Ship trajectory planning method and device for offshore photovoltaic project, equipment and product

Abstract

The invention relates to a ship trajectory planning method and device applied to an offshore photovoltaic project, electronic equipment and a computer program product, relates to the technical field of path planning, and can be applied to a scene for determining a driving path for a ship on the sea surface. The method comprises the following steps: determining map environment information on the sea surface, wherein the map environment information is determined based on the position of currently installed equipment on the sea surface; determining target navigation information corresponding to the target ship based on the map environment information, wherein the target navigation information comprises a starting coordinate, an end point coordinate and a navigation speed; acquiring first navigation information corresponding to a first ship currently located in a specified sea surface range; and according to the map environment information, the first navigation information and the target navigation information, generating a target advancing track of the target ship. According to the method, the labor cost in the sailing process can be saved, meanwhile, the more reasonable target ship traveling track is formulated, and the ship sailing cost can be saved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of path planning, and in particular to a ship trajectory planning method applied to an offshore photovoltaic project, a ship trajectory planning device applied to an offshore photovoltaic project, an electronic device, and a computer program product. Background Art

[0002] In recent years, as the world's attention to renewable energy continues to increase, offshore photovoltaics, as a new type of renewable energy, has gradually become the focus of attention. This technology uses the vast space of the ocean to install photovoltaic panels, thereby collecting solar energy and converting it into electricity. During the construction of offshore photovoltaic projects, there are various types of ships on the sea, such as transportation ships, pile-sinking crane ships, lifting ships, transport ships, etc. In addition to ships, there are also pile foundations and brackets that have been built. Given the large number of physical objects on the sea, how to plan the ship's route is particularly important.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The purpose of the present disclosure is to provide a ship trajectory planning method for offshore photovoltaic projects, a ship trajectory planning device for offshore photovoltaic projects, an electronic device, a computer-readable storage medium and a computer program product, thereby at least to a certain extent overcoming the problem that related ship path selection schemes still rely on the on-site judgment of the crew, waste manpower and are prone to unreasonable path planning.

[0005] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present invention.

[0006] According to a first aspect of the present disclosure, there is provided a ship trajectory planning method applied to an offshore photovoltaic project, comprising: determining map environment information on the sea surface, the map environment information being determined based on the location of equipment currently installed on the sea surface; determining target navigation information corresponding to a target ship based on the map environment information, the target navigation information comprising starting coordinates, end coordinates and navigation speed; acquiring first navigation information corresponding to a first ship currently in a specified sea surface range; and generating a target travel trajectory of the target ship based on the map environment information, the first navigation information and the target navigation information.

[0007] In an exemplary embodiment of the present disclosure, the map environment information includes a sea surface environment map, and determining the map environment information on the sea surface includes: determining a sea surface coordinate reference point; based on the sea surface coordinate reference point, determining the equipment position coordinates corresponding to the equipment currently installed on the sea surface, the equipment including one or more of pile foundations and brackets; based on the sea surface coordinate reference point, determining the obstacle position coordinates of obstacles on the sea surface; and constructing the sea surface environment map according to the sea surface coordinate reference point, the equipment position coordinates and the obstacle position coordinates.

[0008] In an exemplary embodiment of the present disclosure, determining the target navigation information corresponding to the target ship based on the map environment information includes: obtaining a sea surface environment map, and determining the starting coordinates and the ending coordinates corresponding to the target ship based on the sea surface environment map; obtaining the navigation speed of the target ship in real time; and using the starting coordinates, the ending coordinates and the navigation speed as the target navigation information.

[0009] In an exemplary embodiment of the present disclosure, obtaining the first navigation information corresponding to the first ship that is currently in a designated sea surface range includes: determining the designated sea surface range based on the target navigation information, wherein the designated sea surface range changes dynamically based on the target navigation information; determining a first navigation state, a first navigation speed, and a first navigation track corresponding to the first ship; and generating the first navigation information according to the first navigation state, the first navigation speed, and the first navigation track.

[0010] In an exemplary embodiment of the present disclosure, generating a target moving track of the target ship based on the map environment information, the first navigation information and the target navigation information includes: acquiring current sea condition information of the sea surface, the current sea condition information including one or more of sea surface wind speed information and sea condition level information; generating a target moving track of the target ship based on the current sea condition information, the map environment information, the first navigation information and the target navigation information.

[0011] In an exemplary embodiment of the present disclosure, the target travel trajectory of the target ship is generated according to the current sea condition information, the map environment information, the first navigation information and the target navigation information, including: generating an initial travel trajectory according to the current sea condition information, the map environment information, the first navigation information and the target navigation information; obtaining a pre-set path planning target, the path planning target including one or more of distance priority, navigation cost priority and navigation safety priority; determining the target travel trajectory from the initial travel trajectory according to the path planning target.

[0012] In an exemplary embodiment of the present disclosure, the initial travel trajectory is generated according to the current sea condition information, the map environment information, the first navigation information and the target navigation information, including: determining multiple initial channels and channel restrictions of each of the initial channels based on the map environment information; determining a target ship type corresponding to the target ship, and determining a target candidate channel corresponding to the target ship from the initial channels based on the target ship type and the channel restrictions; generating the initial travel trajectory according to the current sea condition information, the target candidate channel, the first navigation information and the target navigation information.

[0013] According to a second aspect of the present disclosure, there is provided a ship trajectory planning device applied to an offshore photovoltaic project, comprising: an environmental information determination module, for determining map environmental information on the sea surface, wherein the map environmental information is determined based on the position of equipment currently installed on the sea surface; a target navigation information determination module, for determining target navigation information corresponding to a target ship based on the map environmental information, wherein the target navigation information includes a starting coordinate, an end coordinate and a navigation speed; a first navigation information determination module, for obtaining first navigation information corresponding to a first ship currently in a specified sea surface range; and a target trajectory generation module, for generating a target travel trajectory of the target ship according to the map environmental information, the first navigation information and the target navigation information.

[0014] In an exemplary embodiment of the present disclosure, the map environment information includes a sea surface environment map, and the environment information determination module includes an environment information determination unit, which is used to: determine a sea surface coordinate reference point; based on the sea surface coordinate reference point, determine the equipment position coordinates corresponding to the equipment currently installed on the sea surface, the equipment including one or more of pile foundations and brackets; based on the sea surface coordinate reference point, determine the obstacle position coordinates of obstacles on the sea surface; and construct the sea surface environment map according to the sea surface coordinate reference point, the equipment position coordinates and the obstacle position coordinates.

[0015] In an exemplary embodiment of the present disclosure, the target navigation information determination module includes a target navigation information determination unit, which is used to: obtain a sea surface environment map, and determine the starting coordinates and the end point coordinates corresponding to the target ship based on the sea surface environment map; obtain the navigation speed of the target ship in real time; and use the starting coordinates, the end point coordinates and the navigation speed as the target navigation information.

[0016] In an exemplary embodiment of the present disclosure, the first navigation information determination module includes a first navigation information determination unit, which is used to: determine the designated sea surface range based on the target navigation information, and the designated sea surface range changes dynamically based on the target navigation information; determine the first navigation state, the first navigation speed and the first navigation track corresponding to the first ship; and generate the first navigation information according to the first navigation state, the first navigation speed and the first navigation track.

[0017] In an exemplary embodiment of the present disclosure, the target trajectory generation module includes a target trajectory generation unit, which is used to: obtain current sea condition information of the sea surface, wherein the current sea condition information includes one or more of sea surface wind speed information and sea condition level information; generate a target travel trajectory of the target ship based on the current sea condition information, the map environment information, the first navigation information and the target navigation information.

[0018] In an exemplary embodiment of the present disclosure, the target trajectory generation unit includes a target trajectory generation sub-unit, which is used to: generate an initial travel trajectory based on the current sea condition information, the map environment information, the first navigation information and the target navigation information; obtain a pre-set path planning target, the path planning target including one or more of distance priority, navigation cost priority and navigation safety priority; determine the target travel trajectory from the initial travel trajectory based on the path planning target.

[0019] In an exemplary embodiment of the present disclosure, the target trajectory generation subunit includes an initial trajectory generation subunit, which is used to: determine a plurality of initial channels and channel restrictions of each of the initial channels based on the map environment information; determine a target ship type corresponding to the target ship, and determine a target candidate channel corresponding to the target ship from the initial channels based on the target ship type and the channel restrictions; and generate the initial travel trajectory according to the current sea condition information, the target candidate channel, the first navigation information and the target navigation information.

[0020] According to a third aspect of the present disclosure, there is provided an electronic device, comprising: a processor; and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, a ship trajectory planning method for an offshore photovoltaic project as described in any one of the above items is implemented.

[0021] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the ship trajectory planning method applied to an offshore photovoltaic project according to any one of the above items is implemented.

[0022] According to a fifth aspect of the present disclosure, there is provided a computer program product, comprising a computer program, which, when executed by a processor, implements any one of the above-described ship trajectory planning methods for offshore photovoltaic projects.

[0023] The technical solution provided by the present disclosure may have the following beneficial effects:

[0024] The ship trajectory planning method applied to offshore photovoltaic projects in the exemplary embodiment of the present disclosure, on the one hand, can automatically generate the target trajectory of the target ship according to the surrounding sea environment and the ship's travel information, without the need for on-site judgment by the crew, which can effectively save manpower costs; on the other hand, generating the target trajectory of the target ship according to the above information can ensure that the target trajectory is more reasonable and save the ship's sailing costs.

[0025] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0027] Figure 1 A flow chart of a ship trajectory planning method applied to an offshore photovoltaic project according to an exemplary embodiment of the present disclosure is schematically shown;

[0028] Figure 2 A flowchart of constructing a sea surface environment map according to an exemplary embodiment of the present disclosure is schematically shown;

[0029] Figure 3 A flowchart of determining a target travel trajectory based on a path planning target according to an exemplary embodiment of the present disclosure is schematically shown;

[0030] Figure 4 A schematic diagram of path planning for a target ship according to an exemplary embodiment of the present disclosure is schematically shown;

[0031] Figure 5 A block diagram of a ship trajectory planning device applied to an offshore photovoltaic project according to an exemplary embodiment of the present disclosure is schematically shown;

[0032] Figure 6 A schematic diagram schematically illustrates a computer-readable storage medium according to an exemplary embodiment of the present disclosure;

[0033] Figure 7 A block diagram of an electronic device according to an exemplary embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0034] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0035] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known structures, methods, devices, implementations, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present disclosure.

[0036] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or these functional entities or parts of functional entities may be implemented in one or more software hardened modules, or these functional entities may be implemented in different networks and / or processor devices and / or microcontroller devices.

[0037] In offshore photovoltaic projects, the path of ships on the sea surface still relies on the on-site judgment of the ship operators. However, the sea surface conditions in offshore photovoltaic projects are relatively complicated. In addition to various types of ships, there are also pile foundations, brackets and other equipment that have been built. There are many physical objects on the sea. Navigation at sea relies on the on-site judgment of the crew, which wastes manpower and is prone to unreasonable ship path planning.

[0038] Based on this, in this example embodiment, a ship trajectory planning method applied to an offshore photovoltaic project is first provided. The ship trajectory planning method applied to an offshore photovoltaic project of the present disclosure can be implemented by a server, and the method described in the present disclosure can also be implemented by a terminal device, wherein the terminal described in the present disclosure may include mobile terminals such as mobile phones, tablet computers, laptops, PDAs, personal digital assistants (PDAs), and fixed terminals such as desktop computers. Figure 1The following is a schematic diagram of a ship trajectory planning method for an offshore photovoltaic project according to some embodiments of the present disclosure. Figure 1 , the ship trajectory planning method applied to offshore photovoltaic projects may include the following steps:

[0039] Step S110, determining map environment information on the sea surface, where the map environment information is determined based on the location of the currently installed equipment on the sea surface.

[0040] According to some exemplary embodiments of the present disclosure, the map environment information may be information related to the surrounding environment of the sea where the ship is sailing. For example, the map environment information may be used to create an environment map required for the ship to sail. The device location may be the specific location of the device currently existing on the sea.

[0041] As offshore photovoltaic projects continue to advance, new equipment will continue to be fixed on the sea surface, such as pile foundations, brackets, and other equipment that may be involved in offshore photovoltaic projects, or other types of equipment. Before planning the ship's path, you can first determine the equipment that has been installed on the current sea surface and the coordinates of the location of these equipment on the sea surface. Determine the map environment information on the current sea surface based on the location of the equipment that has been installed on the sea surface.

[0042] Step S120, determining target navigation information corresponding to the target ship based on the map environment information, the target navigation information including the starting coordinates, the ending coordinates and the navigation speed.

[0043] According to some exemplary embodiments of the present disclosure, the target ship may be a designated ship to be routed. The target navigation information may be basic information required for trajectory planning of the target ship. The starting coordinates may be the starting position coordinates of the target ship sailing on the sea surface. The end coordinates may be the end position coordinates of the target ship sailing on the sea surface. The navigation speed may be the current travel speed of the target ship.

[0044] After determining the map environment information on the sea surface, since the map environment information can be used to create a map of the surrounding environment of the target ship, the target ship can be located and its specific position in the surrounding environment of the sea surface can be determined, such as determining the starting coordinates of the target ship and the coordinates of the desired destination according to the map environment information. In addition, it is also necessary to determine whether the target ship is currently in a moving state, and the moving state of the target ship can be determined according to the current moving speed.

[0045] Step S130, obtaining first navigation information corresponding to a first ship currently in a designated sea range.

[0046] According to some exemplary embodiments of the present disclosure, the specified sea surface range may be an environmental range on the current sea surface that may affect the travel trajectory of the target ship. The first ship may be a ship within the specified sea surface range. The first navigation information may be relevant state information of the first ship sailing on the sea surface.

[0047] During the path planning process, the waterway that the target ship may travel may contain other ships that are traveling or docked. When planning the ship's path, a specified sea surface range can be circled. The navigation status of the ships in the specified sea surface range may affect the target ship's path. Therefore, the navigation information corresponding to the first ship in the specified sea surface range is obtained.

[0048] Step S140, generating a target moving track of the target ship according to the map environment information, the first navigation information and the target navigation information.

[0049] According to some exemplary embodiments of the present disclosure, the target travel trajectory may be a path trajectory of the target ship traveling from the starting coordinates to the ending coordinates.

[0050] After determining the map environment information, the starting and ending coordinates of the target ship, and the relevant navigation information of the first ship that may affect its travel path, the path planning operation can be performed based on the above information. Path planning is to find a suitable path for the target ship to move from the starting and ending points to the ending point coordinates when the target ship knows the ending point position coordinates in advance. While moving, it is also necessary to avoid scattered obstacles in the environment and minimize the path length, so that the target ship can move from the starting position coordinates to the ending point coordinates safely without collision.

[0051] According to the ship trajectory planning method applied to offshore photovoltaic projects in this example embodiment, on the one hand, this solution can automatically generate the target trajectory of the target ship based on the surrounding sea environment and the ship's travel information, without the need for on-site judgment by the crew, which can effectively save labor costs; on the other hand, generating the target trajectory of the target ship based on the above information can ensure that the target trajectory is more reasonable and save ship sailing costs.

[0052] Next, the ship trajectory planning method applied to an offshore photovoltaic project in this example embodiment will be further described.

[0053] In an exemplary embodiment of the present disclosure, for step S110, the map environment information on the sea surface is determined, including: determining the sea surface coordinate reference point; based on the sea surface coordinate reference point, determining the equipment position coordinates corresponding to the equipment currently installed on the sea surface, the equipment including one or more of pile foundations and brackets; based on the sea surface coordinate reference point, determining the obstacle position coordinates of obstacles on the sea surface; constructing a sea surface environment map according to the sea surface coordinate reference point, the equipment position coordinates and the obstacle position coordinates.

[0054] Among them, the sea surface environment map can be a map of the sea surface environment required for trajectory planning of the target ship. The sea surface coordinate reference point can be a reference point for constructing the sea surface environment map, which can be understood as the coordinate origin of the coordinate system. The equipment location coordinates can be the location coordinates of the equipment on the sea surface in the sea surface environment map. Obstacles can be other objects on the sea surface other than equipment that may affect the movement of the ship. The obstacle location coordinates can be the location coordinates of obstacles on the sea surface in the sea surface environment map.

[0055] The path planning problem of the target ship usually includes the steps of positioning, mapping and path planning. The target ship usually needs to be based on the map of the surrounding sea surface during the movement process to determine the direction and position of the target ship in the current movement environment on the sea surface. The sea surface environment map can be given in advance or gradually built by the target ship itself during the movement process.

[0056] refer to Figure 2 , Figure 2 The flowchart of constructing a sea surface environment map according to an exemplary embodiment of the present disclosure is schematically shown. In step S210, a sea surface coordinate reference point is determined. A sea surface coordinate reference point is selected. For example, a location point on the coastline can be selected as the sea surface coordinate reference point; the starting point coordinates of the target ship can also be used as the sea surface coordinate reference point; or a location point at the center of the installed equipment in the offshore photovoltaic project can be selected as the sea surface coordinate reference point. The selection of the sea surface coordinate reference point can be determined according to the specific map construction requirements, and the present disclosure does not make any special restrictions on this.

[0057] In step S220, based on the sea surface coordinate reference point, the device location coordinates corresponding to the currently installed equipment on the sea surface are determined. In an offshore photovoltaic project, as the project progresses, a variety of different types of equipment may have been installed on the sea surface, such as pile foundations, brackets, floating platforms, photovoltaic platforms and other equipment. The location coordinates of the above-mentioned installed equipment can be determined based on the sea surface coordinate reference point.

[0058] In step S230, the obstacle position coordinates of the obstacle on the sea surface are determined based on the sea surface coordinate reference point. During the ship's travel, in addition to other ships on the sea surface and the equipment that has been installed, there may also be other physical objects under construction, such as cranes and piling equipment for offshore photovoltaic operations. The above physical objects may also hinder the travel path of the target ship. Therefore, these physical objects can be used as obstacles in path planning, and the obstacle position coordinates of the above obstacles can be determined based on the sea surface coordinate reference point.

[0059] In step S240, a sea surface environment map is constructed based on the sea surface coordinate reference point, the equipment location coordinates and the obstacle location coordinates. After determining the sea surface coordinate reference point, the sea surface environment map can be constructed by combining the location coordinates of the equipment and obstacles in the environment surrounding the target ship. The sea surface environment map is constructed through the above steps, and the sea surface environment map can be used in the subsequent ship path planning.

[0060] In an exemplary embodiment of the present disclosure, for step S120, the target navigation information corresponding to the target ship is determined based on the map environment information, including: obtaining a sea surface environment map, and determining the starting coordinates and the end point coordinates corresponding to the target ship based on the sea surface environment map; obtaining the navigation speed of the target ship in real time; and using the starting coordinates, the end point coordinates and the navigation speed as the target navigation information.

[0061] After the sea surface environment map is constructed, the coordinates of the current position of the target ship in the map can be determined according to the sea surface environment map as the starting coordinates; and the coordinates of the destination to which the target ship is about to sail need to be determined. For example, the starting coordinates and the destination coordinates can be obtained through the Global Positioning System (GPS), so as to plan the path according to the starting coordinates and the destination coordinates of the target ship.

[0062] In addition, the current navigation speed of the target ship can also be obtained so as to conduct a comprehensive analysis with the navigation speeds of other ships on the sea in the subsequent process, so as to plan the target ship's travel trajectory. The target navigation information determined by the above steps can be used as one of the reference information for the target travel trajectory.

[0063] In an exemplary embodiment of the present disclosure, for step S130, first navigation information corresponding to a first ship currently in a specified sea surface range is obtained, including: determining the specified sea surface range based on the target navigation information, the specified sea surface range dynamically changing based on the target navigation information; determining a first navigation state, a first navigation speed and a first navigation track corresponding to the first ship; generating the first navigation information according to the first navigation state, the first navigation speed and the first navigation track.

[0064] The first navigation state may be a navigation state of the first ship, and the navigation state may include stationary and moving. The first navigation speed may be a navigation speed of the first ship. The first navigation track may be a moving track of the first ship on the sea.

[0065] During the path planning process for the target ship, only the driving status of ships within a certain range on the sea surface may affect the target ship's trajectory; in addition, some other temporary obstacles may also appear.

[0066] In order to further reduce the amount of calculation in the path planning process and improve the efficiency of path planning, after determining the starting coordinates and the end coordinates of the target ship, a designated sea surface range can be determined on the sea surface according to the starting coordinates and the end coordinates. For example, a range is determined with the starting coordinates and the end coordinates as the center and the specified width as the radius as the designated sea surface range.

[0067] In addition, since the target ship is constantly moving on the sea surface, the sea surface range can be redefined according to the current position coordinates of the target ship during the movement of the target ship, that is, the designated sea surface range can be continuously and dynamically changed. After determining the designated sea surface range, the first ship within the designated sea surface range can be determined, and the navigation information of the first ship can be obtained, including the navigation state of the first ship, including stationary or moving; the travel speed of the first ship (i.e., the first navigation speed) and the expected travel track of the first ship (i.e., the first navigation track); the above navigation information is used as the first navigation information. After determining the first navigation information, it can be used as a basis for making behavioral decisions on the target travel track.

[0068] In an exemplary embodiment of the present disclosure, for step S140, a target moving trajectory of the target ship is generated based on map environment information, first navigation information and target navigation information, including: obtaining current sea condition information of the sea surface, the current sea condition information including one or more of sea surface wind speed information and sea condition level information; generating the target moving trajectory of the target ship based on the current sea condition information, map environment information, first navigation information and target navigation information.

[0069] The current sea condition information may be information related to the current sea surface condition. The sea surface wind speed information may be information related to the current wind speed on the sea surface. The sea condition level information may be information related to the specific level of the current sea condition.

[0070] During the navigation process of a ship, the sea condition has a great influence on the navigation speed of the ship. For example, in the case of large waves and rapid currents, the navigation speed of the ship will be limited. After determining the above navigation information, the current sea condition information on the sea surface can also be obtained. For example, the current sea condition information can include the current wind speed information on the sea surface and the sea condition level.

[0071] The wind speed on the sea surface can also be divided into multiple wind speed levels, such as dividing the sea surface wind speed into levels 1-11. The sea condition mainly refers to the following two situations: one is that under the action of wind, the sea condition in the field of vision, the shape of the wave crest and its degree of breakage, and the amount of wave foam, etc., the sea condition is divided into 10 levels; the other is the physical, chemical, biological and other properties of the sea area and their changes, including the distribution of temperature, salinity and density, the distribution of water masses and ocean circulation, etc. In this embodiment, since the sea surface wind speed information has been determined, the current sea condition level on the sea surface can be determined mainly according to the second situation and combined with the sea surface wind speed.

[0072] The target ship's trajectory planning includes the steps of routing, behavior decision and motion planning. After determining the current sea condition information, the routing can be processed according to the first target navigation information and the map environment information. At the same time, the behavior decision process and motion planning process can be carried out in combination with the current sea condition information and the target navigation information. The target trajectory of the target ship is generated through the above planning process, and the ship driver does not need to judge the ship's route on site in the offshore photovoltaic project.

[0073] In an exemplary embodiment of the present disclosure, a target travel trajectory of a target ship is generated according to current sea condition information, map environment information, first navigation information and target navigation information, including: generating an initial travel trajectory according to current sea condition information, map environment information, first navigation information and target navigation information; obtaining a pre-set path planning target, the path planning target including one or more of distance priority, navigation cost priority and navigation safety priority; determining the target travel trajectory from the initial travel trajectory according to the path planning target.

[0074] The initial travel trajectory may be a ship travel path determined based on relevant path planning information such as sea condition information, the surrounding environment of the sea surface, and the first ship information. The path planning target may be a relevant constraint condition for determining the optimal travel path.

[0075] refer to Figure 3 For step S310, an initial travel trajectory is generated according to the current sea condition information, map environment information, first navigation information and target navigation information. For the planning process of the target ship's travel trajectory, the behavior decision process needs to decide the channel of the target ship, whether it needs to wait for avoidance at the channel intersection, and the interaction with other ships at the channel intersection; the motion planning process is to predict the expected travel path of the target ship in the future, and it needs to meet the requirements of ship kinematics, dynamics, comfort and collision-free to avoid other ships. Through behavior decision-making and motion planning, multiple travel paths of the target ship may be predicted, which can be used as the initial travel trajectory.

[0076] For step S320, a pre-set path planning target is obtained, and the path planning target includes one or more of distance priority, navigation cost priority and navigation safety priority. Usually, before determining the target trajectory of the target ship, the path planning target of this time can be pre-set, for example, the path planning target of the target ship can be to find a shortest path (distance priority); the path planning target of the target ship can also be to find an optimal path, and the optimal path can have a path with the minimum navigation cost (navigation cost priority), and the navigation cost can include fuel consumed by the ship, ship loss, etc.; the path planning target of the target ship can also be to find a path that is the safest for navigation (navigation safety priority).

[0077] For step S330, the target trajectory is determined from the initial trajectory according to the path planning target. When multiple initial trajectories are generated, after the path planning target is obtained, a trajectory that best meets the path planning target can be selected from the multiple initial trajectories as the target trajectory. The target trajectory is determined according to the path planning target so that the finally generated trajectory better meets the actual needs of this voyage.

[0078] It is easy for those skilled in the art to understand that in some other exemplary embodiments of the present disclosure, other path planning objectives may be pre-set according to the navigation requirements of the target ship, and the present disclosure does not impose any special limitation on the path planning objectives on which the target travel trajectory is based.

[0079] In an exemplary embodiment of the present disclosure, an initial travel trajectory is generated based on current sea condition information, map environment information, first navigation information and target navigation information, including: determining multiple initial channels and channel restrictions of each initial channel based on the map environment information; determining a target ship type corresponding to the target ship, and determining a target candidate channel corresponding to the target ship from the initial channels based on the target ship type and the channel restrictions; generating an initial travel trajectory based on current sea condition information, target candidate channels, first navigation information and target navigation information.

[0080] The initial channel may be one or more navigable channels of the target ship included in the map environment information. The channel restriction may be a relevant restriction condition of the initial channel. The target ship type may be a specific type of the target ship. The target candidate channel may be a channel that the target ship can actually navigate after being screened according to the channel restriction.

[0081] As the construction of offshore photovoltaic projects continues, multiple different channels can be formed on the sea surface by installing pile foundations, brackets and other equipment. According to the map environment information, the channel formed on the sea surface is used as the initial channel for ship navigation, and the channel restrictions corresponding to each initial channel are determined, such as the channel width, water level fluctuation and other information of each channel.

[0082] In addition, the target ship type corresponding to the target ship is determined. For example, the target ship type may include but is not limited to a transportation ship, a pile-sinking crane ship, a lifting ship, a transport ship, etc. Different types of ships have different ship sizes, ship navigation requirements, etc. According to the target ship type and the channel restrictions, a target candidate channel that meets the navigation requirements of the target ship can be determined from the initial channel. For example, the target candidate channel needs to be larger than the ship width of the target ship. If the target ship needs to turn at a channel intersection during its trajectory, the channel intersection needs to meet the driving requirements of the target ship to turn.

[0083] refer to Figure 4 , Figure 4 A schematic diagram of path planning for a target ship according to an exemplary embodiment of the present disclosure is schematically shown. Figure 4 The initial channels may include multiple channels with different widths or different channel restrictions. After determining the target candidate channel that the target ship can pass through, the target ship may be routed by combining the current sea condition information, the target candidate channel, the first navigation information and the target navigation information to generate one or more initial travel trajectories of the target ship. The initial travel trajectory of the target ship is generated in combination with the channel restrictions, so as to avoid the ship selecting a channel that does not meet the navigation conditions when searching for a route.

[0084] Furthermore, as the progress of offshore photovoltaic projects continues to advance and the construction of various projects proceeds, the waterways and obstacles on the sea surface may change. In order to cope with the ever-changing distribution of sea surface waterways and obstacles, and plan the target trajectory of the target ship according to the ever-changing sea surface conditions, the present disclosure can also dynamically adjust the waterway information or obstacle information on the current sea surface according to the construction plan, determine the waterway information or obstacle information at a certain time node in the future, and generate a sea surface environment map at a future time node based on the waterway information or obstacle information at a certain time node in the future, and then plan the target trajectory of the ship at the future time node.

[0085] The specific method of generating the sea surface environment map at the future time node according to the channel information or obstacle information at the future time node, and the method of planning the target moving trajectory at the future time point are the same as the implementation method described above, and this disclosure will not repeat them. Through the above method, accurate planning of the construction progress in the future period and the navigation of ships during the construction process can be achieved.

[0086] In summary, the ship trajectory planning method disclosed in the present invention applied to offshore photovoltaic projects determines the map environment information on the sea surface, and the map environment information is determined based on the location of the equipment currently installed on the sea surface; determines the target navigation information corresponding to the target ship based on the map environment information, and the target navigation information includes the starting coordinates, the end coordinates and the navigation speed; obtains the first navigation information corresponding to the first ship currently in the specified sea surface range; generates the target travel trajectory of the target ship according to the map environment information, the first navigation information and the target navigation information. On the one hand, this scheme can automatically generate the target travel trajectory of the target ship according to the surrounding sea surface environment and the ship's travel information, without the need for on-site judgment by the crew, which can effectively save labor costs; on the other hand, generating the target travel trajectory of the target ship according to the above information can ensure that the target travel trajectory is more reasonable and save the ship's sailing costs. On the other hand, generating the target travel trajectory in combination with the path planning target can make the generated path trajectory more in line with the ship's navigation needs.

[0087] It should be noted that, although the steps of the method of the present invention are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0088] In addition, in this exemplary embodiment, a ship trajectory planning device for offshore photovoltaic projects is also provided. Figure 5 The ship trajectory planning device 500 applied to an offshore photovoltaic project may include: an environmental information determination module 510, a target navigation information determination module 520, a first navigation information determination module 530 and a target trajectory generation module 540.

[0089] Specifically, the environmental information determination module 510 is used to determine the map environmental information on the sea surface, and the map environmental information is determined based on the location of the equipment currently installed on the sea surface; the target navigation information determination module 520 is used to determine the target navigation information corresponding to the target ship based on the map environmental information, and the target navigation information includes the starting coordinates, the end coordinates and the navigation speed; the first navigation information determination module 530 is used to obtain the first navigation information corresponding to the first ship currently in the specified sea surface range; the target trajectory generation module 540 is used to generate the target movement trajectory of the target ship according to the map environmental information, the first navigation information and the target navigation information.

[0090] In an exemplary embodiment of the present disclosure, the map environment information includes a sea surface environment map, and the environment information determination module 510 includes an environment information determination unit, which is used to: determine a sea surface coordinate reference point; based on the sea surface coordinate reference point, determine the equipment position coordinates corresponding to the equipment currently installed on the sea surface, the equipment including one or more of pile foundations and brackets; based on the sea surface coordinate reference point, determine the obstacle position coordinates of obstacles on the sea surface; and construct a sea surface environment map according to the sea surface coordinate reference point, the equipment position coordinates and the obstacle position coordinates.

[0091] In an exemplary embodiment of the present disclosure, the target navigation information determination module 520 includes a target navigation information determination unit, which is used to: obtain a sea surface environment map, and determine the starting coordinates and the end point coordinates corresponding to the target ship based on the sea surface environment map; obtain the navigation speed of the target ship in real time; and use the starting coordinates, the end point coordinates and the navigation speed as the target navigation information.

[0092] In an exemplary embodiment of the present disclosure, the first navigation information determination module 530 includes a first navigation information determination unit, which is used to: determine a specified sea surface range based on target navigation information, wherein the specified sea surface range changes dynamically based on the target navigation information; determine a first navigation state, a first navigation speed and a first navigation track corresponding to the first ship; and generate the first navigation information according to the first navigation state, the first navigation speed and the first navigation track.

[0093] In an exemplary embodiment of the present disclosure, the target trajectory generation module 540 includes a target trajectory generation unit, which is used to: obtain current sea condition information of the sea surface, the current sea condition information including one or more of sea surface wind speed information and sea condition level information; generate a target travel trajectory of the target ship based on the current sea condition information, map environment information, first navigation information and target navigation information.

[0094] In an exemplary embodiment of the present disclosure, the target trajectory generation unit includes a target trajectory generation sub-unit, which is used to: generate an initial travel trajectory based on current sea condition information, map environment information, first navigation information and target navigation information; obtain a pre-set path planning target, the path planning target includes one or more of distance priority, navigation cost priority and navigation safety priority; determine the target travel trajectory from the initial travel trajectory according to the path planning target.

[0095] In an exemplary embodiment of the present disclosure, the target trajectory generation subunit includes an initial trajectory generation subunit, which is used to: determine multiple initial channels and channel restrictions of each initial channel based on map environment information; determine the target ship type corresponding to the target ship, and determine the target candidate channel corresponding to the target ship from the initial channel based on the target ship type and the channel restrictions; generate an initial travel trajectory according to current sea conditions information, target candidate channels, first navigation information and target navigation information.

[0096] The specific details of the virtual modules of the above-mentioned ship trajectory planning devices applied to offshore photovoltaic projects have been described in detail in the corresponding ship trajectory planning methods applied to offshore photovoltaic projects. The undisclosed details can be found in the implementation methods of the method part, and will not be repeated here.

[0097] It should be noted that, although several modules or units of the ship trajectory planning device applied to offshore photovoltaic projects are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0098] The exemplary embodiments of the present disclosure also provide a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the ship trajectory planning method applied to an offshore photovoltaic project is implemented.

[0099] In one embodiment, the computer program product may be a tangible product containing the computer program, such as a computer-readable storage medium storing the computer program. Figure 6 , Figure 6 The schematic diagram of a computer-readable storage medium according to an exemplary embodiment of the present disclosure is schematically shown. The readable storage medium may be a storage medium based on electrical, magnetic, optical, electromagnetic, infrared, and other signals, including but not limited to: random access memory (RAM), read-only memory (ROM), magnetic tape, floppy disk, flash memory (Flash), mechanical hard disk (HDD), solid state drive (SSD), etc. Exemplarily, the computer program product may be implemented as a non-volatile storage medium storing a computer program, such as a read-only memory, a NAND flash memory (Nand Flash), etc.

[0100] In one embodiment, the computer program product may be an intangible product including a computer program. Exemplarily, the computer program product may be implemented as a virtual digital product, such as a digital file storing an executable file, an installation package, etc. of the computer program.

[0101] The code of the computer program can be written in one or more programming languages. Programming languages ​​such as C language, Java, C++, etc. The program code can be executed entirely on the user computing device, or partially on the user computing device, or as a separate software package, or partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, such as a local area network (LAN), a wide area network (WAN), etc., or can be connected to an external computing device (e.g., an Internet connection provided by an operator).

[0102] The computer program may be carried or transmitted via electrical, magnetic, optical, electromagnetic, infrared, or other signals. The electronic device may convert the signal carrying the computer program into a digital signal, thereby running the computer program. When the computer program is run on an electronic device, its code is used to enable the electronic device to execute (more specifically, the processor of the electronic device may execute) the method steps of various exemplary embodiments of the present disclosure, such as the ship trajectory planning method applied to an offshore photovoltaic project.

[0103] The exemplary embodiments of the present disclosure also provide an electronic device, which may include a processor and a memory. The memory stores executable instructions of the processor, such as a computer program. The processor executes the method steps of various exemplary embodiments of the present disclosure by executing the executable instructions.

[0104] Reference below Figure 7 , the electronic device is exemplarily described in the form of a general-purpose computing device. It should be understood that Figure 7 The electronic device 700 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0105] like Figure 7 As shown, the electronic device 700 may include: a processor 710 , a memory 720 , a bus 730 , an I / O (input / output) interface 740 , a network adapter 750 , and a display 760 .

[0106] The memory 720 may include a volatile memory, such as a RAM 721, a cache unit 722, and may also include a non-volatile memory, such as a ROM 723. The memory 720 may also include one or more program modules 724, such program modules 724 include but are not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or a combination thereof may include the implementation of a network environment. For example, the program module 724 may include each module in the above-mentioned device.

[0107] The processor 710 may include one or more processing units. For example, the processor 710 may include an AP (Application Processor), a modem processor, a GPU (Graphics Processing Unit), an ISP (Image Signal Processor), a controller, an encoder, a decoder, a DSP (Digital Signal Processor), a baseband processor and / or an NPU (Neural-Network Processing Unit), etc.

[0108] The processor 710 may be used to execute executable instructions stored in the memory 720, such as executing the above-mentioned ship trajectory planning method applied to an offshore photovoltaic project.

[0109] The bus 730 is used to realize the connection between different components of the electronic device 700, and may include a data bus, an address bus, and a control bus.

[0110] The electronic device 700 can communicate with one or more external devices 800 (eg, a keyboard, a mouse, an external controller, etc.) through the I / O interface 740 .

[0111] The electronic device 700 can communicate with one or more networks through the network adapter 750. For example, the network adapter 750 can provide mobile communication solutions such as 3G / 4G / 5G, or wireless communication solutions such as wireless LAN, Bluetooth, near field communication, etc. The network adapter 750 can communicate with other modules of the electronic device 700 through the bus 730.

[0112] The electronic device 700 may display a graphical user interface through the display 760 , such as an interface for displaying a target moving track of a target ship.

[0113] although Figure 7 Not shown, other hardware and / or software modules may also be provided in the electronic device 700, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0114] As can be seen from the above, the technical solution of the present disclosure can be implemented as a method, an apparatus, a system, a computer program product, a storage medium, an electronic device, etc. Those skilled in the art can understand that various aspects of the present disclosure can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software, such as being respectively referred to as a "circuit", "module" or "system".

[0115] It should be understood that the present disclosure is not limited to the specific method steps or structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from the scope thereof. Those skilled in the art will easily think of other embodiments based on the specific embodiments provided by the present disclosure. Therefore, the specific embodiments provided by the present disclosure are only exemplary, and the scope and spirit of the present disclosure are indicated by the claims, and any variations, uses or adaptive changes of the present disclosure should be covered, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the technical field that are not disclosed in the present disclosure.

Claims

1. A ship trajectory planning method applied to an offshore photovoltaic project, characterized in that: include: Determine map environment information on the sea surface, wherein the map environment information is determined based on the location of the currently installed equipment on the sea surface; Determine target navigation information corresponding to the target ship based on the map environment information, wherein the target navigation information includes a starting coordinate, an end coordinate and a navigation speed; Acquire first navigation information corresponding to a first ship currently in a specified sea range; A target moving track of the target ship is generated according to the map environment information, the first navigation information and the target navigation information.

2. The method according to claim 1, characterized in that The map environment information includes a sea surface environment map, and the determining of the map environment information on the sea surface includes: Determine the sea surface coordinate reference point; Based on the sea surface coordinate reference point, determine the device position coordinates corresponding to the equipment currently installed on the sea surface, wherein the equipment includes one or more of a pile foundation and a bracket; Determining the obstacle position coordinates of the obstacle on the sea surface based on the sea surface coordinate reference point; The sea surface environment map is constructed according to the sea surface coordinate reference point, the equipment location coordinates and the obstacle location coordinates.

3. The method according to claim 1 or 2, characterized in that: The determining the target navigation information corresponding to the target ship based on the map environment information includes: Acquire a sea surface environment map, and determine the starting coordinates and the ending coordinates corresponding to the target ship based on the sea surface environment map; Acquire the navigation speed of the target ship in real time; The starting coordinates, the end coordinates and the navigation speed are used as the target navigation information.

4. The method according to claim 1, characterized in that The obtaining of first navigation information corresponding to a first ship currently in a designated sea range includes: Based on the target navigation information, determining the designated sea surface range, wherein the designated sea surface range changes dynamically based on the target navigation information; Determining a first navigation state, a first navigation speed, and a first navigation track corresponding to the first ship; The first navigation information is generated according to the first navigation state, the first navigation speed and the first navigation track.

5. The method according to claim 1, characterized in that: The generating a target moving track of the target ship according to the map environment information, the first navigation information and the target navigation information includes: Acquiring current sea condition information of the sea surface, wherein the current sea condition information includes one or more of sea surface wind speed information and sea condition level information; A target moving track of the target ship is generated according to the current sea condition information, the map environment information, the first navigation information and the target navigation information.

6. The method according to claim 5, characterized in that The generating a target moving track of the target ship according to the current sea condition information, the map environment information, the first navigation information and the target navigation information includes: generating an initial travel trajectory according to the current sea condition information, the map environment information, the first navigation information and the target navigation information; Acquiring a preset path planning target, wherein the path planning target includes one or more of distance priority, navigation cost priority, and navigation safety priority; According to the path planning target, the target travel trajectory is determined from the initial travel trajectory.

7. The method according to claim 6, characterized in that The generating an initial travel trajectory according to the current sea condition information, the map environment information, the first navigation information and the target navigation information includes: Determining a plurality of initial routes and route restrictions of each of the initial routes based on the map environment information; Determine a target ship type corresponding to the target ship, and determine a target candidate channel corresponding to the target ship from the initial channel based on the target ship type and the channel restriction; The initial travel trajectory is generated according to the current sea condition information, the target candidate channel, the first navigation information and the target navigation information.

8. A ship trajectory planning device applied to offshore photovoltaic projects, characterized in that: include: An environment information determination module, used to determine map environment information on the sea surface, wherein the map environment information is determined based on the location of the equipment currently installed on the sea surface; A target navigation information determination module, used to determine the target navigation information corresponding to the target ship based on the map environment information, the target navigation information including the starting coordinates, the end coordinates and the navigation speed; A first navigation information determination module is used to obtain first navigation information corresponding to a first ship currently in a specified sea range; The target trajectory generation module is used to generate the target moving trajectory of the target ship according to the map environment information, the first navigation information and the target navigation information.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the ship trajectory planning method applied to an offshore photovoltaic project as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the ship trajectory planning method applied to an offshore photovoltaic project as described in any one of claims 1 to 7 is implemented.

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