Navigation speed optimization method and device and electronic equipment

Abstract

The invention provides a navigational speed optimization method and device and electronic equipment, and relates to the technical field of navigational speed optimization, and the method specifically comprises the steps: collecting historical and current ship route data, environment parameters and ship load parameters; generating an oil consumption rate and an effective wind speed, and calculating an effective navigational speed and a load rate of the ship; according to the actual ship speed, the corresponding actual oil consumption rate of the ship and the actual distance of the sailed route, a comprehensive function about the oil consumption and the actual ship speed of the ship is constructed, according to the relation between the oil consumption and the actual ship speed, a comprehensive target function about the actual ship speed is generated, and the maximum actual ship speed serves as an optimization target. And optimizing the comprehensive objective function of the actual navigational speed of the ship to obtain an optimal solution of the navigational speed of the ship. According to the method, the collected parameters are combined, the influence of the parameters on the navigational speed is comprehensively reflected, the optimization precision of the constructed comprehensive objective function of the actual navigational speed of the ship is remarkably improved, and the method is suitable for different navigational conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of ship speed optimization, and in particular to a ship speed optimization method, device and electronic equipment. Background Art

[0002] Compared with land transportation, maritime transportation has the advantages of large volume, mature development and low cost, and plays an important role in the global economy. In the entire shipping process, fuel consumption accounts for a large part of the entire shipping cost compared to other operating costs of shipping companies. Therefore, it is necessary to optimize the speed during the shipping process to achieve the purpose of fuel saving.

[0003] In the prior art, a speed optimization method and device provided by publication number CN113743014A includes the following steps: obtaining a ship's route, dividing the route into multiple segments, and determining the attribute data of the route; determining the fuel consumption function of the route based on the attribute data and the fuel consumption model; constructing a speed optimization function using the fuel consumption function, target parameters and environmental parameters of the route, wherein the environmental parameters of the route include: flow velocity, flow direction, wind speed, wind direction, wave height, wave direction, wave period, seawater density, seawater viscosity, air density and water depth data; solving the speed optimization function using a preset algorithm and preset constraints to obtain the optimal speed of the ship, wherein the preset constraints include: the ship's sailing time is less than or equal to the preset time, the main engine output power is less than or equal to the first preset threshold, and the environmental state of the sailing is less than or equal to the second preset threshold, thereby solving the technical problem of poor engineering feasibility of the existing speed optimization method.

[0004] However, there are still the following deficiencies. It can be seen from the above statements that a speed optimization function is constructed using the fuel consumption function, target parameters and environmental parameters of the route. The environmental parameters of the route include: flow velocity, flow direction, wind speed, wind direction, wave height, wave direction, wave period, seawater density, seawater viscosity, air density and water depth data. Due to the complex interactions between different parameters, in practical applications, the combination of certain parameters can better reflect their impact on the speed. Therefore, considering these parameters alone cannot accurately reflect the overall impact on the speed. The speed accuracy of the speed optimization function constructed in this way needs to be considered.

[0005] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not constitute the prior art that is already known to one of ordinary skill in the art. Summary of the invention

[0006] The purpose of the present invention is to provide a method, device and electronic equipment for optimizing ship speed to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A method for optimizing ship speed, comprising the following specific steps:

[0009] S1. Collect comprehensive data at equal time intervals to obtain comprehensive data of the current moment and multiple historical moments, the comprehensive data including route data, relevant environmental parameters and ship load parameters, the route data including the ship's speed, heading, the distance traveled from the previous moment to the corresponding moment, and fuel consumption at the corresponding moment, the relevant environmental parameters including the sea current speed, wind direction and wind speed at the corresponding moment, the ship load parameters including the cargo capacity and fuel quantity of the ship at the corresponding moment;

[0010] S2. Generate the fuel consumption rate of the ship using the collected route distance and the fuel consumption corresponding to the route distance, generate the effective wind speed using the collected speed, heading, wind speed and wind direction, and calculate the load factor of the ship using the collected cargo capacity and fuel amount of the ship;

[0011] S3. Calculate the east and north components of the speed using the collected speed, calculate the east and north components of the sea current speed using the collected sea current speed, calculate the east and north components of the wind speed using the collected wind speed, calculate the east component of the effective speed of the ship based on the east component of the speed, the east component of the sea current speed and the east component of the wind speed, calculate the north component of the effective speed of the ship based on the north component of the speed, the north component of the sea current speed and the north component of the wind speed, perform data processing on the east component and the north component of the effective speed of the ship to generate the effective speed of the ship;

[0012] S4. Construct a ship speed prediction model, take the effective wind speed, ship effective speed and load rate at the historical moment as input, and the corresponding actual speed of the ship as a label, train the ship speed prediction model, and after the training is completed, input the current effective wind speed, ship effective speed and load rate into the ship speed prediction model to obtain the actual speed of the ship at the current moment;

[0013] S5. According to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the route distance traveled by the ship at the current moment, a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment is constructed, and constraints are set. The fuel consumption and actual speed of the ship at the current moment are combined to construct a comprehensive function of the ship's fuel consumption and actual speed. According to the functional relationship between the fuel consumption and the actual speed at the current moment, a comprehensive objective function of the actual speed of the ship at the current moment is generated. The comprehensive objective function of the actual speed of the ship is optimized with minimization of the comprehensive objective function and maximization of the actual speed as the optimization goals, and the optimal solution for the ship's speed at the current moment is obtained.

[0014] Furthermore, the fuel consumption rate of the ship is generated by using the collected route distance and the fuel consumption corresponding to the route distance traveled, and the effective wind speed is generated by using the collected ship speed, heading, wind speed and wind direction, according to the following formula:

[0015]

[0016] Among them, FCR is the fuel consumption rate of the ship, L is the fuel consumption corresponding to the route distance traveled, and S is the route distance traveled;

[0017]

[0018] Where, EWS is the effective wind speed, V ω is the wind speed, V f is the speed, θ is the wind direction, and φ is the heading.

[0019] Furthermore, the collected ship speed is used to calculate the east and north components of the ship speed, the collected sea current speed is used to calculate the east and north components of the sea current speed, and the collected wind speed is used to calculate the east and north components of the wind speed, according to the following formula:

[0020]

[0021] Among them, V fx is the eastward component of the ship speed, V fy is the north component of the ship speed, V cx is the eastward component of the ocean current velocity, V cy is the northward component of the sea current velocity, V wx is the eastward component of wind speed, V wy is the northerly component of wind speed and τ is the direction of ocean current.

[0022] Furthermore, the east component of the ship's effective speed is calculated based on the east component of the speed, the east component of the sea current speed and the east component of the wind speed. The north component of the ship's effective speed is calculated based on the north component of the speed, the north component of the sea current speed and the north component of the wind speed, according to the following formula:

[0023]

[0024] Among them, V ex is the eastward component of the ship’s effective speed, V ey is the north component of the ship’s effective speed;

[0025] The eastward component and northward component of the ship's effective speed are processed to generate the ship's effective speed, based on the following formula:

[0026]

[0027] Among them, Ve The effective speed of the ship.

[0028] Furthermore, the collected cargo volume and fuel volume are used to calculate the ship's load factor, according to the following formula:

[0029]

[0030] Among them, R is the load factor of the ship, Z is the cargo capacity of the ship, and D is the fuel capacity of the ship.

[0031] Furthermore, the specific process of step S5 is as follows:

[0032] Construct the function of the actual fuel consumption rate and fuel consumption of the ship at the current moment in the following form:

[0033] FCR act =a·V act 2 +b·V act +c

[0034] C fuel =FCR act ·S act =(a·V act 2 +b·V act +c)·S act

[0035] Where a, b, c are the coefficients of the ship's fuel consumption rate function, FCR act is the actual fuel consumption rate of the ship at the current moment, V act is the actual speed of the ship at the current moment, C fuel is the fuel consumption of the ship at the current moment, S act is the distance of the route traveled;

[0036] Using the least squares method, the collected multiple sets of historical data are applied to the nonlinear model constructed by the fuel consumption rate of the ship, and the actual data and the model function are fitted to determine the optimal coefficients a and b, as well as the intercept c of the nonlinear model;

[0037] Constraints:

[0038] V min ≤V act ≤V deg

[0039] Among them, V min is the minimum speed of the ship, V aeg is the design speed of the ship;

[0040] The functions of the ship's fuel consumption and speed are independent of each other. When optimizing, we need to find an optimal balance point, combine the current ship's fuel consumption and actual speed, and construct a comprehensive function of the ship's fuel consumption and actual speed. The expression is as follows:

[0041] Minimize Z=α1·C fuel -α2·V act

[0042] According to the functional relationship between the fuel consumption of the ship at the current moment and the actual speed of the ship, the comprehensive objective function becomes:

[0043] Minimize Z=α1·((a·V act 2 +b·V act +c)·S act )-α2·V act

[0044] Among them, Z is the comprehensive objective function, which represents the comprehensive evaluation index under given conditions, α1 is the weight coefficient of ship fuel consumption, α2 is the weight coefficient of the actual speed of the ship, 0<α1<α2<1, and α1+α2=1;

[0045] Based on the actual speed V of the ship set act The initial population is randomly generated, and the initial population includes multiple individuals. The best value of the individual is input into the trained speed optimization model to obtain the actual speed of the ship corresponding to the individual. The individuals in the initial population are sorted from large to small according to the actual speed of the ship. The individuals in the top 50% are selected as parents. Through the crossover operation, the genes of the parent individuals are exchanged and combined to generate new individuals. After the mutation operation is performed on the newly generated individuals, the actual speed V of the ship is repeatedly calculated. act , perform selection, crossover, and mutation operations until the preset number of iterations is reached, and select the actual speed V of the ship act The largest individual is taken as the optimal individual, and the actual speed V of the ship corresponding to the optimal individual act This is the optimal solution for the ship's speed at the current moment.

[0046] To achieve the above object, the present invention also provides the following technical solutions:

[0047] A speed optimization device, the device is used to execute any of the above-mentioned speed optimization methods, characterized in that it includes:

[0048] A data acquisition module is used to collect comprehensive data at equal time intervals, and obtain comprehensive data of the current moment and multiple historical moments. The comprehensive data includes route data, relevant environmental parameters and ship load parameters. The route data includes the ship's speed, heading, route distance traveled by the ship from the last moment of the corresponding moment to the corresponding moment, and fuel consumption at the corresponding moment. The relevant environmental parameters include the sea current speed, wind direction and wind speed at the corresponding moment. The ship load parameters include the cargo capacity and fuel quantity of the ship at the corresponding moment.

[0049] The data processing module is used to generate the fuel consumption rate of the ship by using the collected travel route distance and the fuel consumption corresponding to the travel route distance, generate the effective wind speed by using the collected speed, heading, wind speed and wind direction, and calculate the load factor of the ship by using the collected cargo capacity and fuel amount of the ship;

[0050] A data correction module is used to calculate the east and north components of the speed using the collected speed, calculate the east and north components of the sea current speed using the collected sea current speed, calculate the east and north components of the wind speed using the collected wind speed, calculate the east component of the effective speed of the ship according to the east component of the speed, the east component of the sea current speed and the east component of the wind speed, calculate the north component of the effective speed of the ship according to the north component of the speed, the north component of the sea current speed and the north component of the wind speed, perform data processing on the east component and the north component of the effective speed of the ship, and generate the effective speed of the ship;

[0051] The model building module is used to build a ship speed prediction model. The effective wind speed, ship effective speed and load rate at historical moments are used as inputs, and the corresponding actual ship speed is used as a label to train the ship speed prediction model. After the training is completed, the current effective wind speed, ship effective speed and load rate are input into the ship speed prediction model to obtain the actual speed of the ship at the current moment.

[0052] The speed optimization module is used to construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment according to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the route distance traveled by the ship at the current moment, and set constraints to combine the fuel consumption and actual speed of the ship at the current moment to construct a comprehensive function of the fuel consumption and actual speed of the ship. According to the functional relationship between the fuel consumption and the actual speed at the current moment, a comprehensive objective function of the actual speed of the ship at the current moment is generated. With the minimization of the comprehensive objective function and the maximization of the actual speed as the optimization goals, the comprehensive objective function of the actual speed of the ship is optimized to obtain the optimal solution of the ship's speed at the current moment.

[0053] An electronic device, comprising:

[0054] Memory, used to store computer programs;

[0055] A processor is used to execute the computer program to implement any of the above-mentioned methods for optimizing ship speed.

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] The present invention collects route data, relevant environmental parameters and ship load parameters at the current time and multiple historical times at equal time intervals, generates the fuel consumption rate of the ship by using the collected route distance and fuel consumption, generates the effective wind speed by using the collected ship speed, heading, wind speed and wind direction, generates the effective speed of the ship by using the collected speed, wind speed and sea current speed, calculates the load rate of the ship by using the collected cargo volume and fuel volume, constructs a ship speed prediction model, obtains the actual speed of the ship, and constructs the ship speed prediction model according to the actual distance of the route, the actual fuel consumption rate of the ship and the actual speed of the ship. The actual fuel consumption rate and fuel consumption function is obtained, and constraints are set. The fuel consumption and actual speed of the ship are combined to construct a comprehensive function of the fuel consumption and actual speed of the ship. According to the relationship between fuel consumption and actual speed, a comprehensive objective function of the actual speed is generated. Taking the maximization of actual speed as the optimization goal, the comprehensive objective function of the actual speed of the ship is optimized to obtain the optimal solution of the ship's speed. By combining the collected parameters, the influence of the parameter combination on the speed is fully reflected, which significantly improves the optimization accuracy of the constructed comprehensive objective function of the actual speed of the ship and is suitable for different navigation conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a schematic diagram of the overall method flow of the present invention;

[0059] Figure 2 This is a block diagram of the module composition of the present invention. DETAILED DESCRIPTION

[0060] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0061] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0062] Embodiment 1:

[0063] See also Figure 1 , the present invention provides a technical solution:

[0064] A method for optimizing ship speed, comprising the following specific steps:

[0065] S1. Collect comprehensive data at equal time intervals to obtain comprehensive data of the current moment and multiple historical moments, the comprehensive data including route data, relevant environmental parameters and ship load parameters, the route data including the ship's speed, heading, the distance traveled from the previous moment to the corresponding moment, and fuel consumption at the corresponding moment, the relevant environmental parameters including the sea current speed, wind direction and wind speed at the corresponding moment, the ship load parameters including the cargo capacity and fuel quantity of the ship at the corresponding moment;

[0066] S2. Generate the fuel consumption rate of the ship using the collected route distance and the fuel consumption corresponding to the route distance, generate the effective wind speed using the collected speed, heading, wind speed and wind direction, and calculate the load factor of the ship using the collected cargo capacity and fuel amount of the ship;

[0067] S3. Calculate the east and north components of the speed using the collected speed, calculate the east and north components of the sea current speed using the collected sea current speed, calculate the east and north components of the wind speed using the collected wind speed, calculate the east component of the effective speed of the ship based on the east component of the speed, the east component of the sea current speed and the east component of the wind speed, calculate the north component of the effective speed of the ship based on the north component of the speed, the north component of the sea current speed and the north component of the wind speed, perform data processing on the east component and the north component of the effective speed of the ship to generate the effective speed of the ship;

[0068] S4. Construct a ship speed prediction model, take the effective wind speed, ship effective speed and load rate at the historical moment as input, and the corresponding actual speed of the ship as the label, train the ship speed prediction model, and after the training is completed, input the current effective wind speed, ship effective speed and load rate into the ship speed prediction model to obtain the current actual speed of the ship;

[0069] S5. According to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the route distance traveled by the ship at the current moment, a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment is constructed, and constraints are set. The fuel consumption and actual speed of the ship at the current moment are combined to construct a comprehensive function of the ship's fuel consumption and actual speed. According to the functional relationship between the fuel consumption and the actual speed at the current moment, a comprehensive objective function of the actual speed of the ship at the current moment is generated. With minimizing the comprehensive objective function and maximizing the actual speed as the optimization goals, the comprehensive objective function of the actual speed of the ship is optimized to obtain the optimal solution for the ship's speed at the current moment.

[0070] Based on the above embodiment, the equipment and method for collecting the distance of the route traveled, the speed, the heading, the fuel consumption, the sea current speed, the wind direction, the wind speed, the cargo capacity and the fuel quantity are as follows:

[0071] The real-time position data of the ship is recorded by GPS equipment to calculate the distance the ship has traveled. The speed sensor is used to measure the speed of the ship relative to the water.

[0072] The ship's heading data is obtained through an electronic compass, usually based on true north or magnetic north.

[0073] The fuel consumption is monitored in real time by the flow meter installed in the fuel system, the fuel consumption data for each time period is recorded, and combined with the navigation time, the total fuel consumption is obtained.

[0074] An acoustic Doppler current profiler is used to measure the speed and direction of water flow using sound waves and is usually mounted on the hull of a ship or on an underwater probe.

[0075] Use an anemometer and wind vane combination to monitor wind speed and direction in real time. Anemometers usually use rotating blades or ultrasonic sensors to measure wind speed.

[0076] Weighing sensors are installed in the cargo hold or on the deck of the ship to monitor the weight of the cargo in real time and calculate the cargo volume through the weight changes during loading and unloading.

[0077] The level sensor installed in the fuel tank measures the change in the fuel level and calculates the remaining fuel amount based on the volume of the fuel tank.

[0078] On the basis of the above embodiment, the fuel consumption corresponding to the route traveled and the distance traveled is used to generate the fuel consumption rate of the ship, and the effective wind speed is generated by using the collected ship speed, heading, wind speed and wind direction, according to the following formula:

[0079]

[0080] Among them, FCR is the fuel consumption rate of the ship, L is the fuel consumption corresponding to the route traveled, and S is the distance of the route traveled;

[0081]

[0082] Where, EWS is the effective wind speed, V ω is the wind speed, V f is the ship speed, θ is the wind direction, its angle relative to the true north, and φ is the heading, its angle relative to the true north.

[0083] On the basis of the above embodiment, the collected ship speed is used to calculate the east and north components of the ship speed, the collected sea current speed is used to calculate the east and north components of the sea current speed, and the collected wind speed is used to calculate the east and north components of the wind speed, according to the following formula:

[0084]

[0085]

[0086] Among them, V fx is the eastward component of the ship speed, V fy is the north component of the ship speed, V cx is the eastward component of the ocean current velocity, V cy is the northward component of the sea current velocity, V wx is the eastward component of wind speed, V wy is the northerly component of wind speed, and τ is the direction of ocean current (angle relative to true north).

[0087] On the basis of the above embodiment, the east component of the ship's effective speed is calculated according to the east component of the speed, the east component of the sea current speed and the east component of the wind speed, and the north component of the ship's effective speed is calculated according to the north component of the speed, the north component of the sea current speed and the north component of the wind speed, according to the following formula:

[0088]

[0089] Among them, V ex is the eastward component of the ship’s effective speed, V ey is the north component of the ship's effective speed.

[0090] V fxIt is the eastward component of the ship's own speed, indicating the speed at which the ship moves eastward without the influence of other external forces:

[0091] V cx It is the effect of the ocean current on the ship, indicating the velocity component of the ocean current in the east direction. If the ocean current flows eastward, this component is positive, indicating that the ocean current is pushing the ship eastward;

[0092] V wx It is the effect of wind speed on the ship, indicating the speed component of the wind in the east direction. The effect of wind usually affects the navigation of the ship. If the wind is headwind (blowing from east to west), it will hinder the ship's progress to the east, which is expressed as a negative value.

[0093] Similarly, V fy It is the north component of the ship's own speed, indicating the speed at which the ship moves north without the influence of other external forces;

[0094] V cy It is the effect of the ocean current on the ship, indicating the velocity component of the ocean current in the north direction. If the ocean current flows northward, this component is positive, indicating that the ocean current is pushing the ship northward;

[0095] V wy It is the effect of wind speed on the ship, indicating the speed component of the wind in the north direction. The effect of wind usually affects the navigation of the ship. If the wind is headwind (blowing from north to south), it will hinder the ship's progress to the north, which is expressed as a negative value.

[0096] On the basis of the above embodiment, the eastward component and the northward component of the effective speed of the ship are processed to generate the effective speed of the ship, according to the following formula:

[0097]

[0098] Among them, V e The effective speed of the ship.

[0099] Based on the above embodiment, the load factor of the ship is calculated using the collected cargo volume and fuel volume, according to the following formula:

[0100]

[0101] Among them, R is the load factor of the ship, z is the cargo capacity of the ship, and D is the fuel capacity of the ship.

[0102] On the basis of the above embodiment, the ship speed prediction model adopts a convolutional neural network model, and the convolutional neural network model is composed of a deep neural network based on a multilayer perceptron. The deep neural network of the multilayer perceptron includes an input layer, a first hidden layer, a second hidden layer, a third hidden layer and an output layer. The first hidden layer, the second hidden layer and the third hidden layer all have at least two neurons, and all use ReLU as the activation function.

[0103] In this embodiment, the input features of the deep neural network of the multilayer perceptron include: effective wind speed, effective speed of the ship and load rate, three features;

[0104] Input layer: receives input of 3 features;

[0105] The first hidden layer has 128 neurons and uses ReLU as the activation function.

[0106] The second hidden layer has 256 neurons and also uses the ReLU activation function.

[0107] The third hidden layer has 128 neurons and uses the ReLU activation function.

[0108] Output layer: has a single neuron, the actual speed of the ship at the current moment.

[0109] The process of training the ship speed prediction model is as follows:

[0110] According to the historical effective wind speed, effective speed of the ship and load factor, the expert group shall assess the actual speed of the corresponding ship;

[0111] The effective wind speed, effective ship speed and load rate are used as input, and the corresponding actual ship speed is used as the output label for training. The mean square error is used as the loss function. When the mean square error is in the range of [0, 0.1], the training of the ship speed prediction model is completed.

[0112] Based on the above embodiment, the specific process of step S5 is as follows:

[0113] Construct the function of the actual fuel consumption rate and fuel consumption of the ship at the current moment in the following form:

[0114] FCR act =a·V act 2 +b·V act +c

[0115] C fuel =FCR act ·S act =(a·V act 2 +b·Vact +c)·S act

[0116] Where a, b, c are the coefficients of the ship's fuel consumption rate function, FCR act is the actual fuel consumption rate of the ship at the current moment, V act is the actual speed of the ship at the current moment, C fuel is the fuel consumption of the ship at the current moment, S act The actual distance of the route traveled at the current moment;

[0117] Using the least squares method, the collected multiple sets of historical data are applied to the nonlinear model constructed by the fuel consumption rate of the ship, and the actual data and the model function are fitted to determine the optimal coefficients a and b, as well as the intercept c of the nonlinear model;

[0118] Constraints:

[0119] V min ≤V act ≤V deg

[0120] Among them, V min is the minimum speed of the ship, V deg is the design speed of the ship;

[0121] The functions of the ship's fuel consumption and speed are independent of each other. When optimizing, we need to find an optimal balance point, combine the current ship's fuel consumption and actual speed, and construct a comprehensive objective function of the ship's fuel consumption and actual speed. The expression is as follows:

[0122] Minimize Z=α1·C fuel -α2·V act

[0123] According to the functional relationship between the fuel consumption of the ship at the current moment and the actual speed of the ship, the comprehensive objective function becomes:

[0124] Minimize Z=α1·((a·V act 2 +b·V act +c)·S act )-α2·V act

[0125] Among them, Z is the comprehensive objective function, which represents the comprehensive evaluation index under given conditions, α1 is the weight coefficient of ship fuel consumption, and α2 is the weight coefficient of the actual speed of the ship.

[0126] Ships tend to increase their speed during the optimization process, so the weight coefficient of the actual speed of the ship is set greater than the weight coefficient of the ship's fuel consumption, that is, 0<α1<α2<1, and α1+α2=1.

[0127] Based on the actual speed V of the ship set act The initial population is randomly generated, and the initial population includes multiple individuals. The best value of the individual is input into the trained speed optimization model to obtain the actual speed of the ship corresponding to the individual. The individuals in the initial population are sorted from large to small according to the actual speed of the ship. The individuals in the top 50% are selected as the parents. Through the crossover operation, the genes of the parent individuals are exchanged and combined to generate new individuals. After the mutation operation is performed on the newly generated individuals, the actual speed V of the ship is repeatedly calculated. act , perform selection, crossover, and mutation operations until the preset number of iterations is reached, and select the actual speed V of the ship act The largest individual is taken as the optimal individual, and the actual speed of the ship corresponding to the optimal individual is V act This is the optimal solution for the ship's speed at the current moment.

[0128] See also Figure 2 , the present invention also provides a technical solution:

[0129] A speed optimization device, the device is used to execute any of the above speed optimization methods, comprising:

[0130] A data acquisition module is used to collect comprehensive data at equal time intervals, and obtain comprehensive data of the current moment and multiple historical moments. The comprehensive data includes route data, relevant environmental parameters and ship load parameters. The route data includes the ship's speed, heading, route distance traveled by the ship from the last moment of the corresponding moment to the corresponding moment, and fuel consumption at the corresponding moment. The relevant environmental parameters include the sea current speed, wind direction and wind speed at the corresponding moment. The ship load parameters include the cargo capacity and fuel quantity of the ship at the corresponding moment.

[0131] The data processing module is used to generate the fuel consumption rate of the ship by using the collected traveled route distance and the fuel consumption corresponding to the traveled route distance, generate the effective wind speed by using the collected speed, heading, wind speed and wind direction, and calculate the load factor of the ship by using the collected cargo capacity and fuel quantity of the ship;

[0132] A data correction module is used to calculate the east and north components of the speed using the collected speed, calculate the east and north components of the sea current speed using the collected sea current speed, calculate the east and north components of the wind speed using the collected wind speed, calculate the east component of the effective speed of the ship according to the east component of the speed, the east component of the sea current speed and the east component of the wind speed, calculate the north component of the effective speed of the ship according to the north component of the speed, the north component of the sea current speed and the north component of the wind speed, perform data processing on the east component and the north component of the effective speed of the ship, and generate the effective speed of the ship;

[0133] The model building module is used to build a ship speed prediction model. The effective wind speed, ship effective speed and load rate at historical moments are used as inputs, and the actual speed of the ship is used as a label to train the ship speed prediction model. After the training is completed, the effective wind speed, ship effective speed and load rate at the current moment are input into the ship speed prediction model to obtain the actual speed of the ship at the current moment.

[0134] The speed optimization module is used to construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment according to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the route distance traveled by the ship at the current moment, and set constraints to combine the fuel consumption and actual speed of the ship at the current moment to construct a comprehensive function of the fuel consumption and actual speed of the ship. According to the functional relationship between the fuel consumption and the actual speed at the current moment, a comprehensive objective function of the actual speed of the ship at the current moment is generated. With the minimization of the comprehensive objective function and the maximization of the actual speed as the optimization goals, the comprehensive objective function of the actual speed of the ship is optimized to obtain the optimal solution of the ship's speed at the current moment.

[0135] An electronic device, comprising:

[0136] Memory, used to store computer programs;

[0137] A processor is used to execute the computer program to implement a speed optimization method as described in any one of the above items.

[0138] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0139] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented using software, the above embodiments may be implemented in whole or in part in the form of a computer program product. Those skilled in the art may appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein may be implemented by computer software, electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software depends on the specific application and design constraints of the technical solution.

[0140] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0141] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

[0142] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0143] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A method for optimizing ship speed, characterized in that: The specific steps include: S1. Collect comprehensive data at equal time intervals to obtain comprehensive data of the current moment and multiple historical moments, the comprehensive data including route data, relevant environmental parameters and ship load parameters, the route data including the ship's speed, heading, the distance traveled from the previous moment to the corresponding moment, and fuel consumption at the corresponding moment, the relevant environmental parameters including the sea current speed, wind direction and wind speed at the corresponding moment, the ship load parameters including the cargo capacity and fuel quantity of the ship at the corresponding moment; S2. Generate the fuel consumption rate of the ship using the collected route distance and the fuel consumption corresponding to the route distance, generate the effective wind speed using the collected speed, heading, wind speed and wind direction, and calculate the load factor of the ship using the collected cargo capacity and fuel amount of the ship; S3. Calculate the east and north components of the speed using the collected speed, calculate the east and north components of the sea current speed using the collected sea current speed, calculate the east and north components of the wind speed using the collected wind speed, calculate the east component of the effective speed of the ship based on the east component of the speed, the east component of the sea current speed and the east component of the wind speed, calculate the north component of the effective speed of the ship based on the north component of the speed, the north component of the sea current speed and the north component of the wind speed, perform data processing on the east component and the north component of the effective speed of the ship to generate the effective speed of the ship; S4. Construct a ship speed prediction model, take the effective wind speed, ship effective speed and load rate at the historical moment as input, and the corresponding actual speed of the ship as a label, train the ship speed prediction model, and after the training is completed, input the current effective wind speed, ship effective speed and load rate into the ship speed prediction model to obtain the actual speed of the ship at the current moment; S5. According to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the route distance traveled by the ship at the current moment, a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment is constructed, and constraints are set. The fuel consumption and actual speed of the ship at the current moment are combined to construct a comprehensive function of the ship's fuel consumption and actual speed. According to the functional relationship between the fuel consumption and the actual speed at the current moment, a comprehensive objective function of the actual speed of the ship at the current moment is generated. With minimizing the comprehensive objective function and maximizing the actual speed as the optimization goals, the comprehensive objective function of the actual speed of the ship is optimized to obtain the optimal solution for the ship's speed at the current moment.

2. The method for optimizing navigation speed according to claim 1, characterized in that: The fuel consumption rate of the ship is generated by using the collected route distance and the fuel consumption corresponding to the route distance. The effective wind speed is generated by using the collected ship speed, heading, wind speed and wind direction. The formula is as follows: Among them, FCR is the fuel consumption rate of the ship, L is the fuel consumption corresponding to the route distance traveled, and S is the route distance traveled; Where, EWS is the effective wind speed, V ω is the wind speed, V f is the speed, θ is the wind direction, and φ is the heading.

3. The method for optimizing navigation speed according to claim 1, characterized in that: The collected ship speed is used to calculate the east and north components of the ship speed, the collected sea current speed is used to calculate the east and north components of the sea current speed, and the collected wind speed is used to calculate the east and north components of the wind speed, based on the following formula: Among them, V fx is the eastward component of the ship speed, V fy is the north component of the ship speed, V cx is the eastward component of the ocean current velocity, V cy is the northward component of the sea current velocity, V wx is the eastward component of wind speed, V wy is the northerly component of wind speed and τ is the direction of ocean current.

4. The method for optimizing navigation speed according to claim 3, characterized in that: The east component of the ship's effective speed is calculated based on the east component of the speed, the east component of the current speed and the east component of the wind speed. The north component of the ship's effective speed is calculated based on the north component of the speed, the north component of the current speed and the north component of the wind speed. The formula is as follows: Among them, V ex is the eastward component of the ship’s effective speed, V ey is the north component of the ship’s effective speed; The eastward component and northward component of the ship's effective speed are processed to generate the ship's effective speed, based on the following formula: Among them, V e The effective speed of the ship.

5. The method for optimizing navigation speed according to claim 4, characterized in that: The collected cargo and fuel quantities are used to calculate the ship's load factor, based on the following formula: Among them, R is the load factor of the ship, Z is the cargo capacity of the ship, and D is the fuel capacity of the ship.

6. The method for optimizing navigation speed according to claim 7, characterized in that: The specific process of step S5 is as follows: Construct the function of the actual fuel consumption rate and fuel consumption of the ship at the current moment in the following form: FCR act =α·V act 2 +b·V act +c C fuet =FCR act ·S act =(α·V act 2 +b·V act +c)·S act Where a, b, c are the coefficients of the ship's fuel consumption rate function, FCR act is the actual fuel consumption rate of the ship at the current moment, V act is the actual speed of the ship at the current moment, C fuel is the fuel consumption of the ship at the current moment, S act The distance of the route traveled at the current moment; Using the least squares method, the collected multiple sets of historical data are applied to the nonlinear model constructed by the fuel consumption rate of the ship, and the actual data and the model function are fitted to determine the optimal coefficients a and b, as well as the intercept c of the nonlinear model; Constraints: In min ≤V act ≤V deg Among them, V ,in is the minimum speed of the ship, V deg is the design speed of the ship; The functions of the ship's fuel consumption and speed are independent of each other. When optimizing, we need to find an optimal balance point, combine the current fuel consumption and actual speed of the ship, and construct a comprehensive function of the ship's fuel consumption and actual speed. The expression is as follows: Minimize Z=α1·C fuet -α2·V act According to the functional relationship between the fuel consumption of the ship at the current moment and the actual speed of the ship, the comprehensive objective function becomes: Minimize Z=α1·((α·V act 2 +b·V act +c)·S act )-α2·V act Among them, Z is the comprehensive objective function, which represents the comprehensive evaluation index under given conditions, α1 is the weight coefficient of ship fuel consumption, α2 is the weight coefficient of ship actual speed, 0<α1<α2<1, and α1+α2=1; Based on the actual speed V of the ship set act The initial population is randomly generated, and the initial population includes multiple individuals. The best value of the individual is input into the trained speed optimization model to obtain the actual speed of the ship corresponding to the individual. The individuals in the initial population are sorted from large to small according to the actual speed of the ship. The individuals in the top 50% are selected as the parents. Through the crossover operation, the genes of the parent individuals are exchanged and combined to generate new individuals. After the mutation operation is performed on the newly generated individuals, the actual speed V of the ship is repeatedly calculated. act , perform selection, crossover, and mutation operations until the preset number of iterations is reached, and select the actual speed V of the ship act The largest individual is taken as the optimal individual, and the actual speed of the ship corresponding to the optimal individual is V act This is the optimal solution for the ship's speed at the current moment.

7. A speed optimization device, the device being used to execute a speed optimization method according to any one of claims 1 to 6, characterized in that: include: A data acquisition module is used to collect comprehensive data at equal time intervals, and obtain comprehensive data of the current moment and multiple historical moments. The comprehensive data includes route data, relevant environmental parameters and ship load parameters. The route data includes the ship's speed, heading, route distance traveled by the ship from the last moment of the corresponding moment to the corresponding moment, and fuel consumption at the corresponding moment. The relevant environmental parameters include the sea current speed, wind direction and wind speed at the corresponding moment. The ship load parameters include the cargo capacity and fuel quantity of the ship at the corresponding moment. The data processing module is used to generate the fuel consumption rate of the ship by using the collected traveled route distance and the fuel consumption corresponding to the traveled route distance, generate the effective wind speed by using the collected speed, heading, wind speed and wind direction, and calculate the load factor of the ship by using the collected cargo capacity and fuel quantity of the ship; A data correction module is used to calculate the east and north components of the speed using the collected speed, calculate the east and north components of the sea current speed using the collected sea current speed, calculate the east and north components of the wind speed using the collected wind speed, calculate the east component of the effective speed of the ship according to the east component of the speed, the east component of the sea current speed and the east component of the wind speed, calculate the north component of the effective speed of the ship according to the north component of the speed, the north component of the sea current speed and the north component of the wind speed, perform data processing on the east component and the north component of the effective speed of the ship, and generate the effective speed of the ship; The model building module is used to build a ship speed prediction model. The effective wind speed, ship effective speed and load rate at historical moments are used as inputs, and the corresponding actual ship speed is used as a label to train the ship speed prediction model. After the training is completed, the effective wind speed, ship effective speed and load rate at the current moment are input into the ship speed prediction model to obtain the actual speed of the ship at the current moment. The speed optimization module is used to construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment according to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the route distance traveled by the ship at the current moment, and set constraints to combine the fuel consumption and actual speed of the ship at the current moment to construct a comprehensive function of the fuel consumption and actual speed of the ship. According to the functional relationship between the fuel consumption and the actual speed at the current moment, a comprehensive objective function of the actual speed of the ship at the current moment is generated. With the minimization of the comprehensive objective function and the maximization of the actual speed as the optimization goals, the comprehensive objective function of the actual speed of the ship is optimized to obtain the optimal solution of the ship's speed at the current moment.

8. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, used to execute the computer program to implement a speed optimization method as described in any one of claims 1-6.

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