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Path planning method for cooperatively monitoring atmospheric pollution of port ship by shipborne unmanned aerial vehicle

A path planning and unmanned aerial vehicle (UAV) technology, which is applied in the shipping industry and environmental protection industry, can solve the problems of difficult collection of exhaust gas, no consideration of multiple UAVs for cooperative monitoring of ship air pollution to supplement electric energy, and a large number of ships.

Pending Publication Date: 2021-09-07
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

It needs to solve the following problems: the charging problem of drones, the large area of ​​monitored waters in the port, the large number of ships, and the monitored objects are dynamic ships, etc.
UAVs are used to collect and analyze ship exhaust gas. This method effectively solves the problems of cumbersome test procedures, high exhaust temperature and difficulty in collecting exhaust gas in the prior art.
Its shortcoming is that it does not take into account the cooperative monitoring of air pollution of ships by multiple drones and the subsequent supplementary power of drones.

Method used

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  • Path planning method for cooperatively monitoring atmospheric pollution of port ship by shipborne unmanned aerial vehicle
  • Path planning method for cooperatively monitoring atmospheric pollution of port ship by shipborne unmanned aerial vehicle
  • Path planning method for cooperatively monitoring atmospheric pollution of port ship by shipborne unmanned aerial vehicle

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Embodiment

[0218] In order to prove the effectiveness of the improved variable operator artificial bee colony algorithm based on the idea of ​​simulated annealing in the present invention, the following experiments were carried out. In this embodiment, MATLAB R2018a was used to realize the solution of the algorithm. This experiment is run on a computer with Intel(R) Core(TM) i5-7500 CPU@3.4GHz processor and 4GB memory. The content of the experiment is as follows:

[0219] (1) Solve the UAV flight path based on the real ship position data.

[0220] (2) Analyze the sensitivity of different parameters to the experimental results.

[0221] In the embodiment of the present invention, the ships entering and leaving Tianjin Port are used as objects for simulation. At 13:00 pm on November 29, 2020, the position data of 90 ships navigating in Tianjin Port were obtained from the automatic ship identification system (AIS). The default values ​​of the parameters involved in the experiment are show...

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Abstract

The invention provides a path planning method for cooperatively monitoring atmospheric pollution of a port ship by a shipborne unmanned aerial vehicle, and belongs to the technical field of the shipping industry and the environmental protection industry, and the method comprises the steps of making an assumption based on the monitoring complexity of the unmanned aerial vehicle on a running ship; based on the made hypothesis, defining a cooperative monitoring problem of the unmanned aerial vehicle and the loading ship; constructing a path planning model for cooperatively monitoring the atmospheric pollution of the port ship by the shipborne unmanned aerial vehicle; based on an improved artificial bee colony algorithm, expanding the search range of a food source neighborhood, and obtaining a global optimal path. According to the invention, a loading ship is used for carrying a plurality of unmanned aerial vehicles to cooperatively monitor the atmospheric pollution condition of a to-be-monitored ship in a port area, and a specific scheme for cooperative monitoring of the ship and the unmanned aerial vehicles is provided. According to the invention, execution of related emission regulations can be assisted, pollution of a ship to a port environment is reduced, comprehensive cruise cost is reduced, marine pollution disposal efficiency is improved, and maritime cruise monitoring and comprehensive law enforcement capabilities are improved.

Description

technical field [0001] The invention relates to the technical fields of the shipping industry and the environmental protection industry, in particular to a method for cooperatively monitoring the air pollution path planning of ships in a port by a ship-borne UAV. Background technique [0002] Maritime transportation plays an important role in the international supply chain. About 90% of world trade is completed by shipping. With the rapid development of the shipping industry, the number of ships in ports is increasing, and the pollution of the atmosphere of ships to the environment is also increasing. serious. At present, air pollution from ships has become the third largest source of air pollution after motor vehicle exhaust emissions and industrial enterprise emissions. For this reason, the International Maritime Organization (IMO) promulgated the most stringent "sulfur limit order" in history, stipulating that from January 2020, the sulfur content standard of marine fuel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04G06Q10/06G06N3/00
CPCG06Q10/047G06Q10/06311G06N3/006
Inventor 沈立新侯云霞吕美林张金松孙震宇
Owner DALIAN MARITIME UNIVERSITY
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