Ship navigation cooperation method, device and equipment and storage medium

Abstract

The embodiment of the invention discloses a ship navigation cooperation method, device and equipment and a storage medium, and the method comprises the steps: determining a to-be-optimized navigation variable of at least one target ship; wherein the sailing variable to be optimized is associated with the sailing route of the target ship; for each target ship, performing variable optimization on the to-be-optimized navigation variable of the target ship based on a preset constraint condition to obtain a target navigation variable corresponding to the to-be-optimized navigation variable; and determining a navigation cooperation result of the target ship according to the target navigation variable. According to the technical scheme, the problems that in the prior art, when the fleet navigation task is scheduled, the overall efficiency and the navigation safety are insufficient are solved, the navigation parameters of the ship can be automatically optimized under the preset constraint condition, the fleet navigation scheduling task can be automatically completed, the safety of fleet navigation is improved, and the user experience is improved. The operation efficiency of each ship in the fleet is improved, and the purposes of reducing cost and increasing efficiency are achieved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of ship navigation management, and in particular to a ship navigation coordination method, device, equipment and storage medium. Background Art

[0002] Many marine transportation and marine operations require the coordination of the fleet to complete. For example, offshore wind power projects require different types of ships to transport various types of equipment to the operating sea area. Since the installation order of various types of equipment is sequential (for example, generally speaking, pile foundation equipment must be installed earlier than the upper blades, and power generation equipment must be installed before transmission cables), and different types of ships have different wind and wave resistance and draft, it is necessary to reasonably arrange the departure and arrival time of each ship in the fleet and the sailing route of each ship according to the constraints such as marine environmental forecast data and project progress, so that the fleet can reasonably reduce the operating costs of the fleet while ensuring the smooth progress of offshore operations.

[0003] Currently, the work of fleet navigation task scheduling still relies on manual work, and the overall efficiency is greatly affected by factors such as personal experience and risk preference, making it difficult to effectively ensure fleet navigation safety and reduce operating costs. Summary of the invention

[0004] The embodiments of the present invention provide a ship navigation coordination method, device, equipment and storage medium, which can automatically complete fleet navigation scheduling tasks, improve the safety of fleet navigation, improve the operating efficiency of each ship in the fleet, and achieve the goal of reducing costs and increasing efficiency.

[0005] In a first aspect, an embodiment of the present invention provides a ship navigation coordination method, the method comprising:

[0006] Determine at least one navigation variable to be optimized for a target vessel; wherein the navigation variable to be optimized is associated with a navigation route of the target vessel; for each target vessel, perform variable optimization on the navigation variable to be optimized for the target vessel based on preset constraints to obtain a target navigation variable corresponding to the navigation variable to be optimized; and determine a navigation coordination result of the target vessel based on the target navigation variable.

[0007] In a second aspect, an embodiment of the present invention provides a vessel navigation coordination device, the device comprising:

[0008] A navigation variable determination module is used to determine the navigation variables to be optimized of at least one target ship, wherein the navigation variables to be optimized are associated with the navigation route of the target ship; a navigation parameter determination module is used to perform variable optimization on the navigation variables to be optimized of the target ship based on preset constraints for each target ship, and obtain a target navigation variable corresponding to the navigation variable to be optimized; a navigation coordination module is used to determine the navigation coordination result of the target ship according to the target navigation variable.

[0009] In a third aspect, an embodiment of the present invention provides a computer device, the computer device comprising:

[0010] one or more processors;

[0011] A memory for storing one or more programs;

[0012] When the one or more programs are executed by the one or more processors, the one or more processors implement the ship navigation coordination method described in any embodiment.

[0013] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the ship navigation coordination method described in any embodiment.

[0014] The technical solution provided by the embodiment of the present invention determines the navigation variables to be optimized of at least one target ship; wherein the navigation variables to be optimized are associated with the navigation route of the target ship; for each target ship, the navigation variables to be optimized of the target ship are optimized based on preset constraints to obtain the target navigation variables corresponding to the navigation variables to be optimized; and the navigation coordination result of the target ship is determined according to the target navigation variables. The technical solution of the embodiment of the present invention solves the problem of insufficient overall efficiency and navigation safety in the prior art when scheduling fleet navigation tasks, and can automatically optimize the navigation parameters of the ship under preset constraints, automatically complete the fleet navigation scheduling task, improve the safety of fleet navigation, improve the operating efficiency of each ship in the fleet, and achieve the goal of reducing costs and increasing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of a vessel navigation coordination method provided by an embodiment of the present invention;

[0016] Figure 2 It is a flow chart of another vessel navigation coordination method provided by an embodiment of the present invention;

[0017] Figure 3 is a schematic diagram of a navigation variable to be optimized provided by an embodiment of the present invention;

[0018] Figure 4 is a schematic diagram of wind and wave levels in a navigation route provided by an embodiment of the present invention;

[0019] Figure 5 is a structural schematic diagram of a ship navigation coordination device provided by an embodiment of the present invention;

[0020] Figure 6 It is a structural schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Figure 1 It is a flow chart of a ship navigation coordination method provided by an embodiment of the present invention. The embodiment of the present invention can be applied to the scenario of collaborative management of multiple ships to perform navigation tasks. The method can be executed by a ship navigation coordination device, which can be implemented by software and / or hardware.

[0023] like Figure 1 As shown, the vessel navigation coordination method includes the following steps:

[0024] S110: Determine a navigation variable to be optimized of at least one target vessel.

[0025] Among them, the target ship may be a ship that needs to perform a navigation mission. The technical solution of the embodiment of the present invention can coordinately manage the navigation modes of multiple target ships with the goal of reducing navigation time and reducing navigation consumption costs. The navigation variables to be optimized may be navigation variables that need to be optimized for the target ship. Among them, the navigation variables to be optimized are associated with the navigation route of the target ship. For example, the navigation variables to be optimized may include: departure time, cross-section length of each segment, heading angle of each segment, speed of each segment and other variables. Furthermore, each target ship may have its corresponding navigation variables to be optimized, and the navigation variables to be optimized for each ship may be optimized in the subsequent process.

[0026] S120. For each target ship, perform variable optimization on the navigation variable to be optimized of the target ship based on preset constraints to obtain a target navigation variable corresponding to the navigation variable to be optimized.

[0027] Among them, the preset constraints are used to constrain the navigation mode of the target ship. Specifically, the preset constraints can be set manually. For example, the preset transportation conditions may include the following conditions: the departure time of each ship is later than or equal to the start time of the project, and the arrival time of the ship is earlier than the end time of the project; each ship will not run aground when sailing along the route; the wind and wave level encountered by each ship when sailing along the route is not greater than the ship's wind and wave resistance level; the speed of each ship in each section must be within the maximum and minimum speed range; the engineering operation is carried out serially and sequentially. After the i-th ship arrives at the operation area, it must wait until the previous ship (i.e., the i-1-th ship) arrives at the operation area and completes unloading before it can start unloading, etc.

[0028] Furthermore, the target navigation variable can be a target variable obtained after performing variable optimization on the navigation variable to be optimized. Specifically, the optimal solution can be found from the optional range of the navigation variable to be optimized under the constraints of the preset constraints, thereby obtaining the target navigation variable.

[0029] S130: Determine a navigation coordination result of the target vessel according to the target navigation variable.

[0030] The navigation coordination result may be a result obtained by collaboratively managing the target ships. Specifically, all target ships and their corresponding target navigation variables may be integrated to obtain the navigation coordination result.

[0031] The technical solution provided by the embodiment of the present invention determines the navigation variables to be optimized of at least one target ship; wherein the navigation variables to be optimized are associated with the navigation route of the target ship; for each target ship, the navigation variables to be optimized of the target ship are optimized based on preset constraints to obtain the target navigation variables corresponding to the navigation variables to be optimized; and the navigation coordination result of the target ship is determined according to the target navigation variables. The technical solution of the embodiment of the present invention solves the problem of insufficient overall efficiency and navigation safety in the prior art when scheduling fleet navigation tasks, and can automatically optimize the navigation parameters of the ship under preset constraints, automatically complete the fleet navigation scheduling task, improve the safety of fleet navigation, improve the operating efficiency of each ship in the fleet, and achieve the goal of reducing costs and increasing efficiency.

[0032] Figure 2 It is another flow chart of a ship navigation coordination method provided by an embodiment of the present invention. The embodiment of the present invention can be applied to the scenario of collaborative management of multiple ships to perform navigation tasks. Based on the above embodiment, this embodiment further illustrates how to perform variable optimization on the navigation variables to be optimized of the target ship based on preset constraints to obtain the target navigation variables corresponding to the navigation variables to be optimized. The device can be implemented by software and / or hardware and integrated in a computer device with application development function.

[0033] like Figure 2 As shown, the vessel navigation coordination method includes the following steps:

[0034] S210: Determine a navigation variable to be optimized of at least one target vessel.

[0035] S220: For each target ship, obtain the navigation parameters of the target ship.

[0036] The navigation parameters refer to parameters associated with the target ship performing the navigation mission. Exemplarily, the navigation parameters may include at least one of: ship length, ship width, maximum speed, minimum speed, navigation power, draft, wind and wave resistance level, displacement, type of loaded cargo, and cargo unloading time. Specifically, the navigation parameters of the target ship may be obtained by manual input or by reading information from an associated database, which is not limited here.

[0037] S230. Based on the preset constraint conditions and the navigation parameters, perform variable optimization on the navigation variables to be optimized of the target ship to obtain the target navigation variables.

[0038] Among them, the preset constraints are used to constrain the navigation mode of the target ship. Specifically, the preset constraints can be set manually. For example, the preset transportation conditions may include the following conditions: the departure time of each ship is later than or equal to the start time of the project, and the arrival time of the ship is earlier than the end time of the project; each ship will not run aground when sailing along the route; the wind and wave level encountered by each ship when sailing along the route is not greater than the ship's wind and wave resistance level; the speed of each ship in each section must be within the maximum and minimum speed range; the engineering operation is carried out serially and sequentially. After the i-th ship arrives at the operation area, it must wait until the previous ship (i.e., the i-1-th ship) arrives at the operation area and completes unloading before it can start unloading, etc.

[0039] Furthermore, the target navigation variable can be a target variable obtained after performing variable optimization on the navigation variable to be optimized. Specifically, the optimal solution can be found from the optional range of the navigation variable to be optimized under the constraints of the preset constraints, thereby obtaining the target navigation variable.

[0040] Optionally, based on preset constraints and navigation parameters, variable optimization is performed on the navigation variables to be optimized of the target ship to obtain the target navigation variables, including: constructing a plurality of candidate variable matrices corresponding to the navigation variables to be optimized; for each candidate variable matrix, determining a first evaluation score according to preset constraints and variable parameters in the candidate variable matrix; determining a second evaluation score according to the navigation parameters and variable parameters in the candidate variable matrix; and determining the target navigation variable according to the first evaluation score and the second evaluation score.

[0041] The candidate variable matrix may be a matrix composed of candidate navigation variables. The candidate row variables may be candidate solutions corresponding to the row variables to be optimized. For example, for each variable in the navigation variables to be optimized, multiple candidate parameters may be randomly selected from the optional range of the variable, and finally multiple candidate variable matrices may be obtained based on the candidate parameters corresponding to all the navigation variables to be optimized.

[0042] Exemplarily, the navigation variables to be optimized of the target vessel may include: departure time t i and the route from the departure point to the operation point i Here, i represents the i-th ship. Each route consists of multiple segments, each of which has a segment length l ij , heading angle c ij Each segment is assigned a speed v ij . For example, Figure 3 FIG. 1 is a schematic diagram of a navigation variable to be optimized provided by an embodiment of the present invention. Figure 3 As shown, here j represents the jth flight segment, c ij represents the heading angle of the jth leg of the i-th ship, s ij represents the length of the jth leg of the i-th ship, v ij represents the speed of the i-th ship in the j-th leg. The above variables form a candidate variable matrix Where m means there are m ships, n means the route of each ship consists of n segments, and X is a (3m+1)×n-dimensional matrix. m is input by the personnel according to the task operation needs, and n can be input by the personnel.

[0043] Optionally, the preset constraint condition includes multiple sub-conditions, and a first evaluation score is determined based on the preset constraint condition and the variable parameters in the candidate variable matrix, including: for a sub-condition, when the variable parameters in the candidate variable matrix do not satisfy the sub-condition, obtaining a penalty score corresponding to the sub-condition; adding up the penalty scores corresponding to all sub-conditions, and using the summed score as the first evaluation score.

[0044] Exemplarily, an embodiment of determining whether the variable parameters in the candidate variable matrix satisfy the sub-conditions is as follows:

[0045] Sub-condition 1: The departure time of the ship is later than or equal to the project start time t i ≥T0, and the ship's arrival time is earlier than the project completion time, the formula is:

[0046] Sub-condition 2: Each ship will not run aground when sailing along the route. This function is a basic function of the electronic nautical chart in current navigation. When the route routei of the i-th ship is generated, the route routei and the draft level corresponding to the ship (obtained by querying the ship type database in step 1) are sent to the electronic nautical chart, and the electronic nautical chart will automatically determine whether the ship will run aground when sailing along the route.

[0047] Sub-condition 3: When each ship sails along the route, the wind and wave level encountered is not greater than the ship's wind and wave resistance level (obtained by querying the ship type database in step 1). When the route is generated, the position of the ship at any time has been uniquely determined. According to the values ​​of time and position, the wind and wave level encountered by the ship at each time can be obtained by interpolating from the weather forecast data (such as Figure 4 If the wind and wave level encountered at any time is higher than the wind and wave resistance level, this constraint condition is not met. For the convenience of calculation, the time and position of the ship's voyage are generally calculated with a step length of 0.5 hours.

[0048] Sub-condition 4: The speed of each ship in each section must be within the maximum and minimum speed range, that is, V imin ≤v ij ≤V imax .

[0049] Sub-condition 5: Engineering operations are carried out in sequence. After the i-th ship arrives at the operation area, it must wait until the previous ship, that is, the i-1 ship, arrives at the operation area and completes unloading before it can start unloading. Therefore, there are two situations:

[0050] The i-1th ship has already completed unloading, so the i-th ship can start operations without waiting after arriving at the operation area, so the waiting time is 0;

[0051] After the i-th ship arrives at the operation area, the i-1-th ship has not arrived yet or is still unloading. Therefore, the i-th ship needs to cruise and wait at the minimum speed Vmin (obtained by querying the ship type database in step 1). The waiting time is:

[0052]

[0053] Therefore, the waiting time can be uniformly expressed as:

[0054]

[0055] Among them, the first evaluation score can be a score obtained by evaluating the candidate variable matrix from the perspective of the constraint condition. The higher the first evaluation score, the higher the risk in the candidate variable matrix. Among them, each sub-condition can have a corresponding penalty score, and the penalty score of each sub-condition can be set manually. Further, the variable parameters in the candidate variable matrix can be brought into the determination formula corresponding to the sub-condition, and then based on the determination formula, it is determined whether the candidate variable matrix satisfies the sub-condition. If the variable parameters in the candidate variable matrix do not satisfy the sub-condition, the penalty score corresponding to the sub-condition can be obtained, and finally the penalty scores corresponding to all sub-conditions are added, and the score obtained by the addition is used as the first evaluation score.

[0056] Optionally, determining a second evaluation score based on the navigation parameters and the variable parameters in the candidate variable matrix includes: determining a first work and a second work of the target ship based on the navigation parameters and the variable parameters in the candidate variable matrix; and determining a second evaluation score based on the first work and the second work.

[0057] Among them, the second evaluation score can be a score obtained by evaluating the candidate variable matrix from the perspective of navigation cost. The first work represents the work done by the target ship in the process of passing through the route. Specifically, the navigation parameters and the variable parameters in the optional variable matrix can be substituted into the preset formula for obtaining the navigation work to obtain the first work. The second work represents the work done by the target ship in the cruising and waiting process after reaching the operating area. The second work can be the work done by the target ship in the waiting process after arriving at the operating area. Specifically, the navigation function and the variable parameters in the optional variable matrix can be substituted into the preset formula for obtaining the cruising and waiting work to obtain the second work. Furthermore, the first work and the second work can be multiplied by the corresponding preset coefficients and then added to obtain the second evaluation score.

[0058] Exemplarily, an embodiment of determining the second evaluation score is as follows:

[0059] (1) The work done along the way from the starting point to the task point. The power of the i-th ship in the j-th segment is P(vij) (obtained by querying the ship type database in step 1), and the sailing time is sij / vij, so the work done is:

[0060]

[0061] So the first work done by m ships in n sections is:

[0062]

[0063] (2) The second work done when the ship arrives at the operation area and cruises at the lowest speed is:

[0064]

[0065] Here Δt i-1i It is expressed by formula (2).

[0066] Optionally, the target navigation variable is determined based on the first evaluation score and the second evaluation score, including: for each candidate variable matrix, determining a comprehensive evaluation score based on the first evaluation score and the second evaluation score of the candidate variable matrix; based on the comprehensive evaluation score of each candidate variable matrix, determining the target variable matrix from the candidate variable matrix, and determining the target navigation variable based on the variable parameters of the target variable matrix.

[0067] Among them, the comprehensive evaluation score can be a score obtained by evaluating the candidate variable matrix from multiple angles. The higher the comprehensive evaluation score, the worse the practicality of the candidate variable matrix. Exemplarily, the first evaluation score and the second evaluation score can be multiplied by the corresponding preset coefficients and then added to obtain the comprehensive evaluation score. Furthermore, the target variable matrix can be the matrix finally obtained by variable optimization. Exemplarily, the comprehensive evaluation scores of all candidate variable matrices can be compared, and the candidate variable matrix with the smallest comprehensive evaluation score can be used as the target variable matrix. The target navigation parameters can be parameters obtained after optimizing the navigation variables to be optimized. Specifically, the variable parameters in the target variable matrix can be used as the target navigation parameters.

[0068] S240: Determine a navigation coordination result of the target vessel according to the target navigation variable.

[0069] The navigation coordination result may be a result obtained by collaboratively managing the target ships. Specifically, all target ships and their corresponding target navigation variables may be integrated to obtain the navigation coordination result.

[0070] The technical solution provided by the embodiment of the present invention determines the navigation variables to be optimized of at least one target ship; wherein the navigation variables to be optimized are associated with the navigation route of the target ship; for each target ship, the navigation parameters of the target ship are obtained; based on the preset constraints and the navigation parameters, the navigation variables to be optimized of the target ship are optimized to obtain the target navigation variables; according to the target navigation variables, the navigation coordination results of the target ship are determined. The technical solution of the embodiment of the present invention solves the problems of insufficient overall efficiency and navigation safety in the prior art when scheduling fleet navigation tasks, and can automatically optimize the navigation parameters of the ship under the preset constraints, automatically complete the fleet navigation scheduling tasks, improve the safety of fleet navigation, improve the operating efficiency of each ship in the fleet, and achieve the goal of reducing costs and increasing efficiency.

[0071] Figure 5It is a structural schematic diagram of a ship navigation coordination device provided by an embodiment of the present invention. The embodiment of the present invention can be applied to the scenario of collaborative management of multiple ships to perform navigation tasks. The device can be implemented by software and / or hardware and integrated into a computer device with application development function.

[0072] like Figure 5 As shown, the ship navigation coordination device includes: a navigation variable determination module 310 , a navigation parameter determination module 320 and a navigation coordination module 330 .

[0073] Among them, the navigation variable determination module 310 is used to determine the navigation variables to be optimized of at least one target ship; wherein the navigation variables to be optimized are associated with the navigation route of the target ship; the navigation parameter determination module 320 is used to perform variable optimization on the navigation variables to be optimized of the target ship based on preset constraints for each target ship, and obtain the target navigation variables corresponding to the navigation variables to be optimized; the navigation coordination module 330 is used to determine the navigation coordination result of the target ship according to the target navigation variables.

[0074] The technical solution provided by the embodiment of the present invention determines the navigation variables to be optimized of at least one target ship; wherein the navigation variables to be optimized are associated with the navigation route of the target ship; for each target ship, the navigation variables to be optimized of the target ship are optimized based on preset constraints to obtain the target navigation variables corresponding to the navigation variables to be optimized; and the navigation coordination result of the target ship is determined according to the target navigation variables. The technical solution of the embodiment of the present invention solves the problem of insufficient overall efficiency and navigation safety in the prior art when scheduling fleet navigation tasks, and can automatically optimize the navigation parameters of the ship under preset constraints, automatically complete the fleet navigation scheduling task, improve the safety of fleet navigation, improve the operating efficiency of each ship in the fleet, and achieve the goal of reducing costs and increasing efficiency.

[0075] In an optional embodiment, the navigation parameter determination module 320 is specifically used to: obtain the navigation parameters of the target ship; wherein the navigation parameters represent parameters associated with the target ship performing a navigation mission; based on the preset constraints and the navigation parameters, perform variable optimization on the navigation variables to be optimized of the target ship to obtain the target navigation variables.

[0076] In an optional embodiment, the navigation parameter determination module 320 includes: a navigation parameter optimization unit, used to: construct a plurality of candidate variable matrices corresponding to the navigation variables to be optimized; for each candidate variable matrix, determine a first evaluation score according to the preset constraints and the variable parameters in the candidate variable matrix; determine a second evaluation score according to the navigation parameters and the variable parameters in the candidate variable matrix; determine the target navigation variable according to the first evaluation score and the second evaluation score.

[0077] In an optional embodiment, the navigation parameter optimization unit includes: an evaluation score analysis subunit, used to: determine a comprehensive evaluation score for each candidate variable matrix according to a first evaluation score and a second evaluation score of the candidate variable matrix; determine a target variable matrix from the candidate variable matrix based on the comprehensive evaluation score of each candidate variable matrix, and determine the target navigation variable based on the variable parameters of the target variable matrix.

[0078] In an optional embodiment, the navigation parameter optimization unit includes: a first evaluation score determination subunit, used to: for the sub-condition, when the variable parameters in the candidate variable matrix do not satisfy the sub-condition, obtain the penalty score corresponding to the sub-condition; add the penalty scores corresponding to all sub-conditions, and use the summed score as the first evaluation score.

[0079] In an optional embodiment, the navigation parameter optimization unit includes: a second evaluation score determination subunit, used to: determine a first work and a second work of the target vessel based on the navigation parameters and the variable parameters in the candidate variable matrix; determine the second evaluation score based on the first work and the second work; wherein the first work represents the work done by the target vessel in the process of passing through the route, and the second work represents the work done by the target vessel in the process of cruising and waiting after reaching the operating area.

[0080] In an optional embodiment, the navigation parameters include: at least one of: ship length, ship width, maximum speed, minimum speed, navigation power, draft, wind and wave resistance level, displacement, type of loaded cargo and cargo unloading time.

[0081] The ship navigation coordination device provided in the embodiment of the present invention can execute the ship navigation coordination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0082] Figure 6 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Figure 6 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 6The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capability and can be configured in the ship navigation coordination device.

[0083] like Figure 6 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0084] The bus 18 may be one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0085] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0086] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0087] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0088] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 20. Figure 6 As shown, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be understood that although Figure 6 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0089] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing the ship navigation coordination method provided in the embodiment of the present invention, which includes:

[0090] Determine at least one navigation variable to be optimized for a target vessel; wherein the navigation variable to be optimized is associated with a navigation route of the target vessel; for each target vessel, perform variable optimization on the navigation variable to be optimized for the target vessel based on preset constraints to obtain a target navigation variable corresponding to the navigation variable to be optimized; and determine a navigation coordination result of the target vessel based on the target navigation variable.

[0091] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the ship navigation coordination method provided by any embodiment of the present invention is implemented, including:

[0092] Determine at least one navigation variable to be optimized for a target vessel; wherein the navigation variable to be optimized is associated with a navigation route of the target vessel; for each target vessel, perform variable optimization on the navigation variable to be optimized for the target vessel based on preset constraints to obtain a target navigation variable corresponding to the navigation variable to be optimized; and determine a navigation coordination result of the target vessel based on the target navigation variable.

[0093] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0094] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0095] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0096] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or combinations thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0097] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0098] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A ship navigation coordination method, characterized in that: include: Determining a navigation variable to be optimized of at least one target vessel; wherein the navigation variable to be optimized is associated with a navigation route of the target vessel; For each target ship, performing variable optimization on the navigation variable to be optimized of the target ship based on preset constraints to obtain a target navigation variable corresponding to the navigation variable to be optimized; A navigation coordination result of the target vessel is determined according to the target navigation variable.

2. The method according to claim 1, characterized in that The step of performing variable optimization on the navigation variable to be optimized of the target vessel based on the preset constraint conditions to obtain the target navigation variable corresponding to the navigation variable to be optimized includes: Acquire navigation parameters of the target vessel; wherein the navigation parameters represent parameters associated with the target vessel performing a navigation mission; Based on the preset constraint conditions and the navigation parameters, variable optimization is performed on the navigation variables to be optimized of the target ship to obtain the target navigation variables.

3. The method according to claim 2, characterized in that The step of performing variable optimization on the navigation variables to be optimized of the target vessel based on the preset constraint conditions and the navigation parameters to obtain the target navigation variables includes: Constructing a plurality of candidate variable matrices corresponding to the navigation variables to be optimized; For each candidate variable matrix, determining a first evaluation score according to the preset constraint condition and the variable parameters in the candidate variable matrix; determining a second evaluation score according to the navigation parameter and the variable parameters in the candidate variable matrix; The target navigation variable is determined according to the first evaluation score and the second evaluation score.

4. The method according to claim 3, characterized in that The determining the target navigation variable according to the first evaluation score and the second evaluation score comprises: For each candidate variable matrix, determining a comprehensive evaluation score according to the first evaluation score and the second evaluation score of the candidate variable matrix; Based on the comprehensive evaluation score of each candidate variable matrix, a target variable matrix is ​​determined from the candidate variable matrix, and the target navigation variable is determined based on the variable parameters of the target variable matrix.

5. The method according to claim 3, characterized in that: The preset constraint condition includes a plurality of sub-conditions, and determining the first evaluation score according to the preset constraint condition and the variable parameters in the candidate variable matrix includes: For the sub-condition, when the variable parameters in the candidate variable matrix do not satisfy the sub-condition, a penalty score corresponding to the sub-condition is obtained; The penalty scores corresponding to all sub-conditions are summed up, and the summed score is used as the first evaluation score.

6. The method according to claim 3, characterized in that Determining a second evaluation score according to the navigation parameter and the variable parameters in the candidate variable matrix includes: Determining a first work and a second work of the target vessel according to the navigation parameter and the variable parameters in the candidate variable matrix; determining the second evaluation score according to the first work and the second work; The first work refers to the work done by the target ship in the process of passing through the route, and the second work refers to the work done by the target ship in the process of cruising and waiting after reaching the operation area.

7. The method according to claim 1, characterized in that The navigation parameters include: at least one of: ship length, ship width, maximum speed, minimum speed, navigation power, draft, wind and wave resistance level, displacement, type of loaded cargo and cargo unloading time.

8. A ship navigation coordination device, characterized in that: The device comprises: A navigation variable determination module, used to determine a navigation variable to be optimized of at least one target vessel; wherein the navigation variable to be optimized is associated with a navigation route of the target vessel; A navigation parameter determination module is used to perform variable optimization on the navigation variables to be optimized of each target ship based on preset constraints to obtain target navigation variables corresponding to the navigation variables to be optimized; The navigation coordination module is used to determine the navigation coordination result of the target ship according to the target navigation variable.

9. A computer device, characterized in that: The computer device comprises: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the ship navigation coordination method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the ship navigation coordination method as described in any one of claims 1 to 7 is implemented.

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