Sea ship control system, method and device based on energy efficiency constraint and storage medium

Abstract

The invention discloses a seagoing ship control system, method and device based on energy efficiency constraint and a storage medium, and can be applied to the technical field of ship automation. After the shipborne sensing module is arranged on the target ship, the real-time meteorological sensing information of the sea area where the target ship is located is collected in real time, and then the dynamic route planning module dynamically optimizes the first local route in the preset global route according to the real-time environment information and the preset route adjustment threshold value to obtain the second local route. Predicting predicted energy consumption corresponding to different to-be-selected navigation directions and to-be-selected navigation speeds through an energy efficiency constraint autopilot control module, and determining a target navigation direction and a target speed of the current sea condition from the to-be-selected navigation directions and the to-be-selected navigation speeds according to preset constraint conditions; and controlling the real-time navigation state of the seagoing ship according to the target navigation direction and the target speed, thereby enabling the real-time navigation route of the target ship to conform to the current sea condition while reducing the energy consumption in the ship navigation process.

Description

Technical Field

[0001] The present application relates to the field of ship automation technology, and in particular to a ship control system and method, device and storage medium based on energy efficiency constraints. Background Art

[0002] Traditionally, the development of reference routes for ships during navigation relies primarily on a shore-based planning system. This system collects and processes meteorological information along the route and combines it with the ship's own information to plan the route. However, there are geographic errors between the shore and the route, and the information collected by the weather station deviates from the actual sea conditions. The coverage is limited, and the marine meteorological environment is changeable and complex. These factors can seriously affect the safety and fuel efficiency of ship navigation. As a result, the current route-based planning system for ship navigation control is difficult to adapt to complex and changing sea conditions, and energy consumption during navigation is high.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the Invention

[0004] The main purpose of the embodiments of the present application is to propose a ship control system and method, device and storage medium based on energy efficiency constraints, which can make the real-time navigation route suitable for the current sea conditions and reduce energy consumption during the ship's navigation.

[0005] To achieve the above objectives, one aspect of an embodiment of the present application provides a marine vessel control system based on energy efficiency constraints, the system comprising:

[0006] A shipborne sensing module is provided on the target ship and is used to collect real-time meteorological sensing information of the sea area where the target ship is located;

[0007] a dynamic route planning module, the dynamic route planning module being configured to dynamically optimize a first local route in the preset global route based on the real-time environmental information and a preset route adjustment threshold to obtain a second local route, the second local route including a plurality of candidate navigation directions and candidate navigation speeds corresponding to the candidate navigation directions;

[0008] An energy efficiency constraint automatic rudder control module is used to predict the predicted energy consumption corresponding to different selected sailing directions and selected sailing speeds, and determine the target sailing direction of the current sea conditions and the target speed corresponding to the target sailing direction from the selected sailing directions and the selected sailing speeds according to preset constraints, and control the real-time sailing state of the ship according to the target sailing direction and the target speed.

[0009] In some embodiments, the shipborne sensing module includes a wind direction and speed sensor, a weather radar, a wave sensor and a hydrological detection device, and the wind direction and speed sensor, the weather radar, the wave sensor and the hydrological detection device are all arranged on the target ship.

[0010] In some embodiments, dynamically optimizing the first local route in the preset global route based on the real-time environmental information and the preset route adjustment threshold to obtain the second local route includes:

[0011] Preprocessing the real-time environmental information to obtain an environmental perception data packet;

[0012] Calculating a difference between a preset target in the preset global route and a perceived target in the environment perception data packet;

[0013] comparing the difference with the preset route adjustment threshold;

[0014] The first local route in the preset global route is dynamically optimized according to the comparison result to obtain a second local route.

[0015] In some embodiments, preprocessing the real-time environmental information to obtain an environmental awareness data packet includes:

[0016] filtering noise from the real-time environmental information to obtain first environmental information;

[0017] calibrating the first environmental information to obtain second environmental information;

[0018] All the second environmental information is integrated to obtain the environmental perception data packet.

[0019] In some embodiments, dynamically optimizing the first local route in the preset global route according to the comparison result to obtain the second local route includes:

[0020] When the comparison result shows that the difference is greater than the preset route adjustment threshold, determining, based on the sea area safety assessment, a plurality of preset sailing directions corresponding to the first local sailing in the current sea area and preset sailing speeds corresponding to the preset sailing directions;

[0021] Evaluating the preset navigation energy consumption corresponding to any of the preset navigation directions and the preset navigation speeds;

[0022] According to the preset navigation energy consumption, a candidate navigation direction of the second local route and a candidate navigation speed corresponding to the candidate navigation direction are determined from a plurality of the preset navigation directions and the preset navigation speeds.

[0023] In some embodiments, the energy efficiency constraint automatic pilot control module is used to load a pre-calibrated ship dynamics model, update the model parameters of the ship dynamics model in real time according to the real-time meteorological perception information, construct a prediction framework of the model predictive controller based on the updated ship dynamics model, set the prediction time domain and control time domain of the prediction framework; construct the objective function and the preset constraints; through the prediction framework corresponding to the prediction time domain and the control time domain, combine the objective function and the preset constraints to determine the target sailing direction of the current sea conditions and the target speed corresponding to the target sailing direction from the candidate sailing direction and the candidate sailing speed, and control the real-time navigation state of the ship according to the target sailing direction and the target speed; wherein, the prediction framework of the model predictive controller re-executes the prediction process at a fixed frequency.

[0024] In some embodiments, the system further comprises:

[0025] An energy efficiency evaluation and optimization module is used to monitor the real-time energy consumption status of the target ship in real time, calculate the unit voyage energy index based on the real-time energy consumption status, evaluate the energy consumption based on the unit voyage energy index, and send the energy consumption evaluation result to the dynamic route planning module; the dynamic route planning module re-optimizes the route based on the energy consumption evaluation result.

[0026] To achieve the above objectives, another aspect of the present application provides a method for controlling a sea vessel based on energy efficiency constraints, the method comprising:

[0027] Obtain real-time meteorological perception information of the sea conditions of the target ship collected by the ship-borne perception module;

[0028] Dynamically optimizing a first local route in the preset global route according to the real-time environmental information and a preset route adjustment threshold to obtain a second local route, wherein the second local route includes a plurality of candidate navigation directions and candidate navigation speeds corresponding to the candidate navigation directions;

[0029] Predicting energy consumption corresponding to different selected sailing directions and selected sailing speeds;

[0030] Determine a target sailing direction for the current sea condition and a target speed corresponding to the target sailing direction from the candidate sailing directions and the candidate sailing speeds according to preset constraints;

[0031] The real-time sailing state of the ship is controlled according to the target sailing direction and the target speed.

[0032] To achieve the above objectives, another aspect of the present application provides a computer device, including:

[0033] at least one processor;

[0034] at least one memory for storing at least one program;

[0035] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0036] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above-mentioned method when executed by a processor.

[0037] The embodiments of the present application include at least the following beneficial effects: The present application provides a ship control system and method, device and storage medium based on energy efficiency constraints. After setting up a shipborne perception module, a dynamic route planning module and an energy efficiency constraint automatic pilot control module, the scheme collects real-time meteorological perception information of the sea area where the target ship is located in real time by setting the shipborne perception module on the target ship. Then, the dynamic route planning module dynamically optimizes the first local route in the preset global route according to the real-time environmental information and the preset route adjustment threshold to obtain a second local route including several candidate navigation directions and candidate navigation speeds corresponding to the candidate navigation directions. After the energy efficiency constraint automatic pilot control module predicts the predicted energy consumption corresponding to different candidate navigation directions and candidate navigation speeds, the target navigation direction and the target speed corresponding to the target navigation direction of the current sea conditions are determined from the candidate navigation directions and the candidate navigation speeds according to the preset constraints. The real-time navigation state of the ship is controlled according to the target navigation direction and the target speed, so that the real-time navigation route of the target ship reduces the energy consumption during the navigation process while complying with the current sea conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a module block diagram of a marine vessel control system based on energy efficiency constraints provided by an embodiment of the present application;

[0039] Figure 2 1 is a schematic diagram of a shipborne sensing module provided in an embodiment of the present application;

[0040] Figure 3 Schematic diagram of a dynamic route planning module provided in an embodiment of the present application;

[0041] Figure 4 1 is a schematic diagram of an energy efficiency constraint autopilot control module according to an embodiment of the present application;

[0042] Figure 5 This is a data processing flow chart of a marine vessel control system based on energy efficiency constraints provided by an embodiment of the present application;

[0043] Figure 6 is a flow chart of a method for controlling a sea vessel based on energy efficiency constraints provided in an embodiment of the present application;

[0044] Figure 7 Schematic diagram of the hardware structure of the computer device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are merely examples of devices and methods consistent with some aspects of the embodiments of the present application.

[0046] It will be understood that the terms "first", "second", etc. used in this application may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0047] The terms "at least one", "plurality", "each", "any", etc. used in this application include "at least one", "two" or more, "plurality" or "each", "any" or "any one", "each" or "any one" as used herein.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0049] Traditionally, the development of reference routes for ships during navigation relies primarily on a shore-based planning system. This system collects and processes meteorological information along the route and combines it with the ship's own information to plan the route. However, there are geographic errors between the shore and the route, and the information collected by the weather station deviates from the actual sea conditions. The coverage is limited, and the marine meteorological environment is changeable and complex. These factors can seriously affect the safety and fuel efficiency of ship navigation. As a result, the current route-based planning system for ship navigation control is difficult to adapt to complex and changing sea conditions, and energy consumption during navigation is high.

[0050] In view of this, an embodiment of the present application provides a ship control system and method, device and storage medium based on energy efficiency constraints, which can ensure that the navigation route conforms to the current navigation sea conditions while minimizing the ship's energy consumption.

[0051] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings:

[0052] Figure 1 This is an optional system diagram of a marine vessel control system based on energy efficiency constraints provided by an embodiment of the present application. Figure 1 The system may include but is not limited to a shipboard perception module, a dynamic route planning module and an energy efficiency constraint automatic pilot control module. The shipboard perception module is provided on the target ship and is used to collect real-time meteorological perception information of the sea area where the target ship is located; the dynamic route planning module is used to dynamically optimize the first local route in the preset global route according to the real-time environmental information and the preset route adjustment threshold to obtain the second local route, wherein the second local route includes a number of candidate navigation directions and candidate navigation speeds corresponding to the candidate navigation directions; the energy efficiency constraint automatic pilot control module is used to predict the predicted energy consumption corresponding to different candidate navigation directions and candidate navigation speeds, and determine the target navigation direction and the target speed corresponding to the target navigation direction of the current sea conditions from the candidate navigation directions and the candidate navigation speeds according to the preset constraints, and control the real-time navigation state of the ship according to the target navigation direction and the target speed.

[0053] It is understandable that the shipborne sensing module of this embodiment includes various sensor devices directly deployed on the corresponding platform of the target ship, thereby getting rid of the dependence on remote weather stations in the prior art. Figure 2 As shown, the shipborne sensing module includes a wind direction and speed sensor, a weather radar, a wave sensor, and a hydrological detection device. The wind direction and speed sensor, the weather radar, the wave sensor, and the hydrological detection device are used to simultaneously collect weather sensing information of the sea area around the target ship to form a marine environment sensing network covering the area around the target ship. In this embodiment, Figure 2As shown, the shipborne perception module may also include the ship's own attitude sensor and AIS system receiver and other equipment to obtain the status information of the target ship and the dynamic information of surrounding ships.

[0054] It is understandable that if Figure 3 As shown, the dynamic route planning module includes a data processing and environmental perception module, a multi-objective route optimization module, and a spatiotemporal trajectory generation and configuration module. Specifically, the dynamic route planning module is used to receive real-time meteorological perception information collected by the shipboard perception module, and all real-time meteorological perception information is preliminarily processed and integrated through the shipboard edge computing platform to form a real-time understanding of the current navigation environment. Combined with the preset global route, it dynamically optimizes the local route. In this embodiment, the dynamic route planning module adopts a multi-objective optimization algorithm and makes decisions based on both navigation safety and energy efficiency. In terms of safety, the system will avoid dangerous weather areas and ensure a safe distance from surrounding ships; in terms of energy efficiency, the system will use favorable ocean currents and wind directions to select the optimal navigation direction and navigation speed combination to minimize fuel consumption. The dynamic route planning module generates the optimal navigation path and speed configuration that adapts to the current sea conditions by making local adjustments to the original route according to real-time environmental changes.

[0055] Specifically, when the dynamic route planning module performs route planning, the process of dynamically optimizing the first local route in the preset global route to obtain the second local route based on the real-time environmental information and the preset route adjustment threshold can be achieved by preprocessing the real-time environmental information to obtain an environmental perception data packet, then calculating the difference between the preset target in the preset global route and the perception target of the environmental perception data packet, comparing the difference with the preset route adjustment threshold, and then dynamically optimizing the first local route in the preset global route to obtain the second local route based on the comparison result. The preprocessing process can be filtering the noise of the real-time environmental information to obtain the first environmental information, calibrating the first environmental information to obtain the second environmental information, and then fusing all the second environmental information to obtain the environmental perception data packet. It can be understood that the data in the environmental perception data packet is data obtained by fusing the data collected in real time by the wind direction and speed sensor, weather radar, wave sensor and hydrological detection device in the spatial and temporal domains.

[0056] Specifically, when optimizing a local route of a preset global route, this embodiment may, when the difference is greater than a preset route adjustment threshold, determine, based on a sea area safety assessment, several preset sailing directions and corresponding preset sailing speeds for the first local route in the current sea area, and then evaluate the preset sailing energy consumption corresponding to any of the preset sailing directions and preset sailing speeds; and determine, based on the preset sailing energy consumption, candidate sailing directions and corresponding candidate sailing speeds for the second local route from the several preset sailing directions and preset sailing speeds. For example, this embodiment may form a combination of any preset sailing direction and any preset sailing speed, and then calculate the preset sailing energy consumption corresponding to each combination, selecting several combinations with relatively low preset sailing energy consumption as the candidate sailing directions and candidate sailing speeds for the second local route.

[0057] It is understandable that if Figure 4 As shown, the energy efficiency constraint autopilot control module of this embodiment includes a ship modeling module, an optimization solution module and a control execution module. Specifically, the energy efficiency constraint autopilot control module integrates the ship dynamics model, the ocean environment model and the energy consumption model into the prediction framework by adopting the model predictive control (MPC) technology to predict the ship behavior and energy consumption under different control strategies. On this basis, the prediction framework calculates the optimal rudder angle and propulsion force instructions to make the ship travel along the dynamically planned route while meeting the energy efficiency constraints. In order to adapt to complex and changeable sea conditions, the prediction framework also has adaptive learning capabilities, which can continuously adjust the control parameters according to the actual control effect to improve the robustness of the system.

[0058] In an embodiment of the present application, the energy efficiency constraint automatic rudder control module is used to load a pre-calibrated ship dynamics model, update the model parameters of the ship dynamics model in real time according to real-time meteorological perception information, construct a prediction framework of the model predictive controller based on the updated ship dynamics model, set the prediction time domain and control time domain of the prediction framework; at the same time, construct an objective function including heading deviation, speed deviation and energy efficiency constraints and preset constraints for limiting the rudder angle and propulsion force; then, through the prediction framework corresponding to the prediction time domain and the control time domain, combine the objective function and the preset constraints to determine the target sailing direction and the target speed corresponding to the target sailing direction for the current sea conditions from the candidate sailing direction and the candidate sailing speed, and control the real-time sailing state of the ship according to the target sailing direction and the target speed. Among them, the prediction framework of the model predictive controller re-executes the prediction process at a fixed frequency, so that continuous and precise control of the heading direction and sailing speed can be achieved.

[0059] In the embodiments of this application, Figure 1As shown, the system of the embodiment of the present application also includes an energy efficiency evaluation and optimization module, which is used to monitor the real-time energy consumption status of the target ship in real time, calculate the unit voyage energy index according to the real-time energy consumption status, compare and analyze the unit voyage energy index with historical data, generate an energy consumption evaluation according to the comparison and analysis results, and send the energy consumption evaluation result to the dynamic route planning module to trigger the parameter optimization process of the dynamic route planning module, so that the dynamic route planning module re-optimizes the route according to the energy consumption evaluation result, and then triggers the constraint parameter adjustment process of the controller in the energy efficiency constraint automatic rudder control module to readjust the real-time sailing direction and real-time sailing speed of the target ship, thereby forming a closed-loop optimization function to ensure that the energy consumption of the target ship throughout the voyage is minimized.

[0060] It is understandable that if Figure 1 As shown, the system of this embodiment of the application also has a human-computer interaction module, which allows the crew to monitor the system's operating status and perform manual intervention when necessary. At the same time, the system of this embodiment also retains the manual / automatic mode switching function, ensuring that the crew can quickly take over control of the ship in extreme situations.

[0061] When the target ship navigation control is performed based on the above modules, Figure 5 As shown, in this embodiment, after data is collected by the meteorological perception module, the dynamic route planning module preprocesses the collected multi-source heterogeneous data through the edge computing platform, including noise filtering, data calibration, and preliminary fusion, to generate a standardized environmental perception data package. Based on pre-set global route objectives and real-time perception data, the module compares the data with pre-set route adjustment thresholds. If the threshold is exceeded, a local route optimization process is initiated. Specifically, the dynamic route planning module's processing flow first conducts a maritime safety assessment to identify current and predicted future hazardous areas; then performs an energy efficiency analysis to evaluate energy consumption under different heading and speed combinations; and finally, executes a multi-objective optimization algorithm to find a balance between safety and energy efficiency and generate a local optimal route. Each local optimal route includes a series of heading points and corresponding recommended speeds as input parameters for the energy efficiency constraint autopilot control module. The dynamic route planning module dynamically adjusts the optimization cycle based on the frequency of environmental changes to ensure that the route always adapts to current sea conditions.

[0062] The energy-constrained autopilot control module receives the optimized route parameters and performs precise ship control. Specifically, the energy-constrained autopilot control module first loads a pre-calibrated ship dynamics model and updates the model parameters online based on the current sea state parameters. Then, based on the updated model, it constructs the prediction framework of the MPC controller and sets the prediction and control time domains. It then establishes an objective function that includes heading deviation, speed deviation, and energy-efficiency constraints, as well as constraints for rudder angle and thrust force limits. Finally, it solves the optimization problem, calculates the optimal control sequence, and applies control. The controller in the energy-constrained autopilot control module repeats this process at a fixed frequency to achieve continuous and precise control of heading and speed.

[0063] Reference Figure 6 , an embodiment of the present application further provides a method for controlling a sea vessel based on energy efficiency constraints, the method comprising:

[0064] Step S610: Acquire real-time meteorological perception information of the sea conditions where the target ship is located collected by the shipborne perception module;

[0065] Step S620: Dynamically optimize the first local route in the preset global route based on the real-time environmental information and the preset route adjustment threshold to obtain a second local route, wherein the second local route includes a plurality of candidate sailing directions and candidate sailing speeds corresponding to the candidate sailing directions;

[0066] Step S630: predicting energy consumption corresponding to different selected sailing directions and selected sailing speeds;

[0067] Step S640: determining a target sailing direction and a target speed corresponding to the target sailing direction according to the preset constraints from the candidate sailing directions and the candidate sailing speeds;

[0068] Step S650: Control the real-time navigation state of the ship according to the target navigation direction and target speed.

[0069] It can be understood that the contents of the above system embodiments are applicable to the present method embodiments, the functions specifically implemented by the present method embodiments are the same as those of the above system embodiments, and the beneficial effects achieved are also the same as those achieved by the above system embodiments.

[0070] The present application also provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the above method when executing the computer program. The computer device can be any intelligent terminal including a tablet computer, an in-vehicle computer, or the like.

[0071] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0072] See also Figure 7 , Figure 7 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:

[0073] The processor 710 may be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is configured to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0074] The memory 720 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 720 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 720 and is called by the processor 710 to execute the above-mentioned methods of the embodiments of this application.

[0075] Input / output interface 730, used to implement information input and output;

[0076] Communication interface 740, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0077] bus 750 , which transmits information between the various components of the device (e.g., processor 710 , memory 720 , input / output interface 730 , and communication interface 740 );

[0078] The processor 710 , the memory 720 , the input / output interface 730 , and the communication interface 740 are connected to each other in communication within the device via a bus 750 .

[0079] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and the computer program implements the above method when executed by a processor.

[0080] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiment, the functions specifically implemented by the present storage medium embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0081] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0082] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0083] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0084] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0085] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0086] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0087] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0088] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0089] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0090] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0091] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A marine vessel control system based on energy efficiency constraints, characterized in that: The system comprises: A shipborne sensing module is provided on the target ship and is used to collect real-time meteorological sensing information of the sea area where the target ship is located; a dynamic route planning module, the dynamic route planning module being configured to dynamically optimize a first local route in a preset global route based on the real-time environmental information and a preset route adjustment threshold to obtain a second local route, the second local route including a plurality of candidate navigation directions and candidate navigation speeds corresponding to the candidate navigation directions; An energy efficiency constraint automatic rudder control module is used to predict the predicted energy consumption corresponding to different selected sailing directions and selected sailing speeds, and determine the target sailing direction of the current sea conditions and the target speed corresponding to the target sailing direction from the selected sailing directions and the selected sailing speeds according to preset constraints, and control the real-time sailing state of the ship according to the target sailing direction and the target speed.

2. The system according to claim 1, wherein: The shipborne sensing module includes a wind direction and speed sensor, a weather radar, a wave sensor and a hydrological detection device, and the wind direction and speed sensor, the weather radar, the wave sensor and the hydrological detection device are all arranged on the target ship.

3. The system according to claim 1, wherein: The dynamically optimizing the first local route in the preset global route according to the real-time environmental information and the preset route adjustment threshold to obtain the second local route includes: Preprocessing the real-time environmental information to obtain an environmental perception data packet; Calculating a difference between a preset target in the preset global route and a perceived target in the environment perception data packet; comparing the difference with the preset route adjustment threshold; The first local route in the preset global route is dynamically optimized according to the comparison result to obtain a second local route.

4. The system according to claim 3, characterized in that The preprocessing of the real-time environmental information to obtain an environmental perception data packet includes: filtering noise from the real-time environmental information to obtain first environmental information; calibrating the first environmental information to obtain second environmental information; All the second environmental information is integrated to obtain the environmental perception data packet.

5. The system according to claim 3, wherein: The dynamically optimizing the first local route in the preset global route according to the comparison result to obtain the second local route includes: When the comparison result shows that the difference is greater than the preset route adjustment threshold, determining, based on the sea area safety assessment, a plurality of preset sailing directions corresponding to the first local sailing in the current sea area and preset sailing speeds corresponding to the preset sailing directions; Evaluating the preset navigation energy consumption corresponding to any of the preset navigation directions and the preset navigation speeds; According to the preset navigation energy consumption, a candidate navigation direction of the second local route and a candidate navigation speed corresponding to the candidate navigation direction are determined from a plurality of the preset navigation directions and the preset navigation speeds.

6. The system according to claim 1, wherein: The energy efficiency constraint automatic rudder control module is used to load a pre-calibrated ship dynamics model, update the model parameters of the ship dynamics model in real time according to the real-time meteorological perception information, construct a prediction framework of the model predictive controller based on the updated ship dynamics model, set the prediction time domain and control time domain of the prediction framework; construct an objective function and the preset constraints; through the prediction framework corresponding to the prediction time domain and the control time domain, combine the objective function and the preset constraints to determine the target sailing direction of the current sea conditions and the target speed corresponding to the target sailing direction from the candidate sailing direction and the candidate sailing speed, and control the real-time navigation state of the ship according to the target sailing direction and the target speed; wherein, the prediction framework of the model predictive controller re-executes the prediction process at a fixed frequency.

7. The system according to claim 1, wherein: The system further comprises: An energy efficiency evaluation and optimization module is used to monitor the real-time energy consumption status of the target ship in real time, calculate the unit voyage energy index based on the real-time energy consumption status, evaluate the energy consumption based on the unit voyage energy index, and send the energy consumption evaluation result to the dynamic route planning module; the dynamic route planning module re-optimizes the route based on the energy consumption evaluation result.

8. A method for controlling a sea vessel based on energy efficiency constraints, characterized in that: The method comprises: Obtain real-time meteorological perception information of the sea conditions of the target ship collected by the ship-borne perception module; Dynamically optimizing a first local route in the preset global route according to the real-time environmental information and a preset route adjustment threshold to obtain a second local route, wherein the second local route includes a plurality of selected sailing directions and selected sailing speeds corresponding to the selected sailing directions; Predicting energy consumption corresponding to different selected sailing directions and selected sailing speeds; Determine a target sailing direction for the current sea condition and a target speed corresponding to the target sailing direction from the candidate sailing directions and the candidate sailing speeds according to preset constraints; The real-time sailing state of the ship is controlled according to the target sailing direction and the target speed.

9. A computer device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to claim 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to claim 8 is implemented.

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