A ship collaborative multi-task system decision-making planning method and system

Abstract

The present invention provides a ship collaborative multi-task system decision-making planning method and system, which relates to the field of ship task decision technology. The specific steps include: collecting ship characteristic parameters and task parameters of each ship at the current moment, obtaining several known ship characteristic parameters of ships, inputting the ship characteristic parameters of each ship at the current moment into a trained ship characteristic model, obtaining each ship characteristic coefficient, performing data processing on the ship characteristic coefficient, environmental impact coefficient, and task characteristic coefficient of the ship at the current moment, generating a task adaptation coefficient of the ship at the current moment, sorting the task adaptation coefficients of each ship at the current moment from large to small, generating a priority list, and all ships executing tasks in sequence according to the priority list. The present invention can accurately match ships and tasks, can efficiently execute tasks, avoid the occurrence of safety hazards, and can reasonably prioritize tasks according to their urgency and importance.

Description

Technical Field

[0001] The present invention relates to the technical field of ship mission decision-making, and in particular to a ship collaborative multi-task system decision-making planning method and system. Background Art

[0002] The decision-making and planning method for collaborative multi-task systems aims to develop an optimal resource scheduling and task execution plan by comprehensively considering multiple factors, including the mission, the ship, and the environment, to achieve efficient and safe mission completion. In practical applications, this method can improve ship operational efficiency, reduce costs, and increase mission success rates. With technological advancements, particularly the application of artificial intelligence and big data analytics, collaborative multi-task decision-making and planning methods for ships will become increasingly intelligent and automated.

[0003] Current collaborative ship operations, especially when handling multiple concurrent tasks, face numerous technical challenges. First, ship characteristics (such as ship type, payload, and speed) directly impact their performance in different tasks. For example, some ships may excel at high-speed missions, while others may be more suited to heavy-load transport. When missions are diverse and their urgency varies, quickly and accurately assigning the right ship to the corresponding task becomes a complex and thorny issue. Furthermore, changes in external environmental conditions can also introduce uncertainty into ship decision-making. Fluctuations in factors such as wave height, visibility, and current speed can affect a ship's navigation safety and operational efficiency. In severe weather, a ship may not be able to execute its mission as planned, resulting in wasted resources and mission delays. In such situations, traditional static decision-making methods often fail to promptly reflect environmental changes, leading to inefficient mission execution and increased safety hazards, delaying rescue operations and exacerbating the consequences of accidents. Furthermore, due to the lack of real-time data-driven analysis, ships often struggle to prioritize multiple missions based on their urgency and importance. This static prioritization not only hinders the timely execution of tasks but can also lead to resource misallocation, causing some ships to be assigned to tasks that are not suitable for their characteristics, further reducing overall operational efficiency.

[0004] However, there are still the following deficiencies. As can be seen from the above statements, the above information disclosed in the background technology section is only used to enhance the understanding of the background of the present disclosure, so it may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0005] The purpose of the present invention is to provide a ship collaborative multi-task system decision-making planning method and system to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A decision-making and planning method for a ship collaborative multi-task system, comprising the following steps:

[0008] S1. Collect the current ship characteristic parameters, mission parameters, and external environmental parameters of each ship. The ship characteristic parameters include the ship's load, ship speed, and ship type code reflecting the ship type. The external environmental parameters include wave height, visibility, current speed, water temperature, and tide level at the ship. The mission parameters include the mission type identification code, mission urgency code, the time difference between the mission start time and the current time, and the mission duration. The mission type identification code and mission urgency code are used to reflect the mission type and mission urgency of the ship, respectively.

[0009] S2. Obtain several known ship characteristic parameters and determine the ship characteristic coefficient based on the expert scoring method. The ship characteristic coefficient is used to reflect the overall performance of the ship. A ship characteristic model is constructed. The known ship characteristic parameters are used as input, and the corresponding ship characteristic coefficients are used as labels to train the model to obtain a trained ship characteristic model.

[0010] S3. Input the ship characteristic parameters of each ship at the current moment into the ship characteristic model after training to obtain the ship characteristic coefficients of each ship;

[0011] S4. Process the currently collected wind speed, wave height, visibility, current speed, water temperature, and tide height to generate the current environmental impact coefficient. Process the currently collected task type identification code, task urgency code, time difference between task start time and current time, and task required time to generate the current ship task characteristic coefficient. Process the current ship's ship characteristic coefficient, environmental impact coefficient, and task characteristic coefficient to generate the current ship's task adaptation coefficient.

[0012] S5. Sort the mission adaptation coefficients of each ship at the current moment from large to small to generate a priority list, and all ships perform their missions in sequence according to the priority list.

[0013] Furthermore, when the mission type is scientific research, the ship identification code is 1; when the mission type is transportation, the ship identification code is 2; when the mission type is rescue, the ship identification code is 3; if the time difference between the mission start time and the current time is within 3 hours, the mission urgency code is 1; if the time difference between the mission start time and the current time is within 2 hours, the mission urgency code is 2; if the time difference between the mission start time and the current time is within 1 hour, the mission urgency code is 3.

[0014] Furthermore, the ship feature model is constructed using a deep neural network based on a multilayer perceptron, and the deep neural network of the multilayer perceptron includes an input layer, a first hidden layer, a second hidden layer, a third hidden layer and an output layer. The first hidden layer, the second hidden layer and the third hidden layer each have at least two neurons, and each uses ReLU as an activation function.

[0015] Furthermore, the wave height, visibility, current speed, water temperature and tide height collected at the current moment are processed to generate the environmental impact coefficient of the ship at the current moment, based on the following formula:

[0016]

[0017] Among them, XS hj is the environmental impact coefficient of the ship at the current moment, H is the wave height, V is the visibility, C is the current speed, T is the water temperature, T0 is the reference temperature, L is the tide height, L0 is the reference tide height, α is the weight coefficient of the wave height, β is the weight coefficient of visibility, γ is the weight coefficient of the tide height, 0<γ<α<β<1, γ+α+β=1.

[0018] Furthermore, the task type identification code, task urgency code, time difference between task start time and current time, and task required time collected at the current moment are processed to generate the task characteristic coefficient of the ship at the current moment. The formula is as follows:

[0019]

[0020] Among them, XS rw is the mission characteristic coefficient of the ship at the current moment, R type is the task type identification code, P level is the task urgency code, ET is the time required for the task, SC is the time difference between the task start time and the current time, w1 is the weight of the task type identification code, w2 is the weight of the task urgency code, w3 is the weight of the time required for the task, λ is the exponential decay coefficient, 0.1<λ<1, 0 <w3<w1<w2<1,w3+w1+w2=1。

[0021] Furthermore, the ship characteristic coefficient, environmental impact coefficient and mission characteristic coefficient at the current moment are processed to generate the mission adaptation coefficient of the ship at the current moment, based on the following formula:

[0022]

[0023] Among them, A s-e-t is the mission adaptation coefficient of the ship at the current moment, XS sh is the ship characteristic coefficient of the ship at the current moment.

[0024] Furthermore, when there are two or more ships with equal mission adaptation coefficients, the priority of the ships is arranged according to the mission urgency codes.

[0025] To achieve the above object, the present invention further provides the following technical solutions:

[0026] A ship collaborative multi-task system decision-making and planning system, used to execute any of the above-mentioned ship collaborative multi-task system decision-making and planning methods, comprising:

[0027] A data acquisition module is used to collect ship characteristic parameters, mission parameters, and external environmental parameters of each ship at the current moment. The ship characteristic parameters include the ship's ship load, ship speed, and a ship type code reflecting the ship type. The external environmental parameters include the wave height, visibility, current speed, water temperature, and tide level at the ship. The mission parameters include a mission type identification code, a mission urgency code, the time difference between the mission start time and the current time, and the time required for the mission. The mission type identification code and mission urgency code are used to reflect the mission type and mission urgency of the ship, respectively.

[0028] The model building module is used to obtain several known ship characteristic parameters, determine the ship characteristic coefficient based on the expert scoring method, and use the ship characteristic coefficient to reflect the overall performance of the ship. The ship characteristic model is constructed by using the known ship characteristic parameters as input and the corresponding ship characteristic coefficient as the label training model to obtain the trained ship characteristic model;

[0029] The characteristic coefficient acquisition module is used to input the ship characteristic parameters of each ship at the current moment into the trained ship characteristic model to obtain the ship characteristic coefficient of each ship;

[0030] a data processing module for processing the wind speed, wave height, visibility, current speed, water temperature, and tide height collected at the current moment to generate the environmental impact coefficient of the ship at the current moment; processing the task type identification code, task urgency code, time difference between the task start time and the current time, and task required time collected at the current moment to generate the task characteristic coefficient of the ship at the current moment; and processing the ship characteristic coefficient, environmental impact coefficient, and task characteristic coefficient of the ship at the current moment to generate the task adaptation coefficient of the ship at the current moment;

[0031] The priority sorting module is used to sort the task adaptation coefficients of each ship at the current moment from large to small, generate a priority list, and all ships perform tasks in sequence according to the priority list.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The present invention collects the ship characteristic parameters of each ship at the current moment, as well as the external environment parameters at the ship, to construct a ship characteristic model, inputs the ship characteristic parameters of each ship at the current moment into the trained ship characteristic model, obtains the ship characteristic coefficient of each ship, processes the ship characteristic coefficient, environmental impact coefficient, and task characteristic coefficient of the ship at the current moment, generates the task adaptation coefficient of the ship at the current moment, sorts the task adaptation coefficients of each ship at the current moment from large to small, generates a priority list, and all ships perform tasks in sequence according to the priority list. Therefore, by processing and analyzing the ship characteristic parameters, task parameters, and external environment parameters at the ship, ships can be accurately matched with tasks, tasks can be efficiently performed, safety hazards can be avoided, and reasonable priority sorting can be performed according to the urgency and importance of tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the overall method flow of the present invention;

[0035] Figure 2 This is a block diagram of the module composition of the present invention. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to specific embodiments.

[0037] It should be noted that, unless otherwise defined, the technical or scientific terms used in the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0038] Example 1:

[0039] See also Figure 1 , the present invention provides a technical solution:

[0040] A decision-making and planning method for a ship collaborative multi-task system, comprising the following steps:

[0041] S1. Collect the current ship characteristic parameters, mission parameters, and external environmental parameters of each ship. The ship characteristic parameters include the ship's load, ship speed, and ship type code reflecting the ship type. The external environmental parameters include wave height, visibility, current speed, water temperature, and tide level at the ship. The mission parameters include the mission type identification code, mission urgency code, the time difference between the mission start time and the current time, and the mission duration. The mission type identification code and mission urgency code are used to reflect the mission type and mission urgency of the ship, respectively.

[0042] S2. Obtain several known ship characteristic parameters and determine the ship characteristic coefficient based on the expert scoring method. The ship characteristic coefficient is used to reflect the overall performance of the ship. A ship characteristic model is constructed. The known ship characteristic parameters are used as input, and the corresponding ship characteristic coefficients are used as labels to train the model to obtain a trained ship characteristic model.

[0043] S3. Input the ship characteristic parameters of each ship at the current moment into the ship characteristic model after training to obtain the ship characteristic coefficients of each ship;

[0044] S4. Process the wind speed, wave height, visibility, current speed, water temperature, and tide height collected at the current moment to generate the environmental impact coefficient of the ship at the current moment; process the mission type identification code, mission urgency code, time difference between the mission start time and the current time, and mission required time collected at the current moment to generate the mission characteristic coefficient of the ship at the current moment; and process the ship characteristic coefficient, environmental impact coefficient, and mission characteristic coefficient of the ship at the current moment to generate the mission adaptation coefficient of the ship at the current moment;

[0045] S5. Sort the mission adaptation coefficients of each ship at the current moment from large to small to generate a priority list, and all ships perform their missions in sequence according to the priority list.

[0046] Based on the above embodiment, the device and method for obtaining wind speed, wave height, visibility, current speed, water temperature and tide height are as follows:

[0047] The wave height meter is installed beside the ship or fixed on the seabed to record the changes in water surface fluctuations and measure the height of waves;

[0048] Install visibility meters on ships to monitor visibility regularly or in real time;

[0049] Fix the acoustic Doppler current profiler on the seabed or hang it on a ship to monitor the flow velocity and direction of the water in real time;

[0050] Immerse the thermocouple or thermistor temperature sensor in water and record the water temperature periodically or in real time;

[0051] Install tide gauges on the coastline or near ships to monitor tide heights in real time.

[0052] Based on the above embodiment, when the task type is scientific research, the ship identification code is 1; when the task type is transportation, the ship identification code is 2; when the task type is rescue, the ship identification code is 3; the time difference between the task start time and the current time is within 3 hours, indicating that the task urgency is low, the task urgency code is 1; the time difference between the task start time and the current time is within 2 hours, indicating that the task urgency is medium, the task urgency code is 2; the time difference between the task start time and the current time is within 1 hour, indicating that the task urgency is high, the task urgency code is 3; the higher the task urgency, the greater the task urgency code.

[0053] Based on the above embodiment, the ship feature model is constructed by a deep neural network based on a multilayer perceptron. The deep neural network of the multilayer perceptron includes an input layer, a first hidden layer, a second hidden layer, a third hidden layer and an output layer. The first hidden layer, the second hidden layer and the third hidden layer each have at least two neurons, and each uses ReLU as an activation function.

[0054] In this embodiment, the input features of the deep neural network of the multilayer perceptron include three features: ship type code, corresponding ship load and ship speed.

[0055] The structure of the deep neural network of multilayer perceptron is:

[0056] Input layer: receives input of 3 features;

[0057] The first hidden layer has 64 neurons and uses ReLU as the activation function.

[0058] The second hidden layer has 128 neurons and also uses the ReLU activation function.

[0059] The third hidden layer has 64 neurons and uses the ReLU activation function.

[0060] Output layer: has a single neuron, the ship characteristic coefficient of the ship at the current moment.

[0061] The process of training the ship feature model is as follows:

[0062] According to several known ship type codes, corresponding ship loads and ship speeds, the ship characteristic coefficient is determined based on the expert scoring method. The larger the ship characteristic coefficient, the better the performance of the ship.

[0063] The ship type code, the corresponding ship load and ship speed are used as input, and the ship characteristic coefficient is used as the output label for training. The mean square error is used as the loss function. When the mean square error is in the range of [0, 0.1], the training of the ship characteristic model is completed.

[0064] Based on the above embodiment, when the wave height H increases, the environmental risk will increase, XS hj The larger the wave height H and the environmental impact coefficient XS hj Positive correlation.

[0065] As visibility V increases and environmental risk decreases, the environmental impact coefficient XS hj Will be reduced, so the visibility V and environmental impact factor XS hj Negative correlation.

[0066] The increase of ocean current velocity C will cause the environmental risk to increase, and the environmental impact coefficient XS hj will increase, so the ocean current velocity C and the environmental impact coefficient XS hj Positive correlation.

[0067] As the water temperature T increases, the environmental risk increases, and the environmental impact coefficient XS hj will increase, so the water temperature T and the environmental impact coefficient XS hj Positive correlation.

[0068] The increase in tide height L will increase the environmental risk, XS hj The larger the tide height L and the environmental impact coefficient XS hj Positive correlation.

[0069] Therefore, the wave height, visibility, current speed, water temperature and tide height collected at the current moment are processed to generate the environmental impact coefficient of the ship at the current moment. The formula is as follows:

[0070]

[0071] Among them, XS hj is the environmental impact coefficient of the ship at the current moment, H is the wave height, V is the visibility, C is the current speed, T is the water temperature, T0 is the reference temperature, L is the tide height, L0 is the reference tide height, α is the weight coefficient of wave height, β is the weight coefficient of visibility, and γ is the weight coefficient of tide height.

[0072] XShj The range of the value is [0,10]. Within this range:

[0073] When XS hj When it is close to 0, it means that the ship is highly safe under the current environmental conditions;

[0074] When XS hj When it approaches 10 o'clock, it means that the ship faces greater risks under the current environmental conditions and needs to navigate with caution.

[0075] The reasons for using the above function form to express wave height, visibility, current speed, water temperature, tide height and ship's environmental impact coefficient are as follows:

[0076] First, the formula (α·H - β·V) directly expresses the linear relationship between wave height and visibility. Higher wave heights generally increase the risk of navigation, while lower visibility increases navigation difficulties and thus increases the risk. The weight coefficients α and β are adjusted to reflect the actual situation in different environments.

[0077] Second, the current speed C represents the strength of the current, which affects the navigation status of the ship. The higher the current speed, the greater the challenges and risks faced by the ship.

[0078] Temperature difference T-T0, used to measure the difference between the current water temperature and the reference water temperature, T is the current water temperature, T0 is the reference or benchmark temperature;

[0079] Exponential decay function When the temperature difference T-T0 is small (i.e. the water temperature is close to the reference temperature), the exponential term The value of is larger, which means that the ocean current velocity contributes more to the environmental impact coefficient;

[0080] As the temperature difference increases, It decreases rapidly, indicating that temperature changes will significantly reduce the impact of ocean current speed on the environment. This characteristic reflects the regulatory effect of temperature changes on the interaction between ocean currents and the environment.

[0081] A reduction in visibility V typically has a significant impact on the safety of maritime operations, potentially leading to navigation hazards and accidents. Therefore, the model demonstrates that the negative impact of visibility V is stronger than the positive impact of wave height H. In real-world marine environments, low visibility immediately impacts navigation safety, while changes in wave height H, while potentially affecting comfort and stability, have a relatively minor impact on short-term safety.

[0082] Although changes in tide height L will affect a ship's docking, generally speaking, in most marine operations, changes in wave height H play a more critical role in the ship's dynamic stability and safety. During navigation, the impact of waves is often directly related to the ship's navigation safety and stability. If the wave height H is too high, it may even cause the ship to capsize. This makes the impact of wave height more significant than the impact of tide height L in many cases.

[0083] Therefore, the weight coefficient β of visibility is greater than the weight coefficient α of wave height, and the weight coefficient of wave height is greater than the weight coefficient γ of tide height, that is, 0<γ<α<β<1. In the absence of other factors, γ+α+β=1 is set.

[0084] Based on the above embodiment, the task type directly affects the value of the numerator. The task type identification code R type Increase (the larger the identification code, the more important the task type), the task characteristic coefficient XS rw Therefore, the task type is positively correlated with the task characteristic coefficient.

[0085] As the task urgency code increases, the task urgency increases, and the task characteristic coefficient XS rw Therefore, the task urgency coding and task characteristic coefficient XS rw Positive correlation.

[0086] The time difference SC between the task start time and the current time increases, the task urgency decreases, and the task characteristic coefficient XS rw Therefore, SC and task characteristic coefficient XS rw Negative correlation.

[0087] The time required for the task ET increases, the urgency of the task decreases, and the task characteristic coefficient XS rw Therefore, the time required for the task ET and the task characteristic coefficient XS rw Negative correlation.

[0088] Therefore, the task type identification code, task urgency code, time difference between task start time and current time, and task required time collected at the current moment are processed to generate the task characteristic coefficient of the ship at the current moment. The formula is as follows:

[0089]

[0090] Among them, XS rw is the mission characteristic coefficient of the ship at the current moment, R type is the task type identification code, P levelis the task urgency code, ET is the time required for the task, SC is the time difference between the task start time and the current time, w1 is the weight of the task type identification code, w2 is the weight of the task urgency code, w3 is the weight of the time required for the task, and λ is the exponential decay coefficient, 0.1<λ<1.

[0091] XS rw The range of the value is [0,10]. Within this range:

[0092] When XS hj When it is close to 0, it indicates that the urgency of the task under the current environmental conditions is low and the task can continue to be executed as planned;

[0093] When XS hj When it is close to 10 o'clock, it means that the urgency of the task is high under the environmental conditions, and it is necessary to re-evaluate the feasibility of the task and prepare to take countermeasures.

[0094] The reason for using the above function form to express the task type identification code, task urgency code, time difference between task start time and current time, task time and task characteristic coefficient of the ship is as follows:

[0095] First, e λ·SC The introduction of effectively simulates the decay of task importance over time. When a task's start time is farther from the current time, its importance decreases, and vice versa. This dynamic reflects the timeliness of real-world situations.

[0096] Second, in the processing of the task time ET, the use of a logarithmic function can avoid the negative impact of too long a time on the characteristic coefficient. This method ensures that even if the task takes a long time, the calculation of the characteristic coefficient remains within a reasonable range.

[0097] Third, task type identification code R type :Different missions may have different natures (such as rescue, transport, cruise, etc.), and each type of mission has different requirements for ship operations and resources;

[0098] Task urgency code P level : A higher level indicates a more urgent task. For example, urgent tasks may need to be handled immediately, while low-urgency tasks can be postponed.

[0099] The weights w1 and w2 are used to adjust the impact of task type and urgency on the task characteristic coefficient. By setting different weights, you can emphasize the importance of certain factors based on the actual situation. In some environments, task urgency may be more important (such as in emergency rescue situations), so the value of w2 can be increased; in other cases, the type of task may be more influential.

[0100] In most task management and scheduling systems, task urgency coding is often the most important factor. Therefore, the weight w2 of task urgency coding is usually set relatively high to ensure that important tasks can be processed in a timely manner.

[0101] The weight w1 of the task type identification code varies according to the complexity and processing requirements of different types of tasks. In some cases, specific types of tasks require more resources or time, so the weight w1 of the task type identification code is higher than the weight w3 of the required task time.

[0102] The weight w3 of the required task time is usually small because although the required time is an important consideration factor, in many cases, the required time is not the only determining factor, especially under the influence of task urgency and type.

[0103] Therefore, the weight of task urgency coding is greater than the weight of the task type identification code, and the weight of the task type identification code is greater than the weight of the required task time, that is, 0 < w3 < w1 < w2 < 1. Without the influence of other factors, set w3 + w1 + w2 = 1.

[0104] Based on the above embodiments, the ship characteristic coefficient XS sh : Represents the performance and state of the ship. The higher the value, the more suitable the ship is for the current environment and task.

[0105] The environmental impact coefficient XS hj : Describes the impact of the environment on the ship's performance. The lower the value, the more favorable the environmental conditions.

[0106] The task characteristic coefficient XS rw : Represents the urgency of task execution. The larger the value, the more urgent the task.

[0107] Therefore, the ship characteristic coefficient, environmental impact coefficient, and task characteristic coefficient at the current moment are processed to generate the task adaptation coefficient at the current moment, based on the following formula:

[0108]

[0109] Among them, A s-e-t is the task adaptation coefficient at the current moment, and XS sh is the ship characteristic coefficient at the current moment.

[0110] For the task adaptation coefficient A s-e-t , its value range is set to [0, 20].

[0111] When approaching 0, it indicates that the adaptability of the ship, environment, and task is poor and needs to be optimized;

[0112] When it is close to 20, it means that the adaptability is good and the ship can complete the task efficiently in the current environment.

[0113] It reflects the relationship between ship characteristics and environmental impacts. Ship performance directly affects the mission adaptation coefficient in the numerator, while environmental impact plays a weakening role in the denominator. That is, when environmental conditions deteriorate (XS hj Increase), task adaptation coefficient A s-e-t It will be negatively affected, reflecting the negative correlation between the two.

[0114] It reflects the influence of task characteristics. As the task urgency (XS rw ) increases, the task adaptation coefficient A s-e-t It gradually decreases, indicating the negative impact of task urgency on adaptability. Due to the use of square terms, the impact of task urgency on the adaptability coefficient is nonlinear. The higher the urgency, the faster the adaptability decreases.

[0115] On the basis of the above embodiment, the task adaptation coefficients of the ships at the current moment are sorted from large to small to generate a priority list, and all ships perform tasks in sequence according to the priority list.

[0116] Based on the above embodiment, when there are two or more ships with equal mission adaptation coefficients, the priority of the ships is arranged according to the mission urgency codes.

[0117] See also Figure 2 , the present invention also provides a technical solution:

[0118] A ship collaborative multi-task system decision-making and planning system, used to execute any of the above-mentioned ship collaborative multi-task system decision-making and planning methods, comprising:

[0119] A data acquisition module is used to collect ship characteristic parameters, mission parameters, and external environmental parameters of each ship at the current moment. The ship characteristic parameters include the ship's ship load, ship speed, and a ship type code reflecting the ship type. The external environmental parameters include the wave height, visibility, current speed, water temperature, and tide level at the ship. The mission parameters include a mission type identification code, a mission urgency code, the time difference between the mission start time and the current time, and the time required for the mission. The mission type identification code and mission urgency code are used to reflect the mission type and mission urgency of the ship, respectively.

[0120] The model building module is used to obtain several known ship characteristic parameters, determine the ship characteristic coefficient based on the expert scoring method, and use the ship characteristic coefficient to reflect the overall performance of the ship. The ship characteristic model is constructed by using the known ship characteristic parameters as input and the corresponding ship characteristic coefficient as the label training model to obtain the trained ship characteristic model;

[0121] The characteristic coefficient acquisition module is used to input the ship characteristic parameters of each ship at the current moment into the trained ship characteristic model to obtain the ship characteristic coefficient of each ship;

[0122] a data processing module for processing the wind speed, wave height, visibility, current speed, water temperature, and tide height collected at the current moment to generate the environmental impact coefficient of the ship at the current moment; processing the task type identification code, task urgency code, time difference between the task start time and the current time, and task required time collected at the current moment to generate the task characteristic coefficient of the ship at the current moment; and processing the ship characteristic coefficient, environmental impact coefficient, and task characteristic coefficient of the ship at the current moment to generate the task adaptation coefficient of the ship at the current moment;

[0123] The priority sorting module is used to sort the task adaptation coefficients of each ship at the current moment from large to small, generate a priority list, and all ships perform tasks in sequence according to the priority list.

[0124] The above formulas are all dimensionless and numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formulas are set by technicians in this field according to actual conditions.

[0125] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. Those skilled in the art will appreciate that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented by computer software, electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software depends on the specific application and design constraints of the technical solution.

[0126] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, and may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment as needed.

[0127] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

[0128] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, and may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment as needed.

[0129] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A decision-making and planning method for a ship collaborative multi-task system, characterized in that: The specific steps include: S1. Collect the current ship characteristic parameters, mission parameters, and external environmental parameters of each ship. The ship characteristic parameters include the ship's load, ship speed, and ship type code reflecting the ship type. The external environmental parameters include wave height, visibility, current speed, water temperature, and tide level at the ship. The mission parameters include the mission type identification code, mission urgency code, the time difference between the mission start time and the current time, and the mission duration. The mission type identification code and mission urgency code are used to reflect the mission type and mission urgency of the ship, respectively. S2. Obtain several known ship characteristic parameters and determine the ship characteristic coefficient based on the expert scoring method. The ship characteristic coefficient is used to reflect the overall performance of the ship. A ship characteristic model is constructed. The known ship characteristic parameters are used as input, and the corresponding ship characteristic coefficients are used as labels to train the model to obtain a trained ship characteristic model. S3. Input the ship characteristic parameters of each ship at the current moment into the ship characteristic model after training to obtain the characteristic coefficients of each ship; S4. Process the wind speed, wave height, visibility, current speed, water temperature, and tide height collected at the current moment to generate the environmental impact coefficient of the ship at the current moment; process the mission type identification code, mission urgency code, time difference between the mission start time and the current time, and mission required time collected at the current moment to generate the mission characteristic coefficient of the ship at the current moment; and process the ship characteristic coefficient, environmental impact coefficient, and mission characteristic coefficient of the ship at the current moment to generate the mission adaptation coefficient of the ship at the current moment; S5. Sort the mission adaptation coefficients of each ship at the current moment from large to small to generate a priority list, and all ships perform their missions in sequence according to the priority list.

2. The decision-making and planning method for a ship collaborative multi-task system according to claim 1, characterized in that: When the mission type is scientific research, the ship identification code is 1; when the mission type is transportation, the ship identification code is 2; when the mission type is rescue, the ship identification code is 3; if the time difference between the mission start time and the current time is within 3 hours, the mission urgency code is 1; if the time difference between the mission start time and the current time is within 2 hours, the mission urgency code is 2; if the time difference between the mission start time and the current time is within 1 hour, the mission urgency code is 3.

3. The decision-making and planning method for a ship collaborative multi-task system according to claim 1, characterized in that: The ship feature model is constructed using a deep neural network based on a multilayer perceptron. The deep neural network of the multilayer perceptron includes an input layer, a first hidden layer, a second hidden layer, a third hidden layer and an output layer. The first hidden layer, the second hidden layer and the third hidden layer each have at least two neurons and each use ReLU as an activation function.

4. The decision-making and planning method for a ship collaborative multi-task system according to claim 2, characterized in that: The wave height, visibility, current speed, water temperature and tide height collected at the current moment are processed to generate the environmental impact coefficient of the ship at the current moment. The formula is as follows: Among them, XS hj is the environmental impact coefficient of the ship at the current moment, H is the wave height, V is the visibility, C is the current speed, T is the water temperature, T0 is the reference temperature, L is the tide height, L0 is the reference tide height, α is the weight coefficient of the wave height, β is the weight coefficient of visibility, γ is the weight coefficient of the tide height, 0<γ<α<β<1, γ+α+β=1.

5. The decision-making and planning method for a ship collaborative multi-task system according to claim 4, characterized in that: The task type identification code, task urgency code, time difference between task start time and current time, and task required time collected at the current moment are processed to generate the task characteristic coefficient of the ship at the current moment. The formula is as follows: Among them, XS rw is the mission characteristic coefficient of the ship at the current moment, R type is the task type identification code, P level is the task urgency code, ET is the time required for the task, SC is the time difference between the task start time and the current time, w1 is the weight of the task type identification code, w2 is the weight of the task urgency code, w3 is the weight of the time required for the task, λ is the exponential decay coefficient, 0.1<λ<1, 0 <w3<w1<w2<1,w3+w1+w2=1。 6. The decision-making and planning method for a ship collaborative multi-task system according to claim 5, characterized in that: The ship characteristic coefficient, environmental impact coefficient and mission characteristic coefficient of the current moment are processed to generate the mission adaptation coefficient of the current moment ship. The formula is as follows: Among them, A s-e-t is the mission adaptation coefficient of the ship at the current moment, XS sh is the ship characteristic coefficient of the ship at the current moment.

7. The decision-making and planning method for a ship collaborative multi-task system according to claim 6, characterized in that: When there are two or more ships with equal mission adaptation coefficients, the priority of the ships is arranged according to the mission urgency code.

8. A ship collaborative multi-task system decision-making and planning system, configured to execute a ship collaborative multi-task system decision-making and planning method according to any one of claims 1 to 7, characterized in that: include: A data acquisition module is used to collect ship characteristic parameters, mission parameters, and external environmental parameters of each ship at the current moment. The ship characteristic parameters include the ship's ship load, ship speed, and a ship type code reflecting the ship type. The external environmental parameters include the wave height, visibility, current speed, water temperature, and tide level at the ship. The mission parameters include a mission type identification code, a mission urgency code, the time difference between the mission start time and the current time, and the time required for the mission. The mission type identification code and mission urgency code are used to reflect the mission type and mission urgency of the ship, respectively. The model building module is used to obtain several known ship characteristic parameters, determine the ship characteristic coefficient based on the expert scoring method, and use the ship characteristic coefficient to reflect the overall performance of the ship. The ship characteristic model is constructed by using the known ship characteristic parameters as input and the corresponding ship characteristic coefficient as the label training model to obtain the trained ship characteristic model; The characteristic coefficient acquisition module is used to input the ship characteristic parameters of each ship at the current moment into the trained ship characteristic model to obtain the ship characteristic coefficient of each ship; a data processing module for processing the wind speed, wave height, visibility, current speed, water temperature, and tide height collected at the current moment to generate the environmental impact coefficient of the ship at the current moment; processing the task type identification code, task urgency code, time difference between the task start time and the current time, and task required time collected at the current moment to generate the task characteristic coefficient of the ship at the current moment; and processing the ship characteristic coefficient, environmental impact coefficient, and task characteristic coefficient of the ship at the current moment to generate the task adaptation coefficient of the ship at the current moment; The priority sorting module is used to sort the task adaptation coefficients of each ship at the current moment from large to small, generate a priority list, and all ships perform tasks in sequence according to the priority list.

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