Speed ​​optimization method, device and electronic equipment

Abstract

The present invention provides a speed optimization method, device, and electronic device, relating to the field of speed optimization technology. The specific steps include: collecting historical and current route data, environmental parameters, and ship load parameters; generating fuel consumption rate and effective wind speed, and calculating the ship's effective speed and load rate; constructing a comprehensive function of the ship's fuel consumption and actual speed based on the ship's actual speed, the corresponding ship's actual fuel consumption rate, and the actual distance traveled on the route; generating a comprehensive objective function of the actual speed based on the relationship between fuel consumption and actual speed; optimizing the comprehensive objective function of the ship's actual speed with maximizing the actual speed as the optimization goal, and obtaining the optimal solution for the ship's speed. The present invention significantly improves the optimization accuracy of the constructed comprehensive objective function of the ship's actual speed by combining the collected parameters to comprehensively reflect their impact on the speed, and is applicable to different navigation conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of ship speed optimization, and in particular to a ship speed optimization method, device and electronic equipment. Background Art

[0002] Compared to land transport, maritime transport boasts advantages such as large capacity, mature development, and low costs, and plays a vital role in the global economy. Fuel consumption accounts for a significant portion of shipping costs compared to other operating expenses for shipping companies. Therefore, optimizing speed during shipping is crucial to achieving fuel savings.

[0003] In the prior art, a speed optimization method and device provided by publication number CN113743014A includes the following steps: obtaining a ship's route, dividing the route into multiple segments, and determining attribute data of the route; determining a fuel consumption function of the route based on the attribute data and a fuel consumption model; constructing a speed optimization function using the fuel consumption function, target parameters, and environmental parameters of the route, wherein the environmental parameters of the route include: flow velocity, flow direction, wind speed, wind direction, wave height, wave direction, wave period, seawater density, seawater viscosity, air density, and water depth data; solving the speed optimization function using a preset algorithm and preset constraints to obtain the optimal speed of the ship, wherein the preset constraints include: the ship's sailing time is less than or equal to the preset time, the main engine output power is less than or equal to a first preset threshold, and the sailing environment state is less than or equal to a second preset threshold, thereby solving the technical problem of poor engineering feasibility of the existing speed optimization method.

[0004] However, there are still the following deficiencies. As can be seen from the above statements, a speed optimization function is constructed using the fuel consumption function, target parameters and environmental parameters of the route. The environmental parameters of the route include: flow velocity, flow direction, wind speed, wind direction, wave height, wave direction, wave period, seawater density, seawater viscosity, air density and water depth data. Due to the complex interactions between different parameters, in practical applications, the combination of certain parameters can better reflect their impact on the speed. Therefore, considering these parameters alone cannot accurately reflect the overall impact on the speed. The speed accuracy of the speed optimization function constructed in this way needs to be considered.

[0005] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the Invention

[0006] The purpose of the present invention is to provide a method, device and electronic equipment for optimizing ship speed to solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A method for optimizing ship speed, comprising the following steps:

[0009] S1. Collect comprehensive data at equal time intervals to obtain comprehensive data for the current moment and multiple historical moments. The comprehensive data includes route data, relevant environmental parameters, and ship load parameters. The route data includes the ship's speed and heading at the corresponding moment, the distance traveled from the moment before the corresponding moment to the corresponding moment, and fuel consumption. The relevant environmental parameters include the current velocity, wind direction, and wind speed at the corresponding moment. The ship load parameters include the ship's cargo capacity and fuel quantity at the corresponding moment.

[0010] S2. Calculate the ship's fuel consumption rate using the collected route distance and fuel consumption corresponding to the route distance. Calculate the effective wind speed using the collected speed, heading, wind speed, and wind direction. Calculate the ship's load factor using the collected cargo capacity and fuel quantity.

[0011] S3. Calculate the east and north components of the ship speed using the collected ship speed, calculate the east and north components of the sea current speed using the collected sea current speed, calculate the east and north components of the wind speed using the collected wind speed, calculate the east component of the ship's effective speed based on the east component of the ship speed, the east component of the sea current speed, and the east component of the wind speed, calculate the north component of the ship's effective speed based on the north component of the ship speed, the north component of the sea current speed, and the north component of the wind speed, perform data processing on the east and north components of the ship's effective speed to generate the ship's effective speed;

[0012] S4. Construct a ship speed prediction model. Take the historical effective wind speed, ship effective speed, and load factor as inputs, and the corresponding actual ship speed as labels. Train the ship speed prediction model. After training, input the current effective wind speed, ship effective speed, and load factor into the ship speed prediction model to obtain the current actual ship speed.

[0013] S5. According to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the distance the ship has traveled at the current moment, construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment, and set constraints. The fuel consumption and actual speed of the ship at the current moment are combined to construct a comprehensive function of the fuel consumption and actual speed of the ship. According to the functional relationship between the fuel consumption and the actual speed at the current moment, a comprehensive objective function of the actual speed of the ship at the current moment is generated. The comprehensive objective function of the actual speed of the ship is optimized with the minimization of the comprehensive objective function and the maximization of the actual speed as the optimization goals to obtain the optimal solution for the speed of the ship at the current moment.

[0014] Furthermore, the fuel consumption rate of the ship is generated using the collected route distance and the fuel consumption corresponding to the route distance traveled. The effective wind speed is generated using the collected ship speed, heading, wind speed and wind direction. The formula is as follows:

[0015]

[0016] Where FCR is the fuel consumption rate of the ship, L is the fuel consumption corresponding to the route distance traveled, and S is the route distance traveled;

[0017]

[0018] Among them, EWS is the effective wind speed, V ω is the wind speed, V f is the ship speed, θ is the wind direction, and φ is the heading.

[0019] Furthermore, the collected ship speed is used to calculate the east and north components of the ship speed, the collected sea current speed is used to calculate the east and north components of the sea current speed, and the collected wind speed is used to calculate the east and north components of the wind speed, based on the following formula:

[0020]

[0021] Among them, V fx is the eastward component of the ship's speed, V fy is the north component of the ship speed, V cx is the eastward component of the ocean current velocity, V cy is the northward component of the ocean current velocity, V wx is the eastward component of wind speed, V wy is the northerly component of wind speed, and τ is the direction of ocean current.

[0022] Furthermore, the east component of the ship's effective speed is calculated based on the east component of the ship's speed, the east component of the sea current speed, and the east component of the wind speed. The north component of the ship's effective speed is calculated based on the north component of the ship's speed, the north component of the sea current speed, and the north component of the wind speed, according to the following formula:

[0023]

[0024] Among them, V ex is the eastward component of the ship’s effective speed, V ey is the north component of the ship’s effective speed;

[0025] The eastward component and northward component of the ship's effective speed are processed to generate the ship's effective speed based on the following formula:

[0026]

[0027] Among them, Ve The effective speed of the ship.

[0028] Furthermore, the collected cargo volume and fuel volume are used to calculate the ship's load factor, according to the following formula:

[0029]

[0030] Among them, R is the ship's load factor, Z is the ship's cargo capacity, and D is the ship's fuel capacity.

[0031] Furthermore, the specific process of step S5 is as follows:

[0032] Construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment in the following form:

[0033] FCR act =a·V act 2 +b·V act +c

[0034] C fuel =FCR act ·S act =(a·V act 2 +b·V act +c)·S act

[0035] Where a, b, c are the coefficients of the ship's fuel consumption rate function, FCR act is the actual fuel consumption rate of the ship at the current moment, V act is the actual speed of the ship at the current moment, C fuel is the fuel consumption of the ship at the current moment, S act is the distance of the route traveled;

[0036] Using the least squares method, the collected historical data sets were applied to a nonlinear model constructed based on the ship's fuel consumption rate. The actual data and the model function were fitted to determine the optimal coefficients a and b, as well as the intercept c of the nonlinear model.

[0037] Constraints:

[0038] V min ≤V act ≤V deg

[0039] Among them, V min is the minimum speed of the ship, V aeg is the design speed of the ship;

[0040] The functions of the ship's fuel consumption and speed are independent of each other. In order to find an optimal balance point during optimization, the current ship's fuel consumption and actual speed are combined to construct a comprehensive function of the ship's fuel consumption and actual speed. The expression is as follows:

[0041] Minimize Z=α1·C fuel -α2·V act

[0042] According to the functional relationship between the fuel consumption of the ship at the current moment and the actual speed of the ship, the comprehensive objective function becomes:

[0043] Minimize Z=α1·((a·V act 2 +b·V act +c)·S act )-α2·V act

[0044] Where Z is the comprehensive objective function, which represents the comprehensive evaluation index under given conditions, α1 is the weight coefficient of the ship's fuel consumption, α2 is the weight coefficient of the ship's actual speed, 0<α1<α2<1, and α1+α2=1;

[0045] Based on the actual speed of the ship V act The initial population is randomly generated. The initial population includes multiple individuals. The best value of the individual is input into the trained speed optimization model to obtain the actual speed of the ship corresponding to the individual. The individuals in the initial population are sorted from large to small according to the actual speed of the ship. The individuals in the top 50% are selected as parents. Through the crossover operation, the genes of the parent individuals are exchanged and combined to generate new individuals. After the mutation operation is performed on the newly generated individuals, the actual speed V of the ship is repeatedly calculated. act , perform selection, crossover, and mutation operations until the preset number of iterations is reached, and select the actual speed V of the ship act The largest individual is the optimal individual, and the actual speed of the ship corresponding to the optimal individual is V act This is the optimal solution for the ship's speed at the current moment.

[0046] To achieve the above object, the present invention further provides the following technical solutions:

[0047] A speed optimization device, used to execute any of the above-mentioned speed optimization methods, characterized in that it comprises:

[0048] A data acquisition module is configured to collect comprehensive data at equal time intervals to obtain comprehensive data for the current moment and multiple historical moments. The comprehensive data includes route data, relevant environmental parameters, and ship load parameters. The route data includes the ship's speed and heading at a corresponding moment, the distance traveled from the moment before the corresponding moment to the corresponding moment, and fuel consumption. The relevant environmental parameters include the sea current velocity, wind direction, and wind speed at the corresponding moment. The ship load parameters include the ship's cargo capacity and fuel quantity at the corresponding moment.

[0049] a data processing module for generating a fuel consumption rate of the ship using the collected route distance and the fuel consumption corresponding to the route distance, generating an effective wind speed using the collected speed, heading, wind speed, and wind direction, and calculating a load factor of the ship using the collected cargo capacity and fuel quantity of the ship;

[0050] a data correction module, for calculating the east and north components of the ship speed using the collected ship speed, calculating the east and north components of the sea current speed using the collected sea current speed, calculating the east and north components of the wind speed using the collected wind speed, calculating the east component of the ship's effective speed based on the east component of the ship speed, the east component of the sea current speed, and the east component of the wind speed, calculating the north component of the ship's effective speed based on the north component of the ship speed, the north component of the sea current speed, and the north component of the wind speed, performing data processing on the east and north components of the ship's effective speed to generate the ship's effective speed;

[0051] The model building module is used to build a ship speed prediction model. The effective wind speed, ship effective speed and load rate at the historical moment are used as input, and the corresponding actual ship speed is used as a label to train the ship speed prediction model. After the training is completed, the current effective wind speed, ship effective speed and load rate are input into the ship speed prediction model to obtain the actual speed of the ship at the current moment.

[0052] The speed optimization module is used to construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment according to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the distance the ship has traveled at the current moment, and set constraints to combine the fuel consumption and actual speed of the ship at the current moment to construct a comprehensive function of the fuel consumption and actual speed of the ship. According to the functional relationship between the fuel consumption and the actual speed at the current moment, a comprehensive objective function of the actual speed of the ship at the current moment is generated. With the minimization of the comprehensive objective function and the maximization of the actual speed as the optimization goals, the comprehensive objective function of the actual speed of the ship is optimized to obtain the optimal solution of the ship's speed at the current moment.

[0053] An electronic device, comprising:

[0054] Memory, used to store computer programs;

[0055] A processor is used to execute the computer program to implement any of the above-mentioned methods for optimizing ship speed.

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] The present invention collects route data, relevant environmental parameters and ship load parameters at the current time and multiple historical times at equal time intervals, generates the ship's fuel consumption rate by using the collected route distance and fuel consumption, generates the effective wind speed by using the collected ship speed, heading, wind speed and wind direction, generates the ship's effective speed by using the collected speed, wind speed and sea current speed, calculates the ship's load rate by using the collected cargo volume and fuel volume, constructs a ship speed prediction model, obtains the ship's actual speed, and constructs the ship's actual speed based on the actual distance of the route, the ship's actual fuel consumption rate and the ship's actual speed. The actual fuel consumption rate and fuel consumption function are calculated, and constraints are set. The fuel consumption and actual speed of the ship are combined to construct a comprehensive function of the fuel consumption and actual speed of the ship. According to the relationship between fuel consumption and actual speed, a comprehensive objective function of the actual speed is generated. With the maximization of actual speed as the optimization goal, the comprehensive objective function of the actual speed of the ship is optimized to obtain the optimal solution of the ship's speed. By combining the collected parameters, the influence of the parameter combination on the speed is fully reflected, which significantly improves the optimization accuracy of the constructed comprehensive objective function of the actual speed of the ship and is suitable for different navigation conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 Schematic diagram of the overall method flow of the present invention;

[0059] Figure 2 This is a block diagram of the module composition of the present invention. DETAILED DESCRIPTION

[0060] 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.

[0061] 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.

[0062] Example 1:

[0063] See also Figure 1 , the present invention provides a technical solution:

[0064] A method for optimizing ship speed, comprising the following steps:

[0065] S1. Collect comprehensive data at equal time intervals to obtain comprehensive data for the current moment and multiple historical moments. The comprehensive data includes route data, relevant environmental parameters, and ship load parameters. The route data includes the ship's speed and heading at the corresponding moment, the distance traveled from the moment before the corresponding moment to the corresponding moment, and fuel consumption. The relevant environmental parameters include the current velocity, wind direction, and wind speed at the corresponding moment. The ship load parameters include the ship's cargo capacity and fuel quantity at the corresponding moment.

[0066] S2. Calculate the ship's fuel consumption rate using the collected route distance and fuel consumption corresponding to the route distance. Calculate the effective wind speed using the collected speed, heading, wind speed, and wind direction. Calculate the ship's load factor using the collected cargo capacity and fuel quantity.

[0067] S3. Calculate the east and north components of the ship speed using the collected ship speed, calculate the east and north components of the sea current speed using the collected sea current speed, calculate the east and north components of the wind speed using the collected wind speed, calculate the east component of the ship's effective speed based on the east component of the ship speed, the east component of the sea current speed, and the east component of the wind speed, calculate the north component of the ship's effective speed based on the north component of the ship speed, the north component of the sea current speed, and the north component of the wind speed, perform data processing on the east and north components of the ship's effective speed to generate the ship's effective speed;

[0068] S4. Construct a ship speed prediction model. Take the historical effective wind speed, ship effective speed, and load factor as input, and the corresponding actual ship speed as a label. Train the ship speed prediction model. After training, input the current effective wind speed, ship effective speed, and load factor into the ship speed prediction model to obtain the current actual ship speed.

[0069] S5. According to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the distance the ship has traveled at the current moment, construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment, and set constraints. Combine the fuel consumption and actual speed of the ship at the current moment to construct a comprehensive function of the ship's fuel consumption and actual speed. According to the functional relationship between the fuel consumption and the actual speed at the current moment, generate a comprehensive objective function of the actual speed of the ship at the current moment. With minimizing the comprehensive objective function and maximizing the actual speed as the optimization goals, optimize the comprehensive objective function of the actual speed of the ship to obtain the optimal solution for the speed of the ship at the current moment.

[0070] Based on the above embodiment, the equipment and method for collecting the distance of the route traveled, speed, heading, fuel consumption, sea current speed, wind direction, wind speed, cargo capacity and fuel quantity are as follows:

[0071] The GPS device records the ship's real-time position data and calculates the distance the ship has traveled. The speed sensor measures the speed of the ship relative to the water.

[0072] The ship's heading data is obtained through an electronic compass, usually based on true north or magnetic north.

[0073] The fuel consumption is monitored in real time by the flow meter installed in the fuel system, the fuel consumption data for each time period is recorded, and the total fuel consumption is calculated by combining it with the voyage time.

[0074] An acoustic Doppler current profiler measures the speed and direction of water flow using sound waves and is typically mounted on the hull of a ship or on an underwater probe.

[0075] Use an anemometer and wind vane combination to monitor wind speed and direction in real time. Anemometers typically use rotating blades or ultrasonic sensors to measure wind speed.

[0076] Weighing sensors are installed in the cargo hold or on the deck of the ship to monitor the weight of the cargo in real time and calculate the cargo volume based on the weight changes during loading and unloading.

[0077] The liquid level sensor installed in the fuel tank measures the fuel level change and calculates the remaining fuel amount based on the volume of the fuel tank.

[0078] Based on the above embodiment, the fuel consumption corresponding to the collected route and the distance of the route is used to generate the fuel consumption rate of the ship, and the effective wind speed is generated using the collected ship speed, heading, wind speed and wind direction. The formula is as follows:

[0079]

[0080] Among them, FCR is the fuel consumption rate of the ship, L is the fuel consumption corresponding to the route traveled, and S is the distance of the route traveled;

[0081]

[0082] Among them, EWS is the effective wind speed, V ω is the wind speed, V f is the ship speed, θ is the wind direction, the angle relative to the true north, and φ is the heading, the angle relative to the true north.

[0083] On the basis of the above embodiment, the east and north components of the ship speed are calculated using the collected ship speed, the east and north components of the sea current speed are calculated using the collected sea current speed, and the east and north components of the wind speed are calculated using the collected wind speed, according to the following formula:

[0084]

[0085]

[0086] Among them, V fx is the eastward component of the ship's speed, V fy is the north component of the ship speed, V cx is the eastward component of the ocean current velocity, V cy is the northward component of the ocean current velocity, V wx is the eastward component of wind speed, V wy is the northerly component of wind speed, and τ is the direction of ocean current (angle relative to true north).

[0087] On the basis of the above embodiment, the east component of the ship's effective speed is calculated according to the east component of the ship's speed, the east component of the sea current speed, and the east component of the wind speed. The north component of the ship's effective speed is calculated according to the north component of the ship's speed, the north component of the sea current speed, and the north component of the wind speed. The formula is as follows:

[0088]

[0089] Among them, V ex is the eastward component of the ship’s effective speed, V ey is the north component of the ship's effective speed.

[0090] V fxIt is the eastward component of the ship's own speed, indicating the speed at which the ship moves eastward without the influence of other external forces:

[0091] V cx It is the effect of ocean current on the ship, indicating the velocity component of the ocean current in the east direction. If the ocean current flows eastward, this component is positive, indicating that the ocean current is pushing the ship eastward.

[0092] V wx It is the effect of wind speed on the ship, indicating the speed component of the wind in the east direction. The effect of wind usually affects the navigation of the ship. If the wind is headwind (blowing from east to west), it will hinder the ship's progress to the east, which is expressed as a negative value.

[0093] Similarly, V fy It is the north component of the ship's own velocity, indicating the speed at which the ship moves north without the influence of other external forces;

[0094] V cy It is the effect of ocean current on the ship, indicating the velocity component of the ocean current in the north direction. If the ocean current flows north, this component is positive, indicating that the ocean current is pushing the ship northward.

[0095] V wy It is the effect of wind speed on the ship, indicating the speed component of the wind in the north direction. The effect of wind usually affects the navigation of the ship. If the wind is headwind (blowing from north to south), it will hinder the ship's progress to the north, which is expressed as a negative value.

[0096] Based on the above embodiment, the east component and north component of the ship's effective speed are processed to generate the ship's effective speed according to the following formula:

[0097]

[0098] Among them, V e The effective speed of the ship.

[0099] Based on the above embodiment, the collected cargo volume and fuel volume are used to calculate the ship's load factor, according to the following formula:

[0100]

[0101] Among them, R is the ship's load factor, z is the ship's cargo capacity, and D is the ship's fuel capacity.

[0102] Based on the above embodiment, the ship speed prediction model adopts a convolutional neural network model, which is composed of 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.

[0103] In this embodiment, the input features of the deep neural network of the multilayer perceptron include three features: effective wind speed, effective ship speed, and load factor;

[0104] Input layer: receives input of 3 features;

[0105] The first hidden layer has 128 neurons and uses ReLU as the activation function.

[0106] The second hidden layer has 256 neurons and also uses the ReLU activation function.

[0107] The third hidden layer has 128 neurons and uses the ReLU activation function.

[0108] Output layer: has a single neuron, the actual speed of the ship at the current moment.

[0109] The process of training the ship speed prediction model is as follows:

[0110] Based on the historical effective wind speed, effective speed of the ship and load factor, the expert group shall assess the actual speed of the corresponding ship;

[0111] The effective wind speed, ship effective speed and load rate are used as input, and the corresponding actual ship speed 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 speed prediction model is completed.

[0112] Based on the above embodiment, the specific process of step S5 is as follows:

[0113] Construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment in the following form:

[0114] FCR act =a·V act 2 +b·V act +c

[0115] C fuel =FCR act ·S act =(a·V act 2 +b·Vact +c)·S act

[0116] Where a, b, c are the coefficients of the ship's fuel consumption rate function, FCR act is the actual fuel consumption rate of the ship at the current moment, V act is the actual speed of the ship at the current moment, C fuel is the fuel consumption of the ship at the current moment, S act The actual distance of the route traveled at the current moment;

[0117] Using the least squares method, the collected historical data sets were applied to a nonlinear model constructed based on the ship's fuel consumption rate. The actual data and the model function were fitted to determine the optimal coefficients a and b, as well as the intercept c of the nonlinear model.

[0118] Constraints:

[0119] V min ≤V act ≤V deg

[0120] Among them, V min is the minimum speed of the ship, V deg is the design speed of the ship;

[0121] The functions of the ship's fuel consumption and speed are independent of each other. In order to find an optimal balance point during optimization, the current ship's fuel consumption and actual speed are combined to construct a comprehensive objective function of the ship's fuel consumption and actual speed. The expression is as follows:

[0122] Minimize Z=α1·C fuel -α2·V act

[0123] According to the functional relationship between the fuel consumption of the ship at the current moment and the actual speed of the ship, the comprehensive objective function becomes:

[0124] Minimize Z=α1·((a·V act 2 +b·V act +c)·S act )-α2·V act

[0125] Among them, Z is the comprehensive objective function, which represents the comprehensive evaluation index under given conditions, α1 is the weight coefficient of ship fuel consumption, and α2 is the weight coefficient of ship actual speed.

[0126] Ships tend to increase their speed during the optimization process, so the weight coefficient of the ship's actual speed is set to be greater than the weight coefficient of the ship's fuel consumption, that is, 0<α1<α2<1, and α1+α2=1.

[0127] Based on the actual speed of the ship V act The initial population is randomly generated. The initial population includes multiple individuals. The best value of the individual is input into the trained speed optimization model to obtain the actual speed of the ship corresponding to the individual. The individuals in the initial population are sorted from large to small according to the actual speed of the ship. The individuals in the top 50% are selected as parents. Through the crossover operation, the genes of the parent individuals are exchanged and combined to generate new individuals. After the mutation operation is performed on the newly generated individuals, the actual speed of the ship V is repeatedly calculated. act , perform selection, crossover, and mutation operations until the preset number of iterations is reached, and select the actual speed of the ship V act The largest individual is the optimal individual, and the actual speed of the ship corresponding to the optimal individual is V act This is the optimal solution for the ship's speed at the current moment.

[0128] See also Figure 2 , the present invention also provides a technical solution:

[0129] A speed optimization device, the device being used to execute any of the above-mentioned speed optimization methods, comprising:

[0130] A data acquisition module is configured to collect comprehensive data at equal time intervals to obtain comprehensive data for the current moment and multiple historical moments. The comprehensive data includes route data, relevant environmental parameters, and ship load parameters. The route data includes the ship's speed and heading at a corresponding moment, the distance traveled from the moment before the corresponding moment to the corresponding moment, and fuel consumption. The relevant environmental parameters include the sea current velocity, wind direction, and wind speed at the corresponding moment. The ship load parameters include the ship's cargo capacity and fuel quantity at the corresponding moment.

[0131] a data processing module for generating a fuel consumption rate of the ship using the collected route distance and fuel consumption corresponding to the route distance, generating an effective wind speed using the collected speed, heading, wind speed and direction, and calculating a load factor of the ship using the collected cargo capacity and fuel quantity of the ship;

[0132] a data correction module, for calculating the east and north components of the ship speed using the collected ship speed, calculating the east and north components of the sea current speed using the collected sea current speed, calculating the east and north components of the wind speed using the collected wind speed, calculating the east component of the ship's effective speed based on the east component of the ship speed, the east component of the sea current speed, and the east component of the wind speed, calculating the north component of the ship's effective speed based on the north component of the ship speed, the north component of the sea current speed, and the north component of the wind speed, performing data processing on the east and north components of the ship's effective speed to generate the ship's effective speed;

[0133] The model building module is used to build a ship speed prediction model. It takes the effective wind speed, ship effective speed and load factor at historical moments as input and the actual ship speed as a label to train the ship speed prediction model. After the training is completed, the current effective wind speed, ship effective speed and load factor are input into the ship speed prediction model to obtain the actual ship speed at the current moment.

[0134] The speed optimization module is used to construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment according to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the distance the ship has traveled at the current moment, and set constraints to combine the fuel consumption and actual speed of the ship at the current moment to construct a comprehensive function of the fuel consumption and actual speed of the ship. According to the functional relationship between the fuel consumption and the actual speed at the current moment, a comprehensive objective function of the actual speed of the ship at the current moment is generated. With the minimization of the comprehensive objective function and the maximization of the actual speed as the optimization goals, the comprehensive objective function of the actual speed of the ship is optimized to obtain the optimal solution of the ship's speed at the current moment.

[0135] An electronic device, comprising:

[0136] Memory, used to store computer programs;

[0137] A processor is used to execute the computer program to implement any of the above-mentioned methods for optimizing ship speed.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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 method for optimizing ship speed, characterized in that: The specific steps include: S1. Collect comprehensive data at equal time intervals to obtain comprehensive data for the current moment and multiple historical moments. The comprehensive data includes route data, relevant environmental parameters, and ship load parameters. The route data includes the ship's speed and heading at the corresponding moment, the distance traveled from the moment before the corresponding moment to the corresponding moment, and fuel consumption. The relevant environmental parameters include the current velocity, wind direction, and wind speed at the corresponding moment. The ship load parameters include the ship's cargo capacity and fuel quantity at the corresponding moment. S2. Calculate the ship's fuel consumption rate using the collected route distance and fuel consumption corresponding to the route distance. Calculate the effective wind speed using the collected speed, heading, wind speed, and wind direction. Calculate the ship's load factor using the collected cargo capacity and fuel quantity. S3. Calculate the east and north components of the ship speed using the collected ship speed, calculate the east and north components of the sea current speed using the collected sea current speed, calculate the east and north components of the wind speed using the collected wind speed, calculate the east component of the ship's effective speed based on the east component of the ship speed, the east component of the sea current speed, and the east component of the wind speed, calculate the north component of the ship's effective speed based on the north component of the ship speed, the north component of the sea current speed, and the north component of the wind speed, perform data processing on the east and north components of the ship's effective speed to generate the ship's effective speed; S4. Construct a ship speed prediction model. Take the historical effective wind speed, ship effective speed, and load factor as inputs, and the corresponding actual ship speed as labels. Train the ship speed prediction model. After training, input the current effective wind speed, ship effective speed, and load factor into the ship speed prediction model to obtain the current actual ship speed. S5. According to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the distance the ship has traveled at the current moment, construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment, and set constraints. Combine the fuel consumption and actual speed of the ship at the current moment to construct a comprehensive function of the ship's fuel consumption and actual speed. According to the functional relationship between the fuel consumption and the actual speed at the current moment, generate a comprehensive objective function of the actual speed of the ship at the current moment. With minimizing the comprehensive objective function and maximizing the actual speed as the optimization goals, optimize the comprehensive objective function of the actual speed of the ship to obtain the optimal solution for the speed of the ship at the current moment.

2. The method for optimizing navigation speed according to claim 1, characterized in that: The fuel consumption rate of the ship is generated using the collected route distance and the fuel consumption corresponding to the route distance. The effective wind speed is generated using the collected ship speed, heading, wind speed and wind direction. The formula is as follows: in, is the fuel consumption rate of the ship, is the fuel consumption corresponding to the route distance traveled, is the distance of the route traveled; in, is the effective wind speed, is the wind speed, is the speed, For wind direction, For the heading.

3. The method for optimizing navigation speed according to claim 1, wherein: The collected ship speed is used to calculate the east and north components of the ship speed, the collected sea current speed is used to calculate the east and north components of the sea current speed, and the collected wind speed is used to calculate the east and north components of the wind speed. The formula is as follows: in, is the eastward component of the ship's speed, is the north component of the ship's speed, is the eastward component of the ocean current velocity, is the northward component of the ocean current velocity, is the eastward component of wind speed, is the northerly component of the wind speed, The direction of the ocean current.

4. The method for optimizing navigation speed according to claim 3, characterized in that: The east component of the ship's effective speed is calculated based on the east component of the ship's speed, the east component of the sea current speed, and the east component of the wind speed. The north component of the ship's effective speed is calculated based on the north component of the ship's speed, the north component of the sea current speed, and the north component of the wind speed. The formula is as follows: in, is the eastward component of the ship’s effective speed, is the north component of the ship’s effective speed; The eastward component and northward component of the ship's effective speed are processed to generate the ship's effective speed based on the following formula: in, The effective speed of the ship.

5. The method for optimizing ship speed according to claim 4, characterized in that: The collected cargo and fuel quantities are used to calculate the ship's load factor according to the following formula: in, is the ship's load factor, is the cargo capacity of the ship, The amount of fuel for the ship.

6. The method for optimizing ship speed according to claim 5, characterized in that: The specific process of step S5 is as follows: Construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment in the following form: in, , , is the coefficient of the ship's fuel consumption rate function, is the actual fuel consumption rate of the ship at the current moment, is the actual speed of the ship at the current moment, is the fuel consumption of the ship at the current moment, The distance of the route traveled at the current moment; Using the least squares method, the collected multiple sets of historical data are applied to the nonlinear model constructed by the ship's fuel consumption rate, and the actual data and the model function are fitted to determine the optimal coefficient of the nonlinear model. and , and the intercept ; Constraints: in, is the minimum speed of the ship, is the design speed of the ship; The functions of the ship's fuel consumption and speed are independent of each other. In order to find an optimal balance point during optimization, the current fuel consumption and actual speed of the ship are combined to construct a comprehensive function of the fuel consumption and actual speed of the ship. The expression is as follows: According to the functional relationship between the fuel consumption of the ship at the current moment and the actual speed of the ship, the comprehensive objective function becomes: in, is a comprehensive objective function, which represents the comprehensive evaluation index under given conditions. is the weight coefficient of ship fuel consumption, is the weight coefficient of the actual speed of the ship, ,and ; Actual speed of the ship based on the settings The initial population is randomly generated, which includes multiple individuals. The optimal value of the individual is input into the trained speed optimization model to obtain the actual speed of the ship corresponding to the individual. The individuals in the initial population are sorted from large to small according to the actual speed of the ship. The individuals in the top 50% are selected as parents. Through the crossover operation, the genes of the parent individuals are exchanged and combined to generate new individuals. After the mutation operation is performed on the newly generated individuals, the actual speed of the ship is repeatedly calculated. , perform selection, crossover, and mutation operations until the preset number of iterations is reached, and select the actual speed of the ship The largest individual is the optimal individual, and the actual speed of the ship corresponding to the optimal individual is This is the optimal solution for the ship's speed at the current moment.

7. A ship speed optimization device, the device being used to execute a ship speed optimization method according to any one of claims 1 to 6, characterized in that: include: A data acquisition module is configured to collect comprehensive data at equal time intervals to obtain comprehensive data for the current moment and multiple historical moments. The comprehensive data includes route data, relevant environmental parameters, and ship load parameters. The route data includes the ship's speed and heading at a corresponding moment, the distance traveled from the moment before the corresponding moment to the corresponding moment, and fuel consumption. The relevant environmental parameters include the sea current velocity, wind direction, and wind speed at the corresponding moment. The ship load parameters include the ship's cargo capacity and fuel quantity at the corresponding moment. a data processing module for generating a fuel consumption rate of the ship using the collected route distance and fuel consumption corresponding to the route distance, generating an effective wind speed using the collected speed, heading, wind speed and direction, and calculating a load factor of the ship using the collected cargo capacity and fuel quantity of the ship; a data correction module, for calculating the east and north components of the ship speed using the collected ship speed, calculating the east and north components of the sea current speed using the collected sea current speed, calculating the east and north components of the wind speed using the collected wind speed, calculating the east component of the ship's effective speed based on the east component of the ship speed, the east component of the sea current speed, and the east component of the wind speed, calculating the north component of the ship's effective speed based on the north component of the ship speed, the north component of the sea current speed, and the north component of the wind speed, performing data processing on the east and north components of the ship's effective speed to generate the ship's effective speed; The model building module is used to build a ship speed prediction model. It takes the effective wind speed, ship effective speed and load factor at historical moments as input and the corresponding actual ship speed as the label to train the ship speed prediction model. After the training is completed, the current effective wind speed, ship effective speed and load factor are input into the ship speed prediction model to obtain the actual ship speed at the current moment. The speed optimization module is used to construct a function of the actual fuel consumption rate and fuel consumption of the ship at the current moment according to the actual speed of the ship at the current moment, the actual fuel consumption rate of the ship at the current moment and the distance the ship has traveled at the current moment, and set constraints to combine the fuel consumption and actual speed of the ship at the current moment to construct a comprehensive function of the fuel consumption and actual speed of the ship. According to the functional relationship between the fuel consumption and the actual speed at the current moment, a comprehensive objective function of the actual speed of the ship at the current moment is generated. With the minimization of the comprehensive objective function and the maximization of the actual speed as the optimization goals, the comprehensive objective function of the actual speed of the ship is optimized to obtain the optimal solution of the ship's speed at the current moment.

8. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement a ship speed optimization method according to any one of claims 1 to 6.

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