure of the container port according to the container port three-dimensional coordinate model and the minimum assembly 3D model to obtain a structure 3D model of each entity structure;
the model projection unit is used for acquiring real-time parameters of the target container port, determining pose description parameters of each entity structure according to the real-time parameters, and projecting the 3D model of the structure to a three-dimensional coordinate model according to the pose description parameters to obtain a digital twin model of the target container port.
The invention also provides an electronic device, comprising: the method for establishing the digital twin model of the container port comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the method for establishing the digital twin model of the container port according to any one of the above when executing the computer program.
The invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the method for establishing a digital twin model of a container port according to any one of the above.
Compared with the prior art, the beneficial effects of the sampling of the embodiment are as follows: the method for establishing the digital twin model of the container port comprises the following steps: firstly, acquiring a parameter data set of a target container port; then constructing a container port three-dimensional coordinate model according to the parameter data set; classifying basic components of each entity structure of the container port according to the parameter data set and constructing a minimum component 3D model of each classification; recombining each physical structure of the container port according to the container port three-dimensional coordinate model and the minimum assembly 3D model to obtain a structural 3D model of each physical structure; finally, acquiring real-time parameters of the target container port, determining pose description parameters of each entity structure according to the real-time parameters, and projecting the 3D model of the structure to a three-dimensional coordinate model according to the pose description parameters to obtain a digital twin model of the target container port. In summary, the invention constructs the minimum assembly 3D model of each group by decomposing each entity structure into basic assemblies and then grouping, and reorganizes the structure 3D model of each entity structure through the minimum assembly 3D model, so that the model is simplified on the premise of ensuring the model precision of the entity structure, the calculation amount of the model operation process is reduced, and the container port digital twin model with high real-time performance is obtained.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being evident that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of an embodiment of a method for establishing a digital twin model of a container port;
FIG. 2 is a schematic diagram illustrating a moving process of a 3D model of a basic component according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of an embodiment of a container port digital twin model building device provided by the invention;
fig. 4 is a schematic structural diagram of an embodiment of an electronic device provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. Based on the embodiments of the present invention, other embodiments are within the scope of the present invention, as would be obtained by a person skilled in the art without making any inventive effort.
It should be understood that the drawings of the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present invention. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor systems and/or microcontroller systems.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Fig. 1 is a schematic flow chart of an embodiment of a method for establishing a digital twin model of a container port, as shown in fig. 1, where the method for establishing a digital twin model of a container port includes:
s101, acquiring a parameter data set of a port of a target container;
s102, constructing a container port three-dimensional coordinate model according to the parameter data set;
s103, classifying basic components of each entity structure of the container port according to the parameter data set and constructing a minimum component 3D model of each classification;
s104, reorganizing each physical structure of the container port according to the container port three-dimensional coordinate model and the minimum assembly 3D model to obtain a structure 3D model of each physical structure;
s105, acquiring real-time parameters of a target container port, determining pose description parameters of each entity structure according to the real-time parameters, and projecting the 3D model of the structure to a three-dimensional coordinate model according to the pose description parameters to obtain a digital twin model of the target container port.
Specifically, in the method for establishing the digital twin model of the container port, firstly, a parameter data set of a target container port is acquired; then constructing a container port three-dimensional coordinate model according to the parameter data set; classifying basic components of each entity structure of the container port according to the parameter data set and constructing a minimum component 3D model of each classification; recombining each physical structure of the container port according to the container port three-dimensional coordinate model and the minimum assembly 3D model to obtain a structural 3D model of each physical structure; finally, acquiring real-time parameters of the target container port, determining pose description parameters of each entity structure according to the real-time parameters, and projecting the 3D model of the structure to a three-dimensional coordinate model according to the pose description parameters to obtain a digital twin model of the target container port. In summary, the invention constructs the minimum assembly 3D model of each group by decomposing each entity structure into basic assemblies and then grouping, and reorganizes the structure 3D model of each entity structure through the minimum assembly 3D model, so that the model is simplified on the premise of ensuring the model precision of the entity structure, the calculation amount of the model operation process is reduced, and the container port digital twin model with high real-time performance is obtained.
In a specific embodiment of the present invention, acquiring a parameter data set of a port of a target container includes:
the method comprises the steps of obtaining shape data and size data of each entity structure and basic components in a target port, and carrying out datamation on the shape data and the size data of each entity structure and the basic components to obtain datamation parameters, and forming a parameter data set.
Specifically, each physical structure and basic components in the container port include various mechanical structures and various regional structures that constitute the container port, and various basic components for constituting these mechanical structures or regional structures. The obtaining of shape data and size data for each physical structure and basic component includes, but is not limited to: collecting various parameters of a shore bridge and basic components of the shore bridge: front extension, rear extension, total width of the quay crane, spreader parameters and medium and small vehicle specifications such as track gauge, base gauge, wheel diameter and number of wheels and large vehicle specifications such as track gauge, base gauge, wheel diameter and number of vehicles for each leg; collecting various parameters of a field bridge and basic components thereof: the size of the door type bracket, the parameters of the lifting appliance, the specification of the trolley, the specification of the shoreline, the scale of a storage yard, the number and the size of gate openings and the like.
In a specific embodiment of the present invention, constructing a container port three-dimensional coordinate model according to the parameter data set includes:
constructing a container port three-dimensional coordinate system by taking the center of the container port as an origin;
and determining the three-dimensional coordinates of each entity structure in the container port according to the parameter data set to obtain a port three-dimensional coordinate model.
Specifically, in constructing a three-dimensional coordinate model of a container port, firstly, a point is selected as a coordinate origin from a central point or a central area of the container port, and three directions perpendicular to each other are selected as coordinate axes to construct a three-dimensional coordinate system of the container port. And determining the relative coordinate relation of each entity structure in the container port according to the parameter data set to obtain the coordinates of each entity structure in the three-dimensional coordinate system. And in the three-dimensional coordinate system, dividing each area range, such as dock front width, storage yard range, container freight station range and the like, so as to facilitate subsequent modeling.
In a specific embodiment of the present invention, classifying basic components of each entity structure of a container port according to the parameter data set and constructing a minimum component 3D model of each classification, including:
grouping basic components of each entity structure in the container port in the parameter data set, and dividing similar basic components into the same group according to the component types and the component shapes;
and taking the basic component with the smallest size in each group as a minimum basic component unit, and constructing a minimum component 3D model of each type of basic component according to the minimum basic component unit.
Specifically, in the process of modeling each entity structure of a container port, the model for directly re-engraving each entity structure is too complex to influence the calculation efficiency, so that each entity structure is decomposed into a plurality of basic components, and each basic component is modeled. In addition, although the structure of each port entity structure in the container port is quite different, many basic components of the structure have similarity, for example, the trolley structure of a shore bridge and the trolley structure of a field bridge have high similarity, and the main girder of the shore bridge and the gate-type bracket of the field bridge also have certain similarity. The similar basic components can be grouped according to the parameter data set, the similar basic components are divided into the same group, the group of general minimum component 3D models are built by the minimum basic components in each group, and when each basic component needs to be built, the minimum component 3D models are used for carrying out size adjustment on the minimum component 3D models by changing the size of input.
In a specific embodiment of the present invention, the reorganizing each physical structure of the container port according to the three-dimensional coordinate model of the container port and the 3D model of the minimum component to obtain a structural 3D model of each physical structure includes:
determining the relative positions of all basic components of the entity structure according to the container port three-dimensional coordinate model;
adjusting the dimension data of the minimum component 3D model of each basic component of the entity structure according to the parameter data set to obtain a basic component 3D model;
and recombining the basic component 3D model according to the relative positions among the basic components to obtain a structural 3D model of the entity structure.
Specifically, after obtaining 3D of each minimum component, reconstructing a structural 3D model of each entity structure according to the minimum component 3D model, and determining relative positions among the various basic components in the entity structure according to the three-dimensional coordinate model; and then determining the size of the basic assembly according to the parameter data set, adjusting the size data of the minimum assembly 3D model corresponding to each basic assembly through the determined size to obtain a basic assembly 3D model, and finally assembling and reorganizing each basic assembly 3D model according to the relative position to obtain a structural 3D model of the entity structure.
Compared with the prior art, the method has the advantages that each entity structure is decomposed into the plurality of basic components, the similar basic components are used as the same group, the minimum component units of each group of components are constructed, and then the 3D model of the structure of the entity structure is assembled and recombined by using the minimum component 3D model corresponding to the basic components, so that the complexity of the model in the process of establishing the digital twin model of the container port is reduced, and the calculated amount of the model is reduced on the premise of ensuring the precision, so that the calculation efficiency of the model is improved, and the digital twin model with high real-time performance is obtained.
In a specific embodiment of the present invention, acquiring real-time parameters of a target container port, determining pose description parameters of each entity structure according to the real-time parameters, and projecting the 3D model of the structure to a three-dimensional coordinate model according to the pose description parameters to obtain a digital twin model of the target container port, including:
acquiring real-time parameters of the physical structures of all parts of the container port;
determining pose description parameters of each basic component in the entity structure according to the real-time parameters, wherein the pose description parameters comprise a position vector for determining the position of the basic component and a pose matrix for determining the three-dimensional pose of the basic component;
and projecting the structure 3D model of each entity structure into a three-dimensional coordinate model according to the pose description parameters of each basic component to obtain a digital twin model of the target container port.
In particular, in the process of establishing the digital twin model, it is required to ensure that the structural 3D model projected into the digital twin model can move in real time along with the port physical entity, and therefore, the position and the posture of the structural 3D model need to be described by parameters. Embodiments of the present invention represent each elemental component position in a structural 3D model by locating any node between elemental structures in the structural 3D model using a 3 x 1 position vector, and then represent the pose of the elemental components by a 3 x 3 rotation matrix, as follows:
the vectors of each column are used for representing the included angle relation between the unit vectors of the X, Y and Z directions of the basic component and the positioning node of the entity structure relative to the central coordinate system, and each element represents the direction cosine of the position vector of each vector of the basic component and the positioning node.
The position vector is then combined with the pose matrix to obtain pose description parameters representing the position of each base component:
wherein, the liquid crystal display device comprises a liquid crystal display device,the position vector is represented by a vector of positions, A P BORG representing the pose matrix.
After pose description parameters of all basic components belonging to the entity structures are obtained, the 3D model of the structure of each entity structure is projected into a three-dimensional coordinate model according to the pose description parameters, and a digital twin model of the target container port is obtained.
Compared with the prior art, the method and the device have the advantages that the position and the gesture of each basic component in the digital twin model are determined through the pose description parameters, the position of each part of basic components in each entity structure is accurately positioned through the position vector, and meanwhile, the geometric gesture change of each basic component in the operation process of the entity structure is represented through the gesture matrix, so that the more accurate and fine container port digital twin model is obtained.
In a specific embodiment of the present invention, the method for establishing a digital twin model of a container port further includes:
and when the basic component or the entity structure is moved, carrying out model position transformation on the basic component 3D model based on homogeneous matrix transformation to obtain a moved basic component 3D model or a structure 3D model of the entity structure.
Specifically, fig. 2 is a schematic diagram of a moving process of a basic component 3D model in an embodiment of the present invention, as shown in fig. 2, when a container port digital twin model performs twin-engraving on operation equipment in a port, a corresponding structure 3D model in the model or a basic component 3D model therein needs to rotate and translate in space, and in this case, the present invention calculates a correct spatial position after rotation and translation by performing homogeneous matrix transformation on the corresponding basic component 3D model.
Compared with the prior art, the position of the basic component is represented by the pose description parameters of the combination of the position vector and the pose matrix, and the position change of the 3D model is represented by using homogeneous matrix transformation correspondingly, so that the position change of the 3D model in the port operation process can be accurately represented on the premise of ensuring the operation efficiency.
In summary, in the invention, by decomposing the complex entity structure into a plurality of basic components, dividing the similar basic components into a group and constructing the minimum component 3D model of each group, the complexity of the model is simplified, meanwhile, the position and the gesture of the basic components are represented by pose description parameters, the moving process of the basic components is represented by homogeneous matrix transformation, the position change of each part in the port operation process is accurately represented, and the container port digital twin model with high operation speed and high accuracy is obtained.
The invention also provides a device 300 for establishing the digital twin model of the container port, as shown in fig. 3, comprising:
a data acquisition unit 301, configured to acquire a parameter data set of a port of a target container;
a coordinate system construction unit 302, configured to construct a container port three-dimensional coordinate model according to the parameter data set;
a minimum component constructing unit 303, configured to classify the basic components of each entity structure of the container port according to the parameter data set and construct a minimum component 3D model of each classification;
a structure model reorganizing unit 304, configured to reorganize each physical structure of the container port according to the container port three-dimensional coordinate model and the minimum component 3D model to obtain a structure 3D model of each physical structure;
the model projection unit 305 is configured to obtain real-time parameters of the target container port, determine pose description parameters of each physical structure according to the real-time parameters, and project the 3D model of the structure to a three-dimensional coordinate model according to the pose description parameters to obtain a digital twin model of the target container port.
The device 300 for establishing a digital twin model of a container port provided in the above embodiment can implement the technical solution described in the method for establishing a digital twin model of a container port, and the specific implementation principle of each module or unit can refer to the corresponding content in the embodiment of the method for establishing a digital twin model of a container port, which is not described herein again.
The invention also provides an electronic device 400 based on the container port digital twin model building method, as shown in fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the electronic device provided by the invention, the electronic device 400 comprises a processor 401, a memory 402 and a computer program stored in the memory 402 and capable of running on the processor 401, and the processor 401 implements the container port digital twin model building method as described above when executing the program.
The electronic device further comprises a display 403 for displaying the process of the processor 401 for performing the method for establishing a digital twin model of a container port as described above, as a preferred embodiment.
The processor 401 may be an integrated circuit chip with signal processing capability. The processor 401 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC). The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may also be a microprocessor or the processor may be any conventional processor or the like.
The Memory 402 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a Secure Digital (SD Card), a Flash Card (Flash Card), etc. The memory 402 is configured to store a program, and the processor 401 executes the program after receiving an execution instruction, and the method for defining a flow disclosed in any one of the foregoing embodiments of the present invention may be applied to the processor 401 or implemented by the processor 401.
The display 403 may be an LED display, a liquid crystal display, a touch display, or the like. The display 403 is used to display various information on the electronic device 400.
It is to be appreciated that the configuration shown in fig. 4 is merely a schematic diagram of one configuration of the electronic device 400, and that the electronic device 400 may include more or fewer components than shown in fig. 4. The components shown in fig. 4 may be implemented in hardware, software, or a combination thereof.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, realizes the method for establishing the digital twin model of the container port.
In general, the computer instructions for carrying out the methods of the present invention may be carried in any combination of one or more computer-readable storage media. The non-transitory computer-readable storage medium may include any computer-readable medium, except the signal itself in temporary propagation.
The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. A method for establishing a digital twin model of a container port, the method comprising:
acquiring a parameter data set of a target container port;
constructing a container port three-dimensional coordinate model according to the parameter data set;
classifying basic components of each entity structure of the container port according to the parameter data set and constructing a minimum component 3D model of each classification;
recombining each physical structure of the container port according to the container port three-dimensional coordinate model and the minimum assembly 3D model to obtain a structural 3D model of each physical structure;
and acquiring real-time parameters of the target container port, determining pose description parameters of each entity structure according to the real-time parameters, and projecting the 3D model of the structure to a three-dimensional coordinate model according to the pose description parameters to obtain a digital twin model of the target container port.
2. The method for constructing a digital twin model of a container port according to claim 1, wherein the acquiring the parameter data set of the target container port comprises:
the method comprises the steps of obtaining shape data and size data of each entity structure and basic components in a target port, and carrying out datamation on the shape data and the size data of each entity structure and the basic components to obtain datamation parameters, and forming a parameter data set.
3. The method for constructing a digital twin model of a container port according to claim 1, wherein the constructing a three-dimensional coordinate model of the container port based on the parameter data set comprises:
constructing a container port three-dimensional coordinate system by taking the center of the container port as an origin;
and determining the three-dimensional coordinates of each entity structure in the container port according to the parameter data set to obtain a port three-dimensional coordinate model.
4. The method for constructing a digital twin model of a container port according to claim 1, wherein classifying basic components of each physical structure of the container port according to the parameter data set and constructing a minimum component 3D model of each classification comprises:
grouping basic components of each entity structure in the container port in the parameter data set, and dividing similar basic components into the same group according to the component types and the component shapes;
and taking the basic component with the smallest size in each group as a minimum basic component unit, and constructing a minimum component 3D model of each type of basic component according to the minimum basic component unit.
5. The method for constructing a digital twin model of a container port according to claim 1, wherein the step of reorganizing each physical structure of the container port according to the three-dimensional coordinate model of the container port and the minimum component 3D model to obtain a structural 3D model of each physical structure comprises the steps of:
determining the relative positions of all basic components of the entity structure according to the container port three-dimensional coordinate model;
adjusting the dimension data of the minimum component 3D model of each basic component of the entity structure according to the parameter data set to obtain a basic component 3D model;
and recombining the basic component 3D model according to the relative positions among the basic components to obtain a structural 3D model of the entity structure.
6. The method for building the digital twin model of the container port according to claim 1, wherein the obtaining the real-time parameters of the target container port, determining the pose description parameters of the physical structures according to the real-time parameters, and projecting the 3D model of the structure to the three-dimensional coordinate model according to the pose description parameters, to obtain the digital twin model of the target container port comprises:
acquiring real-time parameters of the physical structures of all parts of the container port;
determining pose description parameters of each basic component in the entity structure according to the real-time parameters, wherein the pose description parameters comprise a position vector for determining the position of the basic component and a pose matrix for determining the three-dimensional pose of the basic component;
and projecting the structure 3D model of each entity structure into a three-dimensional coordinate model according to the pose description parameters of each basic component to obtain a digital twin model of the target container port.
7. The method for modeling a digital twin model of a container port of claim 5, further comprising:
and when the basic component or the entity structure is moved, carrying out model position transformation on the basic component 3D model based on homogeneous matrix transformation to obtain a moved basic component 3D model or a structure 3D model of the entity structure.
8. A container port digital twin model building device, comprising:
the data acquisition unit is used for acquiring a parameter data set of the port of the target container;
the coordinate system construction unit is used for constructing a container port three-dimensional coordinate model according to the parameter data set;
the minimum component constructing unit is used for classifying basic components of each entity structure of the container port according to the parameter data set and constructing a minimum component 3D model of each classification;
the structure model reorganization unit is used for reorganizing each entity structure of the container port according to the container port three-dimensional coordinate model and the minimum assembly 3D model to obtain a structure 3D model of each entity structure;
the model projection unit is used for acquiring real-time parameters of the target container port, determining pose description parameters of each entity structure according to the real-time parameters, and projecting the 3D model of the structure to a three-dimensional coordinate model according to the pose description parameters to obtain a digital twin model of the target container port.
9. An electronic device, comprising: a processor, a memory and a computer program stored on the memory and executable on the processor, which processor, when executing the computer program, implements the method for establishing a digital twin model of a container port according to any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the container port digital twin model building method according to any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310956028.1A CN116993910A (en) | 2023-07-31 | 2023-07-31 | Container port digital twin model building method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310956028.1A CN116993910A (en) | 2023-07-31 | 2023-07-31 | Container port digital twin model building method and device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116993910A true CN116993910A (en) | 2023-11-03 |
Family
ID=88531521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310956028.1A Pending CN116993910A (en) | 2023-07-31 | 2023-07-31 | Container port digital twin model building method and device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116993910A (en) |
-
2023
- 2023-07-31 CN CN202310956028.1A patent/CN116993910A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8600713B2 (en) | Method of online building-model reconstruction using photogrammetric mapping system | |
| CN102306396A (en) | Three-dimensional entity model surface finite element mesh automatic generation method | |
| CN110033519A (en) | Three-dimensional modeling method, device, system and storage medium based on Implicitly function | |
| CN106908052B (en) | Path planning method and device for intelligent robot | |
| CN107622530B (en) | Efficient and robust triangulation network cutting method | |
| US20100061622A1 (en) | Method for aligning objects | |
| CN107918957B (en) | Three-dimensional building model simplification method capable of keeping structure and texture characteristics | |
| CN104422396B (en) | Assembling product gap three dimensional analysis system and method | |
| CN110689598B (en) | Three-dimensional modeling method and system for multilayer road | |
| CN111707262B (en) | Point cloud matching method, medium, terminal and device based on closest point vector projection | |
| TWI475511B (en) | System and method for meshing curved surface | |
| CN110162089A (en) | A kind of unpiloted emulation mode and device | |
| CN113920217A (en) | Method, apparatus, device and product for generating high-precision map lane lines | |
| Protzmann et al. | Implementation of a perception module for smart mobility applications in eclipse mosaic | |
| CN116358517B (en) | Height map construction method, system and storage medium for robot | |
| CN116993910A (en) | Container port digital twin model building method and device and electronic equipment | |
| CN109685844B (en) | Method and device for optimizing marking and direction calibration of woven grids | |
| TWI406189B (en) | Method for constructing triangular grids of point clouds | |
| CN109934908A (en) | A kind of actual scene modeling method based on unmanned plane | |
| CN110675470A (en) | Contour line drawing method and device, computing equipment and readable storage medium | |
| CN115979243A (en) | Mobile robot navigation map conversion method and system based on BIM information | |
| CN114910892A (en) | Laser radar calibration method and device, electronic equipment and storage medium | |
| CN105389851A (en) | Loop subdivision implementation method based on unified adjustment of vertices and new edge points | |
| Ye et al. | An improved algorithm for triangle to triangle intersection test | |
| CN109840945A (en) | Finite element preprocess method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |