Energy management device, method, equipment and medium in ship track control process

Abstract

The invention discloses an energy management device, method, equipment and medium in a ship track control process, and belongs to the field of propulsion devices or steering devices of ships. The device comprises a navigation information obtaining module used for obtaining actual navigation information obtained in the process that a ship carries out track control according to the distance between at least two track points; the target navigation information determination module is used for determining target navigation information according to the energy consumption data corresponding to the actual navigation information; and the ship track control module is used for taking the track point spacing adopted on the basis of the target navigation information as the optimal track point spacing and controlling the track of the ship on the basis of the optimal track point spacing. According to the technical scheme, in the process of controlling the actual track of the ship, the energy consumption factor can be fully considered, the track point spacing can be adjusted, the optimal track point spacing can be selected, the energy loss can be reduced, and the navigation tracks of other navigation processes can be controlled on the basis.

Description

Technical Field

[0001] The present application relates to the field of propulsion devices or steering devices for ships, and specifically to an energy management device, method, equipment and medium for ship track control. Background Art

[0002] Ships are essential means of transportation for cargo and tourism. During navigation, they may be affected by various factors, such as ocean currents, wind direction, and air pressure, which can cause the ship to deviate from its intended trajectory. Therefore, real-time adjustments to the ship's propulsion and steering systems are necessary to ensure safe and efficient navigation along its intended trajectory.

[0003] Currently, manual adjustments to a ship's propulsion and steering systems are often made manually. However, due to the complex factors affecting a ship's navigation, accurate judgment is difficult, and adjustments to the propulsion and steering systems often fail to minimize energy consumption. Therefore, digitally and accurately determining the optimal track point spacing for a ship's navigation, and using this to adjust the propulsion and steering systems and reduce energy loss, is a pressing technical challenge facing those skilled in the propulsion and steering systems field. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide an energy management device, method, equipment and medium in the process of ship track control, with the aim of improving the adjustment accuracy and reliability of the ship's propulsion device or steering device, so that the ship can navigate according to the navigation trajectory based on the optimal track point spacing, thereby reducing energy loss.

[0005] In a first aspect, an embodiment of the present application provides an energy management device for ship track control, the device comprising:

[0006] A navigation information acquisition module is used to obtain actual navigation information obtained during the process of the ship performing track control according to the interval between at least two track points;

[0007] Energy consumption data acquisition module, used to obtain energy consumption data corresponding to each actual navigation information;

[0008] a target navigation information determination module, configured to determine target navigation information from at least two actual navigation information based on the energy consumption data;

[0009] The ship track control module is used to use the track point spacing adopted by the target navigation information as the optimal track point spacing, and control the ship's track based on the optimal track point spacing.

[0010] In a second aspect, an embodiment of the present application provides a method for energy management during a ship track control process, the method comprising:

[0011] Acquiring actual navigation information obtained during the process of ship track control according to the interval between at least two track points;

[0012] Obtain energy consumption data corresponding to each actual navigation information;

[0013] determining target navigation information from at least two actual navigation information based on the energy consumption data;

[0014] The track point spacing adopted based on the target navigation information is used as the optimal track point spacing, and the track of the ship is controlled based on the optimal track point spacing.

[0015] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the second aspect.

[0016] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the second aspect are implemented.

[0017] In a fifth aspect, an embodiment of the present application provides a chip, which includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method described in the second aspect.

[0018] In an embodiment of the present application, the navigation information acquisition module is used to obtain actual navigation information obtained during the process of track control of the ship according to the spacing between at least two track points; the energy consumption data acquisition module is used to obtain energy consumption data corresponding to each actual navigation information; the target navigation information determination module is used to determine the target navigation information in at least two actual navigation information based on the energy consumption data; the ship track control module is used to use the track point spacing adopted by the target navigation information as the optimal track point spacing, and control the ship's track based on the optimal track point spacing.

[0019] The energy management device in the above-mentioned ship track control process can realize the effect of making the ship navigate according to the pre-navigation trajectory and reducing deviation by controlling the ship's track. By selecting the optimal track point spacing among different track point spacings, it can maximize the reduction of energy loss and can use this as a basis to control the navigation trajectory of other navigation processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of an energy management device for ship track control provided in Example 1 of the present application;

[0021] Figure 2 This is a schematic structural diagram of an energy management device for ship track control provided in Example 2 of the present application;

[0022] Figure 3 This is a schematic structural diagram of an energy management device for ship track control provided in Example 3 of the present application;

[0023] Figure 4 This is a schematic structural diagram of an energy management device for ship track control provided in the fourth embodiment of the present application;

[0024] Figure 5 This is a schematic diagram of the structure of the energy management device in the ship track control process provided in Example 5 of the present application;

[0025] Figure 6 This is a schematic structural diagram of an energy management device for ship track control provided in Example 6 of the present application;

[0026] Figure 7 1 is a flow chart of an energy management method in a ship track control process provided in Example 7 of the present application;

[0027] Figure 8 This is a structural diagram of the electronic device provided in Example 8 of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. It should also be noted that, for ease of description, only parts related to the present application, not all of the contents, are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0029] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0030] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0031] The energy management device, method, equipment and medium for ship track control provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0032] Example 1

[0033] Figure 1 This is a schematic diagram of the structure of the energy management device in the ship track control process provided in Example 1 of this application. Figure 1 As shown, the device includes:

[0034] The navigation information acquisition module 110 is used to obtain actual navigation information obtained during the process of the ship performing track control according to the interval between at least two track points;

[0035] The energy consumption data acquisition module 120 is used to obtain energy consumption data corresponding to each actual navigation information;

[0036] a target navigation information determination module 130, configured to determine target navigation information from at least two actual navigation information based on the energy consumption data;

[0037] The ship track control module 140 is configured to use the track point spacing adopted by the target navigation information as the optimal track point spacing, and control the ship's track based on the optimal track point spacing.

[0038] This application is applicable to scenarios where energy consumption data is calculated based on actual navigation information to control the ship's trajectory. Specifically, the acquisition of energy consumption data and the control of the ship's trajectory can be performed by the ship's central control device, which controls the ship to navigate along a trajectory based on the optimal track point spacing to reduce energy loss.

[0039] Based on the above usage scenarios, it can be understood that the executor of this application can be the ship's central control equipment. In addition, it can also be an intelligent terminal connected to the ship's central control equipment, such as a desktop computer, laptop computer, mobile phone, tablet computer and interactive multimedia device, etc., and no excessive restrictions are made here.

[0040] The navigation information acquisition module 110 can be a program designed in the ship's central control equipment to obtain actual navigation information. A ship can be a large water vehicle used for water transportation or other water activities, usually made of materials such as metal, wood, fiberglass, and plastic. The ship's navigation direction can be controlled by a rudder and a rudder control system. The rudder can be a device that controls the steering of the ship, located at the stern of the ship, and changes the ship's navigation direction by changing the rudder angle. The rudder control system can be composed of a steering gear, sensors, and a steering wheel. The steering gear detects the rudder angle and the direction of the tiller through sensors, converts the instructions into steering gear actions, drives the rudder blades to rotate, and thus changes the ship's navigation direction.

[0041] Track points are a series of points pre-set in the navigation system based on a vessel's intended route and mission. These points can include information such as longitude and latitude, estimated time of arrival, heading, and speed. Track point spacing is the distance between two adjacent track points, measured in kilometers. Track control can be achieved by adjusting the vessel's navigational power based on the deviation from each track point after arrival.

[0042] Actual navigation information can include total navigation time, total navigation energy consumption, and trajectory fit. Total navigation time can be automatically recorded by the ship's navigation and control systems. Total navigation energy consumption can be automatically recorded by the ship's fuel metering system, power metering system, and other equipment. Trajectory fit is the degree of overlap between the ship's actual navigation track and the predicted navigation track, reflecting the accuracy and precision of the actual navigation track. Trajectory fit can be calculated by calculating the intersection and union of the actual and predicted navigation track curves, and then dividing the intersection by the union to obtain the percentage of overlap.

[0043] Assuming there are two curves `y1` and `y2`, and they have the same x-axis coordinate, here is a sample code to calculate the trajectory fit using mean absolute error:

[0044] import numpy as np

[0045] #Assume we have two curves y1 and y2, and they have the same x-axis coordinate

[0046] x = np.array([1,2,3,4,5])

[0047] y1 = np.array([2,4,6,8,10])

[0048] y2 = np.array([1,3,5,7,9])

[0049] #Calculate mean absolute error

[0050] mse = np.mean(np.abs(y1-y2))

[0051] #Calculate trajectory fitting

[0052] overlap=1-mse / np.mean(np.abs(y1))

[0053] print('Trajectory fit of the two curves:',overlap)

[0054] In this example, the NumPy library is used to create two curves, `y1` and `y2`, and their trajectory fit is calculated using the mean absolute error. The mean absolute error can be referred to as the average longitudinal distance between the two curves at the same x-axis coordinate. The trajectory fit can be calculated by combining the mean absolute error with the average value of the curves.

[0055] In this solution, the at least two trackpoint spacings refer to the selected distances between trackpoints. For example, a trackpoint can be selected every 0.2 km, or every 0.5 km. The selection of multiple trackpoint spacings can be determined empirically or automatically by the ship's central control equipment. For example, when a control instruction is issued to the ship's central control equipment to generate three trackpoint spacings, the ship's central control equipment may generate three values: 0.2 km, 0.3 km, and 0.5 km. It is understood that different trackpoint spacings correspond to different control accuracies. For example, when the ship's central control equipment uses a trackpoint spacing of 0.2 km to control the ship's power, the control frequency and number of controls are higher, resulting in a higher degree of track fit. This high-precision control consumes less energy per control. Compared to using a trackpoint spacing of 0.2 km, when the ship's central control equipment uses a trackpoint spacing of 0.5 km to control the ship's power, the control frequency and number of controls are lower, resulting in a lower degree of track fit. This low-precision control results in higher energy consumption per control.

[0056] The energy consumption data acquisition module 120 may be a program design in the ship's central control equipment for acquiring energy consumption data. The energy consumed by a ship during navigation may include fuel, electricity, and natural gas, among others. Among them, fuel may be the most important energy consumed by a ship. Therefore, the energy consumption data may be fuel consumption. The energy consumption data may be monitored and recorded by the ship's fuel metering system. The ship's fuel metering system may be a device specifically used to measure and record the ship's fuel consumption, and may include equipment such as a fuel flow meter and a fuel storage tank. Specifically, the fuel flow meter may calculate the ship's fuel consumption by measuring the fuel flow rate and flow in the fuel pipeline; the fuel storage tank may have certain valves and piping systems, and fuel metering may be performed through these devices.

[0057] Target navigation information determination module 130 may be a program within the vessel's central control equipment for determining target navigation information. This determination may be performed by scoring factors such as energy consumption data and trajectory fit within the actual navigation information, weighting them according to their importance, and ultimately selecting the actual navigation information with the highest score as the target navigation information.

[0058] The ship track control module 140 can be a program designed in the ship's central control equipment for controlling the ship's track. The track control method can be to adjust the ship's navigation power according to the deviation of the ship from each optimal track point after reaching each optimal track point.

[0059] Adjusting a vessel's propulsion needs to consider a variety of factors, including the vessel's design, navigational status, and environmental factors. This can include adjusting the vessel's speed and heading. Specifically, the speed and heading are adjusted so that the vessel's actual arrival time at the optimal track point is consistent with its estimated arrival time, and the lateral deviation from the optimal track point is zero.

[0060] In an embodiment of the present application, actual navigation information obtained during the process of track control of a ship according to the spacing between at least two track points is obtained; energy consumption data corresponding to each actual navigation information is obtained; target navigation information among the at least two actual navigation information is determined based on the energy consumption data; the track point spacing adopted based on the target navigation information is used as the optimal track point spacing, and the track of the ship is controlled based on the optimal track point spacing.

[0061] The energy management method in the above-mentioned ship track control process can realize the effect of making the ship navigate according to the pre-navigation trajectory and reducing deviation by controlling the ship's track. By selecting the optimal track point spacing among different track point spacings, it can maximize the reduction of energy loss and can use this as a basis to control the navigation trajectory of other navigation processes.

[0062] Example 2

[0063] Figure 2 It is a structural diagram of the energy management device in the ship track control process provided by Example 2 of the present application. This solution makes a better improvement to the above embodiment, and the specific improvement is: the navigation information acquisition module is specifically used to: obtain the ship's pre-navigation track; divide the pre-navigation track according to the first track point spacing to obtain each first track point, and divide the pre-navigation track according to the second track point spacing to obtain each second track point; determine the expected arrival time of each first track point based on the first track point and the ship's navigation speed; obtain the actual arrival time of each first track point, if the actual arrival time does not match the expected arrival time, adjust the ship's navigation power to obtain the actual navigation information; or determine the expected arrival time of each second track point based on the second track point and the ship's navigation speed; obtain the actual arrival time of each second track point, if the actual arrival time does not match the expected arrival time, adjust the ship's navigation power to obtain the actual navigation information.

[0064] like Figure 2 As shown, the device includes:

[0065] The navigation information acquisition module 210 is used to obtain actual navigation information obtained during the process of the ship performing track control according to the interval between at least two track points;

[0066] Energy consumption data acquisition module 220, used to obtain energy consumption data corresponding to each actual navigation information;

[0067] a target navigation information determination module 230, configured to determine target navigation information from at least two actual navigation information based on the energy consumption data;

[0068] The ship track control module 240 is configured to use the track point spacing adopted by the target navigation information as the optimal track point spacing, and control the ship's track based on the optimal track point spacing.

[0069] The navigation information acquisition module 210 is specifically used to obtain the ship's pre-navigation trajectory;

[0070] Dividing the pre-flight trajectory according to the first track point spacing to obtain first track points, and dividing the pre-flight trajectory according to the second track point spacing to obtain second track points;

[0071] determining an estimated arrival time of each first track point based on the first track points and the ship's navigation speed; obtaining an actual arrival time of each first track point, and adjusting the ship's navigation power if the actual arrival time does not match the estimated arrival time, thereby obtaining actual navigation information;

[0072] or,

[0073] According to the second track points and the ship's navigation speed, the estimated arrival time of each second track point is determined; the actual arrival time of each second track point is obtained, and if the actual arrival time does not match the estimated arrival time, the ship's navigation power is adjusted to obtain actual navigation information.

[0074] A navigation track is the route a ship takes during navigation. A pre-travel track is a track predicted before a ship sails based on the navigation plan, navigation conditions, and navigation equipment. The pre-travel track can be input and stored in the ship's navigation system. Smart devices can retrieve the pre-travel track data from the navigation system to obtain the ship's pre-travel track.

[0075] In actual navigation, the trackpoint spacing of a ship can be set according to specific circumstances. When the ship's speed is low and the navigation conditions are good, the trackpoint spacing can be set more densely to more accurately grasp the ship's navigation trajectory; when the ship's speed is high and the navigation conditions are poor, the trackpoint spacing needs to be appropriately increased to avoid overly complex data processing or excessive waste of data storage. The trackpoint spacing can be between 0.1km and 10km. Therefore, 0.1km can be used as the initial value, and different trackpoint spacings can be set in increments of 0.1km. For example, the first trackpoint spacing is 0.1km, the second trackpoint spacing is 0.2km, and the remaining trackpoint spacings can be obtained by analogy.

[0076] The pre-flight trajectory can be divided into two parts: the starting point of the pre-flight trajectory is used as the first track point, and the pre-flight trajectory is extended along the pre-flight trajectory, with mark points added at intervals. The track points can be obtained by identifying each mark point as a track point and retrieving the latitude and longitude data of each track point from the relevant data of the pre-flight trajectory. The estimated arrival time, heading, speed, and other information of each track point can be calculated one by one starting from the first track point based on factors such as the navigation plan, geographical environment, and navigation equipment.

[0077] The following is a sample code to determine the track points:

[0078]

[0079]

[0080] The estimated arrival time for each track point can be determined by calculating it individually based on the vessel's departure time, the voyage plan, the geographical environment, navigation equipment, and other factors. The actual arrival time for each track point can be obtained using the vessel's GPS device or a wireless internet connection. The vessel's navigational power can be adjusted by adjusting the vessel's speed and heading so that the actual arrival time at the next track point is consistent with the estimated arrival time.

[0081] The technical solution provided in the embodiment of the present application can obtain the actual navigation information of the adjusted ship and achieve the effect of reducing the energy loss of the ship by determining the estimated arrival time based on the track points and the ship's navigation speed and adjusting the ship's navigation power.

[0082] Example 3

[0083] Figure 3 This is a structural diagram of the energy management device in the ship track control process provided in Example 3 of the present application. This solution makes a better improvement to the above embodiment, specifically including the following: the navigation information acquisition module is also used to: determine the lateral deviation information of the ship arriving at each first track point based on the first track point and the ship's navigation speed and direction; adjust the ship's navigation power according to the lateral deviation information to obtain actual navigation information; or determine the lateral deviation information of the ship arriving at each second track point based on the second track point and the ship's navigation speed and direction; adjust the ship's navigation power according to the lateral deviation information to obtain actual navigation information.

[0084] like Figure 3 As shown, the device includes:

[0085] The navigation information acquisition module 310 is used to obtain actual navigation information obtained during the process of the ship performing track control according to the interval between at least two track points;

[0086] Energy consumption data acquisition module 320, used to obtain energy consumption data corresponding to each actual navigation information;

[0087] a target navigation information determination module 330, configured to determine target navigation information from at least two actual navigation information based on the energy consumption data;

[0088] The ship track control module 340 is configured to use the track point spacing adopted by the target navigation information as the optimal track point spacing, and control the ship's track based on the optimal track point spacing.

[0089] The navigation information acquisition module 310 is specifically used to obtain the ship's pre-navigation trajectory;

[0090] Dividing the pre-flight trajectory according to the first track point spacing to obtain first track points, and dividing the pre-flight trajectory according to the second track point spacing to obtain second track points;

[0091] determining an estimated arrival time of each first track point based on the first track points and the ship's navigation speed; obtaining an actual arrival time of each first track point, and adjusting the ship's navigation power if the actual arrival time does not match the estimated arrival time, thereby obtaining actual navigation information;

[0092] or,

[0093] According to the second track points and the ship's navigation speed, the estimated arrival time of each second track point is determined; the actual arrival time of each second track point is obtained, and if the actual arrival time does not match the estimated arrival time, the ship's navigation power is adjusted to obtain actual navigation information.

[0094] The navigation information acquisition module 310 is further configured to determine lateral deviation information of the ship reaching each first track point based on the first track point and the ship's navigation speed and direction; and to adjust the ship's navigation power according to the lateral deviation information to obtain actual navigation information.

[0095] or,

[0096] According to the second track points and the ship's navigation speed and direction, the lateral deviation information of the ship reaching each second track point is determined; the ship's navigation power is adjusted according to the lateral deviation information to obtain actual navigation information.

[0097] Sailing speed is the distance a vessel travels per unit time, measured in kilometers per hour (km / h). Sailing direction is the direction the vessel's bow points while sailing, expressed in degrees, with a clockwise range of 0-360 degrees relative to true north. For example, a sailing direction of 90 degrees indicates the vessel's bow is pointing due east.

[0098] Lateral deviation information can be the deviation distance of the ship relative to the track point in a direction perpendicular to the ship's navigation direction, expressed in meters (m). Lateral deviation information can be obtained by calculating the latitude and longitude of the ship at the next track point based on the current position, speed, and direction of the ship in the actual navigation information, and then calculating the distance between the latitude and longitude and the latitude and longitude of the next track point as the lateral deviation information.

[0099] The way to adjust the ship's navigation power is to adjust the ship's speed and heading so that the lateral deviation information is 0 when the ship reaches the next track point.

[0100] The technical solution provided in the embodiment of the present application can obtain the actual navigation information of the adjusted ship and achieve the effect of reducing the energy loss of the ship by determining the lateral deviation information based on the track points and the ship's navigation speed and direction, and adjusting the ship's navigation power.

[0101] Example 4

[0102] Figure 4 This is a schematic diagram of the structure of the energy management device for the ship track control process provided in Example 4 of the present application. This solution provides a superior improvement over Example 1, specifically including the following: the energy consumption data acquisition module is specifically configured to: obtain total navigation duration information from actual navigation information for track control based on the spacing between at least two track points; and calculate the energy consumption per unit duration data corresponding to the current actual navigation information based on the total navigation duration information and the recorded energy consumption information corresponding to the current actual navigation information.

[0103] like Figure 4 As shown, the device includes:

[0104] The navigation information acquisition module 410 is used to obtain actual navigation information obtained during the process of the ship performing track control according to the interval between at least two track points;

[0105] Energy consumption data acquisition module 420, used to obtain energy consumption data corresponding to each actual navigation information;

[0106] a target navigation information determination module 430, configured to determine target navigation information from at least two actual navigation information based on the energy consumption data;

[0107] The ship track control module 440 is configured to use the track point spacing adopted by the target navigation information as the optimal track point spacing, and control the ship's track based on the optimal track point spacing.

[0108] The energy consumption data acquisition module 420 is specifically used to obtain the total navigation time information from the actual navigation information for track control according to the interval between at least two track points;

[0109] The energy consumption data per unit time corresponding to the current actual navigation information is calculated based on the total navigation time information and the recorded energy consumption information corresponding to the current actual navigation information.

[0110] The target navigation information determination module 430 is further configured to determine, based on the energy consumption data, the actual navigation information with the least energy consumption per unit time among at least two actual navigation information as the target navigation information.

[0111] The total navigation time information may be the difference between the start time and the end time of the ship's track control according to a certain track point interval, in hours (h).

[0112] The total voyage duration information can be obtained by controlling the ship's track according to a certain track point interval, obtaining the start time through the GPS device on the ship or using a wireless network to connect to the Internet when the control starts, and obtaining the end time through the GPS device on the ship or using a wireless network to connect to the Internet when the control ends, and subtracting the end time from the start time to obtain the total voyage duration information.

[0113] Energy consumed by ships during navigation can include fuel oil, electricity, and natural gas. Fuel oil is the primary energy source consumed by ships. Therefore, energy consumption information can include fuel oil consumption in tons (t). Energy consumption per unit time can include fuel oil consumption per unit time in tons per hour (t / h).

[0114] The energy consumption data per unit time can be calculated by dividing the energy consumption information by the total navigation time information to obtain the energy consumption data per unit time.

[0115] The target navigation information may be determined by comparing the energy consumption per unit time corresponding to each actual navigation information and selecting the actual navigation information with the least energy consumption per unit time as the target navigation information.

[0116] The technical solution provided in the embodiment of the present application can provide a data basis for determining target navigation information and reduce energy loss by calculating the energy consumption data per unit time based on the total navigation time information.

[0117] Example 5

[0118] Figure 5 This is a schematic diagram of the structure of the energy management device for the ship track control process provided in Example 5 of the present application. This solution makes a better improvement on Example 1, specifically including the following: the device also includes: a track environment information acquisition module for obtaining ocean current information and wind direction information at each position in the pre-navigation track; and a track point spacing determination module for correcting the track point spacing used for the target navigation information based on the ocean current information and wind direction information to obtain the optimal track point spacing.

[0119] like Figure 5 As shown, the device includes:

[0120] The navigation information acquisition module 510 is used to obtain actual navigation information obtained during the process of the ship performing track control according to the interval between at least two track points;

[0121] Energy consumption data acquisition module 520, used to obtain energy consumption data corresponding to each actual navigation information;

[0122] a target navigation information determination module 530, configured to determine target navigation information from at least two actual navigation information based on the energy consumption data;

[0123] The ship track control module 540 is configured to use the track point spacing adopted by the target navigation information as the optimal track point spacing, and control the ship's track based on the optimal track point spacing.

[0124] The trajectory environment information acquisition module 550 is used to obtain ocean current information and wind direction information at each location in the pre-navigation trajectory;

[0125] The track point spacing determination module 560 is configured to modify the track point spacing used in the target navigation information according to the ocean current information and the wind direction information to obtain an optimal track point spacing.

[0126] The trajectory environment information acquisition module 550 can be a program designed by the ship's central control equipment to obtain ocean current information and wind direction information at various locations in the pre-navigation trajectory. Ocean current can refer to the movement of water in the ocean. Ocean current information can include information such as the direction, speed, and nature of the ocean current. Ocean currents can be divided into two types: surface currents and deep currents. Surface currents can refer to water currents on the surface of the ocean, which are usually affected by factors such as wind, Coriolis force, and seawater density, and have certain periodicity and seasonality. The method of obtaining information on surface currents can use satellite remote sensing, ocean buoys and other technical means for monitoring and measurement. Deep currents can be water currents in the deep ocean, which are affected by factors such as the earth's rotation force and seawater density, have a slower speed and a stable flow direction. The method of obtaining information on deep ocean currents can use buoys, submersibles and other technical means for monitoring and measurement.

[0127] Wind direction information can be the distribution and changing patterns of wind direction in the ocean. Wind direction information can be obtained through satellite remote sensing technology, ocean buoys, weather buoys, and weather forecasting. Satellite remote sensing technology can obtain real-time information on the atmospheric and oceanic environments around the world, including wind direction, wind speed, sea temperature, sea level, etc. Satellite remote sensing technology can obtain ocean wind direction information through satellite imagery and remote sensing data analysis; ocean buoys can be automated devices that can monitor ocean environmental information in real time, and can obtain data such as sea surface wind direction, wind speed, sea temperature, and ocean currents. Ocean buoys can transmit this data to ground stations for processing and analysis via radio or satellite communications; meteorological buoys are devices that can monitor atmospheric environmental information, and can obtain data such as wind direction, wind speed, air pressure, temperature, and humidity. Meteorological buoys can transmit this data to ground stations for processing and analysis via satellite communications or radio; meteorological forecasting agencies can use meteorological satellites, meteorological radars, meteorological soundings and other technical means to predict meteorological changes in the future, including information such as wind direction and wind speed. Sailors can obtain wind direction information in a certain area of ​​the ocean through meteorological forecasts, so as to plan safer and more efficient routes.

[0128] Track point spacing determination module 560 can be a program designed by the ship's central control equipment to obtain the optimal track point spacing. The correction method can be to determine the impact of water current and wind direction on the ship's heading based on ocean current information and wind direction information, and use this to correct the ship's speed and heading to return the ship to the pre-travel trajectory (if the ocean current and wind direction both act on the ship from the side, the ship will be subject to lateral thrust during navigation, and the heading needs to be adjusted appropriately; if the ocean current and wind direction both act on the ship from the vertical direction, the ship will be subject to vertical thrust during navigation, and the speed needs to be adjusted appropriately). The optimal track point spacing is recalculated based on the corrected speed and heading.

[0129] The technical solution provided in the embodiment of the present application can reduce the impact of ocean currents and wind direction factors on energy loss and improve the reliability of the optimal track point spacing by correcting the track point spacing according to ocean current and wind direction information.

[0130] Example 6

[0131] Figure 6 This is a schematic diagram of the structure of the energy management device for the ship track control process provided in Example 6 of the present application. This solution provides a superior improvement over Example 1, specifically including the following: the device further includes: a navigation energy consumption data acquisition module for acquiring navigation energy consumption data obtained by controlling the ship's track based on the optimal track point spacing; and an optimal track point spacing determination module for re-determining the optimal track point spacing of the ship if the navigation energy consumption data exceeds a set threshold.

[0132] like Figure 6 As shown, the device includes:

[0133] The navigation information acquisition module 610 is used to obtain actual navigation information obtained during the process of the ship performing track control according to the interval between at least two track points;

[0134] Energy consumption data acquisition module 620, used to obtain energy consumption data corresponding to each actual navigation information;

[0135] a target navigation information determination module 630, configured to determine target navigation information from at least two actual navigation information based on the energy consumption data;

[0136] The ship track control module 640 is configured to use the track point spacing adopted by the target navigation information as the optimal track point spacing, and control the ship's track based on the optimal track point spacing.

[0137] The navigation energy consumption data acquisition module 650 is used to acquire the navigation energy consumption data obtained by controlling the track of the ship based on the optimal track point spacing;

[0138] The optimal track point spacing determination module 660 is used to re-determine the optimal track point spacing of the ship if the navigation energy consumption data exceeds a set threshold.

[0139] The navigation energy consumption data acquisition module 650 can be a program designed by the ship's central control equipment to obtain navigation energy consumption data obtained by controlling the ship's track based on the optimal track point spacing. The navigation energy consumption data can be the energy consumption per unit time calculated based on the optimal track point spacing.

[0140] Optimal track point spacing determination module 660 can be a program designed by the ship's central control equipment to re-determine the optimal track point spacing. The threshold setting can depend on factors such as ship type, navigation conditions, and cargo type, and cannot exceed standards set by the International Maritime Organization (IMO) to ensure the ship's economic and environmental performance.

[0141] The technical solution provided in the embodiment of the present application can achieve strict control of energy consumption data by redetermining the optimal track point spacing corresponding to the navigation energy consumption data that exceeds the set threshold, thereby ensuring that the energy consumption data can meet economic requirements.

[0142] Example 7

[0143] Figure 7 This is a flow chart of the energy management method in the ship track control process provided by the seventh embodiment of the present application. Figure 7 As shown, the method includes:

[0144] Acquiring actual navigation information obtained during the process of ship track control according to the interval between at least two track points;

[0145] Obtain energy consumption data corresponding to each actual navigation information;

[0146] determining target navigation information from at least two actual navigation information based on the energy consumption data;

[0147] The track point spacing adopted based on the target navigation information is used as the optimal track point spacing, and the track of the ship is controlled based on the optimal track point spacing.

[0148] In an embodiment of the present application, actual navigation information obtained during the process of track control of a ship according to at least two track point spacings is obtained; energy consumption data corresponding to each actual navigation information is obtained; target navigation information in at least two actual navigation information is determined based on the energy consumption data; the track point spacing adopted based on the target navigation information is used as the optimal track point spacing, and the track of the ship is controlled based on the optimal track point spacing. The above-mentioned energy management method in the process of ship track control can achieve the effect of making the ship navigate according to the pre-navigation track and reducing deviation by controlling the ship's track. By selecting the optimal track point spacing from different track point spacings, it is possible to maximize the reduction of energy loss and can use this as a basis to control the navigation track of other navigation processes.

[0149] The energy management method for ship track control provided in the embodiment of the present application can implement the various processes implemented in the above-mentioned method embodiments. To avoid repetition, it will not be described here.

[0150] Example 8

[0151] like Figure 8 As shown, an embodiment of the present application also provides an electronic device 800, including a processor 801, a memory 802, and a program or instruction stored in the memory 802 and executable on the processor 801. When the program or instruction is executed by the processor 801, each process of the energy management device embodiment in the above-mentioned ship track control process is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0152] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0153] Example 9

[0154] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the energy management device embodiment in the above-mentioned ship track control process are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0155] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0156] Example 10

[0157] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the energy management device embodiment in the above-mentioned ship track control process, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0158] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0159] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0160] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0161] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

[0162] The above are only preferred embodiments of the present application and the technical principles employed. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that are possible for those skilled in the art will not depart from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments and may include more other equivalent embodiments without departing from the concept of the present application. The scope of the present application is determined by the scope of the claims.

Claims

1. An energy management device for ship track control, characterized in that: The device comprises: A navigation information acquisition module is used to obtain actual navigation information obtained during the process of the ship performing track control according to the interval between at least two track points; Energy consumption data acquisition module, used to obtain energy consumption data corresponding to each actual navigation information; a target navigation information determination module, configured to determine target navigation information from at least two actual navigation information based on the energy consumption data; The ship track control module is used to use the track point spacing adopted by the target navigation information as the optimal track point spacing, and control the ship's track based on the optimal track point spacing.

2. The energy management device for ship track control according to claim 1, characterized in that: The navigation information acquisition module is specifically used to: Obtain the ship's pre-voyage trajectory; Dividing the pre-flight trajectory according to the first track point spacing to obtain first track points, and dividing the pre-flight trajectory according to the second track point spacing to obtain second track points; determining an estimated arrival time of each first track point based on the first track points and the ship's navigation speed; obtaining an actual arrival time of each first track point, and adjusting the ship's navigation power if the actual arrival time does not match the estimated arrival time, thereby obtaining actual navigation information; or, Determining an estimated arrival time of each second track point based on the second track point and the navigation speed of the ship; The actual arrival time of each second track point is obtained. If the actual arrival time does not match the expected arrival time, the ship's navigation power is adjusted to obtain actual navigation information.

3. The energy management method in the process of ship track control according to claim 2 is characterized in that: The navigation information acquisition module is further used to: determining lateral deviation information of the ship arriving at each first track point based on the first track points and the ship's navigation speed and direction; and adjusting the ship's navigation power according to the lateral deviation information to obtain actual navigation information; or, According to the second track points and the ship's navigation speed and direction, the lateral deviation information of the ship reaching each second track point is determined; the ship's navigation power is adjusted according to the lateral deviation information to obtain actual navigation information.

4. The energy management device for ship track control according to claim 1, characterized in that: The energy consumption data acquisition module is specifically used to: Obtaining total flight duration information from actual flight information for track control based on a distance between at least two track points; The energy consumption data per unit time corresponding to the current actual navigation information is calculated based on the total navigation time information and the recorded energy consumption information corresponding to the current actual navigation information.

5. The energy management device for ship track control according to claim 4, characterized in that: The target navigation information determination module is further used to: According to the energy consumption data, the actual navigation information having the least energy consumption per unit time among the at least two actual navigation information is determined as the target navigation information.

6. The energy management device for ship track control according to claim 1, characterized in that: The device further comprises: The trajectory environment information acquisition module is used to obtain the ocean current information and wind direction information of each position in the pre-navigation trajectory; The track point spacing determination module is used to correct the track point spacing used by the target navigation information according to the ocean current information and wind direction information to obtain the optimal track point spacing.

7. The energy management device for ship track control according to claim 1, characterized in that: The device further comprises: a navigation energy consumption data acquisition module, configured to acquire navigation energy consumption data obtained by controlling the track of the ship based on the optimal track point spacing; The optimal track point spacing determination module is used to redetermine the optimal track point spacing of the ship if the navigation energy consumption data exceeds a set threshold.

8. A method for energy management in the process of ship track control, characterized in that: The method comprises: Acquiring actual navigation information obtained during the process of ship track control according to the interval between at least two track points; Obtain energy consumption data corresponding to each actual navigation information; determining target navigation information from at least two actual navigation information based on the energy consumption data; The track point spacing adopted based on the target navigation information is used as the optimal track point spacing, and the track of the ship is controlled based on the optimal track point spacing.

9. An electronic device, characterized in that: It includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the energy management method in the ship track control process as described in claim 8 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the energy management method in the ship track control process as claimed in claim 8 are implemented.

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