Multi-target collaborative optimization ship route determination method and system

Abstract

The invention relates to the technical field of ship control, and discloses a multi-target collaborative optimization ship route determination method and system, and the method comprises the steps: obtaining the target location information of a target ship, and generating the initial route planning information corresponding to the target ship according to the target location information and preset safety target information, the initial route planning information comprises at least one initial planning route; acquiring real-time ship information corresponding to the target ship and ship demand information corresponding to the target ship, and generating navigation demand information of the target ship based on the real-time ship information and the ship demand information; and determining target ship route planning information of the target ship according to the navigation demand information and the initial ship route planning information. Therefore, the ship route can be comprehensively determined in combination with information in multiple aspects, the intelligence of determining the ship route is improved, and the accuracy and reliability of determining the ship route are improved.

Description

Technical Field

[0001] This invention relates to the field of ship navigation technology, and in particular to a method and system for determining ship routes through multi-objective collaborative optimization. Background Technology

[0002] Currently, most ship navigation relies on routes provided by nautical charts, with the navigator manually determining the course and navigating accordingly. However, this method, which depends solely on human experience, suffers from technical problems related to low accuracy and intelligence in route determination. Therefore, providing a new method for determining ship routes to improve their intelligence and accuracy is of paramount importance. Summary of the Invention

[0003] This invention provides a multi-objective collaborative optimization method and system for determining ship routes, which can comprehensively determine ship routes by combining information from multiple aspects. This is beneficial to improving the intelligence of ship route determination, as well as the accuracy and reliability of the determined ship routes.

[0004] The first aspect of this invention discloses a multi-objective collaborative optimization method for determining ship routes, the method comprising: Obtain the target location information of the target vessel, and generate the initial route planning information corresponding to the target vessel based on the target location information and the pre-set safety target information, wherein the initial route planning information includes at least one initial planned route. The system acquires real-time vessel information and vessel demand information corresponding to the target vessel, and generates navigation demand information for the target vessel based on the real-time vessel information and the vessel demand information; wherein, the vessel demand information includes one or more of the following: navigation speed demand information, navigation duration demand information, and navigation fuel demand information corresponding to the target vessel. Based on the navigation demand information and the initial route planning information, the target route planning information of the target vessel is determined.

[0005] A second aspect of this invention discloses a multi-objective collaborative optimization system for determining ship routes, the system comprising: The acquisition module is used to acquire target location information of the target vessel; The generation module is used to generate initial route planning information for the target vessel based on the target location information and pre-set safety target information, wherein the initial route planning information includes at least one initial planned route. The acquisition module is also used to acquire real-time ship information corresponding to the target ship and ship demand information corresponding to the target ship; The generation module is also used to generate navigation demand information for the target vessel based on the real-time vessel information and the vessel demand information; The determination module is used to determine the target route planning information of the target vessel based on the navigation demand information and the initial route planning information.

[0006] As an optional implementation, in a second aspect of the present invention, the acquisition module is further configured to acquire navigation function information corresponding to the target vessel after the generation module generates navigation demand information of the target vessel based on the real-time vessel information and the vessel demand information; The determining module is further configured to determine the navigation function factors of the target vessel based on the navigation function information, wherein the navigation function factors include one or more of the target vessel's navigation fuel factors, navigation efficiency factors, navigation duration factors, and navigation purpose factors; and determine the functional requirement information of the target vessel based on the navigation function factors. The device further includes: The update module is used to perform an update operation on the navigation requirement information of the target vessel according to the functional requirement information, so as to update the navigation requirement information of the target vessel.

[0007] As an optional implementation, in a second aspect of the present invention, the specific method by which the determining module determines the target route planning information of the target vessel based on the navigation demand information and the initial route planning information includes: Extract the target demand parameters from the navigation demand information, wherein the target demand parameters include one or more of the target ship's safety demand parameters, fuel consumption demand parameters, speed demand parameters, and navigation duration demand parameters; Based on the target requirement parameters, a navigation indicator system for the target vessel is constructed, and a navigation scoring model corresponding to the navigation indicator system is constructed. Based on the navigation scoring model, a matching scoring parameter between the navigation indicator system and each of the initial planned routes included in the initial route planning information is calculated. Based on all the matching scoring parameters, the target route planning information for the target vessel is determined.

[0008] As an optional implementation, in a second aspect of the invention, the determining module is further configured to determine the target planned route of the target vessel based on the target route planning information of the target vessel; The generation module is also used to generate navigation control parameters for the target vessel based on the target planned route; The acquisition module is also used to acquire real-time area information of the current area where the target vessel is located; The device further includes: The judgment module is used to determine whether there are navigation impact parameters in the real-time area information based on the real-time area information; The determining module is further configured to, when the judging module determines that the navigation impact parameter exists in the real-time area information, determine the influence correlation between the navigation impact parameter and the navigation control parameter; and based on the influence correlation, determine the navigation adjustment parameter corresponding to the navigation control parameter. The generation module is further configured to generate target navigation control parameters for the target vessel based on the navigation control parameters and the navigation adjustment parameters. The control module is used to control the target vessel to perform navigation control operations that match the target navigation control parameters.

[0009] As an optional implementation, in a second aspect of the present invention, the specific method by which the generation module generates the initial route planning information corresponding to the target vessel based on the target location information and pre-set safety target information includes: Obtain the real-time position of the target vessel, and construct the geospatial information of the target vessel based on the real-time position and the target location information; Based on the geospatial information, a region division operation is performed on the navigation area corresponding to the target vessel to obtain the region division result. Based on the region division result and the target location information, several alternative planned routes are generated. Calculate the navigation assessment result corresponding to each of the alternative planned routes, determine whether the navigation assessment result meets the preset navigation assessment conditions, and obtain the navigation assessment judgment result corresponding to each of the alternative planned routes; Based on the navigation assessment judgment result corresponding to each of the alternative planned routes, the alternative planned routes that indicate that the navigation assessment result meets the preset navigation assessment conditions are determined as the initial planned routes, and based on all the initial planned routes, the initial route planning information corresponding to the target vessel is generated.

[0010] As an optional implementation, in a second aspect of the invention, the specific method by which the determining module determines the target route planning information of the target vessel based on all the matching scoring parameters includes: Based on all the matching scoring parameters and the navigation indicator system, the demand priority corresponding to each of the target demand parameters is determined, and a weight adjustment parameter is generated according to the demand priority corresponding to each of the target demand parameters. Based on all the matching score parameters and the weight adjustment parameters, each of the matching score parameters is updated, and the target route planning information of the target vessel is determined based on the updated matching score parameters.

[0011] The update module performs an update operation on the navigation requirement information of the target vessel based on the functional requirement information. The specific methods for updating the navigation requirement information of the target vessel include: Based on the functional requirement information, the requirement characteristic information of the target vessel is determined, and based on the requirement characteristic information, the navigation requirement constraint information of the target vessel is determined, wherein the navigation requirement constraint information includes one or more of the following: navigation duration requirement constraint information, navigation turning number requirement constraint information, navigation turning angle requirement constraint information, and navigation speed requirement constraint information. Based on the aforementioned demand characteristic information and navigation demand constraint information, at least one matching navigation function demand parameter is determined from a pre-determined set of navigation parameters. Based on all the aforementioned navigation function demand parameters, demand update parameters are generated, and an update operation is performed on the navigation demand information of the target vessel according to the demand update parameters to update the navigation demand information of the target vessel.

[0012] As an optional implementation, in a second aspect of the present invention, the updating module performs an update operation on the navigation requirement information of the target vessel according to the functional requirement information, and the specific manner of updating the navigation requirement information of the target vessel includes: Based on the functional requirement information, the requirement characteristic information of the target vessel is determined, and based on the requirement characteristic information, the navigation requirement constraint information of the target vessel is determined, wherein the navigation requirement constraint information includes one or more of the following: navigation duration requirement constraint information, navigation turning number requirement constraint information, navigation turning angle requirement constraint information, and navigation speed requirement constraint information. Based on the aforementioned demand characteristic information and navigation demand constraint information, at least one matching navigation function demand parameter is determined from a pre-determined set of navigation parameters. Based on all the aforementioned navigation function demand parameters, demand update parameters are generated, and an update operation is performed on the navigation demand information of the target vessel according to the demand update parameters to update the navigation demand information of the target vessel.

[0013] A third aspect of this invention discloses another multi-objective collaborative optimization system for determining ship routes, the system comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute some or all of the steps in the multi-objective cooperative optimization method for determining ship routes according to any of the first aspects of the present invention.

[0014] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in the multi-objective cooperative optimization method for determining ship routes according to any of the first aspects of the present invention.

[0015] Compared with the prior art, the present invention has the following beneficial effects: In this embodiment of the invention, target location information of the target vessel is obtained. Based on the target location information and pre-set safety target information, initial route planning information corresponding to the target vessel is generated, wherein the initial route planning information includes at least one initially planned route. Real-time vessel information and vessel demand information corresponding to the target vessel are obtained. Based on the real-time vessel information and vessel demand information, navigation demand information of the target vessel is generated. Based on the navigation demand information and the initial route planning information, the target route planning information of the target vessel is determined. It is evident that implementing this invention can comprehensively determine vessel routes by combining information from multiple aspects, which is beneficial to improving the intelligence, accuracy, and reliability of vessel route determination. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating a multi-objective collaborative optimization method for determining ship routes disclosed in an embodiment of the present invention; Figure 2 This is a flowchart illustrating another multi-objective collaborative optimization method for determining ship routes disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a multi-objective collaborative optimization ship route determination system disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of another multi-objective collaborative optimization ship route determination system disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of another multi-objective collaborative optimization ship route determination system disclosed in an embodiment of the present invention. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0020] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] This invention discloses a multi-objective collaborative optimization method and system for determining ship routes. It can comprehensively determine ship routes by combining information from multiple sources, which improves the intelligence, accuracy, and reliability of route determination. These will be described in detail below.

[0022] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a multi-objective collaborative optimization method for determining ship routes disclosed in an embodiment of the present invention. Figure 1 The described multi-objective collaborative optimization method for determining ship routes can be applied to a multi-objective collaborative optimization system for determining ship routes, or to the ship itself. The multi-objective collaborative optimization system for determining ship routes can be integrated into a cloud server or a local server; this embodiment of the invention does not impose limitations. Figure 1 As shown, this multi-objective collaborative optimization method for determining ship routes may include the following operations: 101. Obtain the target location information of the target vessel, and generate the initial route planning information corresponding to the target vessel based on the target location information and the pre-set safety target information.

[0023] In this embodiment of the invention, the initial route planning information includes at least one initially planned route.

[0024] In this embodiment of the invention, optionally, the target location information of the target vessel includes one or more of the following: the target vessel's origin location information, the necessary transit locations information, and the destination information. Specifically, the target vessel's origin location information includes the vessel's current location, its latitude and longitude coordinates, the name of the port of departure, and the berth number; the target vessel's necessary transit locations information includes the geographical locations it must pass through during its voyage, which may include channel turning points, quarantine anchorages, traffic separation entrances, and coordinates; the target vessel's destination information includes the port coordinates of its final destination, the berth number, and the estimated arrival window information.

[0025] In this embodiment of the invention, optionally, the pre-set safety target information is a rigid constraint condition to ensure the safety of ship navigation. The pre-set safety target information may include one or more of the following: obstacle avoidance safety distance target information, restricted area avoidance information, navigation rule adaptation information, environmental tolerance threshold information, and ship handling safety information. Among them, obstacle avoidance safety distance information may include the minimum distance to fixed obstacles (reefs, islands); the safe encounter distance to moving targets (other ships); restricted area avoidance information may include information on areas that are explicitly prohibited from entering; navigation rule adaptation information may include information on compliance with international collision avoidance rules, lane separation system, and speed limit regulations; environmental tolerance threshold information may include information on the maximum tolerable wind force, wave height, and visibility; and ship handling safety information may include information on minimum turning radius, continuous turning interval, and emergency braking distance.

[0026] In this embodiment of the invention, optionally, the initial route planning information corresponding to the target vessel may include several initial planned routes, and the initial route planning information is a set of basic route schemes generated based on the target location and safety objectives, providing a pool of alternatives for subsequent optimization; furthermore, the initial route planning information corresponding to the target vessel may include information such as a complete waypoint sequence, total route length, estimated sailing time, minimum obstacle avoidance distance for each route, restricted area avoidance rate, turning safety angle, and estimated values ​​such as average wind force, wave height, and current speed in the sea areas traversed by the route.

[0027] 102. Obtain real-time ship information and ship demand information corresponding to the target ship. Based on the real-time ship information and ship demand information, generate navigation demand information for the target ship.

[0028] In this embodiment of the invention, the ship demand information includes one or more of the following: the target ship's sailing speed demand information, sailing time demand information, and sailing fuel demand information.

[0029] In this embodiment of the invention, optionally, the real-time ship information corresponding to the target ship is dynamic status data during the ship's navigation process, reflecting the ship's current physical characteristics and operating status. The real-time ship information corresponding to the target ship may include one or more of the following: real-time position information, real-time equipment status information, and real-time cargo status information. The real-time position information of the target ship includes real-time latitude and longitude, speed, heading, and hull tilt angle. The real-time equipment status information of the target ship includes the main engine speed, fuel consumption rate, navigation equipment accuracy, and steering gear response speed. The real-time cargo status information of the target ship includes cargo load, cargo type, center of gravity position, draft, and number of personnel.

[0030] In this embodiment of the invention, optionally, the ship requirement information corresponding to the target ship is the functional requirement information proposed by the ship operator based on the nature of the mission. The ship requirement information corresponding to the target ship may include sailing speed requirement information, sailing duration requirement information, and sailing fuel requirement information. Specifically, the sailing speed requirement information of the target ship may include minimum speed, maximum speed, and economic speed range; the sailing duration requirement information of the target ship may include maximum permissible sailing time, minimum expected sailing time, and arrival time of critical nodes; and the sailing fuel requirement information of the target ship may include maximum fuel consumption, fuel economy target, and fuel reserve threshold information.

[0031] In this embodiment of the invention, optionally, the process of generating navigation demand information for the target vessel based on real-time vessel information and vessel demand information may include: First target information for extracting real-time ship information and second target information for extracting ship demand information are obtained. Information fusion operation is performed on the first target information and the second target information to obtain information fusion result. Based on the information fusion result, navigation demand information of the target ship is generated. The first target information of real-time ship information may include one or more of the following: the target ship's current speed, fuel inventory, cargo load, and fuel consumption rate; the second target information of ship demand information may include one or more of the following: sailing speed demand, sailing duration demand, and sailing fuel demand; the information fusion result may include one or more of the following: dynamic constraint information, priority weight information, and elastic range information. The dynamic constraint information may include steering angle rate limit information based on full load status and route fuel consumption demand information based on fuel inventory; the priority weight information includes the weight information corresponding to the priority of fuel demand, time demand, and speed stability; and the elastic range information may include time elastic fluctuation range information and fuel consumption elastic fluctuation range information.

[0032] 103. Based on navigation demand information and initial route planning information, determine the target route planning information for the target vessel.

[0033] In this embodiment of the invention, optionally, the target route planning information of the target vessel is the optimal solution selected from the initial route, which satisfies safety constraints and best suits the navigation requirements.

[0034] In this embodiment of the invention, optionally, the target route planning information may include the final waypoint sequence information, operation instruction information, and compatibility description information corresponding to the target route; wherein, the final waypoint sequence information corresponding to the target route may include coordinate planning, total route mileage, and estimated travel time information; the operation instruction information may include the suggested speed for each segment and operation prompts for turning points; the compatibility description information may include the route's satisfaction with various requirements, potential risks, and countermeasures information.

[0035] It is evident that implementation Figure 1The described multi-objective collaborative optimization method for determining ship routes can acquire target location information of the target ship, generate initial route planning information for the target ship based on the target location information and pre-set safety objective information, acquire real-time ship information and ship demand information for the target ship, generate navigation demand information for the target ship based on the real-time ship information and ship demand information, and determine the target route planning information for the target ship based on the navigation demand information and the initial route planning information. This method can comprehensively generate initial route planning information by combining the target ship's target location information and safety objective information. It can directly embed pre-set safety objectives when generating the initial route, avoiding risks such as collisions and groundings caused by human planning oversights. This improves the safety and intelligence of generating initial route planning information, reduces accident risks, and enhances ship navigation safety. Furthermore, it can transform ship demand information (such as sailing time and speed requirements) into quantifiable route selection indicators, effectively reducing navigation loss rates, improving the accuracy and reliability of generated navigation routes, and enhancing the intelligence and efficiency of route determination. This method combines "ship demand information + real-time ship information." By combining various factors, suitable navigation requirements can be generated, avoiding the limitations of a single planning logic. This helps to further improve the intelligence and comprehensiveness of determining ship routes, and thus enables the comprehensive determination of ship routes by combining information from multiple aspects. This not only improves the intelligence of determining ship routes, but also helps to improve the accuracy and reliability of determining ship routes.

[0036] Example 2 Please see Figure 2 , Figure 2 This is a flowchart illustrating another multi-objective collaborative optimization method for determining ship routes disclosed in an embodiment of the present invention. Figure 2 The described multi-objective collaborative optimization method for determining ship routes can be applied to a multi-objective collaborative optimization system for determining ship routes, or to the ship itself. The multi-objective collaborative optimization system for determining ship routes can be integrated into a cloud server or a local server; this embodiment of the invention does not impose limitations. Figure 2 As shown, this multi-objective collaborative optimization method for determining ship routes may include the following operations: 201. Obtain the target location information of the target vessel, and generate the initial route planning information corresponding to the target vessel based on the target location information and the pre-set safety target information.

[0037] 202. Obtain real-time ship information and ship demand information corresponding to the target ship. Based on the real-time ship information and ship demand information, generate navigation demand information for the target ship.

[0038] 203. Obtain the navigation function information corresponding to the target vessel, and determine the navigation function factors of the target vessel based on the navigation function information.

[0039] In this embodiment of the invention, navigation function factors include one or more of the following: the target vessel's fuel consumption factor, navigation efficiency factor, navigation duration factor, and navigation purpose factor.

[0040] In this embodiment of the invention, optionally, the navigation function information corresponding to the target vessel is the core function positioning and design purpose information of the target vessel; further, the navigation function information corresponding to the target vessel may include vessel type information, vessel design parameter information, and vessel mission attribute information. Among them, the vessel design parameter information may include design indicators that match the function of the target vessel, such as one or more of the following: container capacity of a container ship, deadweight tonnage of an oil tanker, maximum speed limit of a rescue vessel, and equipment carrying capacity of a research vessel; the vessel mission attribute information may include one or more of the following: the vessel's routine operation scenarios, such as transoceanic shipping of container ships, emergency search and rescue of rescue vessels, and exploration of specific sea areas by research vessels.

[0041] In this embodiment of the invention, optionally, the navigation function factors of the target vessel are core decision factors derived from navigation function information that influence route planning, reflecting the influencing factors of the vessel's function on the essential requirements of navigation. These navigation function factors may include one or more of the following: navigation fuel factors, navigation efficiency factors, navigation duration factors, and navigation purpose factors. Further, navigation fuel factors may include fuel consumption characteristics related to the vessel's function; navigation efficiency factors may include efficiency measurement standards determined by the function; navigation duration factors may include the rigid requirements of the function on navigation time; and navigation purpose factors may include the core mission objectives corresponding to the function. For example, navigation fuel factors may include factors such as oil tankers needing to reduce fuel consumption to improve economy, while rescue ships can tolerate high fuel consumption in exchange for speed; navigation duration factors may include factors such as rescue ships needing "minimum duration," while bulk carriers can accept "flexible duration."

[0042] In this embodiment of the invention, optionally, the above-mentioned determination of navigation function factors of the target vessel based on navigation function information may include: The navigation function information is decomposed to obtain the key feature parameters corresponding to the navigation function information. The key feature parameters include ship type feature parameters, navigation operation scenario feature parameters, and functional equipment feature parameters. Based on the aforementioned key characteristic parameters, the navigation function factors of the target vessel are determined.

[0043] In this embodiment of the invention, optionally, the navigation function factors of the target vessel may include all key characteristic parameters.

[0044] 204. Based on navigation function factors, determine the functional requirements information of the target vessel, and perform an update operation on the navigation requirements information of the target vessel according to the functional requirements information to update the navigation requirements information of the target vessel.

[0045] In this embodiment of the invention, optionally, the functional requirement information of the target vessel is to transform navigation function factors into quantifiable route constraints, which is a supplement to the functional level of navigation requirements. The functional requirement information of the target vessel may include functional priority requirements, functional constraint threshold requirements, and functional adaptation index requirements. Further, the functional priority requirements may include the weight ranking of each functional factor, such as the priority weight ranking of duration factors and fuel factors; the functional constraint threshold requirements may include hard restrictions based on functions, such as the sampling point arrival error distance of a research vessel and the route stability of a passenger ship; the functional adaptation index requirements may include measures of the matching degree between the route and the function, such as the "fuel efficiency score" of an oil tanker and the "comfort score" of a passenger ship.

[0046] In this embodiment of the invention, optionally, the updated navigation demand information can be the final optimization target after integrating the original navigation demand and functional requirements, so that the route planning not only meets the real-time status and basic requirements, but also conforms to the essential function of the ship.

[0047] In this embodiment of the invention, optionally, the above-mentioned determination of the functional requirements information of the target ship based on navigation function factors may include: Based on navigation function factors, functional indicators corresponding to each navigation function factor are extracted. Among them, navigation function factors include one or more of navigation fuel factors, navigation efficiency factors, navigation duration factors, and navigation purpose factors. Functional indicators are quantifiable parameters. Based on the functional indicators corresponding to each navigation function factor, the navigation adaptation information corresponding to each navigation function factor is determined, and functional requirement information is generated based on the functional indicators corresponding to each navigation function factor and the navigation adaptation information corresponding to each navigation function factor. Among them, the navigation adaptation information corresponding to each navigation function factor includes conflict mediation and adaptation processing information for resolving conflicts when the constraints of different functional indicators of each navigation function factor conflict.

[0048] 205. Based on navigation demand information and initial route planning information, determine the target route planning information for the target vessel. In this embodiment of the invention, for other descriptions of steps 201-202 and step 205, please refer to the detailed description of steps 101-103 in Embodiment 1. These descriptions will not be repeated in this embodiment of the invention.

[0049] It is evident that implementation Figure 2The described multi-objective collaborative optimization method for determining ship routes can acquire navigation function information corresponding to the target ship and determine the navigation function factors of the target ship. Based on the navigation function factors, it determines the functional requirements information of the target ship and performs an update operation on the navigation requirements information of the target ship to update the navigation requirements information. It can comprehensively determine the functional requirements information of the target ship by combining navigation function information and navigation function factors, integrating the core functional attributes of the ship into the navigation requirements information. This is conducive to improving the matching degree between navigation requirements information and ship function information, and ensuring that the final navigation requirements are highly matched with the ship's design purpose and mission nature. It can also make the target ship's navigation... The navigation requirements can be flexibly adjusted according to functional scenarios to adapt to complex tasks. This is beneficial for improving the determination of the target vessel's route and the flexibility and accuracy of the subsequent navigation. It can also strengthen the bottom line of navigation requirements through functional constraints, reduce operational risks, and optimize resource allocation through functional requirements, taking into account the balance of multiple objectives. This ensures that the navigation requirements not only conform to the real-time status and basic needs of the vessel, but also improves the accuracy and reliability of route determination. It is also beneficial for further improving the intelligence and comprehensiveness of route determination, and can comprehensively determine the vessel's route by combining information from multiple aspects, which is beneficial for improving the intelligence, accuracy and reliability of route determination.

[0050] In an optional embodiment, the target route planning information for the target vessel is determined based on navigation demand information and initial route planning information, including: The target demand parameters for extracting navigation demand information include one or more of the following: safety demand parameters, fuel consumption demand parameters, speed demand parameters, and navigation duration demand parameters of the target vessel. Based on the target requirement parameters, a navigation indicator system for the target vessel is constructed. Based on the navigation indicator system, a corresponding navigation scoring model is constructed. Based on the navigation scoring model, the matching scoring parameters between the navigation indicator system and each initially planned route included in the initial route planning information are calculated. Based on all matching scoring parameters, the target route planning information for the target vessel is determined.

[0051] In this optional embodiment, the target requirement parameters are core quantitative indicators extracted from navigation requirement information that directly guide route selection. Among them, the target vessel's safety requirement parameters are hard quantitative indicators to ensure navigation safety, reflecting the vessel's minimum requirements for obstacle avoidance and navigation environment. These parameters may include the minimum safe distance from reefs and restricted areas, the maximum permissible wave height in the sea area traversed by the route, the minimum encounter distance with other vessels, and the maximum permissible angular velocity when turning. The target vessel's fuel consumption requirement parameters are the vessel's requirements for fuel cost and range. The fuel consumption requirements of a vessel can include the maximum permissible fuel consumption per voyage, the minimum fuel efficiency per unit distance, and the upper limit of fuel consumption for a specific voyage segment; the speed requirements of the target vessel are range-based indicators of the vessel's speed, which can include the minimum guaranteed speed, the maximum restricted speed, the economic speed range, and the mandatory speed for special voyage segments; the sailing time requirements of the target vessel are constraints on the vessel's total sailing time and the time of key nodes, which can include the maximum permissible total time for a single voyage, the latest arrival time of key waypoints, and the upper limit of voyage segment duration.

[0052] In this optional embodiment, the above-mentioned construction of a navigation indicator system for the target vessel based on the target requirement parameters, and the construction of a corresponding navigation scoring model based on the navigation indicator system, may include: Based on the target requirement parameters, determine the first indicator and the corresponding second indicator for each first indicator. The first indicator includes safety, fuel consumption, speed, and duration. The second indicators corresponding to the safety indicator include the minimum distance to dangerous areas and the average wave height along the route. The second indicators corresponding to the fuel consumption indicator include total fuel consumption per voyage and fuel consumption per unit distance. The second indicators corresponding to the speed indicator include the average speed along the route and the number of times the speed limit was exceeded. The second indicators corresponding to the duration indicator include the total duration of a single voyage and the delay time at key route nodes. Based on all the first and second indicators, construct a navigation indicator system for the target vessel; Based on the navigation indicator system of the target vessel, determine the indicator weight corresponding to each second indicator, and construct a navigation scoring model corresponding to the navigation indicator system based on the indicator weight corresponding to each second indicator.

[0053] In this optional embodiment, the above-mentioned calculation of matching score parameters between the navigation indicator system and each initially planned route included in the initial route planning information based on the navigation score model, and the determination of the target route planning information of the target vessel based on all matching score parameters, may include: Determine the route planning indicators corresponding to each initially planned route included in the initial route planning information, and calculate the matching score parameters corresponding to each initially planned route based on the navigation scoring model and the route planning indicators corresponding to each initially planned route. Based on all matching scoring parameters, the highest scoring parameter is determined from all matching scoring parameters, and the target route planning information of the target vessel is determined based on the initial planned route corresponding to the highest scoring parameter.

[0054] As can be seen, implementing this optional embodiment can extract target demand parameters from navigation demand information, construct a navigation indicator system for the target vessel based on the target demand parameters, and build a corresponding navigation scoring model. Based on the navigation scoring model, it calculates the matching scoring parameters between the navigation indicator system and each initially planned route included in the initial route planning information. Based on all matching scoring parameters, it determines the target route planning information for the target vessel. This ensures that the route planning is based on actual vessel and cargo demand, making the route planning more closely aligned with the actual operation of the vessel. The constructed navigation indicator system and scoring model can be adjusted according to different navigation demand parameters, which helps improve the intelligence and efficiency of determining the target route planning information for the target vessel, and also helps improve the determination of the target... The accuracy and reliability of a vessel's target route planning information are enhanced by calculating matching scoring parameters based on a navigation scoring model. This allows for the rapid selection of the optimal route from numerous initial planned routes, further improving the intelligence and efficiency of determining the target vessel's target route planning information. The navigation scoring model matches these indicators with the vessel's navigation capabilities, which helps improve the determination of the target vessel's target route planning information and navigation safety. It also improves the accuracy and reliability of route determination, further enhancing the intelligence and comprehensiveness of route determination. Ultimately, it allows for the comprehensive determination of a vessel's route by combining information from multiple sources, improving the intelligence, accuracy, and reliability of route determination.

[0055] In another alternative embodiment, the method further includes: Based on the target vessel's target route planning information, the target planned route of the target vessel is determined, and the navigation control parameters of the target vessel are generated according to the target planned route. Obtain real-time area information of the current area where the target vessel is located. Based on the real-time area information, determine whether there are navigation impact parameters in the real-time area information. When it is determined that there are navigation impact parameters in the real-time area information, determine the impact correlation between the navigation impact parameters and the navigation control parameters. Based on the influence correlation, the navigation adjustment parameters corresponding to the navigation control parameters are determined. Based on the navigation control parameters and the navigation adjustment parameters, the target navigation control parameters of the target vessel are generated, and the target vessel is controlled to perform navigation control operations that match the target navigation control parameters.

[0056] In this optional embodiment, the target vessel's target route planning information may include the actual route executed by the target vessel. Further, the target vessel's target route planning information may also include the path consisting of a series of precise waypoints, the total route mileage, the estimated time of arrival at each key node, and the type of sea area traversed by the route.

[0057] In this optional embodiment, the navigation control parameters of the target vessel are optionally used to control the target vessel to perform corresponding navigation operations according to the target planned route, and can also be used for the target vessel to perform corresponding auxiliary navigation and driving operations.

[0058] In this optional embodiment, the real-time regional information of the current area where the target vessel is located may optionally include dynamic environmental data of the current area where the target vessel is located and the vicinity of the forward route; furthermore, the real-time regional information of the current area where the target vessel is located may be obtained in real time through ship sensors, satellites, shore-based base stations, etc. Further, the real-time regional information of the current area where the target vessel is located may include meteorological information (real-time wind speed information, real-time wind direction information, wave height information, visibility information), sea state information (water current speed, water current direction, water depth), traffic information (position information, heading information, speed information of surrounding vessels), and navigation environment information (restricted navigation zone information, construction area information).

[0059] In this optional embodiment, the navigation impact parameter may be an abnormal or sudden factor in the real-time regional information that may interfere with the ship's original navigation plan; wherein, the navigation impact parameter may include one or more of the following: meteorological heading impact parameters (strong wind impact factor, heavy rainfall impact factor, dense fog impact factor), traffic impact parameters (passage of other ships impact parameters), and sea state impact factors (sudden giant waves, water depth change impact parameters).

[0060] In this optional embodiment, the influence relationship can be the interaction between navigation influence parameters and navigation control parameters. For example, if wind direction affects the navigation angle, then the heading parameter needs to be adjusted.

[0061] In this optional embodiment, the navigation adjustment parameter is a specific parameter that needs to be modified to counteract the interference of the navigation influence parameter; the target navigation control parameter is the final operating parameter after the original navigation control parameter and the navigation adjustment parameter are merged, and is the control command actually executed by the ship.

[0062] In this optional embodiment, the process of generating navigation control parameters for the target vessel based on the target planned route may include: Based on the target planned route, determine the navigation necessary factors for the target vessel, including speed, heading, and power. Based on the navigational necessity factors corresponding to the target vessel, navigation control parameters for the target vessel are generated; wherein, the navigation control parameters are matched with the navigational necessity factors.

[0063] In this optional embodiment, the above-mentioned determination of whether navigation impact parameters exist in the real-time area information based on real-time area information may include: Extract navigation keywords from real-time area information and determine whether the navigation keywords match pre-set navigation impact keywords; When it is determined that the navigation keyword matches the pre-set navigation impact keyword, it is confirmed that the navigation impact parameter exists in the real-time area information; when it is determined that the navigation keyword does not match the pre-set navigation impact keyword, it is confirmed that the navigation impact parameter does not exist in the real-time area information.

[0064] In this optional embodiment, it is further optional that when it is determined that there are no navigation impact parameters in the real-time area information, target navigation control parameters for the target vessel are generated based on the navigation control parameters.

[0065] In this optional embodiment, the above-mentioned determination of the navigation adjustment parameters corresponding to the navigation control parameters based on the influence correlation may include: Based on the influence correlation, the adjustment trend parameters corresponding to the influence correlation are determined, and based on the adjustment trend parameters, the navigation adjustment parameters corresponding to the navigation control parameters are determined. For example, the adjustment trend parameters may include one or more of the angle trend parameters and the speed trend parameters.

[0066] In this optional embodiment, the process of generating the target navigation control parameters for the target vessel based on the navigation control parameters and navigation adjustment parameters may include: Based on the navigation adjustment parameters, determine the parameters to be adjusted that match the navigation control parameters, and determine the adjustment factors corresponding to each parameter to be adjusted. Based on each parameter to be adjusted and the adjustment factors corresponding to each parameter to be adjusted, perform adjustment operations on the navigation control parameters to obtain the adjusted navigation control parameters, and generate the target navigation control parameters for the target vessel based on the adjusted navigation control parameters.

[0067] As can be seen, implementing this optional embodiment can determine the target planned route and generate navigation control parameters for the target vessel based on the target route planning information of the target vessel. It obtains real-time area information of the current area where the target vessel is located and determines whether navigation impact parameters exist in the real-time area information. If they exist, it determines the influence correlation between the navigation impact parameters and the navigation control parameters, determines navigation adjustment parameters based on the influence correlation, and generates the target navigation control parameters for the target vessel based on the navigation control parameters and the navigation adjustment parameters. It then controls the target vessel to execute matching navigation control operations. By obtaining real-time area information of the current area where the target vessel is located, potential navigation risks can be promptly identified, and their influence correlation with navigation control parameters can be quickly determined. Adjusting the navigation control parameters accordingly helps improve the safety of route determination and vessel navigation. Furthermore, it can also improve the safety of route determination and vessel navigation based on real-time area information and navigation impact parameters. Dynamic adjustments allow ships to more flexibly choose the optimal navigation strategy, improving the intelligence and efficiency of ship navigation. Dynamically adjusting navigation control parameters can effectively reduce fuel consumption, thus improving fuel efficiency. Through real-time data acquisition and analysis, and automated adjustment of navigation control parameters, ships can achieve more intelligent navigation in complex marine environments. This not only improves navigation safety and efficiency but also reduces reliance on manual operation, lowering the possibility of human error and enhancing navigation safety and reliability. Furthermore, it improves the intelligence and efficiency of ship navigation, further enhancing the intelligence and comprehensiveness of route determination. By combining information from multiple sources, it can comprehensively determine ship routes, improving the intelligence of route determination and the accuracy and reliability of route determination and the execution of corresponding navigation operations.

[0068] In another optional embodiment, based on the target location information and pre-set safety target information, initial route planning information corresponding to the target vessel is generated, including: Obtain the real-time position of the target vessel, and construct the geospatial information of the target vessel based on the real-time position and target location information; Based on geospatial information, the navigation area corresponding to the target vessel is divided into regions to obtain the region division results. Based on the region division results and the target location information, several alternative planned routes are generated. Calculate the navigation assessment result for each alternative planned route, determine whether the navigation assessment result meets the preset navigation assessment conditions, and obtain the navigation assessment judgment result for each alternative planned route. Based on the navigation assessment results corresponding to each alternative planned route, the alternative planned routes that meet the preset navigation assessment conditions are determined as the initial planned routes. Based on all the initial planned routes, the initial route planning information corresponding to the target vessel is generated.

[0069] In this optional embodiment, the real-time position of the target vessel may include the precise geographic coordinates of the target vessel's current location; wherein, the real-time position of the target vessel may be obtained through one or more of the Global Positioning System, BeiDou Navigation Satellite System, and Differential Global Positioning System.

[0070] In this optional embodiment, the above-mentioned construction of the geospatial information of the target vessel based on the real-time vessel position and target location information may include: Based on the real-time ship position and target location information, spatial area information of the current area where the target ship is located is generated, and geospatial information of the target ship is constructed based on the spatial area information; The geospatial information of the target vessel can include a three-dimensional or two-dimensional spatial model constructed by integrating real-time vessel position, target location information and surrounding geographical environment data. This model serves as the basic spatial framework for regional division and route generation.

[0071] In this optional embodiment, optionally, the above-mentioned region division operation based on geospatial information on the navigation area corresponding to the target vessel to obtain the region division result, and the generation of several alternative planned routes based on the region division result and the target location information, may include: Based on geospatial information, several navigation areas corresponding to the navigation area of ​​the target vessel are determined. Among them, the navigation areas include one or more of the following: safe navigation areas, restricted navigation areas, and necessary navigation areas. Based on several navigation zones corresponding to the target vessel's navigation area, determine the area attribute information corresponding to each navigation zone, and perform area division operation on the navigation area corresponding to the target vessel according to the area attribute information to obtain the area division result; wherein, the area attribute information includes one or more of safe navigation zones and prohibited navigation zones; Based on the regional division results and target location information, several navigation paths corresponding to target vessels are generated, and several alternative planned routes are generated based on the navigation paths corresponding to all target vessels. Among them, the alternative planned routes are multiple sets of feasible paths for target vessels generated based on the regional division results and target location information.

[0072] In this optional embodiment, the navigation assessment results corresponding to each alternative planned route may include one or more of the following: safety distance assessment results, air traffic compliance assessment results, turning safety assessment results, and fuel consumption assessment results.

[0073] In this optional embodiment, the process of determining whether the navigation assessment result meets the preset navigation assessment conditions to obtain the navigation assessment result corresponding to each alternative planned route may include: Based on the navigation assessment results and the preset navigation assessment conditions, determine whether the assessment value corresponding to the navigation assessment results is greater than or equal to the assessment threshold corresponding to the preset navigation assessment conditions. When it is determined that the evaluation value corresponding to the navigation evaluation result is greater than or equal to the evaluation threshold corresponding to the preset navigation evaluation conditions, the navigation evaluation judgment result corresponding to the alternative planned route is determined to indicate that the navigation evaluation result meets the preset navigation evaluation conditions; when it is determined that the evaluation value corresponding to the navigation evaluation result is less than the evaluation threshold corresponding to the preset navigation evaluation conditions, the navigation evaluation judgment result corresponding to the alternative planned route is determined to indicate that the navigation evaluation result does not meet the preset navigation evaluation conditions.

[0074] In this optional embodiment, the initial route planning information corresponding to the target vessel may optionally include all initially planned routes.

[0075] As can be seen, implementing this optional embodiment can obtain the real-time position of the target vessel, construct the geospatial information of the target vessel based on the real-time position and target location information, perform a region division operation on the navigation area corresponding to the target vessel based on the geospatial information to obtain the region division result, and then generate several alternative planned routes. The navigation evaluation result corresponding to each alternative planned route is calculated, and it is determined whether the navigation evaluation result meets the preset navigation evaluation conditions. The navigation evaluation judgment result corresponding to each alternative planned route is obtained, and the navigation evaluation judgment result is used to determine the alternative planned routes whose navigation evaluation results meet the preset navigation evaluation conditions as the initial planned routes, thereby generating initial route planning information. This can be achieved by obtaining the real-time position and target location information of the target vessel. By constructing detailed geospatial information, route planning is based on precise geographical location data, enabling it to more accurately reflect the actual navigation environment of ships. Detailed assessments of each sub-region allow for a more nuanced analysis of navigation conditions, generating more scientific alternative planned routes. This improves the accuracy, reliability, intelligence, and efficiency of alternative route determination. By calculating the navigation assessment results of each alternative planned route and determining whether it meets preset navigation assessment conditions, routes that meet safety standards can be selected, enhancing the safety and reliability of ship route determination and subsequent ship navigation safety. Furthermore, multiple alternative planned routes can be generated through regional division and navigation assessment. This provides ships with multiple options, allowing for flexible route adjustments based on different situations. This improves the flexibility and intelligence of route determination, enhancing navigation safety and reliability, and increasing the intelligence and efficiency of ship navigation. It further enhances the intelligence and comprehensiveness of route determination, enabling the comprehensive determination of ship routes by combining information from multiple sources. This improves the intelligence of route determination and the accuracy and reliability of route determination and ship control in executing corresponding navigation operations.

[0076] In yet another optional embodiment, the target route planning information for the target vessel is determined based on all matching scoring parameters, including: Based on all matching scoring parameters and the navigation indicator system, the demand priority corresponding to each target demand parameter is determined, and weight adjustment parameters are generated according to the demand priority corresponding to each target demand parameter. Based on all matching score parameters and weight adjustment parameters, update each matching score parameter, and determine the target route planning information for the target vessel based on the updated matching score parameters.

[0077] In this optional embodiment, the determination of the demand priority corresponding to each target demand parameter based on all matching scoring parameters and the navigation indicator system may include: Based on all matching scoring parameters and navigation indicator system, the mission characteristic parameters corresponding to the target vessel are determined, and based on the mission characteristic parameters corresponding to the target vessel, the demand priority corresponding to each target demand parameter is determined; wherein, the mission characteristic parameters corresponding to the target vessel include one or more of the following: navigation mission duration characteristic parameters, navigation mission speed characteristic parameters, and navigation mission fuel characteristic parameters.

[0078] In this optional embodiment, optionally, the higher the demand priority corresponding to each target demand parameter, the higher the weight corresponding to that target demand parameter; the lower the demand priority corresponding to each target demand parameter, the lower the weight corresponding to that target demand parameter; therefore, the demand priority corresponding to each target demand parameter is associated with the weight.

[0079] In this optional embodiment, the process of updating each matching score parameter based on all matching score parameters and weight adjustment parameters, and determining the target route planning information of the target vessel based on the updated matching score parameters, may include: The calculation operation is performed on each matching score parameter according to the weight adjustment parameter to obtain the calculated target matching score, and each matching score parameter is updated according to the calculated target matching score. Based on the updated matching score parameters, determine the highest matching score parameter corresponding to the updated matching score parameters, and determine the route corresponding to the highest matching score parameter as the target route planning information for the target vessel.

[0080] In this optional embodiment, the weight adjustment parameter may include a quantitative parameter that modifies the original weights of each indicator in the navigation indicator system according to the priority of demand, which can be used to enhance the influence of high-priority demands. The updated matching score parameter may include a new score obtained by fusing the original matching score parameter with the weight adjustment parameter, which is more in line with the current demand priority.

[0081] As can be seen, implementing this optional embodiment can determine the demand priority corresponding to each target demand parameter based on all matching scoring parameters and the navigation indicator system, thereby generating weight adjustment parameters. It updates each matching scoring parameter according to all matching scoring parameters and the weight adjustment parameters to determine the target route planning information for the target vessel. By analyzing all matching scoring parameters and the navigation indicator system, the demand priority of each target demand parameter can be determined, which helps improve the accuracy and reliability of generating weight adjustment parameters. Generating weight adjustment parameters based on demand priority ensures that high-priority demand parameters receive more attention in route planning, which helps improve the matching degree between the determined route and the vessel's navigation needs. Furthermore, the weight adjustment parameters can be adjusted according to different navigation tasks and target needs. Dynamic adjustments further improve the matching degree between the determined route and the ship's navigation needs, as well as the accuracy and reliability of the determined route. By automatically updating the matching scoring parameters and determining the target route planning information, the optimal route can be generated quickly, which improves the efficiency and intelligence of route determination, as well as the operational and navigation efficiency of the ship. It also enhances the ship's intelligence level and reliability, and improves the intelligence and efficiency of ship navigation. This further enhances the intelligence and comprehensiveness of determining ship routes, and enables the comprehensive determination of ship routes by combining information from multiple aspects, which improves the intelligence of ship route determination, as well as the accuracy and reliability of determining ship routes and controlling the ship to perform corresponding navigation operations.

[0082] In another optional embodiment, based on the functional requirement information, an update operation is performed on the navigation requirement information of the target vessel to update the navigation requirement information of the target vessel, including: Based on the functional requirements information, the target vessel's requirement characteristics information is determined. Based on the requirement characteristics information, the target vessel's navigation requirement constraints information is determined. The navigation requirement constraints information includes one or more of the following: navigation duration requirement constraints, navigation turning number requirement constraints, navigation turning angle requirement constraints, and navigation speed requirement constraints. Based on demand characteristic information and navigation demand constraint information, at least one matching navigation function demand parameter is determined from a pre-determined set of navigation parameters. Based on all navigation function demand parameters, demand update parameters are generated, and the navigation demand information of the target vessel is updated according to the demand update parameters.

[0083] In this optional embodiment, the target vessel's demand characteristic information may include a set of key features extracted from functional demand information that reflect the core functional attributes and mission essence of the vessel; wherein, the target vessel's demand characteristic information may also include one or more of vessel attribute characteristic information and mission objective characteristic information, wherein the vessel attribute characteristic information includes cargo capacity information, hull structure information, and handling performance information; the mission objective characteristic information may include one or more of transportation priority information and operation scenario information.

[0084] In this optional embodiment, the navigation requirement constraint information of the target vessel may be constraint information that is determined based on the requirement characteristic information and cannot be violated during the vessel's navigation, and is used to ensure that the vessel's navigation matches its functional characteristics. The navigation requirement constraint information of the target vessel may include navigation duration requirement constraint information, navigation turn number requirement constraint information, navigation turn angle requirement constraint information, and navigation speed requirement constraint information. Specifically, the navigation duration requirement constraint information may include total navigation duration constraint information and single passage duration constraint information; the navigation turn number requirement constraint information may include turn number limit constraint information and continuous turn interval limit constraint information; the navigation turn angle requirement constraint information may include maximum turn angle constraint information; and the navigation speed requirement constraint information may include navigation speed range constraint information.

[0085] In this optional embodiment, the process of determining at least one matching navigation function requirement parameter from a pre-determined set of navigation parameters based on demand characteristic information and navigation demand constraint information may include: Based on demand characteristic information and navigation demand constraint information, target constraint demand parameters are generated. Then, based on these target constraint demand parameters, at least one navigation function demand parameter matching the target constraint demand parameters is determined from a pre-defined set of navigation parameters. The target constraint demand parameters include both demand characteristic information and navigation demand constraint information. Furthermore, the navigation function demand parameters are demand parameters selected from the pre-defined set of navigation parameters that highly match the demand characteristic information.

[0086] In this optional embodiment, optionally, the process of generating demand update parameters based on all navigation function demand parameters and performing an update operation on the target vessel's navigation demand information according to the demand update parameters to update the target vessel's navigation demand information may include: Based on all navigation function requirement parameters, requirement update parameters are generated. These requirement update parameters may include one or more of the following: speed requirement update parameters, steering requirement update parameters, and duration requirement update parameters. The navigation demand information of the target vessel is updated based on the demand update parameters.

[0087] In this optional embodiment, for example, if the demand update parameters include speed demand update parameters, "economic speed 10-12 knots, maximum 14 knots" is replaced with "economic speed 8-10 knots, maximum 12 knots, speed ≤ 6 knots within 2 nautical miles before and after the turn" to update the navigation demand information of the target vessel; if the demand update parameters include supplementary turning demand parameters, "number of turns per 100 nautical miles ≤ 3 times, continuous turning interval ≥ 8 minutes" is added to the original "turning angle ≤ 45°" to update the navigation demand information of the target vessel.

[0088] As can be seen, implementing this optional embodiment can determine the target vessel's demand characteristic information and navigation demand constraint information based on functional requirement information. Based on the demand characteristic information and navigation demand constraint information, it determines at least one navigation functional requirement parameter matching the demand characteristic information from a pre-determined set of navigation parameters. Demand update parameters are generated based on all navigation functional requirement parameters. An update operation is performed on the target vessel's navigation demand information according to the demand update parameters to update the target vessel's navigation demand information. By analyzing functional requirement information, the target vessel's demand characteristic information can be determined more accurately, which is beneficial to improving the accuracy and reliability of determining the target vessel's demand characteristic information, as well as improving the intelligence and efficiency of determining the target vessel's demand characteristic information. Furthermore, the explicit navigation demand constraint information can more comprehensively reflect the vessel's actual navigation demand, which is beneficial to improving the accuracy and reliability of subsequent generation of demand update parameters and updating of navigation demand information. Through the analysis of functional requirement information, it is possible to... Dynamically updating the navigation requirements of target vessels enables them to better adapt to different navigation tasks and environmental changes. Based on varying functional requirements, navigation requirements can be flexibly adjusted to ensure the vessel meets its functional needs in different missions. This improves the efficiency and intelligence of route determination, enhances operational and navigation efficiency, and elevates the vessel's intelligence and reliability. By selecting navigation function requirement parameters that match the required characteristics from a pre-defined set of navigation parameters, more scientific route planning can be generated. This ensures that the route planning not only meets basic navigation requirements but also specific functional needs, further improving the matching degree between the determined route and the vessel's navigation requirements, as well as the accuracy and reliability of the route determination. Furthermore, by combining information from multiple sources, the vessel's route can be comprehensively determined, improving the intelligence of route determination and the accuracy and reliability of route determination and the control of the vessel to perform corresponding navigation operations.

[0089] Example 3 Please see Figure 3 , Figure 3 This is a schematic diagram of a multi-objective collaborative optimization ship route determination system disclosed in an embodiment of the present invention. Figure 3 As shown, this multi-objective collaborative optimization ship route determination system may include: Module 301 is used to acquire target location information of the target vessel; The generation module 302 is used to generate initial route planning information for the target vessel based on the target location information and the pre-set safety target information, wherein the initial route planning information includes at least one initial planned route. The acquisition module 301 is also used to acquire real-time ship information corresponding to the target ship and ship demand information corresponding to the target ship; The generation module 302 is also used to generate navigation demand information for the target vessel based on real-time vessel information and vessel demand information. The determination module 303 is used to determine the target route planning information of the target vessel based on the navigation demand information and the initial route planning information.

[0090] It is evident that implementation Figure 3 The described device can acquire target location information of a target vessel, and generate initial route planning information for the target vessel based on the target location information and pre-set safety target information; acquire real-time vessel information and vessel demand information for the target vessel, and generate navigation demand information for the target vessel based on the real-time vessel information and vessel demand information; and determine the target route planning information for the target vessel based on the navigation demand information and the initial route planning information. It can comprehensively generate initial route planning information by combining the target vessel's target location information and safety target information, and can directly embed pre-set safety targets when generating the initial route, avoiding risks such as collisions and groundings caused by human planning oversights. This improves the safety and intelligence of generating initial route planning information, reduces accident risks, and enhances the safety of vessel navigation. Furthermore, it can transform vessel demand information (such as navigation time and speed requirements) into quantifiable route selection indicators, effectively reducing navigation loss rates, improving the accuracy and reliability of generated navigation routes, and enhancing the intelligence and efficiency of route determination. This is achieved through a combination of "vehicle demand information + real-time vessel information." By combining various factors, suitable navigation requirements can be generated, avoiding the limitations of a single planning logic. This helps to further improve the intelligence and comprehensiveness of determining ship routes, and thus enables the comprehensive determination of ship routes by combining information from multiple aspects. This not only improves the intelligence of determining ship routes, but also helps to improve the accuracy and reliability of determining ship routes.

[0091] In an optional embodiment, such as Figure 4 As shown, the acquisition module 301 is also used to acquire the navigation function information corresponding to the target ship after the generation module 302 generates the navigation demand information of the target ship based on real-time ship information and ship demand information. The determination module 303 is also used to determine the navigation function factors of the target vessel based on navigation function information, wherein the navigation function factors include one or more of the target vessel's navigation fuel factors, navigation efficiency factors, navigation duration factors, and navigation purpose factors; and to determine the functional requirements information of the target vessel based on the navigation function factors. The device also includes: The update module 304 is used to perform an update operation on the navigation requirement information of the target vessel based on the functional requirement information, so as to update the navigation requirement information of the target vessel.

[0092] It is evident that implementation Figure 4 The described device can acquire navigation function information corresponding to a target vessel and determine the navigation function factors of the target vessel. Based on the navigation function factors, it determines the functional requirements information of the target vessel and performs an update operation on the navigation requirements information of the target vessel to update the navigation requirements information. It can comprehensively determine the functional requirements information of the target vessel by combining navigation function information and navigation function factors, integrating the core functional attributes of the vessel into the navigation requirements information. This is conducive to improving the matching degree between navigation requirements information and vessel function information, and ensuring that the final navigation requirements are highly matched with the vessel's design purpose and mission essence. It also allows the navigation requirements of the target vessel to be flexibly adjusted according to functional scenarios to adapt to complex tasks. This is conducive to improving the route determination of the target vessel and the flexibility and accuracy of the target vessel's subsequent navigation. It can also strengthen the bottom line of navigation requirements through functional constraints, reduce operational risks, and optimize resource allocation through functional requirements, taking into account the balance of multiple objectives. This ensures that the navigation requirements not only conform to the real-time status and basic requirements of the vessel, but also improves the accuracy and reliability of route determination. This is conducive to further improving the intelligence and comprehensiveness of route determination, and ultimately, it can comprehensively determine the vessel route by combining multiple aspects of information, which is conducive to improving the intelligence of route determination and the accuracy and reliability of route determination.

[0093] In another alternative embodiment, such as Figure 4 As shown, the specific methods by which the determining module 303 determines the target route planning information of the target vessel based on the navigation demand information and the initial route planning information include: The target demand parameters for extracting navigation demand information include one or more of the following: safety demand parameters, fuel consumption demand parameters, speed demand parameters, and navigation duration demand parameters of the target vessel. Based on the target requirement parameters, a navigation indicator system for the target vessel is constructed. Based on the navigation indicator system, a corresponding navigation scoring model is constructed. Based on the navigation scoring model, the matching scoring parameters between the navigation indicator system and each initially planned route included in the initial route planning information are calculated. Based on all matching scoring parameters, the target route planning information for the target vessel is determined.

[0094] It is evident that implementation Figure 4 The described device can extract target demand parameters from navigation demand information, construct a navigation indicator system for the target vessel based on the target demand parameters, and build a corresponding navigation scoring model. Based on the navigation scoring model, it calculates matching scoring parameters between the navigation indicator system and each initially planned route included in the initial route planning information. Based on all matching scoring parameters, it determines the target route planning information for the target vessel. This ensures that the route planning is based on actual vessel and cargo demand, making the route planning more closely aligned with the actual operation of the vessel. The constructed navigation indicator system and scoring model can be adjusted according to different navigation demand parameters, which helps improve the intelligence and efficiency of determining the target route planning information for the target vessel, and also helps improve the determination of the target vessel's... The accuracy and reliability of target route planning information, based on the calculation of matching scoring parameters by the navigation scoring model, can quickly select the best route from numerous initial planned routes. This further improves the intelligence and efficiency of determining the target route planning information for target vessels. The navigation scoring model matches and scores these indicators with the vessel's navigation capabilities, which helps improve the determination of target route planning information and navigation safety. It also helps improve the accuracy and reliability of route determination, further enhancing the intelligence and comprehensiveness of route determination. Ultimately, it can comprehensively determine the vessel's route by combining information from multiple aspects, which improves the intelligence of route determination and enhances its accuracy and reliability.

[0095] In yet another alternative embodiment, such as Figure 4 As shown, the determining module 303 is also used to determine the target planned route of the target vessel based on the target route planning information of the target vessel; The generation module 302 is also used to generate navigation control parameters for the target vessel based on the target planned route; The acquisition module 301 is also used to acquire real-time area information of the current area where the target vessel is located; The device also includes: The judgment module 305 is used to determine whether there are navigation impact parameters in the real-time area information based on the real-time area information. The determining module 303 is also used to determine the influence relationship between the navigation influence parameters and the navigation control parameters when the judging module 305 determines that there are navigation influence parameters in the real-time area information; and to determine the navigation adjustment parameters corresponding to the navigation control parameters based on the influence relationship. The generation module 302 is also used to generate target navigation control parameters for the target vessel based on navigation control parameters and navigation adjustment parameters. Control module 306 is used to control the target vessel to perform navigation control operations that match the target navigation control parameters.

[0096] It is evident that implementation Figure 4 The described device can determine the target planned route and generate navigation control parameters for the target vessel based on the target route planning information of the target vessel. It acquires real-time area information of the current area where the target vessel is located and determines whether navigation impact parameters exist in the real-time area information. If so, it determines the influence correlation between the navigation impact parameters and the navigation control parameters, determines navigation adjustment parameters based on the influence correlation, and generates the target navigation control parameters for the target vessel based on the navigation control parameters and the navigation adjustment parameters. It then controls the target vessel to execute matching navigation control operations. By acquiring real-time area information of the current area where the target vessel is located, it can promptly detect potential navigation risks and quickly determine their influence correlation with navigation control parameters, thereby adjusting the navigation control parameters accordingly. This improves the safety of route determination and vessel navigation. Furthermore, it can dynamically adjust navigation control parameters based on real-time area information and navigation impact parameters. By integrating various technologies, ships can more flexibly choose the optimal navigation strategy, which is conducive to improving the intelligence and efficiency of ship navigation. Dynamically adjusting navigation control parameters can effectively reduce ship fuel consumption, thereby improving the fuel utilization rate of ship navigation. Through the acquisition and analysis of real-time data, as well as the automated adjustment of navigation control parameters, ships can achieve more intelligent navigation in complex marine environments. This not only improves navigation safety and efficiency, but also reduces reliance on manual operation, lowers the possibility of human error, and improves navigation safety and reliability. Furthermore, it enhances the intelligence and comprehensiveness of determining ship routes, enabling the comprehensive determination of ship routes by combining information from multiple sources. This also improves the accuracy and reliability of determining ship routes and controlling the ship to perform corresponding navigation operations.

[0097] In yet another alternative embodiment, such as Figure 4 As shown, the specific methods by which the generation module 302 generates the initial route planning information for the target vessel based on the target location information and pre-set safety target information include: Obtain the real-time position of the target vessel, and construct the geospatial information of the target vessel based on the real-time position and target location information; Based on geospatial information, the navigation area corresponding to the target vessel is divided into regions to obtain the region division results. Based on the region division results and the target location information, several alternative planned routes are generated. Calculate the navigation assessment result for each alternative planned route, determine whether the navigation assessment result meets the preset navigation assessment conditions, and obtain the navigation assessment judgment result for each alternative planned route. Based on the navigation assessment results corresponding to each alternative planned route, the alternative planned routes that meet the preset navigation assessment conditions are determined as the initial planned routes. Based on all the initial planned routes, the initial route planning information corresponding to the target vessel is generated.

[0098] It is evident that implementation Figure 4The described device can acquire the real-time position of a target vessel, construct geospatial information of the target vessel based on the real-time position and target location information, perform a region division operation on the navigation area corresponding to the target vessel based on the geospatial information to obtain the region division result, and then generate several alternative planned routes. It calculates the navigation evaluation result corresponding to each alternative planned route, determines whether the navigation evaluation result meets preset navigation evaluation conditions, obtains the navigation evaluation judgment result corresponding to each alternative planned route, and uses the navigation evaluation judgment result to determine the alternative planned routes whose navigation evaluation results meet the preset navigation evaluation conditions as the initial planned routes, thereby generating initial route planning information. This device can construct geospatial information by acquiring the real-time position and target location information of the target vessel. Detailed geospatial information allows route planning based on precise geographical location data, more accurately reflecting the actual navigation environment of the vessel. Detailed assessments of each sub-region enable a more nuanced analysis of navigation conditions, generating more scientific alternative planned routes. This improves the accuracy and reliability of alternative route selection, as well as its intelligence and efficiency. By calculating the navigation assessment results of each alternative route and determining whether it meets preset navigation assessment conditions, routes that meet safety standards can be selected, enhancing the safety and reliability of the determined route and the safety of subsequent vessel navigation. Furthermore, multiple alternative planned routes can be generated through regional division and navigation assessment. This provides vessels with multiple options, allowing for flexible route adjustments based on different situations. This improves the flexibility and intelligence of route selection, enhancing navigation safety and reliability, and increasing the intelligence and efficiency of vessel navigation. It further enhances the intelligence and comprehensiveness of route selection, enabling the comprehensive determination of vessel routes by combining information from multiple sources. This improves the intelligence of route selection and the accuracy and reliability of route selection and the control of vessels in performing corresponding navigation operations.

[0099] In yet another alternative embodiment, such as Figure 4 As shown, the specific methods by which the determining module 303 determines the target route planning information of the target vessel based on all matching scoring parameters include: Based on all matching scoring parameters and the navigation indicator system, the demand priority corresponding to each target demand parameter is determined, and weight adjustment parameters are generated according to the demand priority corresponding to each target demand parameter. Based on all matching score parameters and weight adjustment parameters, update each matching score parameter, and determine the target route planning information for the target vessel based on the updated matching score parameters.

[0100] It is evident that implementation Figure 4The described device can determine the demand priority of each target demand parameter based on all matching scoring parameters and the navigation indicator system, and then generate weight adjustment parameters. It updates each matching scoring parameter according to all matching scoring parameters and the weight adjustment parameters to determine the target route planning information for the target vessel. By analyzing all matching scoring parameters and the navigation indicator system, it can determine the demand priority of each target demand parameter, which helps improve the accuracy and reliability of the generated weight adjustment parameters. Generating weight adjustment parameters based on demand priority ensures that high-priority demand parameters receive more attention in route planning, thus improving the matching degree between the determined route and the vessel's navigation needs. Furthermore, the weight adjustment parameters can be dynamically adjusted according to different navigation tasks and target needs. This dynamic adjustment further improves the matching degree between the determined route and the ship's navigation needs, as well as the accuracy and reliability of the determined route. By automatically updating the matching scoring parameters and determining the target route planning information, the optimal route can be generated quickly, which improves the efficiency and intelligence of route determination, as well as the operational and navigation efficiency of the ship. It also enhances the ship's intelligence level and reliability, and improves the intelligence and efficiency of ship navigation. This further improves the intelligence and comprehensiveness of the determined ship route, and can comprehensively determine the ship route by combining information from multiple aspects, which improves the intelligence of the determined ship route, and also improves the accuracy and reliability of determining the ship route and controlling the ship to perform corresponding navigation operations.

[0101] In yet another alternative embodiment, such as Figure 4 As shown, the update module 304 performs an update operation on the navigation requirement information of the target vessel based on the functional requirement information. The specific methods for updating the navigation requirement information of the target vessel include: Based on the functional requirements information, the target vessel's requirement characteristics information is determined. Based on the requirement characteristics information, the target vessel's navigation requirement constraints information is determined. The navigation requirement constraints information includes one or more of the following: navigation duration requirement constraints, navigation turning number requirement constraints, navigation turning angle requirement constraints, and navigation speed requirement constraints. Based on demand characteristic information and navigation demand constraint information, at least one matching navigation function demand parameter is determined from a pre-determined set of navigation parameters. Based on all navigation function demand parameters, demand update parameters are generated, and the navigation demand information of the target vessel is updated according to the demand update parameters.

[0102] It is evident that implementation Figure 4The described apparatus can determine the target vessel's demand characteristics and navigation demand constraints based on functional requirement information. Based on these requirements, it identifies at least one navigation functional requirement parameter matching the demand characteristics from a pre-determined set of navigation parameters. It then generates demand update parameters based on all navigation functional requirement parameters and updates the target vessel's navigation demand information accordingly. By analyzing functional requirement information, the apparatus can more accurately determine the target vessel's demand characteristics, improving the accuracy and reliability of this determination, as well as its intelligence and efficiency. Furthermore, the explicit navigation demand constraints provide a more comprehensive reflection of the vessel's actual navigation needs, enhancing the accuracy and reliability of subsequent demand update parameter generation and navigation demand information updates. Through the analysis of functional requirement information, dynamic updates can be achieved. The navigation requirements information of the new target vessel enables it to better adapt to different navigation tasks and environmental changes. Based on different functional requirements, the navigation requirements can be flexibly adjusted to ensure the vessel meets its functional needs in various tasks. This improves the efficiency and intelligence of route determination, as well as the vessel's operational and navigation efficiency. It also enhances the vessel's intelligence level and reliability. By selecting navigation functional requirement parameters that match the required characteristics from a pre-determined set of navigation parameters, a more scientific route plan can be generated. This ensures that the route plan not only meets basic navigation requirements but also specific functional requirements, further improving the matching degree between the determined route and the vessel's navigation requirements, and enhancing the accuracy and reliability of the route determination. Furthermore, by combining information from multiple sources, the vessel's route can be comprehensively determined, improving the intelligence of route determination and the accuracy and reliability of determining the route and controlling the vessel to perform corresponding navigation operations.

[0103] Example 4 Please see Figure 5 , Figure 5 This is a schematic diagram of another multi-objective collaborative optimization ship route determination system disclosed in an embodiment of the present invention. Figure 5 As shown, this multi-objective collaborative optimization ship route determination system may include: Memory 401 storing executable program code; Processor 402 coupled to memory 401; The processor 402 calls the executable program code stored in the memory 401 to execute some or all of the steps in any of the multi-objective cooperative optimization ship route determination methods in Embodiment 1 of the present invention.

[0104] Example 5 This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute some or all of the steps in any of the multi-objective collaborative optimization ship route determination methods disclosed in Embodiment 1 of this invention.

[0105] The system embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0106] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0107] Finally, it should be noted that the above embodiments are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining ship routes through multi-objective collaborative optimization, characterized in that, The method includes: Obtain the target location information of the target vessel, and generate the initial route planning information corresponding to the target vessel based on the target location information and the pre-set safety target information, wherein the initial route planning information includes at least one initial planned route. The system acquires real-time vessel information and vessel demand information corresponding to the target vessel, and generates navigation demand information for the target vessel based on the real-time vessel information and the vessel demand information; wherein, the vessel demand information includes one or more of the following: navigation speed demand information, navigation duration demand information, and navigation fuel demand information corresponding to the target vessel. Based on the navigation demand information and the initial route planning information, the target route planning information of the target vessel is determined.

2. The method for determining ship routes through multi-objective collaborative optimization according to claim 1, characterized in that, After generating the navigation demand information of the target vessel based on the real-time vessel information and the vessel demand information, the method further includes: Obtain navigation function information corresponding to the target vessel, and determine the navigation function factors of the target vessel based on the navigation function information. The navigation function factors include one or more of the following: navigation fuel factor, navigation efficiency factor, navigation duration factor, and navigation purpose factor of the target vessel. Based on the navigation function factors, the functional requirements information of the target vessel is determined, and an update operation is performed on the navigation requirements information of the target vessel according to the functional requirements information to update the navigation requirements information of the target vessel.

3. The multi-objective collaborative optimization method for determining ship routes according to claim 1 or 2, characterized in that, The step of determining the target route planning information of the target vessel based on the navigation demand information and the initial route planning information includes: Extract the target demand parameters from the navigation demand information, wherein the target demand parameters include one or more of the target ship's safety demand parameters, fuel consumption demand parameters, speed demand parameters, and navigation duration demand parameters; Based on the target requirement parameters, a navigation indicator system for the target vessel is constructed, and a navigation scoring model corresponding to the navigation indicator system is constructed. Based on the navigation scoring model, a matching scoring parameter between the navigation indicator system and each of the initial planned routes included in the initial route planning information is calculated. Based on all the matching scoring parameters, the target route planning information for the target vessel is determined.

4. The multi-objective collaborative optimization method for determining ship routes according to claim 1 or 2, characterized in that, The method further includes: Based on the target route planning information of the target vessel, the target planned route of the target vessel is determined, and the navigation control parameters of the target vessel are generated according to the target planned route. The system obtains real-time area information of the current area where the target vessel is located. Based on the real-time area information, it determines whether there are navigation impact parameters in the real-time area information. When it is determined that there are navigation impact parameters in the real-time area information, it determines the influence correlation between the navigation impact parameters and the navigation control parameters. Based on the aforementioned influence correlation, the navigation adjustment parameters corresponding to the navigation control parameters are determined. Based on the navigation control parameters and the navigation adjustment parameters, the target navigation control parameters of the target vessel are generated, and the target vessel is controlled to perform navigation control operations that match the target navigation control parameters.

5. The multi-objective collaborative optimization method for determining ship routes according to claim 1, characterized in that, The step of generating initial route planning information for the target vessel based on the target location information and pre-set safety target information includes: Obtain the real-time position of the target vessel, and construct the geospatial information of the target vessel based on the real-time position and the target location information; Based on the geospatial information, a region division operation is performed on the navigation area corresponding to the target vessel to obtain the region division result. Based on the region division result and the target location information, several alternative planned routes are generated. Calculate the navigation assessment result corresponding to each of the alternative planned routes, determine whether the navigation assessment result meets the preset navigation assessment conditions, and obtain the navigation assessment judgment result corresponding to each of the alternative planned routes; Based on the navigation assessment judgment result corresponding to each of the alternative planned routes, the alternative planned routes that indicate that the navigation assessment result meets the preset navigation assessment conditions are determined as the initial planned routes, and based on all the initial planned routes, the initial route planning information corresponding to the target vessel is generated.

6. The multi-objective collaborative optimization method for determining ship routes according to claim 3, characterized in that, The determination of the target route planning information for the target vessel based on all the matching scoring parameters includes: Based on all the matching scoring parameters and the navigation indicator system, the demand priority corresponding to each of the target demand parameters is determined, and a weight adjustment parameter is generated according to the demand priority corresponding to each of the target demand parameters. Based on all the matching score parameters and the weight adjustment parameters, each of the matching score parameters is updated, and the target route planning information of the target vessel is determined based on the updated matching score parameters.

7. The multi-objective collaborative optimization method for determining ship routes according to claim 2, characterized in that... The step of updating the navigation requirement information of the target vessel based on the functional requirement information, to update the navigation requirement information of the target vessel, includes: Based on the functional requirement information, the requirement characteristic information of the target vessel is determined, and based on the requirement characteristic information, the navigation requirement constraint information of the target vessel is determined, wherein the navigation requirement constraint information includes one or more of the following: navigation duration requirement constraint information, navigation turning number requirement constraint information, navigation turning angle requirement constraint information, and navigation speed requirement constraint information. Based on the aforementioned demand characteristic information and navigation demand constraint information, at least one matching navigation function demand parameter is determined from a pre-determined set of navigation parameters. Based on all the aforementioned navigation function demand parameters, demand update parameters are generated, and an update operation is performed on the navigation demand information of the target vessel according to the demand update parameters to update the navigation demand information of the target vessel.

8. A multi-objective collaborative optimization system for determining ship routes, characterized in that, The system includes: The acquisition module is used to acquire target location information of the target vessel; The generation module is used to generate initial route planning information for the target vessel based on the target location information and pre-set safety target information, wherein the initial route planning information includes at least one initial planned route. The acquisition module is also used to acquire real-time ship information corresponding to the target ship and ship demand information corresponding to the target ship; The generation module is also used to generate navigation demand information for the target vessel based on the real-time vessel information and the vessel demand information; The determination module is used to determine the target route planning information of the target vessel based on the navigation demand information and the initial route planning information.

9. A multi-objective collaborative optimization system for determining ship routes, characterized in that, The system includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the multi-objective collaborative optimization method for determining ship routes as described in any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the multi-objective collaborative optimization method for determining ship routes as described in any one of claims 1-7.

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