New energy ship intelligent navigation safety dynamic monitoring system and method

Abstract

The invention provides a new energy ship intelligent navigation safety dynamic monitoring system and method, and belongs to the technical field of new energy ship and safety monitoring. The system comprises a plurality of data acquisition sensors and a central processing unit. The method comprises the steps of continuously collecting target water area environment data in a process that a new energy ship advances along a preset first route, and preprocessing the target water area environment data to obtain a to-be-processed water area data set; calculating first power consumption for executing first processing on the to-be-processed water area data set and estimating second power consumption for directly sending the to-be-processed water area data set to the shore data center every other preset period; and based on a meteorological risk assessment result, a marching risk assessment result, the first power consumption, the second power consumption, the current ship position and the residual available energy, determining a safety processing criterion of the new energy ship in the next period. According to the invention, omnibearing autonomous safe dynamic monitoring of new energy ships, especially unmanned data acquisition ships, can be realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of energy and safety monitoring, and in particular relates to a new energy ship intelligent navigation safety dynamic monitoring system and method, and a new energy data acquisition ship for implementing the method. Background Art

[0002] Traditional ships are powered by fossil fuels, generating large amounts of pollutants during operation, which negatively impacts the ecological environment of the waters (seas). The oceans are rich in solar and wind energy resources, and new energy ships based on solar and wind energy have become a hot topic of research. Major shipyards around the world have launched new energy ships based on photovoltaic systems. Unmanned surface vehicles (USVs), as intelligent platforms that navigate the surface autonomously or semi-autonomously, have become a research hotspot in the shipping industry, and their market size is expected to continue to expand. Traditional unmanned vessels are generally powered by traditional fossil fuels, but to address pollution issues, new energy sources are beginning to be used in unmanned vessels. Common new energy sources used in unmanned vessels include photovoltaics, batteries, fuel cells, and wind power.

[0003] Although new energy ships utilize renewable and environmentally friendly energy sources, they themselves suffer from unstable power supply. New energy ships require large-capacity battery packs to store electrical energy and continuously utilize renewable energy to replenish energy during navigation. The safety concerns of related technologies for new energy ships primarily focus on the safety monitoring of battery systems. The hydrogen fuel cell ship safety protection system and protection method proposed in Chinese invention patent CN110335438B, and the new energy-powered ship monitoring system and operating method proposed in Chinese invention patent publication CN108696721A, can both improve the navigation safety of new energy ships.

[0004] However, for new energy data collection vessels, especially unmanned new energy data collection vessels, designers often design routes (including multiple predetermined data collection points) based on the vessel's departure state parameters (especially the full-load energy value) combined with experience, while ignoring the energy required for data collection, processing, and transmission itself. In addition, when the new energy vessel itself is equipped with an energy replenishment device (such as a solar photovoltaic structure), due to the unstable power of solar photovoltaic power generation, how to comprehensively consider these factors so that the new energy data collection vessel can complete the data collection task as much as possible while ensuring safety and return smoothly, the relevant technology does not provide a corresponding technical solution. Summary of the Invention

[0005] In response to the above technical problems, the present invention proposes a new energy ship intelligent navigation safety dynamic monitoring system and method, and a new energy data collection ship that implements the method.

[0006] In a first aspect of the present invention, a method for dynamic monitoring of intelligent navigation safety of a new energy ship is proposed, wherein the new energy ship is equipped with a variety of data acquisition devices;

[0007] The method comprises:

[0008] During the process of the new energy ship traveling along the predetermined first route, continuously collecting target water environment data by at least one data acquisition device, and pre-processing the target water environment data to obtain a water area data set to be processed;

[0009] At every predetermined period, a first power consumption of performing a first processing on the to-be-processed water area data set is calculated, the first power consumption is compared with a second power consumption, and a safety processing criterion for the new energy ship in the next period is determined based on the comparison result, the current ship position, and the remaining available energy. The safety processing criterion includes one of the following measures:

[0010] Stop data collection and return home, continue data collection and store the water area dataset to be processed locally, continue data collection and send the water area dataset to be processed directly to the onshore data center, continue data collection and perform the first processing on the water area dataset to be processed;

[0011] The second power consumption is the power consumption of directly sending the to-be-processed water area dataset to the onshore data center, which is estimated at every predetermined period.

[0012] The new energy vessel is an unmanned data acquisition vessel equipped with an energy supply unit comprising a battery pack and a solar charging unit connected to the battery pack. The remaining available energy is determined based on the remaining energy of the battery pack and the charging power of the solar charging unit.

[0013] The predetermined first route includes a starting point and an end point;

[0014] When it is determined that the safety handling criterion of the new energy ship in the next cycle is not to stop data collection and return, the new energy ship is controlled to continue traveling along the predetermined first route.

[0015] In a specific application, the multiple data acquisition devices also include external environmental sensors, which are used to detect in real time the meteorological data of the new energy ship during its travel along the predetermined first route and perform a meteorological risk assessment. The method further determines the safety handling criteria of the new energy ship in the next cycle based on the results of the meteorological risk assessment.

[0016] In a specific application, the multiple data acquisition devices also include internal environment sensors, which are used to detect the internal status data of the new energy ship in real time. The method further performs a travel risk assessment based on the internal status data, and determines the safety handling criteria of the new energy ship in the next cycle based on the results of the travel risk assessment.

[0017] In a second aspect of the present invention, a dynamic monitoring system for intelligent navigation safety of new energy ships is proposed, the system comprising a plurality of data acquisition sensors and a central processing unit;

[0018] During the process of the new energy ship traveling along the predetermined first route, the data acquisition sensor continuously collects target water environment data, and pre-processes the target water environment data to obtain a water area data set to be processed;

[0019] At every predetermined period, the central processing unit calculates a first power consumption of performing a first process on the water area data set to be processed and estimates a second power consumption of directly sending the water area data set to be processed to an onshore data center;

[0020] The central processor determines a safety handling criterion for the new energy ship in the next cycle based on a meteorological risk assessment result, a travel risk assessment result, the first power consumption, the second power consumption, the current ship position, and the remaining available energy. The safety handling criterion includes one of the following measures:

[0021] Stop data collection and return home, continue data collection and store the water area data set to be processed locally, continue data collection and send the water area data set to be processed directly to the onshore data center, continue data collection and perform the first processing on the water area data set to be processed.

[0022] The system also includes an internal environment sensor and an external environment sensor;

[0023] The internal environment sensor is used to detect the internal state data of the new energy ship in real time and perform a travel risk assessment based on the internal state data;

[0024] The external environment sensor is used to detect meteorological data in real time during the process of the new energy ship traveling along the predetermined first route and perform meteorological risk assessment.

[0025] The new energy ship is an unmanned data acquisition ship; the unmanned data acquisition ship is equipped with an energy supply unit, which includes a battery pack and a solar charging unit connected to the battery pack; the remaining available energy is determined based on the remaining energy of the battery pack and the charging power of the solar charging unit.

[0026] In a third aspect of the present invention, a new energy data acquisition vessel is provided, comprising a processor and a memory;

[0027] The processor is connected to the memory;

[0028] The memory is used to store executable program code;

[0029] The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the dynamic monitoring method for intelligent navigation safety of new energy ships described in the first aspect.

[0030] The present invention can realize all-round autonomous safety dynamic monitoring of new energy ships, especially new energy unmanned data collection ships, so that the new energy data collection ships can complete the data collection tasks as much as possible and return smoothly while ensuring safety. Its specific advantages and implementation principles will be further reflected in detail in the specific embodiment part in combination with the drawings of the specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is a schematic diagram of the main process of a method for dynamic monitoring of intelligent navigation safety of new energy ships according to an embodiment of the present invention;

[0033] Figure 2 Is implemented Figure 1 A schematic diagram of the structure of the unmanned data acquisition vessel of the method;

[0034] Figure 3 yes Figure 1 A schematic diagram of the data interaction control flow during the implementation of the method;

[0035] Figure 4 This is a schematic diagram of the hardware unit composition of a new energy ship intelligent navigation safety dynamic monitoring system according to one embodiment of the present invention; DETAILED DESCRIPTION

[0036] In the specific implementation of this application, if the embodiments of the relevant technical solutions involve user-related data, when the embodiments of this application are applied to specific products or technologies, user permission or consent must be obtained, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0037] See also Figure 1 , Figure 1 The present invention is a schematic diagram of the main flow of a method for dynamic monitoring of the intelligent navigation safety of new energy ships according to an embodiment of the present invention.

[0038] Figure 1 The method comprises three main steps: Figure 1 The three flow charts are shown.

[0039] For ease of description, they are numbered S100-S300 as follows (step numbers are omitted in the relevant drawings):

[0040] S100: While the new energy ship is traveling along a predetermined first route, continuously collecting target water environment data by at least one data acquisition device, and pre-processing the target water environment data to obtain a water area data set to be processed;

[0041] S200: calculating a first power consumption of performing a first process on the water area data set to be processed at every predetermined period;

[0042] S300: Compare the first power consumption with the second power consumption, and determine a safety handling criterion for the new energy ship in the next cycle based on the comparison result, the current ship position, and the remaining available energy.

[0043] The safe handling criteria include one of the following measures:

[0044] Stop data collection and return home, continue data collection and store the water area dataset to be processed locally, continue data collection and send the water area dataset to be processed directly to the onshore data center, continue data collection and perform the first processing on the water area dataset to be processed;

[0045] The second power consumption is the power consumption of directly sending the to-be-processed water area dataset to the onshore data center, which is estimated at every predetermined period.

[0046] Figure 1 The method is applied to a new energy ship equipped with various data acquisition devices, in particular to an unmanned data acquisition ship.

[0047] In the technical scenario of this invention, an unmanned new energy data collection vessel is a device that automatically collects data in aquatic environments. Leveraging precise satellite positioning and its own sensing technology, it can autonomously navigate the water surface according to pre-set missions. For example, the intelligent unmanned vessel can automatically, frequently, and extensively collect data from relevant physical entities by following a set route.

[0048] Specifically, unmanned new energy data collection ships can be equipped with a variety of hydrological and water quality detection systems and sensors, and can collect various water resource-related data and video images of the waters in which they are located in real time, including water level, flow rate, water quality parameters, etc. They can also collect underwater topography and other data by carrying underwater sonar imaging and other equipment.

[0049] To ensure that unmanned new energy data collection vessels can return home smoothly after collecting data, in related technologies, designers often design routes (including multiple predetermined data collection points) based on the state parameters of the ship at departure (especially the full-load energy value) combined with experience. For example, based on factors such as mission duration, sailing distance and equipment power consumption, the battery capacity or other new energy storage devices are reasonably selected and configured to ensure that the ship has sufficient energy to support its return after completing the data collection mission. The battery management system (BMS) monitors the battery power, voltage, current and other parameters in real time to accurately assess the sailing time and distance that the remaining energy can support. When the power level is lower than the set threshold, the low-power return program is automatically activated to prioritize the ship's safe return to base and avoid the loss of power due to energy depletion.

[0050] However, in actual application scenarios, the data collection, data processing and data transmission processes performed by unmanned new energy data collection ships all require energy consumption, and the energy consumed (power consumption) at different stages is different; in addition, although the new energy ship itself can be equipped with energy supplement devices (such as solar photovoltaic structures), the power of solar photovoltaic power generation is unstable and is greatly affected by the environmental parameters of the heading.

[0051] Therefore, it is necessary to comprehensively consider these factors so that the new energy data collection ship can complete the data collection task as much as possible while ensuring safety and return smoothly.

[0052] Figure 2 Show implementation Figure 1 A schematic diagram of the structure of the unmanned data acquisition vessel of the method. Figure 2 In the embodiment, the unmanned data acquisition vessel is equipped with an energy supply unit, which includes a battery pack and a solar charging unit connected to the battery pack.

[0053] Figure 2 It is also shown that the predetermined first route includes a plurality of predetermined data collection points (preset coordinate positions / latitude and longitude).

[0054] Next, combine Figure 2 ,right Figure 1 Each step of the method is introduced in detail.

[0055] First, step S100: while the new energy ship is traveling along the predetermined first route, target water environment data is continuously collected by at least one data acquisition device, and the target water environment data is pre-processed to obtain a water area data set to be processed.

[0056] In this step, the predetermined first route includes a starting point and an end point, and there are data collection coordinates of multiple predetermined positions between the starting point and the end point. When the new energy ship travels along the predetermined first route, it will pass through the above-mentioned multiple predetermined positions in sequence, and when it arrives near the multiple predetermined positions, it will collect target water environment data through at least one data collection device.

[0057] Therefore, it can be understood that the "continuous collection" does not mean that the data collection equipment collects data continuously and aimlessly during the process of the new energy ship traveling along the predetermined first route, but refers to the "continuous collection" process that is started when the data collection equipment "continuously" reaches multiple predetermined positions during the process of the new energy ship traveling along the predetermined first route.

[0058] In one case, the predetermined first route includes a starting point A0 and an end point An, and there are multiple predetermined data collection coordinates {A1, A2, A3, ..., An-1} between the starting point A0 and the end point An; in the process of the new energy ship traveling along the predetermined first route, after collecting data at A0, {A1, A2, A3, ..., An-1}, and An respectively, reaching the end point means that data collection is completed, and the data collection equipment can be turned off and returned directly.

[0059] In another case, the predetermined first route includes a starting point startP and an end point endP; however, endP is only the farthest position relative to the starting point startP. After the new energy ship departs from the starting point startP, it passes through a plurality of predetermined positions {P1, P2, P3, ...} far away from the starting point startP in sequence and arrives at the end point endP; then, it continues to depart from the end point endP and passes through a plurality of predetermined positions {Z1, Z2, Z3, ...} close to the starting point startP in sequence and returns to the end point startP, wherein the predetermined positions {P1, P2, P3, ...} and {Z1, Z2, Z3, ...} form a closed loop predetermined first route connected end to end. At this time, the position coordinates of the new energy ship for continuous data collection can be described as startP, {P1, P2, P3, ...}, endP, {Z1, Z2, Z3, ...}, startP.

[0060] In practical applications, when the new energy ship is specifically an unmanned data acquisition ship, in order to implement the method, at least one onshore data center is configured to perform data transmission and command interaction with the unmanned data acquisition ship.

[0061] Preferably, the onshore data centers are configured in plurality and correspond to the location coordinates for data collection of the predetermined first route.

[0062] In an embodiment of the present invention, the unmanned data acquisition vessel selects different communication methods to communicate with the corresponding available onshore data center based on its current geographical location (latitude and longitude coordinates of the sea area location). The communication rates are different, and thus there may be different communication energy consumptions.

[0063] In one scenario, when collecting marine environmental data across oceans, unmanned data collection vessels are far away from land and can only rely on satellite communications to maintain contact with onshore data centers. At this time, the communication cost is high, the power consumption is large, and there is a certain transmission delay.

[0064] In another scenario, such as nearshore areas with good 4G / 5G network coverage, unmanned data collection vessels can quickly and stably transmit data to onshore data centers via 4G / 5G networks when collecting data in coastal ports and bays, with relatively low energy consumption.

[0065] In other scenarios, such as coastal areas or inland waterways, where satellite and cellular communications are limited, shortwave / ultra-shortwave communications can be considered. For example, in remote inland waterways without 4G / 5G network coverage, unmanned data collection vessels can transmit data such as water quality and water level via shortwave / ultra-shortwave communications to onshore data centers. However, this method is susceptible to signal fluctuations due to weather, terrain, and other factors, resulting in unstable communication quality, low data transmission rates, and increased energy consumption.

[0066] Related technologies tend to prefer unmanned data collection vessels to collect data and store it locally, or send it directly to an onshore data center. Both methods may affect the remaining energy availability of the unmanned data collection vessel.

[0067] In step S100, after the new energy ship collects the target water environment data, it is necessary to pre-process the target water environment data to obtain a water area data set to be processed.

[0068] Preprocessing includes:

[0069] Deduplication: Check whether there are identical records in the dataset and delete them if they exist to reduce the amount of data and avoid interference with subsequent analysis.

[0070] Handling missing values: For missing values ​​in the data, you can choose an appropriate handling method based on the specific situation. For example, you can use mean filling, median filling, filling based on similar samples, etc. You can also use interpolation filling based on the time series characteristics or spatial correlation of the data.

[0071] Eliminate outliers and erroneous values: Identify and eliminate outliers and erroneous values ​​that significantly deviate from the normal range by setting reasonable thresholds or using statistical methods such as box plot analysis and the 3σ principle. These data may be caused by sensor failure, transmission errors, or other reasons.

[0072] Next, the process proceeds to step S200: calculating the first power consumption of performing the first processing on the water area dataset to be processed at every predetermined period.

[0073] The first processing here refers to target data processing that can be performed on the water area dataset to be processed when the ship is at the current position.

[0074] For example, if there is data from multiple sources collected by various sensors, the first processing step could be data integration. Specifically, when the data collected comes from multiple different sensors or data sources, this data is integrated and fused. By establishing relationships between the data, data from different sources is consolidated into a unified dataset for comprehensive analysis and processing. For example, hydrological data, meteorological data, water quality data, and so on, can be integrated and correlated with vessel location information.

[0075] For another example, the first processing may also be to compare similar data collected in two consecutive predetermined periods to determine whether the data is representative or different, thereby determining the collection duration and quantity of this type of data in the next period.

[0076] It can be seen that the ship can perform the first processing by itself at the current position, but the first processing can also be sent by the ship to the onshore center for processing. Although there may be certain differences in the effects, it will not affect the overall effect of this data collection.

[0077] Taking the first processing as an example, data integration can be done by the ship sending data from multiple different sensors or data sources to the shore center for further processing, without affecting the subsequent data collection process;

[0078] Taking the first processing of comparing similar data collected in two consecutive scheduled periods as an example, the ship can send similar data collected in two consecutive scheduled periods to the onshore center for comparison, and the onshore data center will feedback to the ship the collection time and collection quantity of this type of data in the next period.

[0079] However, as described above, when the ship is at different locations, different communication methods that can be used to exchange data and instructions with multiple shore centers will result in significant differences in power consumption caused by the first processing.

[0080] Therefore, step S300 is performed: the first power consumption is compared with the second power consumption, and based on the comparison result, the current ship position, and the remaining available energy, a safety processing criterion for the new energy ship in the next cycle is determined. The second power consumption is the power consumption estimated for sending the to-be-processed waters dataset directly to the onshore data center every predetermined period.

[0081] In specific implementation, each preset cycle of step S200 should be understood as each data collection coordinate point at a new predetermined position.

[0082] Continuing the above example (data collection at A0, {A1, A2, A3, ..., An-1}, An), step S200 is executed every time the ship arrives at each of A1, A2, ..., An;

[0083] At this time, a first power consumption of performing a first process on the to-be-processed water area data set is calculated, and a second power consumption of directly sending the to-be-processed water area data set to an onshore data center is estimated.

[0084] It is understood that the ship preferably performs the first processing locally, and in the time period at the beginning of the route, the available energy of the ship is sufficient, so the first processing can be directly performed and the first power consumption P1 of performing the first processing on the water area data set to be processed can be determined;

[0085] As an example, the first power consumption P1 may be the power consumed in executing the first process;

[0086] However, the present invention focuses on the second half of the voyage, i.e. the phase where there may be safety risks. At this time, the available energy of the ship may no longer be sufficient.

[0087] Therefore, preferably, the calculation performed in step S200 of the first power consumption for performing the first processing on the water area data set to be processed does not actually perform the first processing, but is obtained by fitting based on the historical "first power consumption sequence value of the first processing".

[0088] As an example, assuming that the predetermined first route includes 3W data collection location coordinates, then for the first W data collection location coordinates, step S200 actually performs the first processing, and the first power consumption (actual) value of the first processing can be actually obtained;

[0089] Starting from the W+1th data collection location coordinate, step S200 does not actually perform the first processing. Instead, after acquiring the target water area environment data and pre-processing the target water area environment data to obtain the water area dataset to be processed, the W+1th first power consumption value is fitted based on the previous W "first power consumption sequence values ​​of the first processing";

[0090] At the same time, the ship estimates the second power consumption of sending the to-be-processed water area dataset directly to the onshore data center based on the current position.

[0091] Preferably, the second power consumption also includes the power consumption of receiving processing results from the onshore data center.

[0092] When estimating the second power consumption, it can be determined based on factors such as the size of the water area data set to be processed, the communication rate between the current position of the ship and the onshore data center, and the communication delay.

[0093] The communication rate and delay between the current position of the ship and the shore data center can be achieved through the monitoring equipment carried by the ship.

[0094] For example, many satellite communication terminals, 4G / 5G communication modules, and other devices have status monitoring capabilities, allowing users to view the current communication rate through the device's management interface or accompanying software. For example, maritime satellite terminals typically display the current data transmission rate, including both uplink and downlink rates, on their operation panel or remote monitoring software. Some 4G / 5G communication modules also provide corresponding APIs or command-line tools for querying the current network speed. Furthermore, historical records of data transmission and reception, including data volume and transmission time, can be collected from both ship and onshore data centers. By analyzing these records, the amount of data transmitted per unit time can be calculated, thereby determining the communication rate.

[0095] As an example, the second power consumption P2 may be the electric energy consumed in directly sending the to-be-processed water area dataset to an onshore data center and receiving the processing result from the onshore data center.

[0096] After obtaining the first power consumption P1 and the second power consumption P2, the process proceeds to step S300: comparing the first power consumption with the second power consumption, and determining a safety handling criterion for the new energy ship in the next cycle based on the comparison result, the current ship position, and the remaining available energy. The safety handling criterion includes one of the following measures:

[0097] Stop data collection and return home, continue data collection and store the water area data set to be processed locally, continue data collection and send the water area data set to be processed directly to the onshore data center, continue data collection and perform the first processing on the water area data set to be processed.

[0098] In an extreme case, based on the current ship position, the first power consumption (electricity value) required for the ship to return from the current position is determined to be K1; if the difference between the remaining available energy and K1 is less than a preset value, it is necessary to stop data collection and return immediately;

[0099] Of course, it's understandable that this scenario is extreme. Existing intelligent ship control systems wouldn't lead to this kind of situation. As mentioned earlier, the battery management system (BMS) of an intelligent ship control system monitors battery charge, voltage, current, and other parameters in real time, accurately assessing the remaining energy available for sailing time and distance. When the battery level falls below a set threshold, the low-battery return-to-home sequence is automatically initiated, prioritizing the vessel's safe return to base and preventing power loss due to energy depletion.

[0100] However, it should be noted that the relevant technology uses an optimistic estimate of the remaining energy available for sailing time and distance based on the vessel's current navigation data. In other words, the estimated remaining energy time and distance is based on the vessel's average overall power consumption at the current point in time and the current remaining energy value.

[0101] However, in the embodiment of the present invention, the overall power consumption value of the ship is not static, but changes dynamically.

[0102] Continuing with the above embodiment, it can be seen that for the first W data collection position coordinates, the overall power consumption of the ship (assuming the front-end power consumption) is relatively high (because it is believed that the remaining power is sufficient, the first processing is directly performed); and for the next 2w data collection position coordinates, the overall power consumption of the ship is in dynamic adjustment, and the optimization method can make the overall power consumption of the ship in this section of the voyage lower than the front-end power consumption.

[0103] To sum up, the “remaining power to support return” in the relevant technology only indicates the “ship’s displayed endurance”, which is similar to the displayed remaining endurance of new energy vehicles. However, in fact, based on the dynamic changes in the route (road conditions), energy consumption will also change.

[0104] If the displayed mileage is estimated based on an optimistic scenario, the actual supported cruising range may be lower than the displayed cruising range, which will result in the ship being unable to return home smoothly; but if the displayed mileage is estimated based on a pessimistic scenario, it may result in the ship being unable to complete the established route, and the data collection task may not be completed smoothly.

[0105] The key issue affecting the accuracy of the overall endurance lies in the additional data processing power consumption, which is closely related to the data processing method.

[0106] Therefore, the embodiments of the present invention consider the data processing problem of how to select to execute the first processing in the case where the remaining power supports returning (the displayed mileage is greater than the remaining mileage).

[0107] When the remaining power is sufficient to support returning, for example, when the remaining power is greater than 120% of the power required for returning, at this time, if P1 < P2, it is determined that the safety processing criterion for the new energy ship in the next cycle is to continue data collection and execute the first processing on the water area data set to be processed; if P1 > P2, it is determined that the safety processing criterion for the new energy ship in the next cycle is to continue data collection and directly send the water area data set to be processed to the onshore data center;

[0108] Of course, if P1 = P2, the new energy ship can freely choose whether to process locally or send it back to the onshore processing center.

[0109] When the remaining power supports returning but is not so abundant, for example, when the remaining power is between 100% - 120% of the power required for returning, it is determined that the safety processing criterion for the new energy ship in the next cycle is to continue data collection and locally store the water area data set to be processed, that is, not to perform the first processing.

[0110] It should be understood that the above process is carried out cyclically, that is, it is necessary to re - judge at each data collection position, so that the current safety processing criterion changes dynamically and adaptively.

[0111] In practical applications, the remaining available energy is determined based on the remaining energy of the battery pack and the charging power of the solar charging unit.

[0112] Specifically, the remaining rechargeable power can be determined based on the average charging power of the solar charging unit during the progress of this voyage and the remaining voyage duration, and then the remaining rechargeable power and the remaining energy of the battery pack are fused to determine the remaining available energy.

[0113] It can be seen that based on the above optimization, during the ship's voyage, the remaining available energy does not always decrease, but may start to decrease (in the initial stage), then increase (during the period when the charging power is greater than the power consumption), and then decrease again (during the period when the charging power is less than the power consumption). The dynamic change in this process is reflected in the comparison between the first power consumption and the second power consumption, and further reflected in the selection of the safety processing criterion for the new energy ship in the next cycle, so that the new energy data collection ship can complete the data collection task and return smoothly as much as possible while ensuring safety.

[0114] Furthermore, a further preferred embodiment of the present invention also includes: the multiple data acquisition devices include external environmental sensors, which are used to detect in real time the meteorological data of the new energy ship during its travel along the predetermined first route and perform a meteorological risk assessment, and determine the safety handling criteria of the new energy ship in the next cycle based on the results of the meteorological risk assessment.

[0115] Furthermore, a further preferred embodiment of the present invention also includes: the multiple data acquisition devices include internal environment sensors, which are used to detect the internal status data of the new energy ship in real time, and perform travel risk assessment based on the internal status data, and determine the safety handling criteria of the new energy ship in the next cycle based on the results of the travel risk assessment.

[0116] The situation faced by the above preferred embodiment should be understood as a "veto" mechanism, that is, when the meteorological risk assessment risk is high or the travel risk assessment risk is high, the safety processing criterion is to stop data collection and return immediately.

[0117] Taking travel risk assessment as an example, situations where the travel risk assessment is high include any of the following situations:

[0118] Real-time detection of internal status data of the new energy vessel by internal environmental sensors indicates that the battery pack may have significant safety risks;

[0119] Internal environmental sensors detect the stress and deformation of the hull in real time, and detect potential damage and fatigue cracks in the hull structure. The severity of these damages may not ensure the strength and stability of the hull, and hull structural problems may cause the ship to sink or be damaged.

[0120] Taking meteorological risk assessment as an example, situations with higher meteorological risk assessment risks include the following:

[0121] Real-time meteorological data, including wind speed, direction, wave height, and visibility, is acquired to ensure safe navigation. If severe weather conditions occur, timely measures such as sheltering, suspending navigation, and returning to port are necessary to prevent ships from being attacked by wind and waves or collisions.

[0122] The above preferred embodiments are described to ensure the completeness of the technical solution of the present invention. In practical applications, ships, especially new energy unmanned ships, must undergo rigorous hull monitoring and equipment inspections before sailing to ensure that no entry or exit risks are present. Furthermore, sailing dates and routes are determined in advance based on weather forecasts to avoid extreme weather conditions and weather risks.

[0123] exist Figure 1-Figure 2Based on this, refer to Figure 3 , Figure 3 which is Figure 1 a schematic diagram of the data interaction control process during the implementation of the method.

[0124] Specifically, each time the target water area environmental data is collected and preprocessed, a water area data set to be processed is formed; based on the water area data set to be processed, the current position of the ship, and relevant historical data, the first power consumption is calculated or estimated, and at the same time, the second power consumption is estimated;

[0125] At the same time, the results of meteorological risk assessment, the results of travel risk assessment, and the remaining available energy are also obtained;

[0126] All the above parameters are used as the input of the central processing unit;

[0127] Based on the preset judgment criteria, the central processing unit decides the safety processing criteria for the ship in the next cycle. If it is an extreme situation, data collection needs to be stopped immediately and the ship returns, otherwise, data collection can continue.

[0128] The preset judgment rules have been introduced in the embodiments of the foregoing execution steps S200 - S300. The following is a comprehensive and preferred embodiment:

[0129] Suppose the full - distance mileage of a predetermined first route is A km; the remaining cruising range (displayed cruising range) of the remaining available energy (electricity) corresponding to the current position Pcur of the new - energy ship is B km; the remaining mileage to be completed corresponding to the current position Pcur of the new - energy ship is C km;

[0130] Then after executing step S100, if r1 < C / A < r2, then steps S200 - S300 are started to be executed;

[0131] Among them, 0 < r1 < r2 < R; R is a positive number less than 1; preferably, R = 2 / 3; or, R < 3 / 4;

[0132] The meaning of the above - mentioned preferred embodiment is that it can make the new - energy ship execute the steps S200 - S300 from the start of departure, or it can make the new - energy ship start to execute the steps S200 - S300 after sailing for a period of time (for example, sailing 1 / 3 or 1 / 4 of the full distance) from the starting point. This is because when the new - energy ship just departs, it has passed a strict departure inspection and is in a fully - charged state. Therefore, for the first part of the mileage (the first 1 / 3 or 1 / 4), the cruising - range optimization problem does not need to be considered (because the optimization process itself also requires energy support). Therefore, preferably, steps S200 - S300 do not need to be executed in the first 1 / 3 or 1 / 4 stage, that is, by choosing R = 2 / 3 or R < 3 / 4, the optimization process starts after the first 1 / 3 or 1 / 4 stage.

[0133] Next, first obtain the internal state data corresponding to the current position Pcur of the new energy ship for travel risk assessment, and conduct travel risk assessment based on meteorological data;

[0134] If the result of the travel risk assessment or the travel risk assessment is high risk, determine that the safety handling criterion for the new energy ship in the next cycle is to stop data collection and return;

[0135] Then, calculate Rk = B / C; when 1 < Rk < Rk1, determine that the safety handling criterion for the new energy ship in the next cycle is to stop data collection and return; where Rk1 < (1 + x1); 0 < x1 ≤ 0.2; preferably x1 = 0.2; at this time, it means that the displayed remaining cruising range is relatively close to the actual remaining range. To ensure that the ship can return smoothly, it is necessary to take prudent optimization measures for cruising range. Determine that the safety handling criterion for the new energy ship in the next cycle is to continue data collection and locally store the water area data set to be processed; <000029\alpha>The most common situation is Rk > Rk1;

[0137] At this time, if P1 < P2, determine that the safety handling criterion for the new energy ship in the next cycle is to continue data collection and perform the first processing on the water area data set to be processed; if P1 > P2, determine that the safety handling criterion for the new energy ship in the next cycle is to continue data collection and directly send the water area data set to be processed to the onshore data center;

[0138] Of course, if P1 = P2, the new energy ship can freely choose whether to process locally or send it back to the onshore processing center.

[0139] Of course, there may also be a situation where Rk ≤ 1. At this time, determine that the safety handling criterion for the new energy ship in the next cycle is to stop data collection and return, and the return path should be along the nearest onshore data center.

[0140] Since the above process is judged every predetermined cycle, it belongs to a dynamically changing process.

[0141] Based on the method embodiment, further refer to Figure 4 , Figure 4 Give a schematic diagram of the hardware unit composition of an intelligent navigation safety dynamic monitoring system for a new energy ship according to an embodiment of the present invention.

[0142] In Figure 4 a new energy ship intelligent navigation safety dynamic monitoring system is proposed, and the system includes a variety of data collection sensors and a central processor;

[0143] During the process of the new energy ship traveling along the predetermined first route, the data acquisition sensor continuously collects target water environment data, and pre-processes the target water environment data to obtain a water area data set to be processed;

[0144] At every predetermined period, the central processing unit calculates a first power consumption of performing a first process on the water area data set to be processed and estimates a second power consumption of directly sending the water area data set to be processed to an onshore data center;

[0145] The central processor determines a safety handling criterion for the new energy ship in the next cycle based on a meteorological risk assessment result, a travel risk assessment result, the first power consumption, the second power consumption, the current ship position, and the remaining available energy. The safety handling criterion includes one of the following measures:

[0146] Stop data collection and return home, continue data collection and store the water area data set to be processed locally, continue data collection and send the water area data set to be processed directly to the onshore data center, continue data collection and perform the first processing on the water area data set to be processed.

[0147] The system also includes an internal environment sensor and an external environment sensor;

[0148] The internal environment sensor is used to detect the internal state data of the new energy ship in real time and perform a travel risk assessment based on the internal state data;

[0149] The external environment sensor is used to detect meteorological data in real time during the process of the new energy ship traveling along the predetermined first route and perform meteorological risk assessment.

[0150] The new energy ship is an unmanned data acquisition ship; the unmanned data acquisition ship is equipped with an energy supply unit, which includes a battery pack and a solar charging unit connected to the battery pack; the remaining available energy is determined based on the remaining energy of the battery pack and the charging power of the solar charging unit.

[0151] Although not shown in the accompanying drawings, preferably, further product embodiments may also include an electronic device comprising a memory and one or more processors. The memory stores one or more application programs, and the one or more application programs are adapted to be executed by the one or more processors in the aforementioned method for dynamic monitoring of intelligent navigation safety of new energy ships.

[0152] Preferably, the electronic equipment is configured on a new energy data collection ship.

[0153] Although not shown in the accompanying drawings, more embodiments also include a computer-readable storage medium, which stores a computer program. When the computer program is executed, the steps of the aforementioned method for dynamic monitoring of intelligent navigation safety of new energy ships are implemented.

[0154] It can be understood that the system, product, device, medium embodiments and method implementations correspond to each other and can reference each other. Their principles are similar or the same, so they will not be repeated.

[0155] For other technologies, principles, algorithms or models not elaborated in detail in this application, please refer to the existing technology.

[0156] The technical solution proposed in the embodiment of the present invention shows many significant advantages in the navigation and data processing of new energy ships.

[0157] In terms of energy optimization, ships have traditionally lacked dynamic considerations in their data processing decisions, leading to excessive power consumption during the initial voyage due to the blind selection of high-power data processing methods. This solution, however, flexibly and intelligently selects data processing strategies based on multiple factors, including real-time remaining battery power, navigation conditions, and data processing requirements. During subsequent voyages, it precisely matches the appropriate data processing method to the coordinates of the data collection locations. For example, when the ship is near a data center and communication conditions are good, direct data transmission is chosen to avoid the high energy consumption associated with complex local processing. When signal conditions are poor or the data volume is large, local storage or a relatively low-power processing method is prioritized. This effectively reduces the ship's overall power consumption, enabling ships to travel longer distances using the same amount of power compared to traditional methods. This significantly improves energy efficiency, allowing limited power to be more efficiently allocated, and providing a solid energy guarantee for the ship to complete its planned route and data collection mission.

[0158] From the perspective of endurance accuracy, traditional ship endurance assessment relies on simple "displayed endurance", which does not fully consider the energy consumption fluctuations caused by route changes, weather conditions, data processing methods, etc. during actual navigation, which can easily cause deviations in endurance estimation, leading to the dilemma of the ship being unable to return or complete the mission. The present invention closely links the data processing method with endurance assessment through in-depth analysis and precise control of the key factor affecting endurance - data processing power consumption. The ship's remaining power, data processing power consumption and navigation environment changes are monitored in real time. During navigation, the endurance assessment results are dynamically adjusted based on the constantly updated information to provide the ship with endurance data that is more in line with the actual situation. This enables the ship to plan reasonable navigation strategies and data processing solutions in advance to ensure that the mission is successfully completed and returned safely with the support of the remaining power, effectively avoiding navigation risks caused by misjudgment of endurance.

[0159] By optimizing data processing strategies, this invention ensures the integrity and high-quality completion of data collection tasks while ensuring the safe return of the ship. Vessels can flexibly adjust data processing methods based on real-time status. When power availability permits, collected data is effectively preprocessed to improve data quality. When power is limited, appropriate storage or transmission strategies can be selected to prevent data loss. This allows ships to comprehensively and accurately complete data collection tasks along their designated routes, providing sufficient and reliable data support for subsequent data analysis and research.

[0160] To sum up, the technical solution of the embodiment of the present invention has incomparable advantages over traditional technologies in terms of energy consumption optimization, endurance accuracy assurance, and data collection task completion. It provides strong support for the efficient and safe operation and data collection of new energy ships, and has extremely high application value and broad promotion prospects.

[0161] The foregoing has shown and described the method embodiments and system of the present invention, but it is understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for dynamic monitoring of intelligent navigation safety of new energy ships, wherein the new energy ships are equipped with multiple data acquisition devices, characterized in that: The method comprises: During the process of the new energy ship traveling along the predetermined first route, continuously collecting target water environment data by at least one data acquisition device, and pre-processing the target water environment data to obtain a water area data set to be processed; At every predetermined period, a first power consumption of performing a first processing on the to-be-processed water area data set is calculated, the first power consumption is compared with a second power consumption, and a safety processing criterion for the new energy ship in the next period is determined based on the comparison result, the current ship position, and the remaining available energy. The safety processing criterion includes one of the following measures: Stop data collection and return home, continue data collection and store the water area dataset to be processed locally, continue data collection and send the water area dataset to be processed directly to the onshore data center, continue data collection and perform the first processing on the water area dataset to be processed; The second power consumption is the power consumption of directly sending the to-be-processed water area dataset to the onshore data center, which is estimated at every predetermined period.

2. A method for dynamic monitoring of intelligent navigation safety of new energy ships according to claim 1, characterized in that: The new energy ship is an unmanned data acquisition ship; the unmanned data acquisition ship is equipped with an energy supply unit, which includes a battery pack and a solar charging unit connected to the battery pack.

3. A method for dynamic monitoring of intelligent navigation safety of new energy ships according to claim 1, characterized in that: The predetermined first route includes a starting point and an end point; When it is determined that the safety handling criterion of the new energy ship in the next cycle is not to stop data collection and return, the new energy ship is controlled to continue traveling along the predetermined first route.

4. A method for dynamic monitoring of intelligent navigation safety of new energy ships according to claim 2, characterized in that: The remaining available energy is determined based on the remaining energy of the battery pack and the charging power of the solar charging unit.

5. A method for dynamic monitoring of intelligent navigation safety of new energy ships according to claim 1, characterized in that: The multiple data acquisition devices include external environmental sensors, which are used to detect in real time the meteorological data of the new energy ship during its travel along the predetermined first route and perform a meteorological risk assessment, and determine the safety handling criteria for the new energy ship in the next cycle based on the results of the meteorological risk assessment.

6. A method for dynamic monitoring of intelligent navigation safety of new energy ships according to claim 1, characterized in that: The multiple data acquisition devices include internal environment sensors, which are used to detect the internal status data of the new energy ship in real time, and perform travel risk assessment based on the internal status data, and determine the safety handling criteria of the new energy ship in the next cycle based on the results of the travel risk assessment.

7. A dynamic monitoring system for intelligent navigation safety of new energy ships, comprising a plurality of data acquisition sensors and a central processing unit; It is characterized by: During the process of the new energy ship traveling along the predetermined first route, the data acquisition sensor continuously collects target water environment data, and pre-processes the target water environment data to obtain a water area data set to be processed; At every predetermined period, the central processing unit calculates a first power consumption of performing a first process on the water area data set to be processed and estimates a second power consumption of directly sending the water area data set to be processed to an onshore data center; The central processor determines a safety handling criterion for the new energy ship in the next cycle based on a meteorological risk assessment result, a travel risk assessment result, the first power consumption, the second power consumption, the current ship position, and the remaining available energy. The safety handling criterion includes one of the following measures: Stop data collection and return home, continue data collection and store the water area data set to be processed locally, continue data collection and send the water area data set to be processed directly to the onshore data center, continue data collection and perform the first processing on the water area data set to be processed.

8. A dynamic monitoring system for intelligent navigation safety of new energy ships according to claim 7, characterized in that: The system also includes an internal environment sensor and an external environment sensor; The internal environment sensor is used to detect the internal state data of the new energy ship in real time and perform a travel risk assessment based on the internal state data; The external environment sensor is used to detect meteorological data in real time during the process of the new energy ship traveling along the predetermined first route and perform meteorological risk assessment.

9. A dynamic monitoring system for intelligent navigation safety of new energy ships according to claim 7, characterized in that: The new energy ship is an unmanned data acquisition ship; the unmanned data acquisition ship is equipped with an energy supply unit, which includes a battery pack and a solar charging unit connected to the battery pack; the remaining available energy is determined based on the remaining energy of the battery pack and the charging power of the solar charging unit.

10. A new energy data collection ship, characterized in that: including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute a dynamic monitoring method for intelligent navigation safety of new energy ships as described in any one of claims 1-6.

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