Remaining navigation time determination method, device and system and storage medium

Abstract

The invention discloses a remaining navigation time determination method, device and system and a storage medium, which are used for improving the prediction precision of the remaining navigation time. The method comprises the steps of obtaining a current position of a ship and a target port position according to a preset time interval; determining the shortest sailing path of the ship according to the current position of the ship and the target port position; dividing the shortest navigation path into a plurality of different navigation segments; calculating the navigation time of each leg according to the feature data of each leg and the ship data; and accumulating the navigation time of each leg to obtain the total residual navigation time of the ship. According to the method and the device, the navigation path can be accurately predicted, the navigation segments are divided, the navigation time of each navigation segment is calculated, and the prediction precision of the remaining navigation time is improved.

Description

Technical Field

[0001] This application relates to the technical field of ship transportation management, and particularly to a method, device, system and storage medium for determining the remaining navigation time. Background Art

[0002] The technology for predicting the expected arrival time of a ship is based on various factors such as ship navigation data, port conditions, weather conditions, etc. In the prior art, it is mostly calculated based on the current ship speed and the distance from the ship to the port. When the route distance is long, the water flow, weather conditions, etc. in different navigation segments are different, resulting in a large deviation in the prediction result. Therefore, how to provide a method for determining the remaining navigation time to improve the prediction accuracy of the remaining navigation time has become an urgent technical problem to be solved. Summary of the Invention

[0003] This application provides a method, device, system and storage medium for determining the remaining navigation time to improve the prediction accuracy of the remaining navigation time.

[0004] This application provides a method for determining the remaining navigation time, including:

[0005] Obtain the current position of the ship and the position of the target port at preset time intervals;

[0006] Determine the shortest navigation path of the ship according to the current position of the ship and the position of the target port;

[0007] Divide the shortest navigation path into multiple different navigation segments;

[0008] Calculate the navigation time of each navigation segment according to the characteristic data and ship data of each navigation segment;

[0009] Accumulate the navigation times of each navigation segment to obtain the total remaining navigation time of the ship.

[0010] The beneficial effects of this application are as follows: Obtain the current position of the ship and the position of the target port at preset time intervals; determine the shortest navigation path of the ship according to the current position of the ship and the position of the target port; divide the shortest navigation path into multiple different navigation segments; calculate the navigation time of each navigation segment according to the characteristic data and ship data of each navigation segment; accumulate the navigation times of each navigation segment to obtain the total remaining navigation time of the ship. In this application, the shortest navigation path of the ship is determined based on the current position of the ship and the position of the target port, and the shortest navigation path is divided into multiple different navigation segments, making the navigation path closer to the real navigation trajectory and improving the prediction accuracy of the trajectory; in addition, the characteristic data and ship data of each navigation segment are combined to calculate the navigation time of each navigation segment, further improving the prediction accuracy of the time within each navigation segment. Therefore, this application improves the prediction accuracy of the remaining navigation time.

[0011] In one embodiment, determining the shortest navigation path of a ship based on the current position of the ship and the position of the target port includes:

[0012] Calculating the great circle path arc between the current position of the ship and the position of the target port based on the geodetic principle;

[0013] Obtaining the waterways and traffic separation lines passed by the great circle path arc;

[0014] Determining the shortest navigation path between the current position of the ship and the position of the target port according to the waterways and traffic separation lines passed by the great circle path arc.

[0015] In one embodiment, calculating the navigation time of each leg based on the characteristic data and ship data of each leg includes:

[0016] Determining the corresponding navigation time correction value according to the preset real-time data of each leg;

[0017] When there are multiple preset real-time data, adding up the navigation time correction values corresponding to the multiple preset real-time data to form the total navigation time correction value of each leg;

[0018] Calculating the navigation time of each leg according to the characteristic data, ship data and total navigation time correction value of each leg.

[0019] In one embodiment, the preset real-time data includes the current course angle of the ship, and determining the corresponding navigation time correction value according to the preset real-time data of each leg includes:

[0020] Determining the deviation angle between the ship's course and the target direction according to the current course angle of the ship;

[0021] When the deviation angle between the ship's course and the target direction is greater than the preset angle, it is determined that the ship is not on the shortest navigation path;

[0022] Determining the navigation time correction value corresponding to the deviation angle according to the deviation angle between the ship's course and the target direction.

[0023] In one embodiment, the preset real-time data includes the meteorological data of the ship's location, and determining the corresponding navigation time correction value according to the preset real-time data of each leg includes:

[0024] Obtaining the real-time meteorological data;

[0025] Determining the navigation time correction value corresponding to the meteorological data according to the influence of the real-time meteorological data on the ship's speed.

[0026] In one embodiment, the preset real-time data includes waiting events, and determining a corresponding voyage time correction value according to the preset real-time data of each voyage segment includes:

[0027] Obtain possible waiting events;

[0028] Determine a voyage time correction value corresponding to the waiting event according to the possible waiting events.

[0029] In one embodiment, the preset real-time data includes ship real-time data, and determining a corresponding voyage time correction value according to the preset real-time data of each voyage segment includes:

[0030] Obtain the load condition of the ship, the draft depth, and the dynamic characteristics of the ship type;

[0031] Determine a voyage time correction value corresponding to the ship real-time data according to the load condition of the ship, the draft depth, and the dynamic characteristics of the ship type.

[0032] This application also provides a remaining voyage time determination device, including:

[0033] An acquisition module, configured to acquire the current position of the ship and the position of the target port according to a preset time interval;

[0034] A determination module, configured to determine the shortest voyage path of the ship according to the current position of the ship and the position of the target port;

[0035] A division module, configured to divide the shortest voyage path into multiple different voyage segments;

[0036] A calculation module, configured to calculate the voyage time of each voyage segment according to the characteristic data and ship data of each voyage segment;

[0037] An accumulation module, configured to accumulate the voyage times of each voyage segment to obtain the total remaining voyage time of the ship.

[0038] In one embodiment, the determination module includes:

[0039] A first calculation sub-module, configured to calculate the great circle path arc between the current position of the ship and the position of the target port based on the geodetic principle;

[0040] An acquisition sub-module, configured to acquire the waterway and traffic separation line passed by the great circle path arc;

[0041] A first determination sub-module, configured to determine the shortest voyage path between the current position of the ship and the position of the target port according to the waterway and traffic separation line passed by the great circle path arc.

[0042] In one embodiment, the calculation module is configured to:

[0043] A second determination sub-module, configured to determine a corresponding navigation time correction value according to preset real-time data of each voyage segment;

[0044] An accumulation sub-module, configured to accumulate the navigation time correction values corresponding to multiple types of preset real-time data to form a total navigation time correction value for each voyage segment when there are multiple types of preset real-time data;

[0045] A second calculation sub-module, configured to calculate the navigation time of each voyage segment according to the characteristic data, ship data, and total navigation time correction value of each voyage segment.

[0046] In one embodiment, the preset real-time data includes the current heading angle of the ship, and the second determination sub-module is further configured to:

[0047] Determine the deviation angle between the ship's heading and the target direction according to the current heading angle of the ship;

[0048] When the deviation angle between the ship's heading and the target direction is greater than a preset angle, determine that the ship is not on the shortest navigation path;

[0049] Determine the navigation time correction value corresponding to the deviation angle according to the deviation angle between the ship's heading and the target direction.

[0050] In one embodiment, the preset real-time data includes meteorological data of the ship's location, and the second determination sub-module is further configured to:

[0051] Obtain real-time meteorological data;

[0052] Determine the navigation time correction value corresponding to the meteorological data according to the influence of the real-time meteorological data on the ship's speed.

[0053] In one embodiment, the preset real-time data includes waiting events, and the second determination sub-module is further configured to:

[0054] Obtain possible waiting events;

[0055] Determine the navigation time correction value corresponding to the waiting event according to the possible waiting event.

[0056] In one embodiment, the preset real-time data includes ship real-time data, and the second determination sub-module is further configured to:

[0057] Obtain the load condition of the ship, the draft depth, and the dynamic characteristics of the ship type;

[0058] Determine the navigation time correction value corresponding to the ship real-time data according to the load condition of the ship, the draft depth, and the dynamic characteristics of the ship type.

[0059] The present application also provides a remaining navigation time determination system, including:

[0060] at least one processor; and,

[0061] a memory communicatively connected to the at least one processor; wherein,

[0062] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to implement the remaining navigation time determination method described in any of the above embodiments.

[0063] The present application also provides a computer-readable storage medium. When the instructions in the storage medium are executed by a processor corresponding to the remaining navigation time determination system, the remaining navigation time determination system can implement the remaining navigation time determination method described in any of the above embodiments.

[0064] Other features and advantages of the present application will be described in the subsequent specification, and part of them will become obvious from the specification, or be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained by the structures specifically pointed out in the written specification, claims, and drawings.

[0065] The technical solutions of the present application will be further described in detail below through the drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The drawings are used to provide a further understanding of the present application, and constitute a part of the specification. They are used together with the embodiments of the present application to explain the present application, but do not constitute a limitation to the present application. In the drawings:

[0067] Figure 1 is a flowchart of a remaining navigation time determination method in an embodiment of the present application;

[0068] Figure 2 is a schematic structural diagram of a remaining navigation time determination device in an embodiment of the present application;

[0069] Figure 3 is a schematic hardware structure diagram of a remaining navigation time determination system in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0070] The following describes the preferred embodiments of the present application with reference to the drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0071] Figure 1 is a flowchart of a remaining navigation time determination method in an embodiment of the present application, as Figure 1As shown, the method can be implemented as the following steps S101 - S105:

[0072] In step S101, obtain the current position of the ship and the position of the target port according to a preset time interval;

[0073] In step S102, determine the shortest navigation path of the ship according to the current position of the ship and the position of the target port;

[0074] In step S103, divide the shortest navigation path into multiple different segments;

[0075] In step S104, calculate the navigation time of each segment according to the characteristic data of each segment and the ship data;

[0076] In step S105, accumulate the navigation times of each segment to obtain the total remaining navigation time of the ship.

[0077] Obtain the current position of the ship and the position of the target port according to a preset time interval. In an actual ship transportation monitoring and management system, obtaining the current position of the ship and the position of the target port can be achieved based on various technical means. For example, the current position of the ship can be obtained based on AIS (Automatic Identification System), GPS (Global Positioning System), Beidou satellite navigation system, etc. Specifically, read the current longitude and latitude information of the ship at a preset time interval (such as every 5 minutes) to determine the real-time position of the ship. The position of the target port can be obtained from the port database. For example, the target port of the ship can be obtained from the shipping schedule. After determining the target port of a certain ship, query the geographical location (such as longitude and latitude) of the target port in the database. Of course, the position of the target port can also be obtained from the electronic chart system. According to the name of the target port in the ship transportation plan, locate it in the electronic chart and obtain its accurate longitude and latitude coordinates. When collecting data, in addition to obtaining the longitude and latitude of the current position and the longitude and latitude of the target port, other key operation parameters of the ship can also be obtained simultaneously, such as the current speed, course angle, ship status, etc.

[0078] Determine the shortest navigation path of the ship according to the current position of the ship and the position of the target port; When performing path analysis in this application, the system determines the theoretical shortest navigation path by analyzing the coordinates of the current position of the ship and the target port. First, calculate the great circle path arc between the current position of the ship and the position of the target port based on the geodetic principle; Then, obtain the waterways and traffic separation lines passed by the great circle path arc; Finally, determine the shortest navigation path between the current position of the ship and the position of the target port according to the waterways and traffic separation lines passed by the great circle path arc. Furthermore, the path is optimized in combination with the actual waterways and traffic separation lines.

[0079] Divide the shortest navigation path into multiple different segments. Dividing the shortest navigation path into segments helps to manage and analyze the ship's navigation process more meticulously. Specifically, there are multiple ways to achieve this. For example, it can be divided based on a fixed distance. Set a fixed distance value, such as dividing a segment every 50 nautical miles. In addition, it can also combine the geographical information in the electronic nautical chart and divide the segments according to different geographical features, such as the starting and ending points of a strait, turning points, and boundary points of different hydrological regions. Taking these geographical feature points as boundaries, the path is divided into different segments so that the geographical environment within each segment is relatively consistent. Of course, considering the different navigation conditions that the ship may encounter during the navigation process, such as changes in factors like wind direction and water flow, it can also be divided based on changes in navigation conditions. For example, obtain data such as wind direction, wind speed, water flow speed, and direction at different positions on the navigation path through means such as weather forecasts and ocean monitoring, and find the position points where significant changes in navigation conditions occur. For example, when the wind direction suddenly changes or there are obvious differences in water flow speed or direction, these positions can be used as the basis for segment division. Taking these condition change points as boundaries, the path is divided into multiple segments.

[0080] Calculate the sailing time of each voyage section based on the characteristic data and ship data of each voyage section. In an embodiment of the present application, corresponding speed and heading parameters are allocated according to the characteristics of different voyage sections. Specifically, it can be corrected based on the ship speed of the ship at the current position, combined with the meteorological data of each voyage section, the specific requirements of the route, the geographical characteristics of the sea area passed through, etc. In addition, the speed of each voyage section can also be determined based on the average speed of the empty ship, and corrected and determined in combination with the current ship load condition, meteorological data, etc. The average speed during empty ship operation refers to the operating speed of the ship when it is in a non-cargo state, maintaining a relatively stable power output and the resistance is minimized. First, the system needs to obtain the basic information and real-time information of the ship. The basic information of the ship should at least cover the ship name and MMSI code; the real-time information includes ship speed, heading angle, ship load condition, draft depth, dynamic characteristics of the ship type, and meteorological data, etc. Then, determine the ship speed of the ship in each voyage section based on the basic information of the ship. The ship speed in each voyage section is based on the average speed of the empty ship of the ship and is obtained after correction in combination with real-time information. When calculating the average speed during empty ship operation, the system obtains the historical ship speed data of the ship by virtue of the ship name and MMSI code. At the same time, according to the current ship type, collect the speed data of the same type of ship during empty ship operation. Combine the corresponding historical meteorological data and exclude the abnormal values caused by special circumstances (such as extreme weather, equipment failures, etc.). Then, select the method of weighted average or simple arithmetic average to calculate the average speed during empty ship operation. Considering that the influence degrees of different operating sea area environments (such as inland rivers, coastal waters, open oceans) on the ship speed are different, the system will conduct classified statistics on the specific conditions of the operating sea area, and conduct statistical analysis on the inland river speed, coastal speed, and open ocean speed respectively. In addition, in order to make the ship speed more in line with the actual situation, the average speed will also be dynamically adjusted in combination with real-time environmental factors such as sea conditions, wind speed, and tide. For example, according to different factors such as ship speed, sea conditions, wind speed, and tide, a corresponding adjustment coefficient table is established in advance, and according to the situation of each voyage section, the adjustment coefficient is determined by querying the corresponding adjustment coefficient table. Finally, correct the average speed of the empty ship according to the real-time data of the ship. For example, multiply the average speed during empty ship operation by the adjustment coefficients corresponding to multiple factors to obtain the actual ship speed in each voyage section. Then, in combination with the route distance in each voyage section, the sailing time in each voyage section can be calculated.

[0081] In another embodiment of the present application, the corresponding navigation time correction value can also be determined according to the preset real-time data of each voyage segment; (1) Correction based on the current course angle: When the preset real-time data includes the current course angle of the ship, the deviation angle between the ship's course and the target direction needs to be calculated first. If this deviation angle is greater than the preset angle, it indicates that the ship is not sailing on the shortest navigation path. Furthermore, the corresponding navigation time correction value is determined according to the magnitude of this deviation angle. For example, the speed of the ship in still water is v0, and the length of each voyage segment is s, then the preliminary navigation time without the influence of meteorological factors is t0 = s / v0. Let θ be the deviation angle between the ship's course and the target direction, and θ0 be the preset angle. When θ > θ0, it indicates that the ship is not on the shortest navigation path. Assume that the influence coefficient of the deviation angle on the ship's speed is k θ , generally speaking, the larger the deviation angle, the greater the influence on the ship's speed, which can be expressed as where α is the influence factor, and its value range is between 0 and 1, and θmax is the maximum deviation angle. When the ship's navigation deviates seriously from the optimal path beyond this angle. Then the navigation time correction value When θ ≤ θ0, then take Δt1 = 0. (2) Correction based on meteorological data: If the preset real-time data covers the meteorological data of the ship's location, it is necessary to obtain real-time meteorological information, such as sea conditions, ocean currents, wind speeds, tides, etc. Real-time meteorological data can be obtained through external data sources such as meteorological stations and ocean monitoring systems. Then, according to whether the ship is sailing with or against the current, the magnitude of the wind speed, etc., the predicted value of the ship's speed is dynamically adjusted, and then the navigation time correction value is determined. For example, the speed of the ship in still water is v0, and the length of each voyage segment is s, then the preliminary navigation time without the influence of meteorological factors is t0 = s / v0. Let u be the ocean current speed, and the influence coefficient of the ocean current on the ship's speed is ku = 1 + u / v0, where u is a positive number when the ship is sailing with the current, and u is a negative number when the ship is sailing against the current. Similarly, the influence coefficients of other factors on the ship's speed can be determined. Furthermore, the calculation formula for the navigation time correction value based on meteorological data can be obtained as follows: (3) Correction based on waiting events: When there are waiting events in the preset real-time data, it is necessary to obtain the possible waiting events, such as traffic congestion, additional stops, etc. For these possible waiting events, the corresponding navigation time correction values are determined. For example, the expected duration of the i-th waiting event is w i , then the correction values for all the corresponding waiting times are Δt3 = ∑ l w l. (4) Correction based on real-time ship data: If the preset real-time data includes the real-time ship data, information such as the load condition of the ship, the draft depth, and the dynamic characteristics of the ship type needs to be obtained. According to these real-time ship data, the corresponding correction value of the sailing time is determined. Similar to the correction of meteorological data, for the corresponding real-time ship data, by separately determining the correction coefficients kd1, kd2, kd3 corresponding to the information such as the load condition of the ship, the draft depth, and the dynamic characteristics of the ship type, the correction value is determined as

[0082] When there are multiple preset real-time data, the correction values of the sailing time corresponding to the multiple preset real-time data are accumulated to form the total correction value of the sailing time for each voyage segment; finally, the sailing time of each voyage segment is calculated according to the characteristic data, ship data, and the total correction value of the sailing time of each voyage segment. The characteristic data of each voyage segment includes but is not limited to the distance, water flow velocity, wind direction, sea conditions, etc. of the voyage segment; the ship data includes the type of the ship, full-load displacement, light-load displacement, main engine power, propulsion efficiency, etc. According to the characteristic data and ship data of each voyage segment, the sailing speed of each voyage segment is predicted, the initial sailing time of each voyage segment is determined according to the distance and sailing speed of the voyage segment, and then the total correction value of the sailing time of each voyage segment is added to obtain the sailing time of each voyage segment. Then the sailing times of each voyage segment are accumulated to obtain the total remaining sailing time of the ship.

[0083] The beneficial effects of this application are as follows: Obtain the current position of the ship and the position of the target port according to the preset time interval; determine the shortest sailing path of the ship according to the current position of the ship and the position of the target port; divide the shortest sailing path into multiple different voyage segments; calculate the sailing time of each voyage segment according to the characteristic data and ship data of each voyage segment; accumulate the sailing times of each voyage segment to obtain the total remaining sailing time of the ship. In this application, the shortest sailing path of the ship is determined based on the current position of the ship and the position of the target port, and the shortest sailing path is divided into multiple different voyage segments, making the sailing path closer to the real sailing trajectory and improving the prediction accuracy of the trajectory; in addition, the characteristic data and ship data of each voyage segment are combined to calculate the sailing time of each voyage segment, further improving the prediction accuracy of the time within each voyage segment. Therefore, this application improves the prediction accuracy of the remaining sailing time.

[0084] In one embodiment, the above step S102 can be implemented as the following steps A1 - A3:

[0085] In step A1, calculate the great circle path arc between the current position of the ship and the position of the target port based on the geodetic principle;

[0086] In step A2, obtain the waterways and traffic separation lines passed by the great circle path arc;

[0087] In step A3, determine the shortest navigation path between the current position of the ship and the target port position according to the waterways and shipping lane separation lines passed by the great circle path arc.

[0088] In this embodiment, calculate the great circle path arc between the current position of the ship and the target port position based on the geodetic principle. On the earth's surface, the shortest path between two points is the minor arc on the great circle determined by these two points and the earth's center, which is called the great circle path arc. Assume that the longitude and latitude of the current position point A are and the longitude and latitude of the target port position point B are where λ represents longitude, represents latitude. Then, first convert the longitude and latitude to radians through the following formula:

[0089] The longitude radian of point A is:

[0090] The latitude radian of point A is:

[0091] The longitude radian of point A is:

[0092] The latitude radian of point A is:

[0093] Then, calculate the cosine value of the central angle θ:

[0094] cosθ = sinβ1·sinβ2 + cosβ1·cosβ2·cos(α1 - α2).

[0095] Furthermore, the central angle θ can be obtained:

[0096] θ = arccos(sinβ1·sinβ2 + cosβ1·cosβ2·cos(α1 - α2)).

[0097] Finally, assume that the radius of the earth is R. Then the distance between the loading port and the destination port is:

[0098] d = R×θ = R·arccos(sinβ1·sinβ2 + cosβ1·cosβ2·cos(α1 - α2));

[0099] where d is the distance between the current position and the target port position, α1 and β1 are the longitude radian and latitude radian of the current position respectively, α2 and β2 are the longitude radian and latitude radian of the target port position respectively, θ is the central angle between the current position and the target port position, and R is the radius of the earth.

[0100] That is

[0101]

[0102] where d is the distance between the current position and the target port position, are the longitude and latitude coordinates of the current position, are the longitude and latitude coordinates of the target port position, and R is the radius of the earth.

[0103] Obtain the waterways and traffic separation lines passed by the great circle path arc. To obtain the waterways and traffic separation lines passed by the great circle path arc, electronic chart data can be used. Electronic charts contain rich geographical information, including the location data of waterways and traffic separation lines. First, perform data loading: Load the electronic chart data, which is usually stored in a specific format. By parsing this data, the geometric information of the waterways and traffic separation lines can be extracted, such as their sequence of coordinate points. Then, perform a spatial query to calculate the intersection points of the great circle path with the waterways and traffic separation lines. For example, for two line segments AB and CD, it can be determined whether they intersect by calculating their cross product. If certain cross product conditions are met, it indicates that the two line segments intersect. Furthermore, use a line segment intersection algorithm to calculate the intersection points of the great circle path with the waterways and traffic separation lines. Record the intersection points of the great circle path arc with the waterways and traffic separation lines, as well as the identification information of the waterways and traffic separation lines passed.

[0104] Determine the shortest navigation path between the current position of the ship and the target port position based on the waterways and traffic separation lines passed by the great circle path arc. After considering the restrictions of the waterways and traffic separation lines, determining the shortest navigation path requires comprehensively considering that the ship must sail along the waterways and follow the traffic separation rules. For example, by constructing a graph model, consider the waterways and traffic separation lines as the edges of the graph and their intersection points as the nodes of the graph. When assigning weights to each edge, the great circle path arc length can be referred to for adjusting the weight settings, or the weight can be determined according to factors such as the length of the waterway and the navigation difficulty. For example, longer waterways or waterways with more restrictive conditions have larger weights. Then, use a graph search algorithm to search for the shortest path from the node corresponding to the current position of the ship to the node corresponding to the target port position in the constructed graph. These algorithms will find the path with the minimum total weight according to the weights of the edges. Since the great circle path arc length represents the theoretical shortest distance for the ship to travel from the current position to the target port position on the earth's surface without considering any restrictive conditions, in the graph search algorithm used to determine the shortest navigation path, the great circle path arc length can be used as an optimization target orientation. According to the deviation degree of the node from the great circle path and the remaining great circle path arc length, preferentially select those nodes that are more likely to lead to the shortest path for expansion. In addition, based on the shortest path found, the path can be further optimized to make it more in line with the actual navigation situation of the ship. For example, avoid overly frequent turning and ensure that the path is within the maneuvering ability of the ship. At the same time, considering real-time sea conditions, meteorological and other factors, dynamically adjust the path to finally obtain the finally determined shortest navigation path.

[0105] In one embodiment, step S104 described above may be implemented as the following steps A1 - A4:

[0106] In step B1, determine the corresponding voyage time correction value according to the preset real - time data of each voyage segment;

[0107] In step B2, when there are multiple types of preset real - time data, accumulate the voyage time correction values corresponding to the multiple types of preset real - time data to form the total voyage time correction value of each voyage segment;

[0108] In step B3, calculate the voyage time of each voyage segment according to the characteristic data, ship data, and total voyage time correction value of each voyage segment.

[0109] In one embodiment, the preset real - time data includes the current course angle of the ship. Step B1 described above may be implemented as the following steps B11 - B13:

[0110] In step B11, determine the deviation angle between the ship's course and the target direction according to the current course angle of the ship;

[0111] In step B12, when the deviation angle between the ship's course and the target direction is greater than the preset angle, determine that the ship is not on the shortest voyage path;

[0112] In step B13, determine the voyage time correction value corresponding to the deviation angle according to the deviation angle between the ship's course and the target direction.

[0113] In one embodiment, the preset real - time data includes the meteorological data of the ship's location. Step B1 described above may be implemented as the following steps B14 - B15:

[0114] In step B14, obtain the real - time meteorological data;

[0115] In step B15, determine the voyage time correction value corresponding to the meteorological data according to the influence of the real - time meteorological data on the ship's speed.

[0116] In this embodiment, real - time sea conditions, ocean currents, wind speeds, tides, etc. can be obtained through external data sources (such as meteorological stations, ocean monitoring systems), and the predicted ship speed value can be dynamically adjusted according to these indicators; in addition, the system will judge the increase or decrease of the speed according to whether the ship is sailing with or against the current, wind speed, etc.

[0117] In one embodiment, the preset real - time data includes waiting events. Step B1 described above may be implemented as the following steps B16 - B17:

[0118] In step B16, obtain the possible waiting events;

[0119] In step B17, a navigation time correction value corresponding to the waiting event is determined according to the possible waiting event.

[0120] In one embodiment, the preset real-time data includes ship real-time data, and the above step B1 can be implemented as the following steps B18 - B19:

[0121] In step B18, the load condition of the ship, the draft depth, and the dynamic characteristics of the ship type are obtained;

[0122] In step B19, a navigation time correction value corresponding to the ship real-time data is determined according to the load condition of the ship, the draft depth, and the dynamic characteristics of the ship type.

[0123] Figure 2 The structure diagram of a remaining navigation time determination device in an embodiment of the present application includes:

[0124] An acquisition module 201, configured to acquire the current position of the ship and the position of the target port according to a preset time interval;

[0125] A determination module 202, configured to determine the shortest navigation path of the ship according to the current position of the ship and the position of the target port;

[0126] A division module 203, configured to divide the shortest navigation path into a plurality of different navigation segments;

[0127] A calculation module 204, configured to calculate the navigation time of each navigation segment according to the characteristic data and ship data of each navigation segment;

[0128] An accumulation module 205, configured to accumulate the navigation times of each navigation segment to obtain the total remaining navigation time of the ship.

[0129] In one embodiment, the determination module includes:

[0130] A first calculation sub-module, configured to calculate the great circle path arc between the current position of the ship and the position of the target port based on the geodetic principle;

[0131] An acquisition sub-module, configured to acquire the waterway and route separation line passed by the great circle path arc;

[0132] A first determination sub-module, configured to determine the shortest navigation path between the current position of the ship and the position of the target port according to the waterway and route separation line passed by the great circle path arc.

[0133] In one embodiment, the calculation module is configured to:

[0134] A second determination sub-module, configured to determine a corresponding navigation time correction value according to the preset real-time data of each navigation segment;

[0135] An accumulation sub-module, configured to accumulate the voyage time correction values corresponding to multiple preset real-time data when there are multiple preset real-time data, so as to form the total voyage time correction value of each voyage segment;

[0136] A second calculation sub-module, configured to calculate the voyage time of each voyage segment according to the characteristic data, ship data, and total voyage time correction value of each voyage segment.

[0137] In one embodiment, the preset real-time data includes the current heading angle of the ship, and the second determination sub-module is further configured to:

[0138] Determine the deviation angle between the ship's heading and the target direction according to the current heading angle of the ship;

[0139] When the deviation angle between the ship's heading and the target direction is greater than a preset angle, determine that the ship is not on the shortest voyage path;

[0140] Determine the voyage time correction value corresponding to the deviation angle according to the deviation angle between the ship's heading and the target direction.

[0141] In one embodiment, the preset real-time data includes the meteorological data of the ship's location, and the second determination sub-module is further configured to:

[0142] Obtain real-time meteorological data;

[0143] Determine the voyage time correction value corresponding to the meteorological data according to the influence of the real-time meteorological data on the ship's speed.

[0144] In one embodiment, the preset real-time data includes waiting events, and the second determination sub-module is further configured to:

[0145] Obtain possible waiting events;

[0146] Determine the voyage time correction value corresponding to the waiting event according to the possible waiting event.

[0147] In one embodiment, the preset real-time data includes ship real-time data, and the second determination sub-module is further configured to:

[0148] Obtain the power characteristics of the ship's load condition, draft depth, and ship type;

[0149] Determine the voyage time correction value corresponding to the ship real-time data according to the ship's load condition, draft depth, and power characteristics of the ship type.

[0150] Figure 3 This is a schematic diagram of the hardware structure of a remaining voyage time determination system in an embodiment of the present application, as Figure 3As shown, the remaining navigation time determination system includes:

[0151] At least one processor 320; and,

[0152] A memory 304 communicatively connected to the at least one processor 320; wherein,

[0153] The memory 304 stores instructions executable by the at least one processor 320, and the instructions are executed by the at least one processor 320 to implement the remaining navigation time determination method described in any of the above embodiments.

[0154] Referring to Figure 3 , the remaining navigation time determination system 300 may include one or more of the following components: a processing component 302, a memory 304, a power supply component 306, a multimedia component 308, an audio component 310, an input / output (I / O) interface 312, a sensor component 314, and a communication component 316.

[0155] The processing component 302 generally controls the overall operation of the remaining navigation time determination system 300. The processing component 302 may include one or more processors 320 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 302 may include one or more modules to facilitate the interaction between the processing component 302 and other components. For example, the processing component 302 may include a multimedia module to facilitate the interaction between the multimedia component 308 and the processing component 302.

[0156] The memory 304 is configured to store various types of data to support the operation of the remaining navigation time determination system 300. Examples of such data include instructions for any application or method operating on the remaining navigation time determination system 300, such as text, pictures, videos, etc. The memory 304 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0157] The power supply component 306 provides power to various components of the remaining navigation time determination system 300. The power supply component 306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the remaining navigation time determination system 300.

[0158] The multimedia component 308 includes a screen that provides an output interface between the remaining flight time determination system 300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can sense not only the boundaries of the touch or swipe actions but also detect the duration and pressure associated with the touch or swipe operations. In some embodiments, the multimedia component 308 may further include a front camera and / or a rear camera. When the remaining flight time determination system 300 is in an operation mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0159] The audio component 310 is configured to output and / or input audio signals. For example, the audio component 310 includes a microphone (MIC) that is configured to receive external audio signals when the remaining flight time determination system 300 is in an operation mode, such as an alarm mode, a recording mode, a voice recognition mode, and a voice output mode. The received audio signals can be further stored in the memory 304 or transmitted via the communication component 316. In some embodiments, the audio component 310 further includes a speaker for outputting audio signals.

[0160] The I / O interface 312 provides an interface between the processing component 302 and a peripheral interface module, and the peripheral interface module can be a keyboard, a click wheel, buttons, etc. These buttons can include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0161] The sensor assembly 314 includes one or more sensors for providing a status assessment of various aspects to the remaining navigation time determination system 300. For example, the sensor assembly 314 may include a sound sensor. Additionally, the sensor assembly 314 can detect the on / off state of the remaining navigation time determination system 300, the relative positioning of components, such as the display and keypad of the remaining navigation time determination system 300. The sensor assembly 314 can also detect the operating state of the remaining navigation time determination system 300 or a component of the remaining navigation time determination system 300, the orientation or acceleration / deceleration of the remaining navigation time determination system 300, and the temperature change of the remaining navigation time determination system 300. The sensor assembly 314 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 314 may further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0162] The communication component 316 is configured to enable the remaining navigation time determination system 300 to provide communication capabilities with other devices and cloud platforms in a wired or wireless manner. The remaining navigation time determination system 300 can access a wireless network based on communication standards, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 316 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 316 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0163] In an exemplary embodiment, the remaining navigation time determination system 300 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the remaining navigation time determination method described in any of the above embodiments.

[0164] This application also provides a computer-readable storage medium. When the instructions in the storage medium are executed by a processor corresponding to the remaining navigation time determination system, the remaining navigation time determination system can implement the remaining navigation time determination method described in any of the above embodiments.

[0165] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0166] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0167] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0168] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0169] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A method for determining remaining flight time, characterized in that: include: Obtain the current position of the ship and the position of the target port according to the preset time interval; Determine the shortest sailing path for the ship based on the current position of the ship and the location of the target port; Dividing the shortest flight path into a plurality of different flight segments; Calculate the sailing time of each segment based on the characteristic data of each segment and the ship data; The sailing time of each section is accumulated to obtain the total remaining sailing time of the ship.

2. The method according to claim 1, characterized in that Determining the shortest navigation path of the ship according to the current position of the ship and the position of the target port includes: Calculate the great circle path arc between the current position of the ship and the target port position based on the principle of geodetic measurement; Obtain the waterway and waterway separation line that the great circle path arc passes through; The shortest navigation path between the current position of the ship and the target port position is determined according to the waterway and the waterway separator line passed by the great circle path arc.

3. The method according to claim 1, characterized in that The calculation of the sailing time of each segment according to the characteristic data of each segment and the ship data includes: Determine the corresponding navigation time correction value according to the preset real-time data of each flight segment; When there are multiple preset real-time data, the navigation time correction values ​​corresponding to the multiple preset real-time data are accumulated to form the total navigation time correction value of each flight segment; The sailing time of each segment is calculated based on the characteristic data of each segment, the ship data and the total sailing time correction value.

4. The method according to claim 3, characterized in that The preset real-time data includes the current heading angle of the ship, and the corresponding navigation time correction value is determined according to the preset real-time data of each section, including: Determine the deviation angle between the ship's heading and the target direction according to the ship's current heading angle; When the deviation angle between the ship's heading and the target direction is greater than a preset angle, it is determined that the ship is not on the shortest navigation path; A navigation time correction value corresponding to the deviation angle is determined according to the deviation angle between the ship heading and the target direction.

5. The method according to claim 3, characterized in that The preset real-time data includes meteorological data of the location of the ship, and the corresponding navigation time correction value is determined according to the preset real-time data of each section, including: Get real-time weather data; The sailing time correction value corresponding to the meteorological data is determined based on the impact of real-time meteorological data on the ship speed.

6. The method according to claim 3, characterized in that The preset real-time data includes a waiting event, and the corresponding navigation time correction value is determined according to the preset real-time data of each flight segment, including: Get possible waiting events; Determine the navigation time correction value corresponding to the waiting event according to the possible waiting event.

7. The method according to claim 3, characterized in that The preset real-time data includes real-time ship data, and the corresponding navigation time correction value is determined according to the preset real-time data of each section, including: Obtain ship load conditions, draft, and dynamic characteristics of ship type; The sailing time correction value corresponding to the real-time data of the ship is determined according to the load condition, draft depth and dynamic characteristics of the ship type.

8. A device for determining remaining flight time, characterized in that: include: An acquisition module is used to acquire the current position of the ship and the position of the target port according to a preset time interval; A determination module, used to determine the shortest sailing path of the ship according to the current position of the ship and the position of the target port; A division module, used for dividing the shortest navigation path into a plurality of different segments; A calculation module, used to calculate the sailing time of each section according to the characteristic data of each section and the ship data; The accumulation module is used to accumulate the sailing time of each section to obtain the total remaining sailing time of the ship.

9. A system for determining remaining flight time, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to implement the remaining flight time determination method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor corresponding to the remaining flight time determination system, the remaining flight time determination system can implement the remaining flight time determination method as described in any one of claims 1-7.

Images