Dynamic adjusting method, device and equipment for ship ballast water and storage medium

Abstract

According to the ship ballast water dynamic adjustment method, device and equipment and the storage medium, the water level data set, the attitude data set and the water pressure data set are obtained through the sensor, then whether the ship is in the balance state or not is determined according to the water level data set and the attitude data set, and when the ship is in the non-balance state, the ship ballast water dynamic adjustment is performed. If yes, determining a water volume adjustment scheme through a ballast water allocation optimization model; and then, according to the water volume adjustment scheme, a water pump operation instruction and a valve opening and closing instruction are generated, so that the ship recovers the balance state. According to the invention, the response time of ballast water regulation can be obviously shortened, and the flexibility and operation efficiency of the system are improved; the intelligent central control unit can be utilized to realize automatic operation, human intervention is reduced, and the operation precision is improved; and a ballast water allocation scheme can be flexibly adjusted to cope with the change of the ship state in real time.

Description

Technical Field

[0001] The present invention relates to the field of ship navigation technology, and in particular to a method, device, equipment and storage medium for dynamically regulating ship ballast water. Background Art

[0002] With the continuous development of modern shipping industry, the safety and economy of ships have received more and more attention. During the navigation of ships, the allocation of ballast water is crucial to maintain the stability and navigation safety of ships. Ballast water is mainly used to adjust the center of gravity of the ship, control the trim and heel angle of the ship, and ensure that the ship maintains balance under different navigation conditions. Traditional ballast water allocation mainly relies on manual experience for adjustment, which often has problems such as slow response and insufficient adjustment accuracy, and is difficult to adapt to complex navigation conditions.

[0003] With the development of smart ships and automation technology, more and more ships are equipped with sensor networks and automatic control systems to monitor the ship's attitude, water level, center of gravity and other parameters in real time. However, how to achieve efficient and dynamic ballast water regulation based on these sensor data remains a challenge. Existing ballast water allocation systems usually lack sophisticated water volume control and optimization models, making it difficult to achieve dynamic balance adjustment of the ship's attitude and center of gravity under complex navigation conditions.

[0004] In summary, the problems existing in the prior art need to be solved urgently. Summary of the invention

[0005] The present invention provides a method, device, equipment and storage medium for dynamically regulating ship ballast water, which are used to solve the defects in the prior art and realize intelligent regulation of ship ballast water.

[0006] The present invention provides a method for dynamically regulating ship ballast water, comprising: Acquire a water level data set, a posture data set and a water pressure data set through sensors, wherein the sensors are arranged at preset positions of the ship, the water level data set includes water level data at each preset position, the posture data set includes posture data at each preset position, and the water pressure data set includes water pressure data at each preset position; Determine whether the ship is in a balanced state according to the water level data set and the attitude data set, and when the ship is in an unbalanced state, determine a water volume adjustment plan through a ballast water allocation optimization model; According to the water volume adjustment plan, a water pump operation instruction and a valve opening and closing instruction are generated to restore the ship to a balanced state; The water pump operation instruction is used to control the water pump to control the water level of the ballast water tank, and the valve opening and closing instruction is used to control the valve of the pipeline network to control the water level of the ballast water tank. Each of the ballast water tanks is connected through the pipeline network.

[0007] According to a method for dynamic regulation of ship ballast water provided by the present invention, the step of acquiring a water level data set, a posture data set and a water pressure data set through a sensor specifically includes: The water level data of the ballast water tank is obtained by means of a water level sensor installed in the ballast water tank; The attitude data of the ship is obtained by the attitude sensor arranged on the central axis of the ship; The water pressure data of the pipeline is obtained by installing pressure sensors in the pipeline network.

[0008] According to a method for dynamic regulation of ship ballast water provided by the present invention, the step of determining whether the ship is in a balanced state according to the water level data set and the attitude data set specifically includes: Determining the coordinates of the center of gravity of the ship according to the water level data set and the position coordinates of the ballast water tank; When the center of gravity coordinates are within the preset center of gravity range, and the ship's attitude data are within the preset tilt angle range, the ship is in a balanced state; otherwise, the ship is in an unbalanced state.

[0009] According to a method for dynamic regulation of ship ballast water provided by the present invention, the step of determining the coordinates of the center of gravity of the ship according to the water level data set and the position coordinates of the ballast water tank specifically includes:

[0010] in, , , is the coordinates of the center of gravity of the ship in the X, Y, and Z directions at time t, , and It is The transverse and longitudinal coordinates of each ballast tank relative to the centerline of the ship.

[0011] According to a dynamic regulation method of ship ballast water provided by the present invention, the ballast water allocation optimization model is constructed by the following steps: Defining decision variables and state variables of the ballast water allocation optimization model; Determining an objective function of the ballast water allocation optimization model; Determine the constraints of the ballast water allocation optimization model.

[0012] According to a dynamic regulation method of ship ballast water provided by the present invention, the objective function is as follows:

[0013] in, For time The amount of water, Expressed as time Time Changes in water volume, is the total length of time, is the total number of ballast water tanks.

[0014] According to a dynamic regulation method of ship ballast water provided by the present invention, the constraint conditions include center of gravity balance constraint, ship attitude stability constraint, water conservation constraint and ballast water tank capacity constraint; The center of gravity balance constraints are as follows:

[0015] in, , , is the coordinates of the center of gravity of the ship in the X, Y, and Z directions at time t, and It is The transverse and longitudinal coordinates of each ballast tank relative to the ship's centreline; The ship attitude stability constraints are as follows:

[0016] in, and Indicates the time at which the ship The trim and heel angles at the moment; The water conservation constraint is as follows:

[0017] in, For time The amount of water, Indicates that water is coming from the cabin Flow to the cabin The water flow rate, Indicates that water is coming from the cabin Flow to the cabin water flow; The ballast water tank capacity constraints are as follows:

[0018] in, Indicates The minimum capacity of a ballast water tank, Indicates The maximum capacity of a ballast water tank.

[0019] The present invention also provides a dynamic regulating device for ship ballast water, comprising: A data collection module, used to obtain a water level data set, a posture data set and a water pressure data set through sensors, wherein the sensors are arranged at preset positions of the ship, the water level data set includes water level data at each preset position, the posture data set includes posture data at each preset position, and the water pressure data set includes water pressure data at each preset position; A water volume adjustment module, used to determine whether the ship is in a balanced state according to the water level data set and the attitude data set, and when the ship is in an unbalanced state, determine a water volume adjustment plan through a ballast water allocation optimization model; An instruction generation module, used to generate water pump operation instructions and valve opening and closing instructions according to the water volume adjustment plan, so as to restore the ship to a balanced state; The water pump operation instruction is used to control the water pump to control the water level of the ballast water tank, and the valve opening and closing instruction is used to control the valve of the pipeline network to control the water level of the ballast water tank. Each of the ballast water tanks is connected through the pipeline network.

[0020] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a dynamic regulation method for ship ballast water as described in any one of the above is implemented.

[0021] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for dynamically regulating ship ballast water as described in any one of the above-mentioned methods is implemented.

[0022] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for dynamically adjusting the ship's ballast water as described in any one of the above-mentioned methods is implemented.

[0023] The method, device, equipment and storage medium for dynamic regulation of ship ballast water provided by the present invention obtains water level data sets, attitude data sets and water pressure data sets through sensors, and then determines whether the ship is in a balanced state based on the water level data sets and the attitude data sets. When the ship is in an unbalanced state, the water volume adjustment plan is determined through the ballast water allocation optimization model; then, according to the water volume adjustment plan, water pump operation instructions and valve opening and closing instructions are generated to restore the ship to a balanced state. The present invention can significantly shorten the response time of ballast water regulation, improve the flexibility and operating efficiency of the system; it can also use an intelligent central control unit to realize automated operation, reduce human intervention, and improve operating accuracy; and it can flexibly adjust the ballast water allocation plan to respond to changes in the ship's state in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the process of the dynamic regulation method of ship ballast water provided by the present invention; Figure 2 It is a structural schematic diagram of a dynamic regulating device for ship ballast water provided by the present invention; Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0027] In marine engineering and navigation, the ballast water system is the key to ensuring the stability and safety of ships. Traditional ship ballast water management systems mainly rely on independently operated ballast water pumps, and the water volume regulation of each ballast water tank is the responsibility of the corresponding water pump. Although this design is relatively simple in structure, it has many shortcomings in practical applications. First, it is difficult to adjust the water volume across compartments. The traditional ship ballast water system lacks an effective linkage mechanism between the various ballast water tanks. The water volume regulation of each ballast water tank is the responsibility of an independent water pump, and it is impossible to achieve water volume transfer across compartments. This structure results in that when the water volume in a certain compartment needs to be adjusted, it is impossible to assist the balance by adjusting the water volume in other compartments, which limits the overall balance ability of the ship. Secondly, the control system responds lags. Traditional ballast water regulation systems mostly use manual or preset program control methods, and their response speed cannot meet the real-time changing navigation needs. Especially in the face of severe sea conditions or sudden changes in ship load, the adjustment of the system often lags behind actual needs, which can easily lead to unstable states such as trim and heel of the ship, and may even cause safety accidents. In addition, the energy consumption and maintenance costs are too high. Traditional ballast water systems usually have low operating efficiency, especially when the ballast water volume needs to be adjusted frequently, the energy consumption increases significantly. In addition, due to the complex system structure, each pump and pipeline operates independently, the maintenance work is cumbersome and the maintenance cost is high. During long-term operation, the system has a high maintenance frequency and is prone to performance degradation, which increases the operating cost of the ship. Finally, the system redundancy is poor. Since the pumps and pipelines of the traditional ballast water system are configured to operate independently, there is a lack of effective redundant design. Once a ballast water pump or pipeline fails, it often causes the water volume regulation of the corresponding cabin to fail, seriously affecting the stability of the entire ship. This design defect makes the traditional system unable to provide sufficient emergency response capabilities when facing equipment failures or emergencies.

[0028] In recent years, with the development of ship automation control technology, ballast water management systems have gradually introduced automated control methods, such as fuzzy control and neural network control. However, these technologies still have many limitations in practical applications. For example, fuzzy control systems perform well in dealing with nonlinear and complex dynamic environments, but their computational complexity is high, their real-time performance is insufficient, and they are difficult to respond quickly in complex marine environments. Similarly, although the neural network control method has self-learning capabilities, its training process is complex and relies on a large amount of historical data, and it does not have the flexibility of plug-and-play.

[0029] In order to solve the problems in the prior art, the present invention proposes a dynamic regulation method for ship ballast water to achieve intelligent regulation of ship ballast water. The dynamic regulation method for ship ballast water is described below. Figure 1 As shown, including but not limited to the following steps: Step 110, obtaining a water level data set, a posture data set and a water pressure data set through sensors, wherein the sensors are arranged at preset positions of the ship, the water level data set includes water level data at each preset position, the posture data set includes posture data at each preset position, and the water pressure data set includes water pressure data at each preset position.

[0030] In this step, various data related to the ship's status are obtained through sensors set at preset positions on the ship, including water level data sets, attitude data sets, and water pressure data sets. The specific implementation is as follows: Water level sensors are installed in each ballast water tank, and the water level changes in each water tank are monitored in real time through the water level sensors to form a water level data set. This data set contains the water level data of each preset position (such as the front tank, middle tank, and rear tank) for subsequent analysis.

[0031] The attitude sensor is set on the central axis of the ship to monitor the ship's pitch and roll angles and obtain an attitude data set. The data set includes attitude data at various preset positions to ensure that the tilt state of the ship is fully reflected.

[0032] Water pressure sensors are placed in the pipeline network to monitor the water pressure flowing through the pipeline and form a water pressure data set. This data set includes water pressure data at each connected pipeline location, providing an important basis for water flow status.

[0033] All sensors transmit data to the ship's central control system via wired or wireless means for real-time processing and analysis.

[0034] Step 120: Determine whether the ship is in a balanced state based on the water level data set and the attitude data set. When the ship is in an unbalanced state, determine a water volume adjustment plan through a ballast water allocation optimization model.

[0035] In step 120, it is determined whether the ship is in a balanced state according to the water level data set and the attitude data set obtained in step 110. The specific implementation is as follows: Using the water level data set and the position coordinates of each ballast tank, the center of gravity coordinates of the ship are calculated. , , Next, calculate the ship's trim angle based on the center of gravity coordinates and heel angle If the center of gravity coordinates are within the preset range and the tilt angle is within the designed safety range, the ship is judged to be in a balanced state; if not, the ship is judged to be in an unbalanced state and ballast water adjustment is required.

[0036] When the ship is in an unbalanced state, the ballast water allocation optimization model is used to determine the water adjustment plan. Using the above data, the ballast water allocation optimization model generates a water adjustment plan. The plan includes the specific amount of water transferred from one or more ballast water tanks to achieve balance.

[0037] Step 130: Generate a water pump operation instruction and a valve opening and closing instruction according to the water volume adjustment plan to restore the ship to a balanced state; The water pump operation instruction is used to control the water pump to control the water level of the ballast water tank, and the valve opening and closing instruction is used to control the valve of the pipeline network to control the water level of the ballast water tank. Each of the ballast water tanks is connected through the pipeline network.

[0038] In step 130, based on the water volume adjustment plan, a water pump operation instruction is generated to control the start and stop of the water pump to adjust the water level of the ballast water tank. This instruction will specifically guide the operation of the water pump, such as "start pump A to transfer water from compartment 1 to compartment 2". A valve opening and closing instruction is generated to control the valves in the pipeline network to adjust the water level of the ballast water tank. These instructions will specifically indicate the status of the valves, such as "open valve 1, close valve 2". The above instructions are executed by the control system to achieve the water level adjustment of each ballast water tank, and finally restore the ship to a balanced state.

[0039] Through the above steps, the present invention uses sensors to obtain data, accurately judges the balance state of the ship, and generates corresponding adjustment instructions according to the optimization model to ensure the stability and safety of the ship under various navigation conditions.

[0040] As a further optional embodiment, the step of acquiring the water level data set, the posture data set and the water pressure data set through the sensor specifically includes: The water level data of the ballast water tank is obtained by means of a water level sensor installed in the ballast water tank; The attitude data of the ship is obtained by the attitude sensor arranged on the central axis of the ship; The water pressure data of the pipeline is obtained by installing pressure sensors in the pipeline network.

[0041] In this embodiment, a water level sensor is provided inside each ballast water tank to monitor and collect real-time water level data of each ballast water tank. The water level change of each ballast water tank is a key monitoring parameter in the ballast water allocation process.

[0042] The water level sensor forms a water level data set, which contains the water level information of each water tank in the ballast water tank at different time points. This information is directly used for the calculation of the ship's center of gravity and the subsequent water volume adjustment plan.

[0043] The attitude sensor is installed at the centerline of the ship to collect attitude information such as the ship's pitch angle and heel angle. Since the centerline position can accurately reflect the overall attitude of the ship, the attitude sensor installed at this position can obtain more accurate data.

[0044] The attitude sensor monitors the attitude changes of the ship in real time and forms an attitude data set, which can be used to judge the tilt state of the ship and determine whether the ship is in a balanced state.

[0045] Pressure sensors are installed in the pipe network connecting the ballast water tanks to monitor the pressure changes of the water flow in real time. The pressure sensor can capture the flow state of ballast water in each pipe, especially during the water volume adjustment process, the pressure change is an important monitoring indicator.

[0046] The water pressure data in the pipeline is obtained through the pressure sensor to form a water pressure data set, which is used to optimize the distribution of water flow and ensure the effective allocation of water flow between various ballast water tanks.

[0047] As a further optional embodiment, the step of determining whether the ship is in a balanced state according to the water level data set and the attitude data set specifically includes: Determining the coordinates of the center of gravity of the ship according to the water level data set and the position coordinates of the ballast water tank; When the center of gravity coordinates are within the preset center of gravity range, and the ship's attitude data are within the preset tilt angle range, the ship is in a balanced state; otherwise, the ship is in an unbalanced state.

[0048] In this embodiment, first, the amount of water in each ballast water tank is determined based on the water level data set. Combined with the specific position coordinates of each ballast water tank, including its transverse (X-axis), longitudinal (Y-axis) and vertical (Z-axis) coordinates relative to the centerline of the hull, the center of gravity position of the entire ship is calculated.

[0049] A reasonable center of gravity range is set in advance according to the ship design and navigation requirements. This center of gravity range is the center of gravity coordinate interval of the ship in a normal equilibrium state, which is used to ensure the stability of the ship in a balanced state.

[0050] Compare the currently calculated barycenter coordinates , , Is it within the preset range? If the center of gravity is outside this range, the ballast water distribution of the ship is unbalanced, which may cause the ship to tilt or become unstable.

[0051] The pitch angle provided by the attitude sensor and heel angle Used to evaluate the ship's attitude. The ship's tilt can be determined in real time using the attitude data set.

[0052] The calculated inclination angle is compared with the preset safe inclination angle range. and heel angle If the inclination angles are within the preset range, and the coordinates of the center of gravity of the ship are also within the preset range, the ship is in a balanced state.

[0053] If the center of gravity coordinates or the tilt angle do not meet the above conditions, the ship is in an unbalanced state and ballast water needs to be deployed to restore balance.

[0054] As a further optional embodiment, the step of determining the coordinates of the center of gravity of the ship according to the water level data set and the position coordinates of the ballast water tank specifically includes:

[0055] in, , , is the coordinates of the center of gravity of the ship in the X, Y, and Z directions at time t, , and It is The transverse and longitudinal coordinates of each ballast tank relative to the centerline of the ship.

[0056] In this embodiment, first, the water level data of each ballast water tank is obtained in real time through the water level sensor installed in each ballast water tank. The current water volume of each ballast water tank is calculated according to the geometric dimensions and water level height of each ballast water tank. ,in i represents the i-th ballast water tank, t Indicates the current time.

[0057] Use of ballast tank water volume data and the position coordinates of each ballast tank , and , calculate the coordinates of the center of gravity of the ship in the X, Y, and Z directions. The specific calculation formula is as follows:

[0058] in, For time The amount of water, , , is the coordinates of the center of gravity of the ship in the X, Y, and Z directions at time t, , and It is The transverse and longitudinal coordinates of each ballast tank relative to the centerline of the ship, nIndicates the total number of ballast water tanks.

[0059] As the ballast water is deployed and the ship's attitude changes, the center of gravity coordinates , , Will over time t The real-time calculation of the center of gravity can help determine the stability of the ship and trigger water volume adjustments in time to restore the ship's balance.

[0060] Through the above steps, the changes in the center of gravity of the ship during navigation can be accurately calculated, which helps to maintain the balance of the ship by adjusting the distribution of ballast water in real time, thereby ensuring the safety and stability of the ship in complex navigation environments.

[0061] As a further optional embodiment, the ballast water allocation optimization model is constructed by the following steps: Defining decision variables and state variables of the ballast water allocation optimization model; Determining an objective function of the ballast water allocation optimization model; Determine the constraints of the ballast water allocation optimization model.

[0062] As a further optional embodiment, the objective function is as follows:

[0063] in, For time The amount of water, Expressed as time Time Changes in water volume, is the total length of time, is the total number of ballast water tanks.

[0064] As a further optional embodiment, the constraint conditions include center of gravity balance constraint, ship attitude stability constraint, water conservation constraint and ballast water tank capacity constraint; The center of gravity balance constraints are as follows:

[0065] in, , , is the coordinates of the center of gravity of the ship in the X, Y, and Z directions at time t, and It is The transverse and longitudinal coordinates of each ballast tank relative to the ship's centreline; The ship attitude stability constraints are as follows:

[0066] in, and Indicates the time at which the ship The trim and heel angles at the moment; The water conservation constraint is as follows:

[0067] in, For time The amount of water, Indicates that water is coming from the cabin Flow to the cabin The water flow rate, Indicates that water is coming from the cabin Flow to the cabin water flow; The ballast water tank capacity constraints are as follows:

[0068] in, Indicates The minimum capacity of a ballast water tank, Indicates The maximum capacity of a ballast water tank.

[0069] In this embodiment, it is necessary to first define the decision variables and state variables of the ballast water allocation optimization model: Decision variables: Definition For in time t arrive t +1 time period, from the ballast water tank i To ballast water tank j The amount of water transferred.

[0070] State variables: Definition For in time t Moment i The amount of water in the ballast tank; and define the ship's t Center of gravity at the moment , , , and the pitch angle and heel angle , used to describe the attitude state of the ship.

[0071] Next, the objective function of the ballast water allocation optimization model is determined: the objective function aims to minimize the amount of ballast water adjustment to reduce unnecessary water volume changes and improve the efficiency and accuracy of allocation. Its specific expression is:

[0072] in, For time The amount of water, Expressed as time Time Changes in water volume, is the total length of time, is the total number of ballast water tanks.

[0073] Determine the constraints of the ballast water allocation optimization model: In order to ensure the feasibility of the model in actual operation and the stability of the ship, the following constraints must be imposed: The center of gravity balance constraints are as follows:

[0074] in, , , is the coordinates of the center of gravity of the ship in the X, Y, and Z directions at time t, and It is The transverse and longitudinal coordinates of each ballast tank relative to the ship's centreline; The ship attitude stability constraints are as follows:

[0075] in, and Indicates the time at which the ship The trim and heel angles at the moment; The water conservation constraint is as follows:

[0076] in, For time The amount of water, Indicates that water is coming from the cabin Flow to the cabin The water flow rate, Indicates that water is coming from the cabin Flow to the cabin water flow; The ballast water tank capacity constraints are as follows:

[0077] in, Indicates The minimum capacity of a ballast water tank, Indicates The maximum capacity of a ballast water tank.

[0078] Through the above steps, a ballast water allocation optimization model that comprehensively considers the ship's center of gravity, attitude stability and water conservation is established. The model can dynamically allocate ballast water to achieve balance and stability of the ship under the premise of meeting the constraints.

[0079] The dynamic regulating device for ship ballast water provided by the present invention is described below. As shown in Figure x, the dynamic regulating device for ship ballast water described below and the dynamic regulating method for ship ballast water described above can be referenced to each other.

[0080] A dynamic regulating device for ship ballast water, comprising: The data collection module 210 is used to obtain a water level data set, a posture data set and a water pressure data set through sensors, wherein the sensors are arranged at preset positions of the ship, the water level data set includes water level data at each preset position, the posture data set includes posture data at each preset position, and the water pressure data set includes water pressure data at each preset position; A water volume adjustment module 220 is used to determine whether the ship is in a balanced state according to the water level data set and the attitude data set. When the ship is in an unbalanced state, a water volume adjustment scheme is determined by a ballast water allocation optimization model; The instruction generation module 230 is used to generate a water pump operation instruction and a valve opening and closing instruction according to the water volume adjustment plan to restore the ship to a balanced state; The water pump operation instruction is used to control the water pump to control the water level of the ballast water tank, and the valve opening and closing instruction is used to control the valve of the pipeline network to control the water level of the ballast water tank. Each of the ballast water tanks is connected through the pipeline network.

[0081] Figure 3 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3 As shown, the electronic device may include: a processor 310, a communications interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communications interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the dynamic adjustment method of the ship ballast water, the method comprising: Acquire a water level data set, a posture data set and a water pressure data set through sensors, wherein the sensors are arranged at preset positions of the ship, the water level data set includes water level data at each preset position, the posture data set includes posture data at each preset position, and the water pressure data set includes water pressure data at each preset position; Determine whether the ship is in a balanced state according to the water level data set and the attitude data set, and when the ship is in an unbalanced state, determine a water volume adjustment plan through a ballast water allocation optimization model; According to the water volume adjustment plan, a water pump operation instruction and a valve opening and closing instruction are generated to restore the ship to a balanced state; The water pump operation instruction is used to control the water pump to control the water level of the ballast water tank, and the valve opening and closing instruction is used to control the valve of the pipeline network to control the water level of the ballast water tank. Each of the ballast water tanks is connected through the pipeline network.

[0082] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0083] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the dynamic regulation method of ship ballast water provided by the above methods, the method comprising: Acquire a water level data set, a posture data set and a water pressure data set through sensors, wherein the sensors are arranged at preset positions of the ship, the water level data set includes water level data at each preset position, the posture data set includes posture data at each preset position, and the water pressure data set includes water pressure data at each preset position; Determine whether the ship is in a balanced state according to the water level data set and the attitude data set, and when the ship is in an unbalanced state, determine a water volume adjustment plan through a ballast water allocation optimization model; According to the water volume adjustment plan, a water pump operation instruction and a valve opening and closing instruction are generated to restore the ship to a balanced state; The water pump operation instruction is used to control the water pump to control the water level of the ballast water tank, and the valve opening and closing instruction is used to control the valve of the pipeline network to control the water level of the ballast water tank. Each of the ballast water tanks is connected through the pipeline network.

[0084] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the dynamic regulation method of ship ballast water provided by the above methods, the method comprising: Acquire a water level data set, a posture data set and a water pressure data set through sensors, wherein the sensors are arranged at preset positions of the ship, the water level data set includes water level data at each preset position, the posture data set includes posture data at each preset position, and the water pressure data set includes water pressure data at each preset position; Determine whether the ship is in a balanced state according to the water level data set and the attitude data set, and when the ship is in an unbalanced state, determine a water volume adjustment plan through a ballast water allocation optimization model; According to the water volume adjustment plan, a water pump operation instruction and a valve opening and closing instruction are generated to restore the ship to a balanced state; The water pump operation instruction is used to control the water pump to control the water level of the ballast water tank, and the valve opening and closing instruction is used to control the valve of the pipeline network to control the water level of the ballast water tank. Each of the ballast water tanks is connected through the pipeline network.

[0085] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0086] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for dynamically regulating ship ballast water, characterized in that: include: Acquire a water level data set, a posture data set and a water pressure data set through sensors, wherein the sensors are arranged at preset positions of the ship, the water level data set includes water level data at each preset position, the posture data set includes posture data at each preset position, and the water pressure data set includes water pressure data at each preset position; Determine whether the ship is in a balanced state according to the water level data set and the attitude data set, and when the ship is in an unbalanced state, determine a water volume adjustment plan through a ballast water allocation optimization model; According to the water volume adjustment plan, a water pump operation instruction and a valve opening and closing instruction are generated to restore the ship to a balanced state; The water pump operation instruction is used to control the water pump to control the water level of the ballast water tank, and the valve opening and closing instruction is used to control the valve of the pipeline network to control the water level of the ballast water tank. Each of the ballast water tanks is connected through the pipeline network.

2. The method for dynamic regulation of ship ballast water according to claim 1, characterized in that: The step of obtaining a water level data set, a posture data set, and a water pressure data set through a sensor specifically includes: The water level data of the ballast water tank is obtained by means of a water level sensor installed in the ballast water tank; The attitude data of the ship is obtained by the attitude sensor arranged on the central axis of the ship; The water pressure data of the pipeline is obtained by installing pressure sensors in the pipeline network.

3. The method for dynamic regulation of ship ballast water according to claim 1, characterized in that: The step of determining whether the ship is in a balanced state according to the water level data set and the attitude data set specifically includes: Determining the coordinates of the center of gravity of the ship according to the water level data set and the position coordinates of the ballast water tank; When the center of gravity coordinates are within the preset center of gravity range, and the ship's attitude data are within the preset tilt angle range, the ship is in a balanced state; otherwise, the ship is in an unbalanced state.

4. The method for dynamic regulation of ship ballast water according to claim 2, characterized in that: The step of determining the coordinates of the center of gravity of the ship according to the water level data set and the position coordinates of the ballast water tank specifically includes: in, For time The amount of water, , , is the coordinates of the center of gravity of the ship in the X, Y, and Z directions at time t, , and It is The transverse and longitudinal coordinates of each ballast tank relative to the centerline of the ship.

5. The method for dynamic regulation of ship ballast water according to claim 1, characterized in that: The ballast water allocation optimization model is constructed by the following steps: Defining decision variables and state variables of the ballast water allocation optimization model; Determining an objective function of the ballast water allocation optimization model; Determine the constraints of the ballast water allocation optimization model.

6. The method for dynamic regulation of ship ballast water according to claim 5, characterized in that: The objective function is as follows: in, For time The amount of water, Expressed as time Time Changes in water volume, is the total length of time, is the total number of ballast water tanks.

7. The method for dynamic regulation of ship ballast water according to claim 6, characterized in that: The constraints include center of gravity balance constraint, ship attitude stability constraint, water conservation constraint and ballast tank capacity constraint; The center of gravity balance constraints are as follows: in, , , is the coordinates of the center of gravity of the ship in the X, Y, and Z directions at time t, and It is The transverse and longitudinal coordinates of each ballast tank relative to the ship's centreline; The ship attitude stability constraints are as follows: in, and Indicates the time at which the ship The trim and heel angles at the moment; The water conservation constraint is as follows: in, For time The amount of water, Indicates that water is coming from the cabin Flow to the cabin The water flow rate, Indicates that water is coming from the cabin Flow to the cabin water flow; The ballast water tank capacity constraints are as follows: in, Indicates The minimum capacity of a ballast water tank, Indicates The maximum capacity of a ballast water tank.

8. A dynamic regulating device for ship ballast water, characterized in that: include: A data collection module, used to obtain a water level data set, a posture data set and a water pressure data set through sensors, wherein the sensors are arranged at preset positions of the ship, the water level data set includes water level data at each preset position, the posture data set includes posture data at each preset position, and the water pressure data set includes water pressure data at each preset position; A water volume adjustment module, used to determine whether the ship is in a balanced state according to the water level data set and the attitude data set, and when the ship is in an unbalanced state, determine a water volume adjustment plan through a ballast water allocation optimization model; An instruction generation module, used to generate water pump operation instructions and valve opening and closing instructions according to the water volume adjustment plan, so as to restore the ship to a balanced state; The water pump operation instruction is used to control the water pump to control the water level of the ballast water tank, and the valve opening and closing instruction is used to control the valve of the pipeline network to control the water level of the ballast water tank. Each of the ballast water tanks is connected through the pipeline network.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the dynamic regulation method of ship ballast water according to any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for dynamically adjusting ship ballast water according to any one of claims 1 to 7 is implemented.

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