Intelligent regulation and control method and system for ship ballast water

Abstract

The invention discloses an intelligent regulation and control method and system for ship ballast water, and relates to the technical field of data processing. The method comprises the steps of dynamically adjusting an inclination angle threshold value by obtaining ship state data and environment state data, and judging whether a ballast water regulation action is triggered or not; if the ballast water regulation and control action is triggered, obtaining a ballast water regulation scheme through a pre-trained intelligent agent; the intelligent body is trained by taking optimization of ship body stability and fuel efficiency as a target; if the ballast water adjusting scheme meets the requirement, a control instruction is generated according to the ballast water adjusting scheme, and ballast water is adjusted. Through self-adaptive adjustment of the inclination angle threshold value, unnecessary small-amplitude adjustment can be reduced, excessive adjustment is avoided, and therefore energy consumption of the ballast water pump is reduced. The ballast water amount is regulated and controlled through the intelligent agent, the stability of the ship body can be kept, meanwhile, the fuel efficiency is optimized, unnecessary energy waste is reduced, and therefore the operation cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a method and system for intelligently controlling ship ballast water. Background Art

[0002] During the voyage, the ship may be affected by various factors such as water flow, wind force, cargo load distribution, etc., and the hull may tilt (tilt left and right) or tilt (tilt front and back). When the tilt exceeds the safety threshold, it will have an adverse effect on the ship's navigation safety, maneuverability and fuel efficiency, and may even cause cargo damage or hull instability. At present, the tilt is reduced by adjusting the ballast water to maintain the stability of the ship.

[0003] Traditional ballast water regulation methods only consider the stability of the ship, usually relying on fixed rules or manual operations to stabilize the hull. However, excessive or improper ballast water regulation may lead to unnecessary energy consumption. For example, excessive injection of ballast water increases the ship's load and the contact area with the water surface, which increases the sailing resistance and reduces fuel efficiency. Too frequent and unnecessary adjustments increase the energy consumption of the ballast water pump. The low accuracy of traditional ballast water regulation methods will lead to increased operating costs. Summary of the invention

[0004] The purpose of the present invention is to solve the problem of high operating costs mentioned in the above background technology, and to propose a method and system for intelligent control of ship ballast water.

[0005] A first aspect of the present invention provides a method for intelligently controlling ship ballast water, the method comprising:

[0006] Acquire ship status data and environmental status data; the ship status data includes current load, heel angle, and pitch angle; the environmental status data includes water flow velocity and wind speed;

[0007] According to the ship status data and the environmental status data, a heel angle threshold is calculated and it is determined whether to trigger the ballast water regulation action; the heel angle threshold includes a heel threshold and a pitch threshold;

[0008] If the ballast water control action is triggered, the ship status data and the environmental status data are preprocessed to obtain a feature vector;

[0009] The feature vector is used as an input of a pre-trained intelligent agent to obtain a ballast water adjustment scheme; the intelligent agent is trained with the goal of optimizing hull stability and fuel efficiency;

[0010] Evaluating the ballast water regulation scheme to obtain evaluation results; the evaluation results include excellent, medium, and poor;

[0011] If the evaluation result is excellent, a control instruction is generated according to the ballast water regulation scheme to perform ballast water regulation.

[0012] Optionally, the calculating the tilt angle threshold according to the ship status data and the environmental status data, and judging whether to trigger the ballast water regulation action includes:

[0013] According to the current load, water velocity and wind speed, the heel threshold is calculated:

[0014]

[0015] Among them, RA t is the required heel threshold; R0 is the initial heel threshold under full load condition; L c is the current load; D b is a constant; S flow is the component of water velocity in the lateral direction of the ship; S wind is the component of wind speed in the lateral direction of the ship; K1 and K2 are weight coefficients;

[0016] If the absolute value of the heel angle is greater than the heel threshold, or the absolute value of the pitch angle is greater than a preset pitch threshold, it is determined that the ballast water control action is triggered.

[0017] Optionally, the training process of the agent includes:

[0018] According to the influence of different ballast water adjustments on the ship's attitude and navigation performance, the reward for each time step is calculated:

[0019]

[0020] Among them, reward(t) is the reward at time step t; ROS(t) is the hull stability reward; ROE(t) is the energy consumption reward; w1 and w2 are weight coefficients; θ x and θ y are the heel angle and trim angle at time step t+1 respectively; θ1 and θ2 are the heel threshold and trim threshold at time step t+1 respectively; λ is the penalty coefficient; E0 is the fuel consumption index when the ship is unloaded; E c is the fuel consumption index at time step t+1.

[0021] Optionally, the evaluating the ballast water regulation scheme to obtain an evaluation result includes:

[0022] According to the ballast water adjustment scheme, a simulation is performed to obtain the ship's attitude;

[0023] If the ship's posture meets the preset expected range, the evaluation result is excellent;

[0024] If the ship posture does not meet the expected range, but the inclination angle is smaller than the original inclination angle, the evaluation result is medium; otherwise, the evaluation result is poor.

[0025] Optionally, the ship's ballast water is stored in a bow ballast tank, a stern ballast tank, a port ballast tank, and a starboard ballast tank respectively; the method further comprises:

[0026] If the evaluation result is medium, the ballast water adjustment plan is implemented;

[0027] When the ballast water regulation scheme is executed, ballast water regulation is performed according to preset rules;

[0028] If the evaluation result is poor, ballast water adjustment is carried out according to the preset rules;

[0029] The preset rules include:

[0030] According to the heel angle and longitudinal heel angle of the ship, the high-position ballast tank and the low-position ballast tank are determined; the high-position ballast tank includes a transverse high-position ballast tank and a longitudinal high-position ballast tank; the low-position ballast tank includes a longitudinal low-position ballast tank and a transverse low-position ballast tank;

[0031] Fill the high ballast tank with water until the high ballast tank is fully loaded or the ship's inclination angle reaches the desired range;

[0032] If the high ballast tank is fully loaded but the hull inclination angle still does not meet the expected range, the low ballast tank is drained until the low ballast tank is empty or the hull is balanced.

[0033] A second aspect of the present invention provides a ship ballast water intelligent control system, the system comprising:

[0034] A data acquisition module is used to acquire ship status data and environmental status data; the ship status data includes current load, heel angle, and pitch angle; the environmental status data includes water flow velocity and wind speed;

[0035] A threshold adaptive module is used to calculate the inclination threshold according to the ship status data and the environmental status data, and determine whether to trigger the ballast water regulation action; the inclination threshold includes a heel threshold and a pitch threshold;

[0036] A preprocessing module, for preprocessing the ship status data and the environment status data to obtain a feature vector if a ballast water control action is triggered;

[0037] A solution generation module, used to use the feature vector as an input of a pre-trained intelligent agent to obtain a ballast water regulation solution; the intelligent agent is trained with the goal of optimizing hull stability and fuel efficiency;

[0038] An evaluation module, used to evaluate the ballast water regulation scheme and obtain an evaluation result; the evaluation result includes excellent, medium and poor;

[0039] The control module is used to generate control instructions according to the ballast water regulation scheme to perform ballast water regulation if the evaluation result is excellent.

[0040] Optionally, the threshold adaptive module includes:

[0041] The heel threshold calculation module is used to calculate the heel threshold according to the current load, water flow velocity and wind speed:

[0042]

[0043] Among them, RA t is the required heel threshold; R0 is the initial heel threshold under full load condition; L c is the current load; D b is a constant; S flow is the component of water velocity in the lateral direction of the ship; S wind is the component of wind speed in the lateral direction of the ship; K1 and K2 are weight coefficients;

[0044] The judgment module is used to determine whether to trigger a ballast water regulation action if the absolute value of the heel angle is greater than the heel threshold, or the absolute value of the pitch angle is greater than a preset pitch threshold.

[0045] Optionally, the training process of the agent includes:

[0046] According to the influence of different ballast water adjustments on the ship's attitude and navigation performance, the reward for each time step is calculated:

[0047]

[0048] Among them, reward(t) is the reward at time step t; ROS(t) is the hull stability reward; ROE(t) is the energy consumption reward; w1 and w2 are weight coefficients; θ x and θ y are the heel angle and trim angle at time step t+1 respectively; θ1 and θ2 are the heel threshold and trim threshold at time step t+1 respectively; λ is the penalty coefficient; E0 is the fuel consumption index when the ship is unloaded; E c is the fuel consumption index at time step t+1.

[0049] Optionally, the evaluation module includes:

[0050] A simulation module, used to perform simulation according to the ballast water adjustment scheme to obtain the ship's attitude;

[0051] A primary result determination module, used for determining that if the ship's posture meets a preset expected range, the evaluation result is excellent;

[0052] The secondary result determination module is used to determine that if the ship posture does not meet the expected range, but the inclination amplitude is smaller than the original inclination, the evaluation result is medium; otherwise, the evaluation result is poor.

[0053] Optionally, the ship's ballast water is stored in a bow ballast tank, a stern ballast tank, a port ballast tank, and a starboard ballast tank respectively; the system further comprises:

[0054] A first execution module, configured to execute the ballast water adjustment plan if the evaluation result is medium;

[0055] A second execution module, configured to perform ballast water regulation according to preset rules when the ballast water regulation scheme is executed;

[0056] The second execution module is further configured to perform ballast water regulation according to a preset rule if the evaluation result is poor;

[0057] The preset rules include:

[0058] The preset rules include:

[0059] According to the heel angle and longitudinal heel angle of the ship, the high-position ballast tank and the low-position ballast tank are determined; the high-position ballast tank includes a transverse high-position ballast tank and a longitudinal high-position ballast tank; the low-position ballast tank includes a longitudinal low-position ballast tank and a transverse low-position ballast tank;

[0060] Fill the high ballast tank with water until the high ballast tank is fully loaded or the ship's inclination angle reaches the desired range;

[0061] If the high ballast tank is fully loaded but the hull inclination angle still does not meet the expected range, the low ballast tank is drained until the low ballast tank is empty or the hull is balanced.

[0062] Beneficial effects of the present invention:

[0063] The present invention proposes a method for intelligent regulation of ship ballast water, which includes: acquiring ship status data and environmental status data; calculating an inclination threshold according to the ship status data and the environmental status data, and judging whether to trigger a ballast water regulation action; if the ballast water regulation action is triggered, preprocessing the ship status data and the environmental status data to obtain a feature vector; using the feature vector as an input of a pre-trained intelligent agent to obtain a ballast water regulation scheme; training the intelligent agent with the goal of optimizing hull stability and fuel efficiency; evaluating the ballast water regulation scheme to obtain an evaluation result; the evaluation result includes excellent, medium and poor; if the evaluation result is excellent, generating a control instruction according to the ballast water regulation scheme to perform ballast water regulation.

[0064] By adaptively adjusting the inclination threshold, unnecessary small adjustments can be reduced, over-adjustment can be avoided, and the energy consumption of the ballast water pump can be reduced. By regulating the ballast water volume through the intelligent body, fuel efficiency can be optimized while maintaining the stability of the hull, unnecessary energy waste can be reduced, thereby reducing operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The present invention will be further described below in conjunction with the accompanying drawings.

[0066] Figure 1 A flow chart of a method for intelligently controlling ship ballast water is provided for an embodiment of the present invention;

[0067] Figure 2 An architecture diagram of a ship ballast water intelligent control system is provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0069] The embodiment of the present invention provides a method for intelligently controlling ship ballast water. Figure 1 , Figure 1 A flow chart of a method for intelligently controlling ship ballast water provided by an embodiment of the present invention. The method comprises the following steps:

[0070] S101, obtaining ship status data and environment status data.

[0071] S102, calculating the inclination angle threshold according to the ship status data and the environmental status data, and determining whether to trigger the ballast water control action.

[0072] S103: If the ballast water control action is triggered, the ship status data and the environment status data are preprocessed to obtain a feature vector.

[0073] S104, using the feature vector as an input of the pre-trained intelligent agent to obtain a ballast water adjustment plan.

[0074] S105, evaluating the ballast water regulation scheme and obtaining an evaluation result.

[0075] S106: If the evaluation result is excellent, a control instruction is generated according to the ballast water regulation plan to perform ballast water regulation.

[0076] Among them, the intelligent agent is trained with the goal of optimizing hull stability and fuel efficiency; the evaluation results include excellent, medium, and poor.

[0077] Based on the intelligent control method of ship ballast water provided by the embodiment of the present invention, by adaptively adjusting the inclination threshold, it is possible to reduce unnecessary small adjustments and avoid over-adjustment, thereby reducing the energy consumption of the ballast water pump. By regulating the ballast water volume by an intelligent body, it is possible to optimize fuel efficiency while maintaining the stability of the hull, reduce unnecessary energy waste, and thus reduce operating costs.

[0078] In one implementation, the ship status data and environmental status data can be obtained through a variety of sensors. The ship status data may include the ship's trim angle, heel angle, water volume in each ballast tank, total ship load, etc. The environmental status data may include wind speed, wind direction, water depth, water flow speed, etc.

[0079] In one implementation, preprocessing includes normalizing data of different dimensions and arranging them in a certain order to form a feature vector.

[0080] In one embodiment, the ship status data includes current load, heel angle, and trim angle; the environmental status data includes water velocity and wind speed; the heel angle threshold includes a heel threshold and a trim threshold;

[0081] Step S102 includes:

[0082] Step 1: Calculate the heel threshold based on the current load, water velocity and wind speed:

[0083]

[0084] Among them, RA t is the required heel threshold; R0 is the initial heel threshold under full load condition; L c is the current load; D b is a constant; S flow is the component of water velocity in the lateral direction of the ship; S wind is the component of wind speed in the lateral direction of the ship; K1 and K2 are weight coefficients.

[0085] Step 2: If the absolute value of the heel angle is greater than the heel threshold, or the absolute value of the pitch angle is greater than the preset pitch threshold, it is determined that the ballast water control action is triggered.

[0086] In one implementation, the normalized quantification method of the current load is the ratio of the current load mass to the full load mass. b is a constant for the heel threshold under the limited no-load condition, which can be calculated from the initial heel threshold under full-load and no-load conditions. For example, if the allowable heel threshold under full-load condition is 10 degrees and under no-load condition is 15 degrees, then Db =15 / 10-1=0.5. K1 and K2 are determined by the technicians according to the influence of wind speed and water flow speed on the ship. For example, K1=0.1 and K2=0.05 can be set.

[0087] In one implementation, under different sailing conditions, the fixed threshold may not meet all requirements, while the adaptive adjustment threshold can be adjusted according to the actual situation. For example, in the case of strong winds and waves, the threshold will become smaller, and the system can trigger ballast water regulation earlier; while in calm waters, the threshold can be increased to avoid frequent regulation. Therefore, it can flexibly respond to different environmental changes and improve the adaptability and economy of ballast water regulation.

[0088] In one embodiment, the training process of the agent includes:

[0089] According to the influence of different ballast water adjustments on the ship's attitude and navigation performance, the reward for each time step is calculated:

[0090]

[0091] Among them, reward(t) is the reward at time step t; ROS(t) is the hull stability reward; ROE(t) is the energy consumption reward; w1 and w2 are weight coefficients; θ x and θ y are the heel angle and trim angle at time step t+1 respectively; θ1 and θ2 are the heel threshold and trim threshold at time step t+1 respectively; λ is the penalty coefficient; E0 is the fuel consumption index when the ship is unloaded; E c is the fuel consumption index at time step t+1.

[0092] In one implementation, by introducing a reward for ship stability (ROS) and a reward for energy consumption (ROE), the agent can simultaneously optimize the stability and fuel efficiency of the ship. w1 = 0.65, w2 = 0.35 can be set. This reward function balances stability and fuel consumption, ensuring that the ship maintains stability while reducing unnecessary fuel consumption, thereby improving economy and safety.

[0093] In one implementation, a penalty coefficient is introduced. If the inclination of the ship exceeds the threshold, the agent will be penalized. λ can be set to 2. This penalty mechanism prompts the agent to be more cautious when adjusting the ballast water, preventing the ship's attitude from deviating too much from the stable state and reducing the risk of the ship capsizing.

[0094] In one implementation, the fuel consumption index refers to the unit fuel consumption of a ship to maintain a certain sailing speed. Different amounts of ballast water will affect the weight, buoyancy and underwater resistance of the ship, all of which will lead to changes in fuel consumption. As the ballast water increases, the weight of the ship increases, the portion of the hull immersed in water increases, and the surface area in contact with the water increases, all of which lead to increased water resistance. In order to maintain speed, more thrust is required to overcome the resistance of the water. The increase in thrust demand directly leads to the engine requiring more energy output, thereby increasing fuel consumption. Based on historical data, a ballast-consumption curve can be obtained, thereby obtaining a fuel consumption index at different ballast water amounts.

[0095] In one embodiment, step S105 includes:

[0096] Step 1: Perform simulation according to the ballast water adjustment plan to obtain the ship's posture.

[0097] Step 2: If the ship's posture meets the preset expected range, the evaluation result is excellent.

[0098] Step 3: If the ship attitude does not meet the expected range, but the inclination angle is smaller than the original inclination angle, the evaluation result is medium; otherwise, the evaluation result is poor.

[0099] In one implementation, the solution given by the reinforcement learning agent meets the requirements in most cases, but it cannot meet all situations 100%, and there is a very low probability that it will give an unexpected decision. Before taking actual adjustment actions, the ship's posture is predicted through simulation, which can effectively avoid the instability of the ship or fuel waste caused by the direct implementation of unreasonable ballast water adjustment plans. This "simulation first, execution later" approach reduces operational risks and improves the reliability of ballast water control.

[0100] In one implementation, the preset desired range is a high requirement limit for ensuring the stability of the hull, which is included in the threshold range. For example, if the heel threshold is 10 degrees, the threshold range is (-10, 10), the desired range of the heel angle can be set to (-5, 5), and the desired range of the trim angle can be set to (-1, 2).

[0101] In one embodiment, the ship's ballast water is stored in a bow ballast tank, a stern ballast tank, a port ballast tank, and a starboard ballast tank, respectively;

[0102] A method for intelligently controlling ship ballast water provided by an embodiment of the present invention further includes:

[0103] Step 1: If the evaluation result is medium, the ballast water adjustment plan is executed; when the ballast water adjustment plan is completed, ballast water adjustment is performed according to preset rules.

[0104] Step 2: If the evaluation result is poor, ballast water adjustment is performed according to preset rules.

[0105] The preset rules include:

[0106] Step 1: determine the high-level ballast tanks and the low-level ballast tanks according to the heel angle and longitudinal heel angle of the ship; the high-level ballast tanks include the transverse high-level ballast tanks and the longitudinal high-level ballast tanks; the low-level ballast tanks include the longitudinal low-level ballast tanks and the transverse low-level ballast tanks.

[0107] Step 2: Fill the high-level ballast tank with water until the high-level ballast tank is fully loaded or the hull inclination angle reaches the desired range.

[0108] Step 3: If the high ballast tank is fully loaded but the hull inclination angle still does not meet the expected range, the low ballast tank is drained until the low ballast tank is empty or the hull is balanced.

[0109] In one implementation, determining the high ballast tank and the low ballast tank according to the heel angle and the pitch angle of the ship includes:

[0110] If the heel angle is greater than 0, the port ballast tank is a transverse high ballast tank, and the starboard ballast tank is a transverse low ballast tank; if the heel angle is less than 0, the starboard ballast tank is a transverse high ballast tank, and the port ballast tank is a transverse low ballast tank; if the longitudinal angle is greater than 0, the bow ballast tank is a longitudinal high ballast tank, and the stern ballast tank is a longitudinal low ballast tank; if the longitudinal angle is less than 0, the stern ballast tank is a longitudinal high ballast tank, and the bow ballast tank is a longitudinal low ballast tank. The stability of the hull is ensured by the rule of filling water first and then draining water.

[0111] The embodiment of the present invention provides a method for intelligently controlling ship ballast water. Figure 2 , Figure 2 This is a diagram of the architecture of a ship ballast water intelligent control system provided by an embodiment of the present invention. The system includes:

[0112] The data acquisition module is used to acquire ship status data and environmental status data.

[0113] The threshold adaptive module is used to calculate the inclination threshold according to the ship status data and the environmental status data, and determine whether to trigger the ballast water control action.

[0114] The preprocessing module is used to preprocess the ship status data and the environmental status data to obtain a feature vector if the ballast water control action is triggered.

[0115] The scheme generation module is used to take the feature vector as the input of the pre-trained intelligent agent to obtain the ballast water adjustment scheme.

[0116] The evaluation module is used to evaluate the ballast water regulation scheme and obtain the evaluation results.

[0117] The control module is used to generate control instructions according to the ballast water adjustment plan to perform ballast water adjustment if the evaluation result is excellent.

[0118] Among them, the intelligent agent is trained with the goal of optimizing hull stability and fuel efficiency; the evaluation results include excellent, medium, and poor.

[0119] Based on the intelligent ballast water control system provided by the embodiment of the present invention, by adaptively adjusting the inclination threshold, it is possible to reduce unnecessary small adjustments and avoid over-adjustment, thereby reducing the energy consumption of the ballast water pump. By regulating the ballast water volume by an intelligent body, it is possible to optimize fuel efficiency while maintaining the stability of the hull, reduce unnecessary energy waste, and thus reduce operating costs.

[0120] In one embodiment, the ship status data includes current load, heel angle, and trim angle; the environmental status data includes water velocity and wind speed; the heel angle threshold includes a heel threshold and a trim threshold;

[0121] The threshold adaptive module includes:

[0122] The heel threshold calculation module is used to calculate the heel threshold according to the current load, water velocity and wind speed:

[0123]

[0124] Among them, RA t is the required heel threshold; R0 is the initial heel threshold under full load condition; L c is the current load; D b is a constant; S flow is the component of water velocity in the lateral direction of the ship; S wind is the component of wind speed in the lateral direction of the ship; K1 and K2 are weight coefficients.

[0125] The judgment module is used to determine whether to trigger the ballast water control action if the absolute value of the heel angle is greater than the heel threshold, or the absolute value of the pitch angle is greater than the preset pitch threshold.

[0126] In one embodiment, the evaluation module includes:

[0127] The simulation module is used to perform simulation according to the ballast water adjustment plan to obtain the ship's attitude.

[0128] The primary result determination module is used to evaluate the result as excellent if the ship's posture meets the preset expected range.

[0129] The secondary result determination module is used to determine that if the ship's attitude does not meet the expected range, but the inclination amplitude is smaller than the original inclination, the evaluation result is medium; otherwise, the evaluation result is poor.

[0130] In one embodiment, the ship's ballast water is stored in a bow ballast tank, a stern ballast tank, a port ballast tank, and a starboard ballast tank respectively; the system further comprises:

[0131] The first execution module is used to execute the ballast water adjustment plan if the evaluation result is medium.

[0132] The second execution module is used to perform ballast water regulation according to preset rules when the ballast water regulation plan is executed.

[0133] The second execution module is also used to adjust the ballast water according to preset rules if the evaluation result is poor.

[0134] The preset rules include:

[0135] Step 1: determine the high-level ballast tanks and the low-level ballast tanks according to the heel angle and longitudinal heel angle of the ship; the high-level ballast tanks include the transverse high-level ballast tanks and the longitudinal high-level ballast tanks; the low-level ballast tanks include the longitudinal low-level ballast tanks and the transverse low-level ballast tanks.

[0136] Step 2: Fill the high-level ballast tank with water until the high-level ballast tank is fully loaded or the hull inclination angle reaches the desired range.

[0137] Step 3: If the high ballast tank is fully loaded but the hull inclination angle still does not meet the expected range, the low ballast tank is drained until the low ballast tank is empty or the hull is balanced.

[0138] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A method for intelligently controlling ship ballast water, characterized in that: The method comprises: Acquire ship status data and environmental status data; the ship status data includes current load, heel angle, and pitch angle; the environmental status data includes water flow velocity and wind speed; According to the ship status data and the environmental status data, a heel angle threshold is calculated and it is determined whether to trigger the ballast water regulation action; the heel angle threshold includes a heel threshold and a pitch threshold; If the ballast water control action is triggered, the ship status data and the environmental status data are preprocessed to obtain a feature vector; The feature vector is used as an input of a pre-trained intelligent agent to obtain a ballast water adjustment scheme; the intelligent agent is trained with the goal of optimizing hull stability and fuel efficiency; Evaluating the ballast water regulation scheme to obtain evaluation results; the evaluation results include excellent, medium, and poor; If the evaluation result is excellent, a control instruction is generated according to the ballast water regulation scheme to perform ballast water regulation.

2. A ship ballast water intelligent control method according to claim 1, characterized in that: The calculating the tilt angle threshold according to the ship status data and the environment status data, and judging whether to trigger the ballast water regulation action comprises: According to the current load, water velocity and wind speed, the heel threshold is calculated: Among them, RA t is the required heel threshold; R0 is the initial heel threshold under full load condition; L c is the current load; D b is a constant; S flow is the component of water velocity in the lateral direction of the ship; S wind is the component of wind speed in the lateral direction of the ship; K1 and K2 are weight coefficients; If the absolute value of the heel angle is greater than the heel threshold, or the absolute value of the pitch angle is greater than a preset pitch threshold, it is determined that the ballast water control action is triggered.

3. The method for intelligently controlling ship ballast water according to claim 1, characterized in that: The training process of the agent includes: According to the influence of different ballast water adjustments on the ship's attitude and navigation performance, the reward for each time step is calculated: Among them, reward(t) is the reward at time step t; ROS(t) is the hull stability reward; ROE(t) is the energy consumption reward; w1 and w2 are weight coefficients; θ x and θ y are the heel angle and trim angle at time step t+1 respectively; θ1 and θ2 are the heel threshold and trim threshold at time step t+1 respectively; λ is the penalty coefficient; E0 is the fuel consumption index when the ship is unloaded; E c is the fuel consumption index at time step t+1.

4. The method for intelligently controlling ship ballast water according to claim 1, characterized in that: The evaluation of the ballast water regulation scheme to obtain the evaluation result includes: According to the ballast water adjustment scheme, a simulation is performed to obtain the ship's attitude; If the ship's posture meets the preset expected range, the evaluation result is excellent; If the ship posture does not meet the expected range, but the inclination angle is smaller than the original inclination angle, the evaluation result is medium; otherwise, the evaluation result is poor.

5. A ship ballast water intelligent control method according to claim 4, characterized in that: The ship's ballast water is stored in a bow ballast tank, a stern ballast tank, a port ballast tank, and a starboard ballast tank respectively; the method further comprises: If the evaluation result is medium, the ballast water adjustment plan is implemented; When the ballast water regulation scheme is executed, ballast water regulation is performed according to preset rules; If the evaluation result is poor, ballast water adjustment is carried out according to the preset rules; The preset rules include: According to the heel angle and longitudinal heel angle of the ship, the high-position ballast tank and the low-position ballast tank are determined; the high-position ballast tank includes a transverse high-position ballast tank and a longitudinal high-position ballast tank; the low-position ballast tank includes a longitudinal low-position ballast tank and a transverse low-position ballast tank; Fill the high ballast tank with water until the high ballast tank is fully loaded or the ship's inclination angle reaches the desired range; If the high ballast tank is fully loaded, but the hull inclination angle still does not meet the expected range, the low ballast tank is drained until the low ballast tank is empty or the hull is balanced.

6. A ship ballast water intelligent control system, characterized in that: The system comprises: A data acquisition module is used to acquire ship status data and environmental status data; the ship status data includes current load, heel angle, and pitch angle; the environmental status data includes water flow velocity and wind speed; A threshold adaptive module is used to calculate the inclination threshold according to the ship status data and the environmental status data, and determine whether to trigger the ballast water regulation action; the inclination threshold includes a heel threshold and a pitch threshold; A preprocessing module, for preprocessing the ship status data and the environment status data to obtain a feature vector if a ballast water control action is triggered; A solution generation module, used to use the feature vector as an input of a pre-trained intelligent agent to obtain a ballast water regulation solution; the intelligent agent is trained with the goal of optimizing hull stability and fuel efficiency; An evaluation module, used to evaluate the ballast water regulation scheme and obtain an evaluation result; the evaluation result includes excellent, medium and poor; The control module is used to generate control instructions according to the ballast water regulation scheme to perform ballast water regulation if the evaluation result is excellent.

7. The intelligent control system for ship ballast water according to claim 6 is characterized in that: The threshold adaptive module comprises: The heel threshold calculation module is used to calculate the heel threshold according to the current load, water flow velocity and wind speed: Among them, RA t is the required heel threshold; R0 is the initial heel threshold under full load condition; L c is the current load; D b is a constant; S flow is the component of water velocity in the lateral direction of the ship; S wind is the component of wind speed in the lateral direction of the ship; K1 and K2 are weight coefficients; The judgment module is used to determine whether to trigger a ballast water regulation action if the absolute value of the heel angle is greater than the heel threshold, or the absolute value of the pitch angle is greater than a preset pitch threshold.

8. The ship ballast water intelligent control system according to claim 6, characterized in that: The training process of the agent includes: According to the influence of different ballast water adjustments on the ship's attitude and navigation performance, the reward for each time step is calculated: Among them, reward(t) is the reward at time step t; ROS(t) is the hull stability reward; ROE(t) is the energy consumption reward; w1 and w2 are weight coefficients; θ x and θ y are the heel angle and trim angle at time step t+1 respectively; θ1 and θ2 are the heel threshold and trim threshold at time step t+1 respectively; λ is the penalty coefficient; E0 is the fuel consumption index when the ship is unloaded; E c is the fuel consumption index at time step t+1.

9. The ship ballast water intelligent control system according to claim 6, characterized in that: The evaluation module includes: A simulation module, used to perform simulation according to the ballast water adjustment scheme to obtain the ship's attitude; A primary result determination module, used for determining that if the ship's posture meets a preset expected range, the evaluation result is excellent; The secondary result determination module is used to determine that if the ship posture does not meet the expected range, but the inclination amplitude is smaller than the original inclination, the evaluation result is medium; otherwise, the evaluation result is poor.

10. The ship ballast water intelligent control system according to claim 9, characterized in that: The ship's ballast water is stored in the bow ballast tank, the stern ballast tank, the port ballast tank and the starboard ballast tank respectively; the system also includes: A first execution module, configured to execute the ballast water adjustment plan if the evaluation result is medium; A second execution module is used to perform ballast water regulation according to preset rules when the ballast water regulation scheme is executed; The second execution module is further configured to perform ballast water adjustment according to a preset rule if the evaluation result is poor; The preset rules include: According to the heel angle and longitudinal heel angle of the ship, the high-position ballast tank and the low-position ballast tank are determined; the high-position ballast tank includes a transverse high-position ballast tank and a longitudinal high-position ballast tank; the low-position ballast tank includes a longitudinal low-position ballast tank and a transverse low-position ballast tank; Fill the high ballast tank with water until the high ballast tank is fully loaded or the ship's inclination angle reaches the desired range; If the high ballast tank is fully loaded, but the hull inclination angle still does not meet the expected range, the low ballast tank is drained until the low ballast tank is empty or the hull is balanced.

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