Intelligent ship route planning and scheduling method and system

Abstract

The invention relates to the technical field of ship route scheduling, in particular to an intelligent ship route planning and scheduling method and system, and the method comprises the following steps: obtaining a navigation chart and water surface information corresponding to the navigation chart; registering the same number of monitoring ports corresponding to the number of ships, acquiring ship information based on the monitoring ports, and uploading the ship information to a management end; rasterizing the navigation chart to obtain a grid chart, and performing obstacle identification processing on grids based on the obstacle information to obtain an identified grid chart; initial ship routes corresponding to the multiple ships on the navigation chart are formulated on the management end based on the identified grid chart, and a target ship route corresponding to the given ship is formulated based on the multiple initial ship routes; the multiple ships are scheduled based on the target ship route and the initial ship route, dynamic adjustment can be carried out according to real-time information, the potential collision risk is effectively avoided, and the navigation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship route planning, and in particular to an intelligent ship route planning and scheduling method and system. Background Art

[0002] In the current navigation field, navigation safety and efficiency are the focus of shipping companies and relevant management agencies. Traditional navigation planning mainly relies on paper charts or simple electronic charts, but these tools often cannot reflect the dynamic changes on the water surface in real time, such as the location and number of ships and potential obstacles. This may increase the risk of collision during navigation and also limit the improvement of navigation efficiency.

[0003] In addition, although the existing ship monitoring system can obtain the position and size information of the ship in real time, the processing and utilization of this information is usually relatively simple, lacking effective integration with the navigation chart, making it difficult to achieve accurate planning and dynamic scheduling of ship routes. Especially in busy waterways or port areas, where there are a large number of ships and complex obstacles, traditional navigation planning methods often cannot meet the needs of efficient and safe navigation.

[0004] To this end, we propose an intelligent ship route planning and scheduling method and system to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent ship route planning and scheduling method and system to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: an intelligent ship route planning and scheduling method and system, the method comprising the following steps:

[0007] Obtain navigation charts and water surface information corresponding to the navigation charts, where the water surface information includes the number of ships and obstacle information; register the same number of monitoring ports corresponding to the number of ships, obtain ship information based on the monitoring ports and upload it to the management end, where the ship information includes ship location information and ship size information;

[0008] Rasterizing the navigation chart to obtain a raster chart, wherein the raster chart includes a plurality of grids, and performing obstacle marking processing on the grids based on obstacle information to obtain a marked raster chart;

[0009] The management end formulates preliminary ship routes corresponding to a plurality of ships on the navigation chart based on the marked raster chart, and formulates a target ship route corresponding to a given ship based on the plurality of preliminary ship routes;

[0010] Routes of multiple ships are dispatched based on target ship routes and preliminary ship routes.

[0011] Preferably, the step of obtaining a navigation chart and water surface information corresponding to the navigation chart includes: obtaining a departure point and a destination point corresponding to a ship's navigation plan, and determining a navigation area based on the departure point and the destination point; dividing the navigation area into navigation sub-areas, setting monitoring points for the navigation sub-areas, and setting a collection frequency corresponding to the monitoring points; and collecting water surface information in the corresponding navigation sub-area through the monitoring points based on the collection frequency.

[0012] Preferably, the step of rasterizing the navigation chart to obtain a raster chart includes: determining the starting point and target point of a given ship, and determining the environmental area that needs to be rasterized based on the starting point and target point; obtaining the ship size information, and determining the grid granularity based on the ship size information; using the rectangular coordinate method to identify the grid environment, dividing the determined rasterized area into unit grids of consistent specifications, and obtaining a raster chart.

[0013] Preferably, the step of performing obstacle identification processing on the grid based on the obstacle information to obtain the marked grid chart includes: obtaining the unit grid on the grid chart, determining the obstacle information in the unit grid, and expanding the boundary where the obstacle information is located; treating the grid containing the obstacle as the obstacle grid, treating the grid not containing the obstacle as the free grid, marking the free grid and the obstacle grid in different ways, and using the marked unit grid as the marked grid chart.

[0014] Preferably, the step of formulating a ship route corresponding to a given ship's navigation plan based on the marked raster chart at the management end comprises:

[0015] Acquire multiple free grids between the starting point and the target point in the marked grid chart and grid information corresponding to each free grid;

[0016] The turning priority index of each free grid is evaluated based on the grid information, the grid information is sorted in descending order based on the turning priority index, and the free grid corresponding to the highest value of the turning priority index is used as the ship turning point;

[0017] A plurality of turning points are obtained based on the plurality of ship turning points, and the plurality of turning points are sequentially marked on the grid chart;

[0018] Based on the sequential connection of the starting point, the plurality of turning points and the target point, a preliminary ship route of each ship is obtained; based on the plurality of preliminary ship routes, a target ship route of a given ship is determined.

[0019] Preferably, the specific steps of evaluating the turning priority index of each free grid based on the grid information include:

[0020] Obtain grid information, where the grid information includes the state information of adjacent grids, obstacle density, and road width information. The state information of adjacent grids includes free state or obstacle state. Determine the turning direction based on the starting point and the target point, determine the pre-selected turning point based on the turning direction and the grid information, and evaluate the turning priority index of each pre-selected turning point based on the grid information. The corresponding formula is TPI = f(M, S, D, O). ,其中， M 代表船舶的操纵性能，包括船速、船长、船型 The influence of factors such as the steering angle on the grid, S represents the grid's chart environment characteristics, such as water depth and obstacle distribution, D represents the distance between the grid and the target point, and O represents other navigation path constraints, such as the distance limit between turning points and the steering angle limit.

[0021] Preferably, the step of scheduling routes for multiple ships based on the target ship route and the preliminary ship route includes:

[0022] Acquire a preliminary ship route of a given ship and preliminary ship routes of a plurality of second ships, and acquire a common grid between the preliminary ship routes of the plurality of second ships and the preliminary ship route of the given ship on a grid chart;

[0023] Obtaining ship information of the second ship and the given ship, wherein the ship information includes the ship speed and the distance from the grid where the ship is currently located to the common grid, and determining the time points at which the plurality of second ships arrive at the common grid and the time point at which the given ship arrives at the common grid based on the ship information;

[0024] Taking the time points at which the plurality of second ships arrive at the common grid as the plurality of second time points, and taking the time point at which the given ship arrives at the common grid as the first time point;

[0025] Determine whether the time difference between a first time point and multiple second time points meets a preset condition, issue an early warning to a given ship corresponding to the first time point whose time difference does not meet the preset condition, and re-formulate a preliminary ship route for the given ship until the time difference meets the preset condition, and use the preliminary ship route corresponding to the time difference that meets the preset condition as the target ship route.

[0026] An intelligent ship route planning and scheduling system, applied to any of the intelligent ship route planning and scheduling methods described above, comprising:

[0027] The information acquisition module is used to obtain the navigation chart and the water surface information corresponding to the navigation chart, wherein the water surface information includes the number of ships and obstacle information; the same number of monitoring ports are registered corresponding to the number of ships, and the ship information is obtained based on the monitoring ports and uploaded to the management end, wherein the ship information includes the ship position information and the ship size information;

[0028] A grid processing module, used for rasterizing the navigation chart to obtain a grid chart, wherein the grid chart includes a plurality of grids, and performing obstacle marking processing on the grids based on obstacle information to obtain a marked grid chart;

[0029] A route planning module is used to plan preliminary ship routes corresponding to multiple ships on the navigation chart based on the marked raster chart on the management side, and plan a target ship route corresponding to a given ship based on the multiple preliminary ship routes;

[0030] The ship scheduling module is used to schedule routes of multiple ships based on target ship routes and preliminary ship routes.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The present invention realizes the integrated processing of information by combining navigation charts with water surface information, making navigation planning more accurate and improving the real-time and reliability of information. The navigation chart is rasterized and obstacles are marked based on obstacle information, so that the navigation environment can be quantitatively represented; a preliminary ship route is formulated based on the marked raster chart at the management end, and a target ship route is formulated according to the needs of a given ship. The intelligent route planning method can be dynamically adjusted according to real-time information, effectively avoiding potential collision risks and improving navigation efficiency. Routes of multiple ships are dispatched based on target ship routes and preliminary ship routes, realizing coordinated driving between ships. This not only reduces conflicts and delays during navigation, but also improves the navigation capacity of the entire water area. In summary, this patent significantly improves navigation safety and efficiency through integrated information processing, dynamic rasterization, intelligent route planning and efficient route scheduling. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0034] Figure 1 It is a schematic diagram of the method flow of the present invention;

[0035] Figure 2 It is a system structure block diagram of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Example

[0038] See also Figure 1 to Figure 2 The present invention provides an intelligent ship route planning and scheduling method and system technical solution: an intelligent ship route planning and scheduling method, comprising the following steps:

[0039] S1: Obtain the navigation chart and the water surface information corresponding to the navigation chart, wherein the water surface information includes the number of ships and obstacle information; register the same number of monitoring ports corresponding to the number of ships, obtain the ship information based on the monitoring ports and upload it to the management end, wherein the ship information includes the ship position information and the ship size information;

[0040] The steps of obtaining the navigation chart and the water surface information corresponding to the navigation chart include: obtaining the departure point and the destination point corresponding to the ship's navigation plan, and determining the navigation area based on the departure point and the destination point; dividing the navigation area into navigation sub-areas, setting monitoring points for the navigation sub-areas, and setting collection frequencies for the corresponding monitoring points; and collecting the water surface information in the corresponding navigation sub-areas through the monitoring points based on the collection frequencies;

[0041] Specifically, the collection frequency is set for the corresponding monitoring point. The collection frequency here can be the same or different. The purpose is to enable it to change the collection frequency according to the different conditions of each navigation sub-area, so that the water surface information can be updated irregularly, so as to facilitate the management end to understand the information changes on the navigation chart in time, and to facilitate other ships to dispatch and plan routes;

[0042] S2: rasterizing the navigation chart to obtain a raster chart, wherein the raster chart includes a plurality of grids, and performing obstacle marking processing on the grids based on obstacle information to obtain a marked raster chart;

[0043] The steps of rasterizing the navigation chart to obtain the raster chart include: determining the starting point and the target point of a given ship, and determining the environmental area to be rasterized based on the starting point and the target point; obtaining the ship size information, and determining the grid granularity based on the ship size information; using the rectangular coordinate method to mark the grid environment, dividing the determined rasterized area into unit grids with the same specifications, and obtaining the raster chart;

[0044] Specifically, the environmental area that needs to be rasterized is determined based on the starting point and the target point. The environmental area here includes the entire navigation path and its surrounding key obstacles and navigation information; the selection of grid granularity should take into account factors such as navigation requirements, computing power and storage limitations. In practical applications, the radius of the circumscribed circle of the aircraft (such as a ship or an unmanned boat) can be approximated as the grid granularity for rasterization; the rectangular coordinate method is used to identify the grid environment. Usually the upper left corner is selected as the coordinate origin, the right is the positive direction of the x-axis, and the downward is the positive direction of the y-axis. The unit length can be set to the length of each grid, so that each grid can be uniquely determined by a rectangular coordinate; consistent specifications refer to unit grids of the same size;

[0045] The steps of performing obstacle identification processing on the grid based on the obstacle information to obtain the marked grid chart include: obtaining the unit grid on the grid chart, determining the obstacle information in the unit grid, and performing expansion processing on the boundary where the obstacle information is located; treating the grid containing the obstacle as the obstacle grid, treating the grid not containing the obstacle as the free grid, marking the free grid and the obstacle grid in different ways, and treating the marked unit grid as the marked grid chart;

[0046] Specifically, the obstacle boundary is expanded to take into account the actual size and safety of the vessel. The basic principle of the expansion process is to expand the obstacle boundary to a certain extent to form a new and larger obstacle boundary. Specifically, image processing technology can be used to detect and identify obstacles. Expanding the binary obstacle image through morphological operations (such as expansion operations) can increase the warning time of the obstacle avoidance system and ensure that the ship has enough time and space to perform obstacle avoidance operations when encountering obstacles. The grid types are divided into free grids and obstacle grids. A free grid is a grid that does not contain obstacles, while an obstacle grid is a grid that contains obstacles in whole or in part. The "binary method" is used to mark the grid. That is, "1" is used to indicate that the current grid contains obstacles (obstacle grid), and "0" is used to indicate that the current grid does not contain obstacles (free grid); the grid chart displays the obstacle distribution and navigation information of the navigation path and its surroundings in an intuitive graphical way;

[0047] S3: The management end formulates preliminary ship routes corresponding to multiple ships on the navigation chart based on the marked raster chart, and formulates a target ship route corresponding to a given ship based on the multiple preliminary ship routes;

[0048] The steps of formulating a ship route corresponding to the navigation plan of a given ship based on the marked raster chart at the management end include: obtaining multiple free grids between the starting point and the target point in the marked raster chart and grid information corresponding to each free grid; evaluating the turning priority index of each free grid based on the grid information, sorting the grid information in descending order based on the turning priority index, and taking the free grid corresponding to the highest value of the turning priority index as the ship turning point; obtaining multiple turning points based on the multiple ship turning points, and marking the multiple turning points in sequence on the raster chart; obtaining the preliminary ship route of each ship based on the starting point, the multiple turning points and the target point being connected in sequence; determining the target ship route of the given ship based on the multiple preliminary ship routes;

[0049] The specific steps of evaluating the turning priority index of each free grid based on the grid information include: obtaining grid information, wherein the grid information includes state information of adjacent grids, obstacle density and road width information, and the state information of adjacent grids includes free state or obstacle state; determining the turning direction based on the starting point and the target point, determining the pre-selected turning point based on the turning direction and the grid information, and evaluating the turning priority index of each pre-selected turning point based on the grid information, and the corresponding formula is TPI=f(M,S,D,O) , Among them, M represents the maneuverability of the ship, including the ship speed 、 captain 、 The influence of factors such as ship type on the steering angle. S represents the characteristics of the grid's chart environment, such as water depth and obstacle distribution. D represents the distance between the grid and the target point. O represents other constraints on the navigation path, such as the distance limit between turning points and the steering angle limit.

[0050] Specifically, the relationship between the steering angle and the ship speed is: steering angle = k × ship speed. Where k is the steering angle coefficient, which is related to the characteristics of the ship and the steering operation. The relationship between the steering angle and the length of the ship: steering angle = m / ship length. Where m is another steering angle coefficient. The relationship between the steering angle and the ship type: steering angle = n × ship type coefficient. Where n is another steering angle coefficient, and the ship type coefficient is related to the ship type. The relationship between the steering angle and the heading: steering angle = arctan (Δy / Δx). Where Δy is the latitude difference between the desired heading and the current heading, and Δx is the longitude difference. According to the actual maneuverability of the ship, the coefficients in the above formula can be adjusted to obtain the steering angle corresponding to each grid. The smaller the steering angle, the smaller the steering force required when turning in this grid, and the higher the steering priority index. Water depth: Water depth has an important influence on the maneuverability of the ship. Too shallow water depth may cause the ship to run aground or hit a reef, so in grids with shallow water depth, the steering priority index should be reduced. Obstacle distribution: Obstacles such as islands, shipwrecks, and reefs will affect the navigation path of the ship. In the grids near the obstacles, the turning priority index should also be reduced. The weight coefficients of water depth and obstacle distribution are set, and the influence of the characteristics of the chart environment on the turning priority index is calculated based on the water depth and obstacle distribution in the grid; the closer the distance, the faster the ship can reach the target point after turning in the grid, so the turning priority index should be increased. Set a distance threshold. When the distance between the grid and the target point is less than the threshold, the turning priority index reaches the maximum value; Distance limit between turning points: There should be an appropriate distance between adjacent turning points to ensure that the ship can turn continuously. Turning in a grid with a distance that is too close will cause the ship to fail to complete the turning operation as required, so the turning priority index should be reduced. Turning angle limit: According to the ship's maneuverability and the requirements of the navigation path, the turning angle needs to be limited. In the grid where the turning angle limit cannot be met, the turning priority index should also be reduced. The weight coefficients of the distance limit between turning points and the turning angle limit are set, and the turning priority index is calculated according to whether the grid meets these constraints. The turning priority index of each grid can be obtained by comprehensively considering factors such as the ship's maneuverability, the characteristics of the chart environment, and the constraints of the navigation path. Then, the appropriate turning point can be selected according to the size of the turning priority index, so as to plan the optimal navigation path;

[0051] The free state or obstacle state corresponds to the free grid and obstacle grid respectively;

[0052] Specifically, multiple ship turning points refer to how many times a ship needs to turn from a starting point to a target point to reach the target point. In this process, the position of each turn is used as a ship turning point. When determining the ship turning point, the first turning point required is determined based on the overall path between the starting point and the target point, and then the second turning point required between the first ship turning point and the target point is determined. Multiple ship turning points are obtained by analogy, which are used as multiple turning points, and the turning points are marked on the grid chart in sequence. The starting point, multiple turning points and the target point are connected in sequence, so as to formulate a ship route corresponding to the navigation plan of a given ship, which can ensure the safety and economy of the route and meet the route requirements. The corresponding ship turning point is determined according to the actual situation of the grid chart, and is flexibly adjusted according to the specific navigation environment and ship characteristics to ensure that the ship can safely and efficiently navigate according to the scheduled route;

[0053] S4: Routes of multiple ships are dispatched based on the target ship routes and the preliminary ship routes;

[0054] The step of scheduling routes for multiple ships based on the target ship route and the preliminary ship route includes: obtaining a preliminary ship route of a given ship and preliminary ship routes of multiple second ships, obtaining a common grid between the preliminary ship routes of multiple second ships and the preliminary ship route of a given ship on a grid chart, obtaining ship information of the second ships and the given ship, wherein the ship information includes the ship speed and the distance from the grid where the ship is currently located to the common grid, determining the time points at which the multiple second ships arrive at the common grid and the time point at which the given ship arrives at the common grid based on the ship information; taking the time points at which the multiple second ships arrive at the common grid as multiple second time points, taking the time point at which the given ship arrives at the common grid as the first time point, judging whether the time difference between the first time point and the multiple second time points meets a preset condition, issuing an early warning to the given ship corresponding to the first time point whose time difference does not meet the preset condition, and re-formulating the preliminary ship route of the given ship until the time difference meets the preset condition, and taking the preliminary ship route corresponding to the time difference that meets the preset condition as the target ship route;

[0055] Specifically, it is determined whether at least two ships will collide by the time point at which they arrive at the common grid. When insufficient time is detected, the ships can be dispatched. According to the total weight of the ships and the urgency of the ships, the speed of one of the ships can be adjusted. For example, when the distance is short and the weight is light, the ship can be accelerated to pass through the common grid earlier than the time point. When the distance is long and the weight is heavy, the ship speed can be reduced to pass through the common grid later than the time point. Then, according to the adjustment time of the ship in the overall preliminary ship route, when the ship is dispatched by reducing the speed in the previous common grid, it is necessary to increase the speed for dispatching when encountering the same time point in the next common grid, so as to ensure the overall time for each ship to reach the target point from the starting point, thereby improving the planning and dispatching effect of the ship's navigation.

[0056] An intelligent ship route planning and scheduling system, applied to any of the intelligent ship route planning and scheduling methods described above, comprising:

[0057] The information acquisition module is used to obtain the navigation chart and the water surface information corresponding to the navigation chart, wherein the water surface information includes the number of ships and obstacle information; the same number of monitoring ports are registered corresponding to the number of ships, and the ship information is obtained based on the monitoring ports and uploaded to the management end, wherein the ship information includes the ship position information and the ship size information;

[0058] A grid processing module, used for rasterizing the navigation chart to obtain a grid chart, wherein the grid chart includes a plurality of grids, and performing obstacle marking processing on the grids based on obstacle information to obtain a marked grid chart;

[0059] A route planning module is used to plan preliminary ship routes corresponding to multiple ships on the navigation chart based on the marked raster chart on the management side, and plan a target ship route corresponding to a given ship based on the multiple preliminary ship routes;

[0060] The ship scheduling module is used to schedule routes of multiple ships based on target ship routes and preliminary ship routes.

[0061] The present invention realizes the integrated processing of information by combining navigation charts with surface information (including the number of ships, obstacle information, etc.), making navigation planning more accurate and improving the real-time and reliability of information. The navigation chart is rasterized, and obstacles are marked based on obstacle information, so that the navigation environment can be quantitatively represented; a preliminary ship route is formulated based on the marked raster chart at the management end, and a target ship route is formulated according to the needs of a given ship. The intelligent route planning method can be dynamically adjusted according to real-time information, effectively avoiding potential collision risks and improving navigation efficiency. Routes of multiple ships are dispatched based on target ship routes and preliminary ship routes, realizing coordinated driving between ships. This not only reduces conflicts and delays during navigation, but also improves the navigation capacity of the entire water area. In summary, this patent significantly improves navigation safety and efficiency through integrated information processing, dynamic rasterization, intelligent route planning and efficient route scheduling.

[0062] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent ship route planning and scheduling method, characterized in that: The following steps are involved: Obtain navigation charts and water surface information corresponding to the navigation charts, where the water surface information includes the number of ships and obstacle information; register the same number of monitoring ports corresponding to the number of ships, obtain ship information based on the monitoring ports and upload it to the management end, where the ship information includes ship location information and ship size information; rasterizing the navigation chart to obtain a raster chart, wherein the raster chart includes a plurality of grids, and performing obstacle marking processing on the grids based on obstacle information to obtain a marked raster chart; The management end formulates preliminary ship routes corresponding to a plurality of ships on the navigation chart based on the marked raster chart, and formulates a target ship route corresponding to a given ship based on the plurality of preliminary ship routes; Routes of multiple ships are dispatched based on target ship routes and preliminary ship routes.

2. The intelligent ship route planning and scheduling method according to claim 1 is characterized by: The step of obtaining the navigation chart and the water surface information corresponding to the navigation chart includes: obtaining the departure point and the destination point corresponding to the ship's navigation plan, and determining the navigation area based on the departure point and the destination point; dividing the navigation area into navigation sub-areas, setting monitoring points for the navigation sub-areas, and setting collection frequencies corresponding to the monitoring points; and collecting the water surface information in the corresponding navigation sub-areas through the monitoring points based on the collection frequency.

3. The intelligent ship route planning and scheduling method according to claim 1 is characterized by: The steps of rasterizing the navigation chart to obtain a raster chart include: determining the starting point and target point of a given ship, and determining the environmental area that needs to be rasterized based on the starting point and target point; obtaining the ship size information, and determining the grid granularity based on the ship size information; using the rectangular coordinate method to mark the grid environment, dividing the determined rasterized area into unit grids with consistent specifications, and obtaining a raster chart.

4. The intelligent ship route planning and scheduling method according to claim 3 is characterized by: The step of performing obstacle identification processing on the grid based on the obstacle information to obtain the marked grid chart includes: obtaining the unit grid on the grid chart, determining the obstacle information in the unit grid, and performing expansion processing on the boundary where the obstacle information is located; taking the grid containing the obstacle as the obstacle grid, taking the grid not containing the obstacle as the free grid, marking the free grid and the obstacle grid in different ways, and taking the marked unit grid as the marked grid chart.

5. The intelligent ship route planning and scheduling method according to claim 1 is characterized by: The step of formulating a ship route corresponding to the navigation plan of a given ship based on the marked raster chart at the management end includes: Acquire multiple free grids between the starting point and the target point in the marked grid chart and grid information corresponding to each free grid; The turning priority index of each free grid is evaluated based on the grid information, the grid information is sorted in descending order based on the turning priority index, and the free grid corresponding to the highest value of the turning priority index is used as the ship turning point; A plurality of turning points are obtained based on the plurality of ship turning points, and the plurality of turning points are sequentially marked on the grid chart; Based on the sequential connection of the starting point, the plurality of turning points and the target point, a preliminary ship route of each ship is obtained; and based on the plurality of preliminary ship routes, a target ship route of a given ship is determined.

6. The intelligent ship route planning and scheduling method according to claim 5 is characterized by: The specific steps of evaluating the turning priority index of each free grid based on grid information include: Obtain grid information, where the grid information includes the state information of adjacent grids, obstacle density, and road width information. The state information of adjacent grids includes free state or obstacle state. Determine the turning direction based on the starting point and the target point, determine the pre-selected turning point based on the turning direction and the grid information, and evaluate the turning priority index of each pre-selected turning point based on the grid information. The corresponding formula is TPI = f(M, S, D, O). , Among them, M represents the maneuverability of the ship, including the ship speed 、 captain 、 The influence of factors such as ship type on the turning angle. S represents the characteristics of the grid's chart environment, such as water depth and obstacle distribution. D represents the distance between the grid and the target point. O represents other constraints on the navigation path, such as the distance limit between turning points and the turning angle limit.

7. The intelligent ship route planning and scheduling method according to claim 1 is characterized by: The step of scheduling multiple ships based on the target ship route and the preliminary ship route includes: Acquire a preliminary ship route of a given ship and preliminary ship routes of a plurality of second ships, and acquire a common grid between the preliminary ship routes of the plurality of second ships and the preliminary ship route of the given ship on a grid chart; Obtaining ship information of the second ship and the given ship, wherein the ship information includes the ship speed and the distance from the grid where the ship is currently located to the common grid, and determining the time points at which the plurality of second ships arrive at the common grid and the time point at which the given ship arrives at the common grid based on the ship information; Taking the time points at which the plurality of second ships arrive at the common grid as the plurality of second time points, and taking the time point at which the given ship arrives at the common grid as the first time point; Determine whether the time difference between a first time point and multiple second time points meets a preset condition, issue an early warning to a given ship corresponding to the first time point whose time difference does not meet the preset condition, and re-formulate a preliminary ship route for the given ship until the time difference meets the preset condition, and use the preliminary ship route corresponding to the time difference that meets the preset condition as the target ship route.

8. An intelligent ship route planning and scheduling system, applied to the intelligent ship route planning and scheduling method according to any one of claims 1 to 7, characterized in that: include: The information acquisition module is used to obtain the navigation chart and the water surface information corresponding to the navigation chart, wherein the water surface information includes the number of ships and obstacle information; the same number of monitoring ports are registered corresponding to the number of ships, and the ship information is obtained based on the monitoring ports and uploaded to the management end, wherein the ship information includes the ship position information and the ship size information; A grid processing module, used for rasterizing the navigation chart to obtain a grid chart, wherein the grid chart includes a plurality of grids, and performing obstacle marking processing on the grids based on obstacle information to obtain a marked grid chart; A route planning module is used to plan preliminary ship routes corresponding to multiple ships on the navigation chart based on the marked raster chart on the management side, and plan a target ship route corresponding to a given ship based on the multiple preliminary ship routes; The ship scheduling module is used to schedule routes of multiple ships based on target ship routes and preliminary ship routes.

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