Limited channel passage optimization method based on ship navigation simulation

Abstract

The invention discloses a limited channel passage optimization method based on ship navigation simulation, which comprises the following steps: step 1, acquiring basic information of leg segments and navigation ships based on data collection and field investigation, and determining simulation model parameters; 2, sorting ship passing processes in the limited channel and drawing a flow chart; 3, establishing a ship navigation simulation model on the limited channel; 4, establishing an initial navigation scheme for navigation of the limited channel ship; and 5, completing a limited channel passing scheme optimization evaluation process, and summarizing to obtain an optimized navigation scheme. According to the method, ship navigation on the limited channel is simulated by comprehensively considering factors such as the ship navigation speed, the ship lock operation state, the navigation route and different passing rules, the passing scheme is compared and selected based on the simulation model simulation result, the optimized one-way passing scheme is obtained, and the one-way leg navigation efficiency can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of ship passage planning in restricted waterways, and particularly relates to an optimal method for passage in restricted waterways based on ship navigation simulation. Background Art

[0002] As a ship carrier with limited capacity, the throughput of a waterway affects the transportation efficiency of the entire water transportation. With the development of water transportation in China, the number of ships has increased, and the phenomenon of ship detention occurs frequently, which is particularly obvious in restricted waterways restricted by waterway dimensions or other factors.

[0003] As Figure 2 shown, a restricted waterway includes a conventional two-way navigation section and a one-way passage section. It is necessary to formulate reasonable passage rules to ensure that the ships passing through the conventional waterway can enter and exit the one-way passage section in an orderly manner, so as to ensure the efficient navigation of the entire section.

[0004] Simulation is a technical means to simulate the operation of a real system. Using tools such as mathematical models and computer technology, it simulates, predicts, and analyzes a real system or process to better understand, study, and optimize the object of concern. By simulating the ship navigation process on a restricted waterway, the simulated ship navigation situation is obtained, and the simulation results under different navigation schemes are analyzed, and the optimal scheme is obtained based on this analysis. The research on agents originated from the development of artificial intelligence and can be simply understood as each entity in the system, which has autonomy and can also achieve information interaction between entities. Using agent technology for simulation can better analyze the ship navigation situation.

[0005] Therefore, to ensure the efficient passage of ships in restricted waterways, the present invention has developed an optimal method for passage schemes in restricted waterways based on ship navigation simulation. Summary of the Invention

[0006] To solve the above problems, the present invention discloses an optimal method for passage in restricted waterways based on ship navigation simulation. By establishing a ship navigation simulation model, setting passage rules in the model, running the simulation model under different passage rules, and obtaining the ship passage time results, the optimized passage rules for the one-way passage section are analyzed.

[0007] To achieve the above object, the technical solution of the present invention is as follows:

[0008] An optimal method for passage in restricted waterways based on ship navigation simulation, comprising the following steps:

[0009] Step 1, based on data collection and on-site investigation, obtain the basic information of the restricted waterway and the navigating ships, analyze the traffic flow characteristics of the navigating ships, and determine the boundary conditions and basic parameters of the simulation model;

[0010] Step 2: Sort out the actual situation of ship passage in the restricted waterway, and summarize the passage processes of upstream and downstream ships;

[0011] Step 3: Establish a ship navigation simulation model for the restricted waterway;

[0012] Step 4: Establish an initial navigation plan for ship navigation in the restricted waterway;

[0013] Step 5: Based on the simulation model established in Step 3, set the model parameters according to different navigation plans, run the model, sort out the results of the simulation model operation, complete the optimal evaluation process of the restricted waterway passage plan, and summarize to obtain an optimized navigation plan.

[0014] Furthermore, the basic information of the one-way navigation section and the navigation ship parameters in Step 1 are collected. The basic information of the section includes the length and width of the waterway, the waterway layout, the location of the ship lock, the size of the lock chamber and the lockage schedule, the location and size of the anchorage. The traffic flow characteristics of the ships include ship traffic volume, ship traffic speed distribution, ship traffic flow density, ship traffic flow time interval distribution, ship heading, ship size, ship type, ship spacing, ship priority and ship appearance.

[0015] Statistically analyze the arrival pattern of ships on the restricted waterway, which usually follows the negative exponential distribution, Poisson distribution or normal distribution, etc. Use this result as the ship arrival rate of the simulation model. For the ship locks and anchorages on the inland waterway, the arrival quantity pattern of most ships follows the mathematical law of Poisson distribution, that is, select a period of time t as the research period, and n ships arrive. The probability of the event occurrence is:

[0016]

[0017] In the formula, e is the base of the natural logarithm; λ is the average ship arrival rate, that is, the average number of ships arriving per unit time (usually 1 hour).

[0018] Statistically analyze the ship traffic flow time interval distribution on the restricted waterway as the ship navigation spacing parameter.

[0019] Calculate the interval average speed of each type of ship in the conventional section and the restricted section in the research area as the ship speed parameter of the simulation model. The formula used is:

[0020]

[0021] In the formula: V i is the interval average travel speed of the i-th type of ship; S is the length of the waterway section; t ij is the travel time of the j-th ship of the i-th type of ship in this waterway section; m is the number of times of observing the ship travel time.

[0022] Calculate the traffic volume proportion of each type of ship, such as passenger ships, bulk carriers, general cargo ships, container ships, oil tankers, and special ships. Statistically analyze the length, width, and draft of each type of ship.

[0023] Calculate the traffic volume proportion of each type of ship, such as passenger ships, bulk carriers, general cargo ships, container ships, oil tankers, and special ships.

[0024] Compare the average sectional speed of each type of ship in the restricted navigation section, and take the slowest average sectional speed as the general slowest speed.

[0025] Furthermore, in step 2, sort out the navigation routes of upstream and downstream ships and draw them into a ship passage flow chart.

[0026] The logic for upstream and downstream ships to pass through the one-way navigation section is as follows: ① The ship arrives at the waiting passage area (anchorage or in front of the lock) closest to the restricted navigation section; ② Judge whether it can enter the one-way navigation section and leave the one-way navigation section before the green light ends at the general slowest speed; ③ If so, continue to sail and enter the one-way navigation section; ④ Otherwise, wait here until it just reaches the endpoint of the one-way navigation section at the general fastest speed before the next green light, and then enter the one-way navigation section; ⑤ Finally, leave the restricted waterway.

[0027] Furthermore, in step 3, based on the basic information of the restricted waterway and passing ships obtained in the previous steps, build a ship navigation simulation model on the restricted waterway using AnyLogic simulation software. The simulation model includes a sectional visualization base map, ship agents, agent logic, and visualization results, specifically including the following:

[0028] (1) Establish a sectional visualization base map, which includes rivers, locks, anchorages, hydraulic structures, and land in the research area, and display the 3D scene of the model using a 3D window.

[0029] (2) Use the agent components in the software agent panel to establish ship agents. According to the navigation ship parameters of the research area obtained in step 1, including ship dimensions, ship types, and ship appearances, set the ship agent parameters as needed. Multiple ship agents form a ship agent group.

[0030] (3) Use components such as Source, MoveTo, and Dispose to convert the upstream and downstream ship passage processes into the operating logic of ship agents. Set the ship lock operation process according to the lockage rules, set traffic lights to control the allowed passage directions in one-way sections, set traffic lights according to ship navigation rules, establish the logic for ships to wait and pass through one-way sections, and form the logical model of ship agents. Set the queuing rules for ships waiting to pass through one-way sections according to actual needs, namely first-in-first-out, last-in-first-out, random service, service by priority level, service with the shortest processing time first, and a hybrid system.

[0031] (4) Finally, add time parameters and use Java programming to record the total passage time of ships in the restricted one-way section. Use components such as data sets, statistics, and histogram data in the analysis panel to visualize the results obtained from the simulation model.

[0032] Furthermore, in step (4), considering the ship navigation speed, the operation of the ship lock, the scale of the anchorage, and the length of the waterway, set multiple appropriate initial ship passage plans for the restricted section, that is, set the time when upstream ships are allowed to pass (downstream ships are prohibited from passing) and the time when downstream ships are allowed to pass (upstream ships are prohibited from passing). The sum of the upstream ship passage time and the downstream passage time is the ship passage cycle of the restricted section.

[0033] According to the actual situation of the restricted waterway, the waiting locations of ships before passing through the restricted section are generally divided into two types, namely the anchorage and the ship lock. Due to its construction scale, the anchorage only allows a certain number of ships to wait here. Therefore, the number of ships calculated according to the average arrival rate during the time when ships in this direction are prohibited from passing should not exceed the anchorage scale:

[0034] Constraint 1: T i ×λ ≤ B

[0035] In the formula, T i is the time when upstream or downstream ships on the restricted section are prohibited from passing; B is the number of anchorage berths.

[0036] At the same time, calculate the occurrence probability that the number of ships arriving within time T i is greater than the berth number B according to the mathematical law of arrival distribution, and ensure that the occurrence probability is less than or equal to 0.01.

[0037] Constraint 2:

[0038] In addition, the time when one-sided ships are allowed to pass should not be too short, at least ensuring that ships can pass through the restricted section smoothly at one time. Therefore, set the passage time constraint according to the average navigation speed of ships on the restricted section as:

[0039] Constraint 3: v受限 ×d 受限 <T i

[0040] Wherein, v 受限 is the average speed of the ship in the restricted navigation section, and d 受限 is the length of the restricted navigation section.

[0041] In addition, the setting of the ship passage plan needs to refer to the situation of ship lock passage to avoid low utilization efficiency of the ship lock.

[0042] Furthermore, in step 5, the upstream and downstream green light time parameters of the restricted navigation section are set according to the initial navigation plan, the simulation model is run, the operation results under various navigation plans are obtained according to the model statistics, and the results of the average passage time of upstream and downstream ships in the research section, the average utilization rate of the lock chamber, the average waiting time of ships in the anchorage, and the average waiting time of ships for lock passage are sorted out. According to these three evaluation indicators, the passage plan with shorter passage and waiting time is comprehensively compared and selected as the optimal navigation plan for the restricted waterway.

[0043] ① Average passage time:

[0044] Wherein, t i is the passage time of the i-th ship in the research area; k is the number of ships leaving the research area during the simulation time.

[0045] ② Average waiting time of ships in the anchorage:

[0046] Wherein, is the waiting time of the i-th ship staying in the anchorage.

[0047] ③ Average waiting time of ships for lock passage:

[0048] Calculate the comprehensive evaluation index

[0049] Formula, p i is the index weight of each evaluation time index, and the plan with the minimum comprehensive time is the optimal plan.

[0050] The beneficial effects of the present invention are as follows:

[0051] A method for optimizing the passage of a restricted waterway based on ship navigation simulation according to the present invention takes the basic information of ships in the navigation section and the one-way navigation plan as parameters for simulation, so as to obtain the passage time of ships in the restricted waterway under different passage rules, and compare to obtain the optimal one-way navigation rule. The present invention can be used for simulation of one-way navigation sections in various situations, which helps to obtain an efficient navigation plan. Description of the Drawings

[0052] Figure 1 is the process schematic diagram of the present invention;

[0053] Figure 2 is the general view of the ship passing through the restricted waterway according to the present invention;

[0054] Figure 3 is the visualization base map of the simulation model according to the present invention;

[0055] Figure 4 is the schematic diagram of the ship agent according to the present invention;

[0056] Figure 5 is the ship navigation flow chart according to the present invention;

[0057] Figure 6 is the intelligent agent logic diagram of the simulation model according to the present invention;

[0058] Figure 7 is the time statistical histogram of the simulation model according to the present invention. Detailed implementation manners

[0059] The present invention will be further clarified below in conjunction with the accompanying drawings and specific implementation manners. It should be understood that the following specific implementation manners are only used to illustrate the present invention and not to limit the scope of the present invention.

[0060] As Figure 1 shown, a preferred method for passing through a restricted waterway based on ship navigation simulation according to the present invention includes the following steps:

[0061] Step 1: Based on data collection and on-site investigation, obtain the basic information of the restricted waterway and the passing ships, analyze the traffic flow characteristics of the passing ships, and determine the basic parameters of the simulation model;

[0062] Step 2: Sort out the actual situation of ship passing in the restricted waterway, and summarize the passing processes of upstream and downstream ships;

[0063] Step 3: Establish a ship navigation simulation model for the restricted waterway;

[0064] Step 4: Establish an initial navigation plan for ship navigation in the restricted waterway;

[0065] Step 5: Based on the simulation model established in Step 3, set the model parameters according to different navigation plans, run the model, sort out the results of the simulation model operation, conduct a comparison and selection of navigation plans, and summarize and obtain an optimized navigation plan.

[0066] Embodiment 1

[0067] In this embodiment, the multi-intersecting sections where the Su-Lian waterway crosses the Xinyi River are selected as the research waterway. The research waterway is 14.5 km in total, including a one-way passage section of 1.1 km.

[0068] A visualization base map was constructed on the platform. The satellite map of the Su-Lian waterway was intercepted in the map software and imported into AnyLogic software as the base map. Figure 3 .

[0069] The intelligent agent component of the container ship type in the software library is used as the ship intelligent agent of the model, and the 1000t ship is used as the simulation ship type. The ship scale is set to 58.0m×11.0m×2.7m in the intelligent agent properties. Figure 4 According to the ship arrival pattern in the study area, the arrival rates of upstream and downstream ships are set to 200 ships per day.

[0070] The passage process of ships passing through the research section is sorted out: upstream ships wait before arriving at the Shuxinhe South Ship Lock, enter the lock chamber at the appropriate time, continue to sail through the ship lock, pass through the one-way passage section affected by the flood season, and finally leave the simulated section through the Juntun River Ship Lock. Downstream ships wait at the Juntun River Ship Lock, queue up to enter the ship lock, continue to sail after passing the ship lock, and before arriving at the anchorage, check whether it is necessary to enter the anchorage to wait to pass through the one-way passage section affected by the flood season. If it is appropriate, continue to sail directly. If the time is not appropriate, stop at the anchorage and wait for the appropriate time to continue sailing, and finally leave this section through the Shuxinhe South Ship Lock. The passage process is shown in Figure 5 As shown. Based on this, the ship passage logic is drawn in the model, as shown Figure 6 shown.

[0071] In order to visually see the transit time data in the ship agent, add the data component data set, statistics and histogram data in the analysis section, and add the chart histogram component such as Figure 7 , to record the time from when upstream ships enter the Shuxinan South Ship Lock to when they arrive at the Juntun River Ship Lock, as well as the time from when downstream ships enter the Juntun River Ship Lock to when they arrive at the Shuxinan South Ship Lock.

[0072] According to the actual situation, the traffic rules on the one-way traffic segment are set, as shown in Table 1.

[0073] Table 1: Simulation traffic rules table

[0074] Scheme number 1 2 3 4 5 6 7 8 9 10 11 12 13 Downbound ship time 1800 1900 1700 2000 1600 2100 1500 2200 1400 2300 1300 2400 1200 Upbound ship time 1800 1700 1900 1600 2000 1500 2100 1400 2200 1300 2300 1200 2400

[0075] Under the condition that the total cycle for releasing upstream and downstream ships is determined to be one hour, in order to ensure that ships can smoothly pass through the one-way passage section within the allowed passage time, the one-way allowed passage time is set from 1200 seconds to 2400 seconds, with a time interval of 100 seconds.

[0076] Run the simulation model according to the traffic rules, and finally the traffic time results are statistically obtained as shown in Table 2. The mandatory traffic rules are used to determine the optimal traffic plan for the restricted waterway.

[0077] Table 2: Statistical Table of Simulation Results

[0078] Scheme number 1 2 3 4 5 6 7 8 9 10 11 12 13 Downbound ship time 146.2 146.1 146.1 146.1 146.1 146.1 146.2 146.2 146.1 146.1 145.4 146.1 146.1 Upbound ship time 133.3 132.1 135.5 130.5 137.1 128.8 138.9 127.1 140.5 125.5 142.1 123.8 143.8

[0079] It should be noted that the above content only illustrates the technical idea of the present invention and cannot be used to limit the protection scope of the present invention. For those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements all fall within the protection scope of the claims of the present invention.

Claims

1. A restricted waterway passage optimization method based on ship navigation simulation, characterized in that: The steps include: Step 1: Based on data collection and on-site investigation, basic information of restricted waterways and navigable ships is obtained, traffic flow characteristics of navigable ships are analyzed, and basic parameters of the simulation model are determined; Step 2: Sort out the actual situation of ship traffic in restricted waterways and summarize the upstream and downstream ship traffic processes; Step 3, establishing a simulation model for ship navigation on restricted waterways; Step 4: Establish an initial navigation plan for ships in restricted waterways; Step 5, based on the simulation model established in step 3, set model parameters according to different navigation schemes, run the model, organize the results of the simulation model operation, compare the navigation schemes, and summarize the optimized navigation scheme.

2. The restricted waterway passage optimization method based on ship navigation simulation according to claim 1 is characterized in that: The step 1 collects basic information of the one-way passage section and parameters of navigable ships. The basic information of the section includes the length and width of the channel, the channel layout, the location of the lock, the size of the lock chamber and the lock schedule, the location and size of the anchorage, and the traffic flow characteristics of the ship include the ship traffic volume, the ship traffic speed distribution, the ship traffic flow density, the ship traffic flow time distribution, the ship heading, the ship size, the ship type, the ship spacing, the ship priority and the ship appearance; The arrival law of ships on restricted waterways is statistically analyzed, which usually obeys negative exponential distribution, Poisson distribution or normal distribution. This result is used as the arrival rate of ships in the simulation model. For locks and anchorages on inland waterways, the number of ships arriving in most cases obeys the mathematical law of Poisson distribution, that is, a period of time t is selected as the research time period, and n ships arrive. The probability of the event is: Where: e is the base of the natural logarithm; λ is the average arrival rate of ships, that is, the average number of arriving ships per unit time; Statistical distribution of ship traffic flow on restricted waterways as the ship navigation spacing parameter; The average speed of each type of ship in the conventional and restricted sections within the study area is calculated as the ship speed parameter of the simulation model using the formula: Where: V i is the interval average travel speed of the i-th type of ship; S is the length of the flight segment; t ij is the travel time of the jth ship of the i-th type of ship in the route; m is the number of ship travel time observations; Calculate the traffic share of each type of ship: passenger ships, bulk carriers, general cargo ships, container ships, oil tankers and special ships; count the length, width and draft of each type of ship; Compare the interval average speeds of each type of ship in the restricted section, and take the slowest interval average speed as the general slowest speed.

3. The restricted waterway passage optimization method based on ship navigation simulation according to claim 1 is characterized in that: In the step 2, the passage routes of launching and disembarking ships are organized and drawn into a ship passage flow chart; The logic for upstream and downstream ships to pass through the one-way section is as follows: ① The ship arrives at the waiting area closest to the restricted section, that is, the anchorage or in front of the lock; ② Determine whether it can enter the one-way section and leave the one-way section before the green light ends at the normal slowest speed; ③ If yes, continue sailing and enter the one-way section; ④ Otherwise, wait here until it reaches the end of the one-way section just before the next green light at the normal fastest speed, and then enter the one-way section; ⑤ Finally leave the restricted channel.

4. The restricted waterway passage optimization method based on ship navigation simulation according to claim 1 is characterized in that: The specific process of step 3 is as follows: Based on the basic information of restricted waterways and passing ships obtained in the previous steps, a simulation model of ship navigation on restricted waterways was constructed using AnyLogic simulation software. The simulation model includes a navigation base map, ship agents, agent logic, and visualization results. Specifically, it includes the following contents: (1) Establish a visualization base map of the route, which includes the river, locks, anchorages, hydraulic structures and land in the study area, and use a 3D window to display the 3D scene of the model; (2) Use the agent component in the software agent panel to establish a ship agent. According to the navigable ship parameters of the study area obtained in step 1, including ship size, ship type and ship appearance, set the ship agent parameters as needed. Multiple ship agents form a ship agent group. (3) Use Source, MoveTo, and Dispose components to convert the upstream and downstream ship passage processes into the operation logic of the ship agent; set the ship lock operation process according to the lock passing rules, set the traffic information lights to control the direction allowed to pass in the one-way section, set the traffic lights according to the ship navigation rules, establish the logic of ships waiting and passing through the one-way passage section, and form the logical model of the ship agent; set the queuing rules for ships waiting to pass through the one-way passage section according to actual needs, namely first-in-first-out, last-in-first-out, random service, service by priority, shortest processing time first service, and mixed system; (4) Finally, add the time parameter and use Java programming to record the total time the ship spends in the restricted one-way passage. Use the data set, statistics, and histogram data components in the analysis panel to visualize the results in the simulation model.

5. The restricted waterway passage optimization method based on ship navigation simulation according to claim 1 is characterized in that: In step 4, a plurality of appropriate initial restricted section ship navigation schemes are set based on the ship's navigation speed, the operation of the lock, the size of the anchorage and the length of the waterway, that is, the time when upstream ships are allowed to pass, that is, the time when downstream ships are prohibited from passing and the time when downstream ships are allowed to pass, that is, the time when upstream ships are prohibited from passing are set. The sum of the upstream ship passing time and the downstream passing time is the ship passage cycle of the restricted section; According to the actual situation of restricted waterways, there are generally two types of waiting places for ships before passing through restricted sections, namely anchorages and ship locks. Anchorages only allow a certain number of ships to wait there according to their construction scale. Therefore, the number of ships calculated according to the average arrival rate during the prohibited passage time in that direction should not exceed the size of the anchorage: Constraint 1: T i ×λ≤B Where, T i is the time during which the upstream or downstream vessels on the restricted section are prohibited from passing; B is the number of berths in the anchorage; At the same time, T is calculated according to the mathematical law of arrival distribution. i The probability that the number of ships arriving within a certain time is greater than the number of berths B should be guaranteed to be ≤ 0.01; Constraint 2: In addition, the time allowed for a ship on one side to pass should not be too short, at least to ensure that the ship can pass through the restricted section smoothly at one time. Therefore, the passage time constraint is set according to the average speed of ships on the restricted section: Constraint 3: v 受限 ×d 受限 <T i In the formula, v 受限 is the average speed of the ship in the restricted section, d 受限 is the length of the restricted segment; In addition, the setting of ship passage plans needs to refer to the situation of ship lock passage to avoid inefficient lock utilization.

6. The restricted waterway passage optimization method based on ship navigation simulation according to claim 1 is characterized in that: The step 5 sets the uplink and downlink green light time parameters of the restricted waterway according to the initial navigation plan, runs the simulation model, obtains the operation results under various navigation plans according to the model statistics, and sorts out the results of the average passage time of uplink and downlink ships in the research section, the average utilization rate of the lock chamber, the average waiting time of ships at the anchorage, and the average waiting time of ships to pass the lock. According to these three evaluation indicators, the passage plan with shorter passage and waiting time is comprehensively selected as the optimal navigation plan for the restricted waterway; ①Average travel time: Where, t i is the passage time of the i-th ship in the study area; k is the number of ships leaving the study area during the simulation time; ②Average waiting time of ships at anchorage: In the formula, is the waiting time of the i-th ship staying in the anchorage; ③Average waiting time for ships to pass through the lock: Calculate comprehensive evaluation index Formula, p i is the weight of each evaluation time indicator, and the plan with the smallest comprehensive time is the optimal plan.

Images