Energy-saving navigation method and system for combined fleet under intelligent control

Abstract

The present invention provides an energy-saving navigation method and system for a combined fleet under intelligent control, which relates to the technical field of data processing. The method comprises: collecting environmental data and ship status data of the fleet navigation in real time, preprocessing the data, removing redundant data, obtaining a navigation data set, calculating a channel impact value, a sea condition impact value and a wake impact value according to the navigation data set, and determining the resistance impact value of each ship according to the channel impact value, obtaining a demand power data set, calculating the compensation power of each ship, analyzing the limitation of the channel on the ship compensation power, balancing the distribution of compensation power between ships, obtaining an energy-saving scheme, adjusting the compensation power of each ship in real time, and monitoring the navigation efficiency of the fleet, obtaining execution data, analyzing whether the navigation efficiency reaches the preset efficiency, updating the resistance impact value of each ship, and adjusting the power distribution scheme. The present invention can intelligently control the propulsion power of the fleet to save energy consumption.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to an energy-saving navigation method and system for a combined fleet under intelligent control. Background Art

[0002] The energy-saving navigation technology of the existing combined fleet reduces the resistance of ships during navigation by optimizing the arrangement of ships and utilizing the power distribution function of the main propulsion ship. For example, ships can sail in a combined manner to reduce the resistance of the following ship, thereby reducing overall energy consumption. However, these methods are mostly applied to scenarios with stable routes and good sea conditions. When the route passes through shallows, narrow channels or waters that require frequent changes of direction, the combined navigation may not be able to be flexibly adjusted, resulting in reduced energy-saving effects.

[0003] During short-distance bulk cargo transportation in coastal areas, ships need to frequently adjust their speed and direction due to the influence of channel conditions and sea conditions. Traditional energy-saving navigation technology optimizes energy consumption by pre-setting a fixed power distribution mode, but in complex routes, this fixed mode may not be able to adapt to environmental changes in real time. For example, when a fleet turns into a narrow channel, the following ship requires additional propulsion power compensation due to increased resistance, but the system may not be able to allocate propulsion power in time, resulting in an increase in overall energy consumption. Summary of the invention

[0004] The purpose of the present invention is to provide an energy-saving navigation method and system for a combined fleet under intelligent control, aiming to solve the problems mentioned in the background technology.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In a first aspect, a method for energy-saving navigation of a combined fleet under intelligent control is provided, the method comprising:

[0007] Collect environmental data and ship status data of the fleet in real time, pre-process them, remove redundant data, unify the unit format, and obtain the navigation data set. Environmental data includes channel width, channel depth and sea conditions, and ship status data includes navigation speed, heading angle, ship spacing and relative position, ship resistance and propulsion power;

[0008] According to the navigation data set, the influence of channel width and channel depth on ship resistance is calculated to obtain the channel impact value; by combining sea condition information, navigation speed and heading angle, the influence of sea condition on ship resistance is calculated to obtain the sea condition impact value. The sea condition information includes wave height, wave direction and wind speed; by analyzing the wake effect on the change of ship resistance of the following ship through the distance and relative position of the ships, the wake impact value is obtained;

[0009] According to the channel impact value, sea condition impact value and wake impact value, the resistance impact value of each ship is determined, and the required power of each ship is calculated based on it to obtain the required power data set;

[0010] According to the power demand data set, the difference between the propulsion power and the required power of each ship is analyzed, the compensation power of each ship is calculated, and the power allocation plan is generated;

[0011] According to the power allocation plan, analyze the limitation of the waterway on the ship compensation power, balance the distribution of compensation power between ships, and obtain the energy-saving plan;

[0012] According to the energy-saving plan, the compensation power of each ship is adjusted in real time, and the navigation efficiency of the fleet is monitored to obtain execution data. The navigation efficiency includes energy consumption and speed changes.

[0013] Based on the execution data, it is analyzed whether the navigation efficiency reaches the preset efficiency. If the result is no, the resistance impact value of each ship is updated and the power allocation plan is adjusted according to the energy consumption and speed changes of each ship.

[0014] Furthermore, based on the navigation data set, the influence of channel width and channel depth on ship resistance is calculated to obtain the channel impact value, including:

[0015] Determine the width influence coefficient of the ship in the channel according to the channel width and ship size;

[0016] According to the width influence coefficient, calculate the width resistance of the ship caused by the channel width;

[0017] Determine the water depth influence coefficient of the ship in the channel according to the channel water depth and ship size;

[0018] According to the water depth influence coefficient, calculate the water depth resistance of the ship caused by the water depth of the channel;

[0019] According to the water depth resistance and water depth resistance, the channel impact value caused by the ship due to the channel is calculated. The calculation formula of the channel impact value is:

[0020] ,

[0021] in, For the The channel impact value of a ship, is the index of the ship, is the width resistance, is the width influence coefficient, For the The breadth of the ship, is the channel width, is the water depth resistance, is the water depth influence coefficient, For the The draft of the ship, is the water depth of the channel, is the coefficient.

[0022] Furthermore, by combining the sea condition information, the sailing speed and the heading angle, the influence of the sea condition on the ship resistance is calculated to obtain the sea condition impact value. The sea condition information includes wave height, wave direction and wind speed, including:

[0023] Determine the flow angle between the waves and the ship based on the wave direction and heading angle;

[0024] Determine the wave resistance of the ship according to the wave height, flow angle and sailing speed;

[0025] Determine the relative wind speed the ship is subjected to based on wind speed and sailing speed;

[0026] According to the wave resistance and relative wind speed, the sea condition impact value caused by the sea condition on the ship is calculated. The calculation formula of the sea condition impact value is:

[0027] ,

[0028] in, For the The sea condition impact value of a ship, is the wave height, For the waves and The flow angle between the ships, For the The heading angle of the ship, For the wave direction, is the sailing speed, is the standard air density at normal temperature and pressure, For the The relative wind speed to which the ship is subjected, is the wind speed, For the The static resistance of a ship, is the coefficient.

[0029] Furthermore, the wake effect on the change of ship resistance of the following ship is analyzed through the distance and relative position of the ships, and the wake influence value is obtained, including:

[0030] Determine the wake diffusion range generated by the main propulsion ship according to the sailing speed and ship size;

[0031] Determine the initial wake intensity generated by the main propulsion vessel based on the propulsion power and vessel size;

[0032] Determine the attenuation wake intensity to which the following ship is subjected based on the ship spacing and relative positions, wake diffusion range and wake intensity;

[0033] Determine the cross-sectional area of ​​the wake of the following ship based on the channel depth and ship size;

[0034] According to the heading angle, the difference in heading angle between the trailing ship and the main propulsion ship is determined to obtain the heading difference angle;

[0035] According to the decaying wake intensity, cross-sectional area and heading difference angle, the wake impact value caused by the wake of the following ship is calculated. The calculation formula of the wake impact value is:

[0036] ,

[0037] in, For the The wake impact value of a ship, is the standard water density at normal temperature and pressure, For the The cross-sectional area of ​​the ship, For the The decaying wake strength of a ship is For the The transverse distance between the ship and the main propulsion vessel, For the The longitudinal distance between the ship and the main propulsion vessel, is the heading difference between the following ship and the main propulsion ship, is the wave height, is the coefficient.

[0038] Furthermore, the resistance impact value of each ship is determined according to the channel impact value, the sea condition impact value and the wake impact value, and the required power of each ship is calculated based on the resistance impact value, and the required power data set is obtained, including:

[0039] The calculation formula of the required power is:

[0040] ,

[0041] in, For the The power demand of a ship, is the index of the ship, For the The channel impact value of a ship, is the channel width, is the water depth of the channel, For the The sea condition impact value of a ship, For the The heading angle of the ship, is the sailing speed, For the The wake impact value of a ship, For the The difference in heading angle between the ship and the main propulsion ship, For the The distance between the ship and the main propulsion vessel, , is the coefficient.

[0042] Furthermore, according to the power allocation scheme, the limitation of the waterway on the ship compensation power is analyzed, the distribution of compensation power between ships is balanced, and an energy-saving scheme is obtained, including:

[0043] Determine the lateral navigation space based on the channel width and ship size;

[0044] When the lateral navigation space does not support the fleet to maintain a queue, the section of the channel is marked as a restricted area;

[0045] According to the restricted area, the compensation power of the main propulsion ship is reduced to obtain a weakened wake;

[0046] Determine the maximum safe power and minimum propulsion power for each ship based on the decaying wake and navigation speed;

[0047] When the main propulsion ship cannot increase the compensation power to reach its minimum propulsion power due to channel restrictions, the propulsion power of the fleet is shared by increasing the compensation power of the trailing ship;

[0048] When the maximum safety power of the following ship cannot meet its minimum propulsion power, the minimum propulsion power of the following ship shall be shared by other following ships;

[0049] According to the maximum safety power and minimum propulsion power of each ship, it is ensured that the fleet meets the fleet's navigation speed requirements under the channel restrictions, and the fleet's energy consumption is reduced to obtain an energy-saving solution.

[0050] Furthermore, based on the execution data, it is analyzed whether the navigation efficiency reaches the preset efficiency. If the result is no, the resistance impact value of each ship is updated according to the energy consumption and speed changes of each ship, and the power allocation plan is adjusted, including:

[0051] According to the change of speed, judge whether the fleet's sailing speed reaches the preset speed;

[0052] When the fleet's sailing speed does not reach the preset speed, it detects whether the change in channel depth increases the channel impact value; detects whether there is a severe environmental change in the current section; checks whether the relative position of the trailing ship deviates from the optimal wake area; based on the above results, recalculates the ship's channel impact value, sea condition impact value and wake impact value, and adjusts the ship's compensation power;

[0053] Based on the energy consumption, determine whether the fleet's energy consumption exceeds the preset consumption;

[0054] When the fleet's energy consumption exceeds the preset consumption, it detects whether there are deviations in the channel width and channel depth; detects whether the real-time sea condition information has changed; checks whether the distance between ships and their relative positions have changed; and based on the above results, recalculates the ship's channel impact value, sea condition impact value and wake impact value, and adjusts the ship's compensation power.

[0055] In a second aspect, an energy-saving navigation system for a combined fleet under intelligent control is provided, the system comprising:

[0056] The data acquisition module is used to collect the environmental data and ship status data of the fleet in real time, and pre-process it to remove redundant data and unify the unit format to obtain the navigation data set. The environmental data includes channel width, channel water depth and sea conditions. The ship status data includes navigation speed, heading angle, ship spacing and relative position, ship resistance and propulsion power.

[0057] The resistance calculation module is used to calculate the influence of channel width and channel depth on ship resistance according to the navigation data set, and obtain the channel influence value; calculate the influence of sea conditions on ship resistance by combining sea condition information, navigation speed and heading angle, and obtain the sea condition influence value. The sea condition information includes wave height, wave direction and wind speed; analyze the change of ship resistance caused by wake effect on the following ship through the distance and relative position of the ships, and obtain the wake influence value;

[0058] The power calculation module is used to determine the resistance impact value of each ship according to the channel impact value, the sea condition impact value and the wake impact value, and calculate the required power of each ship based on the resistance impact value to obtain the required power data set;

[0059] A power analysis module is used to analyze the difference between the propulsion power and the required power of each ship based on the required power data set, calculate the compensation power of each ship, and generate a power allocation plan;

[0060] Intelligent energy-saving module, which is used to analyze the limitation of the waterway on the ship compensation power according to the power allocation plan, balance the distribution of compensation power between ships, and obtain energy-saving plan;

[0061] The program execution module is used to adjust the compensation power of each ship in real time according to the energy-saving plan, monitor the fleet's navigation efficiency, and obtain execution data. The navigation efficiency includes energy consumption and speed changes;

[0062] The optimization and adjustment module is used to analyze whether the navigation efficiency reaches the preset efficiency based on the execution data. If the result is no, the resistance impact value of each ship is updated and the power allocation plan is adjusted according to the energy consumption and speed changes of each ship.

[0063] The above solution of the present invention includes at least the following beneficial effects:

[0064] The present invention accurately evaluates the various dimensional factors affecting the ship's resistance through comprehensive calculation of the channel width, channel depth, sea conditions and wake effect, so as to fully understand the resistance characteristics of each ship. Traditional methods usually only consider a single or a small number of factors, ignoring the comprehensive impact of factors of different dimensions, which may lead to incomplete energy consumption optimization. By introducing the sea condition impact value, the speed of the ship in a large wave environment can be dynamically adjusted; through the wake effect calculation, the position and propulsion power of the following ship can be optimized to reduce the overall resistance of the fleet. Through multi-dimensional analysis, the coverage and accuracy of energy-saving optimization are greatly improved.

[0065] The present invention calculates the required power through the resistance impact value of each ship, and analyzes the difference between the propulsion power and the required power, thereby generating a power allocation plan, which solves the problem of lack of flexibility in the traditional fixed power allocation mode. In complex routes, such as narrow channels or scenarios where frequent speed adjustment is required, dynamic power allocation can ensure that the energy consumption of the main propulsion ship and the following ship is minimized. When the channel width is reduced, the required power of the following ship will be automatically adjusted according to the change in resistance. The power allocation plan can respond quickly to such changes, ensuring the overall propulsion efficiency of the fleet.

[0066] The present invention ensures continuous optimization of energy-saving effects during navigation by analyzing real-time execution data and dynamically adjusting the compensation power. Traditional fixed solutions may not be able to adapt to rapid changes in navigation conditions in real time, and the system's feedback mechanism monitors key indicators such as speed and energy consumption. When deviations are detected, it can quickly update the resistance impact value and adjust the power allocation plan. In complex sections such as curved channels, the speed of the main propulsion ship may decrease due to increased resistance. By adjusting the compensation power of the trailing ship in real time, the coordinated navigation of the fleet can be maintained.

[0067] The present invention combines the analysis of wake effect and channel restriction to ensure the navigation stability of the fleet while significantly improving the synergy effect. The wake effect calculation allows the following ship to make maximum use of the wake generated by the main propulsion ship, thereby reducing the propulsion power demand of the following ship. At the same time, in the channel restriction area, by balancing the compensation power distribution among the ships, the optimization of the overall propulsion capacity of the fleet is ensured. When the following ship is in the optimal position in the wake area, its energy consumption is significantly reduced, and other ships can compensate according to the real-time power distribution plan to achieve overall energy saving.

[0068] The present invention realizes visual management of energy use by quantifying navigation efficiency into energy consumption and speed changes, and provides a decision-making basis for further optimization. Traditional methods lack quantitative evaluation of energy-saving effects, but the system can analyze the energy consumption and speed changes of the fleet in different sections in real time, ensuring the achievement of energy-saving goals. When the speed is lower than expected, the system will actively detect changes in channel width and sea conditions to adjust the resistance impact value; when energy consumption exceeds the preset range, the system will reallocate power to reduce overall consumption. This transparent and dynamic adjustment mechanism improves the reliability and efficiency of the fleet's energy-saving navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 It is a flowchart of an energy-saving navigation method for a combined fleet under intelligent control provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0070] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0071] like Figure 1 As shown, an embodiment of the present invention provides an energy-saving navigation method for a combined fleet under intelligent control, the method comprising:

[0072] Collect environmental data and ship status data of the fleet in real time, pre-process them, remove redundant data, unify the unit format, and obtain the navigation data set. Environmental data includes channel width, channel depth and sea conditions, and ship status data includes navigation speed, heading angle, ship spacing and relative position, ship resistance and propulsion power;

[0073] According to the navigation data set, the influence of channel width and channel depth on ship resistance is calculated to obtain the channel impact value; by combining sea condition information, navigation speed and heading angle, the influence of sea condition on ship resistance is calculated to obtain the sea condition impact value. The sea condition information includes wave height, wave direction and wind speed; by analyzing the wake effect on the change of ship resistance of the following ship through the distance and relative position of the ships, the wake impact value is obtained;

[0074] According to the channel impact value, sea condition impact value and wake impact value, the resistance impact value of each ship is determined, and the required power of each ship is calculated based on it to obtain the required power data set;

[0075] According to the power demand data set, the difference between the propulsion power and the required power of each ship is analyzed, the compensation power of each ship is calculated, and the power allocation plan is generated;

[0076] According to the power allocation plan, analyze the limitation of the waterway on the ship compensation power, balance the distribution of compensation power between ships, and obtain the energy-saving plan;

[0077] According to the energy-saving plan, the compensation power of each ship is adjusted in real time, and the navigation efficiency of the fleet is monitored to obtain execution data. The navigation efficiency includes energy consumption and speed changes.

[0078] Based on the execution data, it is analyzed whether the navigation efficiency reaches the preset efficiency. If the result is no, the resistance impact value of each ship is updated and the power allocation plan is adjusted according to the energy consumption and speed changes of each ship.

[0079] In the embodiment of the present invention, environmental data and ship status data of the fleet's navigation are collected in real time, and preprocessed to remove redundant data to obtain a navigation data set, thereby ensuring the accuracy and timeliness of the data, so that the calculation of subsequent steps is based on reliable data, and through cleaning and standardization, the interference of data anomalies on the optimization process is avoided, providing high-quality data input for the intelligent control of the fleet; according to the navigation data set, the influence of channel width and channel water depth on the ship resistance is calculated to obtain the channel impact value, and the influence of channel conditions on the ship resistance is evaluated; by combining sea condition information, navigation speed and heading angle, the influence of sea conditions on the ship resistance is calculated to obtain the sea condition impact value, and the sea condition information includes wave height, wave direction and wind speed, and fully considers the real-time influence of dynamic sea conditions on the ship resistance; through the distance and relative position of the ships, the wake effect on the change of ship resistance of the following ship is analyzed to obtain the wake impact value, effectively utilizing the wake effect, and reducing its propulsion power demand by optimizing the position of the following ship.

[0080] According to the channel impact value, sea condition impact value and wake impact value, the resistance impact value of each ship is determined, and the required power of each ship is calculated based on it to obtain the required power data set. By comprehensively considering the dynamic influence of the channel, sea condition and wake, the required power of each ship is accurately calculated; according to the required power data set, the difference between the propulsion power and the required power of each ship is analyzed, the compensation power of each ship is calculated, and a power allocation plan is generated, which makes up for the shortcomings of the traditional fixed allocation mode and enables the fleet to adapt to environmental changes in different sections in real time; according to the power allocation plan, the restrictions of the channel on the ship's compensation power are analyzed, the distribution of compensation power between ships is balanced, and an energy-saving plan is obtained. The distribution of compensation power is balanced to ensure the overall safety and propulsion efficiency of the fleet.

[0081] According to the energy-saving plan, the compensation power of each ship is adjusted in real time, and the navigation efficiency of the fleet is monitored to obtain execution data. The navigation efficiency includes energy consumption and speed changes, ensuring that the speed and energy consumption of the fleet in complex sections remain at the optimal state; according to the execution data, analyze whether the navigation efficiency reaches the preset efficiency. When the result is no, the resistance impact value of each ship is updated according to the energy consumption and speed changes of each ship, and adjust the power allocation plan, ensuring that in long-term navigation, the system can adjust the optimization strategy according to real-time data, continuously improve the energy utilization of the fleet, and respond to potential efficiency problems caused by environmental changes.

[0082] Among them, the environmental data and ship status data of the fleet navigation are collected in real time, and pre-processed to remove redundant data and unify the unit format to obtain the navigation data set. The environmental data includes channel width, channel water depth and sea conditions. The ship status data includes navigation speed, heading angle, ship spacing and relative position, ship resistance and propulsion power, including:

[0083] Real-time collection of environmental data and ship status data through sensor equipment equipped on the ship:

[0084] Measure channel width and water depth through sonar equipment; collect sea condition information such as wave height, wave direction and wind speed through meteorological sensors; obtain navigation speed and heading angle through GPS; detect ship spacing and relative positions through laser radar or ultrasonic equipment; monitor ship resistance and current propulsion power through propulsion system; each sensor device transmits the collected data to the central processing system;

[0085] Noise data, such as outliers, duplicate data, or invalid data, are eliminated through filtering algorithms to ensure the quality of input data. Data units and formats are converted uniformly, such as standardizing navigation speed to knots and converting ship spacing and channel width to meters. Processed data is stored as a structured data set and marked with timestamps to ensure the timeliness and continuity of the data.

[0086] Among them, according to the required power data set, the difference between the propulsion power and the required power of each ship is analyzed, the compensation power of each ship is calculated, and the power allocation plan is generated, which includes:

[0087] The current propulsion power and required power of each ship are extracted, and the compensation power of each ship is obtained based on the difference between the propulsion power and the required power. A positive value indicates an increase, and a negative value indicates a decrease. Priorities are determined based on the ship's position, mission importance, and channel restrictions. The compensation power is adjusted taking into account the constraints on power allocation, such as the maximum power output of the main propulsion ship or the safe power limit of the following ship.

[0088] Based on the calculation results of the compensated power of all ships, the allocation strategy is optimized to ensure the overall propulsion power balance of the fleet. The power allocation plan includes the adjusted power value and time node of each ship, which is planned to be transmitted to the propulsion system of each ship for execution.

[0089] Among them, according to the energy-saving plan, the compensation power of each ship is adjusted in real time, and the navigation efficiency of the fleet is monitored to obtain execution data. The navigation efficiency includes energy consumption and speed changes, including:

[0090] Send adjustment commands to the propulsion system of each ship, and gradually adjust the propulsion power of each ship according to the power allocation plan; during the adjustment process, monitor the response speed and stability of the power adjustment to ensure that there is no power jump or abnormal fluctuation; collect real-time execution data after adjustment, including energy consumption and speed changes, which are monitored by fuel flow meter and GPS measurement respectively; compare the execution data with the preset efficiency targets, such as minimum energy consumption or maximum speed, to analyze the navigation efficiency of the fleet in real time; if it is monitored that the energy consumption of a ship exceeds the standard or the speed does not meet the standard, immediately trigger the feedback mechanism, which includes re-analyzing the navigation data set, adjusting the compensation power and optimizing the power allocation plan.

[0091] In a preferred embodiment of the present invention, the influence of the channel width and the channel depth on the ship resistance is calculated according to the navigation data set to obtain the channel influence value, including:

[0092] Determine the width influence coefficient of the ship in the channel according to the channel width and ship size;

[0093] According to the width influence coefficient, calculate the width resistance of the ship caused by the channel width;

[0094] Determine the water depth influence coefficient of the ship in the channel according to the channel water depth and ship size;

[0095] According to the water depth influence coefficient, calculate the water depth resistance of the ship caused by the water depth of the channel;

[0096] According to the water depth resistance and water depth resistance, the channel impact value caused by the ship due to the channel is calculated. The calculation formula of the channel impact value is:

[0097] ,

[0098] in, For the The channel impact value of a ship, is the index of the ship, is the width resistance, is the width influence coefficient, For the The breadth of the ship, is the channel width, is the water depth resistance, is the water depth influence coefficient, For the The draft of the ship, is the water depth of the channel, is the coefficient.

[0099] In an embodiment of the present invention, the width influence coefficient of the ship in the channel is determined according to the channel width and the ship size, the influence of the channel width on the ship resistance is quantitatively evaluated, the width resistance of the ship caused by the channel width is calculated according to the width influence coefficient, and the influence of the channel width on the ship energy consumption is dynamically quantified, and the water depth influence coefficient of the ship in the channel is determined according to the channel water depth and the ship size, which provides basic data for water depth resistance calculation, and the water depth resistance amount caused by the channel water depth is calculated according to the water depth influence coefficient, which further refines the influence of channel conditions on ship resistance, and calculates the channel impact value caused by the channel for the ship according to the water depth resistance amount and the water depth resistance amount, which comprehensively considers the dynamic change characteristics of width and water depth, and can accurately reflect the overall influence of channel conditions on ship navigation resistance.

[0100] In a preferred embodiment of the present invention, the influence of the sea condition on the ship resistance is calculated by combining the sea condition information, the navigation speed and the heading angle to obtain the sea condition impact value, wherein the sea condition information includes wave height, wave direction and wind speed, including:

[0101] Determine the flow angle between the waves and the ship based on the wave direction and heading angle;

[0102] Determine the wave resistance of the ship according to the wave height, flow angle and sailing speed;

[0103] Determine the relative wind speed the ship is subjected to based on wind speed and sailing speed;

[0104] According to the wave resistance and relative wind speed, the sea condition impact value caused by the sea condition on the ship is calculated. The calculation formula of the sea condition impact value is:

[0105] ,

[0106] in, For the The sea condition impact value of a ship, is the wave height, For the waves and The flow angle between the ships, For the The heading angle of the ship, For the wave direction, is the sailing speed, is the standard air density at normal temperature and pressure, For the The relative wind speed to which the ship is subjected, is the wind speed, For the The static resistance of a ship, is the coefficient.

[0107] In an embodiment of the present invention, the flow angle between the waves and the ship is determined according to the wave direction and the heading angle, the components of the lateral force and longitudinal resistance of the waves on the ship are identified, the wave resistance borne by the ship is determined according to the wave height, flow angle and sailing speed, and the wave resistance is calculated, so that the system can adjust the propulsion power in real time under different sea conditions, determine the relative wind speed borne by the ship according to the wind speed and the sailing speed, accurately evaluate the reaction force of the wind on the propulsion of the ship, calculate the sea condition impact value caused by the sea condition on the ship according to the wave resistance and the relative wind speed, and integrate multiple influencing factors to form the sea condition impact value.

[0108] In a preferred embodiment of the present invention, the wake effect on the change of ship resistance of the following ship is analyzed by the ship spacing and relative positions to obtain the wake influence value, including:

[0109] Determine the wake diffusion range generated by the main propulsion ship according to the sailing speed and ship size;

[0110] Determine the initial wake intensity generated by the main propulsion vessel based on the propulsion power and vessel size;

[0111] Determine the attenuation wake intensity to which the following ship is subjected based on the ship spacing and relative positions, wake diffusion range and wake intensity;

[0112] Determine the cross-sectional area of ​​the wake of the following ship based on the channel depth and ship size;

[0113] According to the heading angle, the difference in heading angle between the trailing ship and the main propulsion ship is determined to obtain the heading difference angle;

[0114] According to the decaying wake intensity, cross-sectional area and heading difference angle, the wake impact value caused by the wake of the following ship is calculated. The calculation formula of the wake impact value is:

[0115] ,

[0116] in, For the The wake impact value of a ship, is the standard water density at normal temperature and pressure, For the The cross-sectional area of ​​the ship, For the The decaying wake strength of a ship is For the The transverse distance between the ship and the main propulsion vessel, For the The longitudinal distance between the ship and the main propulsion vessel, is the heading difference between the following ship and the main propulsion ship, is the wave height, is the coefficient.

[0117] In an embodiment of the present invention, the wake diffusion range generated by the main propulsion ship is determined according to the sailing speed and the ship size. By accurately determining the wake diffusion range, a reference position can be provided for the following ship.

[0118] According to the propulsion power and the ship size, the initial wake intensity generated by the main propulsion ship is determined, which lays the foundation for the optimization of the resistance of the subsequent following ship. According to the ship spacing and relative positions, the wake diffusion range and the wake intensity, the attenuation wake intensity borne by the following ship is determined. By calculating the attenuation wake intensity, the following ship can be helped to reasonably adjust its relative position. According to the channel depth and the ship size, the cross-sectional area of ​​the wake borne by the following ship is determined. The cross-sectional area directly affects the magnitude of the wake force it bears. According to the heading angle, the difference in heading angle between the following ship and the main propulsion ship is determined to obtain the heading difference angle. By adjusting the heading difference angle, it is ensured that the following ship is always within the optimal action range of the wake. According to the attenuation wake intensity, the cross-sectional area and the heading difference angle, the wake impact value caused by the wake of the following ship is calculated to ensure that the following ship can dynamically optimize its propulsion power.

[0119] Among them, the wake diffusion range generated by the main propulsion ship is determined according to the navigation speed and ship size, including:

[0120] The main propulsion ship will generate a wake when sailing. Its diffusion range is closely related to the sailing speed and ship size. By real-time monitoring the speed of the main propulsion ship, combined with the length, width and diameter of the propeller of the ship, the lateral and longitudinal range of the wake diffusion is calculated. This range can be estimated by the following method:

[0121] The lateral diffusion range is the propeller diameter multiplied by the sailing speed multiplied by the lateral attenuation coefficient;

[0122] The longitudinal diffusion range is the ship length multiplied by the sailing speed multiplied by the longitudinal attenuation coefficient.

[0123] Among them, the attenuation wake intensity borne by the following ship is determined according to the ship spacing and relative position, wake diffusion range and wake intensity, including:

[0124] The wake intensity of the following ship will decay with increasing distance. The wake attenuation coefficient is calculated according to the wake diffusion range of the main propulsion ship, the distance and relative position of the following ship, and the wake intensity borne by the following ship is obtained. The decayed wake intensity is the initial wake intensity multiplied by the attenuation coefficient. The attenuation coefficient is determined by the lateral and longitudinal distances between the following ship and the main propulsion ship.

[0125] In a preferred embodiment of the present invention, the resistance impact value of each ship is determined according to the channel impact value, the sea condition impact value and the wake impact value, and the required power of each ship is calculated based on the resistance impact value to obtain the required power data set, including:

[0126] The calculation formula of the required power is:

[0127] ,

[0128] in, For the The power demand of a ship, is the index of the ship, For the The channel impact value of a ship, is the channel width, is the water depth of the channel, For the The sea condition impact value of a ship, For the The heading angle of the ship, is the sailing speed, For the The wake impact value of a ship, For the The difference in heading angle between the ship and the main propulsion ship, For the The distance between the ship and the main propulsion vessel, , is the coefficient.

[0129] In an embodiment of the present invention, by comprehensively analyzing the impact of various environmental factors on ship resistance, the required power of each ship can be calculated more accurately. This method not only improves the accuracy of power calculation, but also provides reliable data support for subsequent power allocation, solving the problem of unbalanced power allocation easily caused by traditional single-dimensional calculation methods.

[0130] In a preferred embodiment of the present invention, according to the power allocation scheme, the limitation of the waterway on the ship compensation power is analyzed, the distribution of the compensation power between ships is balanced, and an energy-saving scheme is obtained, including:

[0131] Determine the lateral navigation space based on the channel width and ship size;

[0132] When the lateral navigation space cannot support the fleet to maintain a queue, the section of the channel is marked as a restricted area;

[0133] According to the restricted area, the compensation power of the main propulsion ship is reduced to obtain a weakened wake;

[0134] Determine the maximum safe power and minimum propulsion power for each ship based on the decaying wake and navigation speed;

[0135] When the main propulsion ship cannot increase the compensation power to reach its minimum propulsion power due to channel restrictions, the propulsion power of the fleet is shared by increasing the compensation power of the trailing ship;

[0136] When the maximum safety power of the following ship cannot meet its minimum propulsion power, the minimum propulsion power of the following ship shall be shared by other following ships;

[0137] According to the maximum safety power and minimum propulsion power of each ship, it is ensured that the fleet meets the fleet's navigation speed requirements under the channel restrictions, and the fleet's energy consumption is reduced to obtain an energy-saving solution.

[0138] In an embodiment of the present invention, the lateral navigation space is determined according to the channel width and the ship size to ensure that the ship has sufficient lateral space during navigation. When the lateral navigation space does not support the fleet to maintain a queue, the section of the channel is marked as a restricted area. By marking the channel in real time, accidents caused by insufficient space for the fleet can be avoided and navigation risks can be reduced. According to the restricted area, the compensation power of the main propulsion ship is reduced to obtain a weakened wake. By adjusting the weakened wake, not only the impact of the wake on other ships can be reduced, but also the navigation resistance of the ships in the fleet can be reduced.

[0139] According to the weakened wake and navigation speed, the maximum safe power and minimum propulsion power of each ship are determined. By accurately calculating the maximum safe power and minimum propulsion power of each ship, it is ensured that the fleet can still maintain stable navigation under channel restrictions. When the main propulsion ship cannot increase the compensation power to reach its minimum propulsion power due to channel restrictions, the propulsion power of the fleet is shared by increasing the compensation power of the trailing ship. By sharing the power demand of the main propulsion ship, the navigation interruption or insufficient speed caused by insufficient power of the main propulsion ship is avoided, ensuring the smooth navigation of the fleet under channel restrictions. When the maximum safety power of a following ship cannot meet its minimum propulsion power, the minimum propulsion power of the following ship is shared by other following ships. Through effective power sharing, it is ensured that the following ship can still meet the minimum propulsion power requirement under channel restrictions, avoiding navigation obstacles caused by insufficient power. According to the maximum safety power and minimum propulsion power of each ship, it is ensured that the fleet meets the fleet's navigation speed requirements under channel restrictions, and the energy consumption of the fleet is reduced to obtain an energy-saving plan. Through reasonable power allocation and wake attenuation technology, the maximum energy efficiency of the fleet under channel restrictions is achieved.

[0140] Among them, the maximum safe power and minimum propulsion power of each ship are determined according to the weakened wake and navigation speed, including:

[0141] Combining the weakened wake generated by the main propulsion ship with the navigation speed data of each ship, the maximum safe power and minimum propulsion power of each ship are calculated using navigation simulation. According to the influence of the ship's mass, speed and wake, the propulsion system of each ship is optimized using a dynamic model to ensure that each ship can maintain navigation within a safe range in the restricted area.

[0142] Among them, when the main propulsion ship cannot increase the compensation power to reach its minimum propulsion power due to channel restrictions, the propulsion power of the fleet is shared by increasing the compensation power of the trailing ship, including:

[0143] When the main propulsion ship is restricted by the channel and cannot increase the compensation power, the power compensation mechanism of the trailing ship is utilized to adjust the propulsion system of the trailing ship so that it can provide additional compensation power, thereby sharing the power demand of the main propulsion ship. The power adjustment of the trailing ship needs to take into account the influence of the wake and the speed requirements to ensure that the fleet can maintain stable navigation.

[0144] Among them, when the maximum safety power of the following ship cannot meet its minimum propulsion power, the minimum propulsion power of the following ship is shared by other following ships, specifically including:

[0145] When the maximum safety power of the following ship cannot meet its minimum propulsion power requirement, compensation is shared by adjusting the power output of other following ships. By accurately calculating the difference between the safety power upper limit and the minimum propulsion power of other following ships, a reasonable compensation plan is determined to ensure that the propulsion system of the entire fleet is always in the best operating state.

[0146] In a preferred embodiment of the present invention, according to the execution data, it is analyzed whether the navigation efficiency reaches the preset efficiency. When the result is no, the resistance impact value of each ship is updated according to the energy consumption and speed change of each ship, and the power allocation plan is adjusted, including:

[0147] According to the change of speed, judge whether the fleet's sailing speed reaches the preset speed;

[0148] When the fleet's sailing speed does not reach the preset speed, it detects whether the change in channel depth increases the channel impact value; detects whether there is a severe environmental change in the current section; checks whether the relative position of the trailing ship deviates from the optimal wake area; based on the above results, recalculates the ship's channel impact value, sea condition impact value and wake impact value, and adjusts the ship's compensation power;

[0149] Based on the energy consumption, determine whether the fleet's energy consumption exceeds the preset consumption;

[0150] When the fleet's energy consumption exceeds the preset consumption, it detects whether there are deviations in the channel width and channel depth; detects whether the real-time sea condition information has changed; checks whether the distance between ships and their relative positions have changed; and based on the above results, recalculates the ship's channel impact value, sea condition impact value and wake impact value, and adjusts the ship's compensation power.

[0151] In the embodiment of the present invention, according to the change of speed, it is judged whether the fleet's navigation speed reaches the preset speed, and according to the energy consumption, it is judged whether the fleet's energy consumption exceeds the preset consumption, so as to ensure that the fleet can sail according to the preset efficiency standard. If there is a deviation, the problem can be found in time and the adjustment process can be started to avoid the decline of navigation efficiency and negatively affect the overall task completion; when the fleet's navigation speed does not reach the preset speed, the channel impact value, sea condition impact value and wake impact value of the ship are recalculated according to the above results, and the compensation power of the ship is adjusted to ensure that the energy consumption of the fleet remains within the predetermined range. If excessive consumption occurs, timely adjustments are made to avoid waste of resources, and unnecessary energy waste is reduced by redistributing power to ensure that the ship can operate efficiently when completing the task. By adjusting the power allocation plan in real time, it can ensure that the fleet always maintains efficient navigation in a complex navigation environment, maximizes energy conservation, optimizes the voyage, and improves the economy and environmental friendliness of ship operation.

[0152] Among them, when the fleet's sailing speed does not reach the preset speed, it detects whether the change in channel depth increases the channel impact value; detects whether there is a severe environmental change in the current section; checks whether the relative position of the trailing ship deviates from the optimal wake area; based on the above results, recalculates the ship's channel impact value, sea condition impact value and wake impact value, and adjusts the ship's compensation power, including:

[0153] The water depth data of the ship's current channel is obtained in real time through depth measuring instruments. The system establishes a channel depth model based on historical data and compares the currently measured water depth with the preset standard value in real time. If a large change in water depth is detected, it is considered that the channel is affected and the system recalculates the channel impact value of this section.

[0154] The system monitors the surrounding environmental conditions in real time through meteorological equipment installed on the ship. It will detect the meteorological conditions of the current section of the voyage, paying special attention to variables such as wind speed, wind direction, wave height, and air pressure. If the changes in these factors exceed the preset threshold, the system will determine that severe environmental changes have occurred in the section of the voyage. Once severe environmental changes are detected, the system will recalculate the impact value of the current sea conditions.

[0155] Each ship is equipped with a wake monitoring system, which calculates the optimal sailing position of the following ship by measuring the airflow and wake direction discharged by the leading ship. The system monitors the relative position of the following ship in real time through radar to ensure that it is in the optimal wake area to minimize fuel consumption and increase speed. If the following ship deviates from the optimal wake area, the system will issue an alarm and calculate the required wake impact value.

[0156] Based on the recalculated channel impact values, sea condition impact values ​​and wake impact values, the ship's power system will automatically adjust by increasing or decreasing the ship's propeller power, adjusting the engine speed, and adjusting the speed. The adjusted power and speed will be fed back to the system in real time, and the subsequent situation will continue to be monitored to ensure that the ship continues to sail in a safe and efficient state.

[0157] An embodiment of the present invention further provides an energy-saving navigation system for a combined fleet under intelligent control, the system comprising:

[0158] The data acquisition module is used to collect the environmental data and ship status data of the fleet in real time, and pre-process it to remove redundant data and unify the unit format to obtain the navigation data set. The environmental data includes channel width, channel water depth and sea conditions. The ship status data includes navigation speed, heading angle, ship spacing and relative position, ship resistance and propulsion power.

[0159] The resistance calculation module is used to calculate the influence of channel width and channel depth on ship resistance according to the navigation data set, and obtain the channel influence value; calculate the influence of sea conditions on ship resistance by combining sea condition information, navigation speed and heading angle, and obtain the sea condition influence value. The sea condition information includes wave height, wave direction and wind speed; analyze the change of ship resistance caused by wake effect on the following ship through the distance and relative position of the ships, and obtain the wake influence value;

[0160] The power calculation module is used to determine the resistance impact value of each ship according to the channel impact value, the sea condition impact value and the wake impact value, and calculate the required power of each ship based on the resistance impact value to obtain the required power data set;

[0161] A power analysis module is used to analyze the difference between the propulsion power and the required power of each ship based on the required power data set, calculate the compensation power of each ship, and generate a power allocation plan;

[0162] Intelligent energy-saving module, which is used to analyze the limitation of the waterway on the ship compensation power according to the power allocation plan, balance the distribution of compensation power between ships, and obtain energy-saving plan;

[0163] The program execution module is used to adjust the compensation power of each ship in real time according to the energy-saving plan, monitor the fleet's navigation efficiency, and obtain execution data. The navigation efficiency includes energy consumption and speed changes;

[0164] The optimization and adjustment module is used to analyze whether the navigation efficiency reaches the preset efficiency based on the execution data. If the result is no, the resistance impact value of each ship is updated and the power allocation plan is adjusted according to the energy consumption and speed changes of each ship.

[0165] It should be noted that the system is a system corresponding to the above method, and all implementation methods in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0166] The embodiment of the present invention further provides a computing device, including: a processor, a memory storing a computer program, and when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0167] The embodiment of the present invention further provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the above method. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0168] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A combined fleet energy-saving navigation method under intelligent control, characterized in that: The method comprises: Collect environmental data and ship status data of the fleet in real time, pre-process them, remove redundant data, unify the unit format, and obtain the navigation data set. Environmental data includes channel width, channel depth and sea conditions, and ship status data includes navigation speed, heading angle, ship spacing and relative position, ship resistance and propulsion power; According to the navigation data set, the influence of channel width and channel depth on ship resistance is calculated to obtain the channel impact value; by combining sea condition information, navigation speed and heading angle, the influence of sea condition on ship resistance is calculated to obtain the sea condition impact value. The sea condition information includes wave height, wave direction and wind speed; by analyzing the wake effect on the change of ship resistance of the following ship through the distance and relative position of the ships, the wake impact value is obtained; According to the channel impact value, sea condition impact value and wake impact value, the resistance impact value of each ship is determined, and the required power of each ship is calculated based on it to obtain the required power data set; According to the power demand data set, the difference between the propulsion power and the required power of each ship is analyzed, the compensation power of each ship is calculated, and the power allocation plan is generated; According to the power allocation plan, analyze the limitation of the waterway on the ship compensation power, balance the distribution of compensation power between ships, and obtain the energy-saving plan; According to the energy-saving plan, the compensation power of each ship is adjusted in real time, and the navigation efficiency of the fleet is monitored to obtain execution data. The navigation efficiency includes energy consumption and speed changes. According to the execution data, analyze whether the navigation efficiency reaches the preset efficiency. If the result is no, update the resistance impact value of each ship and adjust the power allocation plan according to the energy consumption and speed changes of each ship; According to the navigation data set, the influence of channel width and channel depth on ship resistance is calculated to obtain the channel impact value, including: Determine the width influence coefficient of the ship in the channel according to the channel width and ship size; According to the width influence coefficient, calculate the width resistance of the ship caused by the channel width; Determine the water depth influence coefficient of the ship in the channel according to the channel water depth and ship size; According to the water depth influence coefficient, calculate the water depth resistance of the ship caused by the water depth of the channel; According to the water depth resistance and water depth resistance, the channel impact value caused by the ship due to the channel is calculated. The calculation formula of the channel impact value is: ， in, For the The channel impact value of a ship, is the index of the ship, is the width resistance, is the width influence coefficient, For the The breadth of the ship, is the channel width, is the water depth resistance, is the water depth influence coefficient, For the The draft of the ship, is the water depth of the channel, is the coefficient.

2. The energy-saving navigation method of a combined fleet under intelligent control according to claim 1 is characterized in that: By combining sea condition information, navigation speed and heading angle, the influence of sea condition on ship resistance is calculated to obtain the sea condition impact value. Sea condition information includes wave height, wave direction and wind speed, including: Determine the flow angle between the waves and the ship based on the wave direction and heading angle; Determine the wave resistance of the ship according to the wave height, flow angle and sailing speed; Determine the relative wind speed the ship is subjected to based on wind speed and sailing speed; According to the wave resistance and relative wind speed, the sea condition impact value caused by the sea condition on the ship is calculated. The calculation formula of the sea condition impact value is: ， in, For the The sea condition impact value of a ship, is the wave height, For the waves and The flow angle between the ships, For the The heading angle of the ship, For the wave direction, is the sailing speed, is the standard air density at normal temperature and pressure, For the The relative wind speed to which the ship is subjected, is the wind speed, For the The static resistance of a ship, is the coefficient.

3. The energy-saving navigation method of a combined fleet under intelligent control according to claim 2 is characterized in that: By analyzing the wake effect on the change of ship resistance of the following ship through the ship spacing and relative positions, the wake influence value is obtained, including: Determine the wake diffusion range generated by the main propulsion ship according to the sailing speed and ship size; Determine the initial wake intensity generated by the main propulsion vessel based on the propulsion power and vessel size; Determine the attenuation wake intensity to which the following ship is subjected based on the ship spacing and relative positions, wake diffusion range and wake intensity; Determine the cross-sectional area of ​​the wake of the following ship based on the channel depth and ship size; According to the heading angle, the difference in heading angle between the trailing ship and the main propulsion ship is determined to obtain the heading difference angle; According to the decaying wake intensity, cross-sectional area and heading difference angle, the wake impact value caused by the wake of the following ship is calculated. The calculation formula of the wake impact value is: ， in, For the The wake impact value of a ship, is the standard water density at normal temperature and pressure, For the The cross-sectional area of ​​the ship, For the The decaying wake strength of a ship is For the The transverse distance between the ship and the main propulsion vessel, For the The longitudinal distance between the ship and the main propulsion vessel, is the heading difference between the following ship and the main propulsion ship, is the wave height, is the coefficient.

4. The energy-saving navigation method of a combined fleet under intelligent control according to claim 3 is characterized in that: According to the channel impact value, sea condition impact value and wake impact value, the resistance impact value of each ship is determined, and the required power of each ship is calculated based on it to obtain the required power data set, including: The calculation formula of the required power is: ， in, For the The power demand of a ship, is the index of the ship, For the The channel impact value of a ship, is the channel width, is the water depth of the channel, For the The sea condition impact value of a ship, For the The heading angle of the ship, is the sailing speed, For the The wake impact value of a ship, For the The difference in heading angle between the ship and the main propulsion ship, For the The distance between the ship and the main propulsion vessel, , is the coefficient.

5. The energy-saving navigation method of a combined fleet under intelligent control according to claim 4 is characterized in that: According to the power allocation plan, the limitation of the waterway on the ship compensation power is analyzed, the distribution of compensation power between ships is balanced, and the energy-saving plan is obtained, including: Determine the lateral navigation space based on the channel width and ship size; When the lateral navigation space does not support the fleet to maintain a queue, the section of the channel is marked as a restricted area; According to the restricted area, the compensation power of the main propulsion ship is reduced to obtain a weakened wake; Determine the maximum safe power and minimum propulsion power for each ship based on the decaying wake and navigation speed; When the main propulsion ship cannot increase the compensation power to reach its minimum propulsion power due to channel restrictions, the propulsion power of the fleet is shared by increasing the compensation power of the trailing ship; When the maximum safety power of the following ship cannot meet its minimum propulsion power, the minimum propulsion power of the following ship shall be shared by other following ships; According to the maximum safety power and minimum propulsion power of each ship, it is ensured that the fleet meets the fleet's navigation speed requirements under the channel restrictions, and the fleet's energy consumption is reduced to obtain an energy-saving solution.

6. The energy-saving navigation method of a combined fleet under intelligent control according to claim 5 is characterized in that: According to the execution data, analyze whether the navigation efficiency reaches the preset efficiency. If the result is no, update the resistance impact value of each ship according to the energy consumption and speed changes of each ship, and adjust the power allocation plan, including: According to the change of speed, judge whether the fleet's sailing speed reaches the preset speed; When the fleet's sailing speed does not reach the preset speed, it detects whether the change in channel depth increases the channel impact value; detects whether there is a severe environmental change in the current section; checks whether the relative position of the trailing ship deviates from the optimal wake area; based on the above results, recalculates the ship's channel impact value, sea condition impact value and wake impact value, and adjusts the ship's compensation power; Based on the energy consumption, determine whether the fleet's energy consumption exceeds the preset consumption; When the fleet's energy consumption exceeds the preset consumption, it detects whether there are deviations in the channel width and channel depth; detects whether the real-time sea condition information has changed; checks whether the distance between ships and their relative positions have changed; and based on the above results, recalculates the ship's channel impact value, sea condition impact value and wake impact value, and adjusts the ship's compensation power.

7. An energy-saving navigation system for a combined fleet under intelligent control, characterized in that: The system comprises: The data acquisition module is used to collect the environmental data and ship status data of the fleet in real time, and pre-process it to remove redundant data and unify the unit format to obtain the navigation data set. The environmental data includes channel width, channel water depth and sea conditions. The ship status data includes navigation speed, heading angle, ship spacing and relative position, ship resistance and propulsion power. The resistance calculation module is used to calculate the influence of channel width and channel depth on ship resistance according to the navigation data set, and obtain the channel influence value; calculate the influence of sea conditions on ship resistance by combining sea condition information, navigation speed and heading angle, and obtain the sea condition influence value. The sea condition information includes wave height, wave direction and wind speed; analyze the change of ship resistance caused by wake effect on the following ship through the distance and relative position of the ships, and obtain the wake influence value; The power calculation module is used to determine the resistance impact value of each ship according to the channel impact value, the sea condition impact value and the wake impact value, and calculate the required power of each ship based on the resistance impact value to obtain the required power data set; A power analysis module is used to analyze the difference between the propulsion power and the required power of each ship based on the required power data set, calculate the compensation power of each ship, and generate a power allocation plan; Intelligent energy-saving module, which is used to analyze the limitation of the waterway on the ship compensation power according to the power allocation plan, balance the distribution of compensation power between ships, and obtain energy-saving plan; The program execution module is used to adjust the compensation power of each ship in real time according to the energy-saving plan, monitor the fleet's navigation efficiency, and obtain execution data. The navigation efficiency includes energy consumption and speed changes; The optimization and adjustment module is used to analyze whether the navigation efficiency reaches the preset efficiency based on the execution data. If the result is no, the resistance impact value of each ship is updated and the power allocation plan is adjusted according to the energy consumption and speed changes of each ship.

8. A computing device, characterized in that include: one or more processors; A storage device 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 method as claimed in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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