Method for optimizing cooperation between ship and pilot under one-way multi-intersection long voyage and round trip pilotage

Abstract

This embodiment discloses a ship-pilot collaborative optimization method for long-distance pilotage in a one-way, multi-intersection channel. By considering navigation safety constraints and complex factors such as traffic flow alternation and tide times in one-way channels, it comprehensively plans ship traffic organization in complex waterways from a global perspective. Simultaneously, based on pilot task allocation constraints, and building upon traffic organization in one-way, multi-intersection channels, it comprehensively considers pilot qualification levels, pilotage work time limits, and pilotage task coordination requirements. It also coordinates pilot allocation with traffic organization, achieving effective connection and adjustment between the two. Ultimately, while ensuring safety, it optimizes channel resource utilization and pilotage efficiency, providing a more flexible and efficient solution for ship traffic organization and pilotage resource allocation during peak hours, effectively improving navigation and pilotage efficiency while reducing costs.

Description

Technical Field

[0001] This invention relates to the field of ship traffic organization optimization technology in port waters, and in particular to a ship-pilot collaborative optimization method for long-channel round-trip pilotage with one-way multiple intersections. Background Technology

[0002] In the daily management of port waters, vessels report their arrival and departure plans to the port authorities, who then arrange specific dispatch plans accordingly. To ensure navigation safety in port waters, it is necessary to efficiently resolve traffic conflicts and monitor traffic flow in real time. Furthermore, due to the influence of waterway structure, the navigation rules implemented in port waters are diverse, including two-way navigation, one-way navigation, and switching between two-way and one-way navigation. To cope with the increasing navigation demands and in line with sustainable development goals, many ports have been expanded and upgraded, forming a multi-port area and multi-channel waterway pattern. One-way multi-intersection waterways are a typical example of the increasing complexity of port waters, with situations involving overtaking, head-on encounters, and cross-traffic collisions occurring within these waterways. The formulation of vessel traffic organization plans faces challenges under the coupled influence of complex traffic conflicts, berth occupancy, weather conditions, and other factors.

[0003] After the vessel traffic organization plan is formulated, it will be handed over to the pilot station for further development of pilotage plans. Pilots familiar with local waterway conditions and navigation procedures can be assigned to the vessel to assist in entering and leaving the port, ensuring safe navigation at the operational level. Different ports have different pilotage regulations. In ports with complex environments, mandatory pilotage is usually used, while in other ports it is non-mandatory, only mandatory for large vessels and foreign vessels, or can be requested voluntarily by the vessel. Pilots are graded according to skill and seniority; for some important or large tonnage vessels, senior pilots are required to perform pilotage work. Typically, during the vessel's entry into the port, the pilot will board the vessel at the boarding point by pilot boat and guide it through the entry process; after the vessel successfully berths, the pilot disembarks and continues to perform the next pilotage task. For the departure process, the pilot boards the vessel from the berth, guides it through the departure process, and then disembarks at the departure point to perform the next task. The continuity of tasks is crucial for pilot scheduling. To improve pilotage efficiency, inbound and outbound pilotage tasks are usually linked, allowing pilots to move more quickly from one vessel to another. Furthermore, for safety and fatigue reasons, each pilot's working hours are limited (usually 8 hours). Pilotage planning must comprehensively consider pilot fatigue and time constraints to achieve optimal pilotage efficiency.

[0004] The formulation of vessel traffic organization plans and pilot allocation plans are interconnected. At the traffic organization level, due to the complex navigation elements and the structure of one-way multi-intersection channels, the existing manual traffic organization methods are difficult to consider comprehensively, resulting in vessel waiting time and low utilization efficiency of one-way channels during peak periods. At the pilot allocation level, round-trip piloting within long channels will generate excessive commuting costs and make it difficult to take into account the needs of pilot qualification classification, pilotage working time restrictions, and reasonable connection of pilotage tasks. How to effectively reduce the frequency of round-trip piloting across long channels and effectively connect multiple pilotage tasks such as arrival-departure and departure-arrival is crucial to improving pilotage efficiency.

[0005] Furthermore, pilotage plans need to be formulated based on traffic organization schemes. During peak busy periods, it is difficult to ensure that vessels requiring pilotage can enter and leave the port in a timely manner. There is a disconnect between the traffic organization scheme and the pilotage plan, resulting in a mismatch between the channel passage time allocation in the traffic organization scheme and the pilots' operational capabilities and watch arrangements. This leads to problems such as vessels waiting for a long time at anchorage and pilots having ineffective standby time due to poor task coordination. This not only reduces the overall navigation efficiency of the port and increases the fuel consumption and operating costs of vessels, but also exacerbates traffic congestion in the port waters during peak hours, affecting the port's service reliability and competitiveness. Summary of the Invention

[0006] This invention discloses a ship-pilot collaborative optimization method for long-course unidirectional multi-intersection pilotage to overcome the above-mentioned technical problems.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows: A method for optimizing ship-pilot collaboration under one-way, multi-intersection long-channel pilotage includes the following steps: S1: Construct a mixed-integer linear programming model for the coordinated optimization of pilot allocation and ship scheduling in a one-way multi-intersection waterway in port waters; S2: The constraints for constructing the mixed integer linear programming model include: ship mission start time constraint, ship navigation safety constraint, pilot task allocation constraint, and pilotage and tide time window constraint. S3: Based on the constraints of the mixed-integer linear programming model, the Gurobi solver is used to solve the mixed-integer linear programming model to obtain the allocation results of pilot and ship entry and exit tasks, providing a basis for on-site allocation of ships and pilots entering and leaving the port.

[0008] Furthermore, the mixed-integer linear programming model is represented as follows:

[0009]

[0010]

[0011]

[0012] In the formula: All are index numbers for ship missions; For ship mission sets; To represent the first The delay time of a ship's mission is a continuous variable. For the first The waiting delay cost for each ship mission; For the navigator's index; The total number of pilots; A collection of tasks for ships requiring pilotage; To represent the first Was the ship task assigned to the [number]th [ship]? The 0-1 variable representing the pilot's pilotage task, when the first... The ship mission was assigned to the first When a pilot is performing a pilotage task ,otherwise ; For the first The cost of assigning tasks to each pilot; Indicates the first The pilot carried out the first The timeframe for each ship's mission; This represents the basic cost of a pilotage mission; This represents the pilot's rank weighting coefficient; For the first The cost of using a pilot boat by a pilot; To expand the set; A virtual node used to ensure that pilotage missions have a start and end point; To represent the first The ship mission in Immediately after the completion of the pilotage mission of the first ship, it was... The 0-1 variable for the pilot's navigation, when the first pilot... The ship mission in Immediately after the completion of the pilotage mission, the ship was... A pilot guides the way. ,otherwise, ; Indicates that the pilot has performed the [number] consecutive [number] times. The ship mission and the The transfer time for each ship's mission; Indicates that the pilot has performed the [number] consecutive [number] times. The ship mission and the The cost of using pilot boats for each ship mission.

[0013] Furthermore, the pilot task allocation constraints are expressed as follows:

[0014]

[0015]

[0016]

[0017]

[0018]

[0019]

[0020] In the formula: To represent the first Was the ship task assigned to the [number]th [ship]? A 0-1 variable representing a pilot's pilotage task; To represent the first Is the mission of the ship undertaken by the first The 0-1 variables for the first task of piloting a navigator, when the first... The first ship mission is the The first task of a pilot. ,otherwise, ; To represent the first Is the mission of the ship undertaken by the first The 0-1 variable for the last task piloted by the pilot, when the first... The first ship mission is the The pilot's last mission. ,otherwise, ; To represent the first The ship mission in Immediately after the completion of the pilotage mission of the first ship, it was... A 0-1 variable for a pilot's navigation; For the first The sailing time from the ship's mission start point to the pilot's landing point; For the pilot to continuously perform the first The ship mission and the The transfer time for each ship's mission.

[0021] Furthermore, the constraints on the pilotage and tide-riding time windows are expressed as follows:

[0022]

[0023]

[0024]

[0025]

[0026] In the formula: This is the lower limit of the pilot's working time window; This is the upper limit of the pilot's working time window; This is an index for the tide-riding time window; For the first A collection of tide-following windows for individual ship missions; To represent the first Should the first ship mission be selected? A 0-1 variable is used to determine the tidal navigation time window, when the ship's mission... Select tide time window When navigating at high tide, ,otherwise, ; A collection of tasks for ships that require tidal navigation; For the first The lower limit of the tide-following time window for each vessel mission; For the first The upper limit of the tide time window for each vessel mission.

[0027] Furthermore, the ship mission start time constraint is expressed as follows:

[0028]

[0029]

[0030]

[0031] In the formula: To represent the first The delay time of a ship's mission is a continuous variable. To represent the first A continuous variable representing the start time of each ship's mission; For the first The estimated start time of each vessel's mission; For the first The maximum delay limit for each ship mission; To represent the first A continuous variable representing the start time of each ship's mission; For the first Overall navigation time for each vessel mission; For the first Loading and unloading time for each vessel mission; A collection of port entry and exit tasks for ships.

[0032] Furthermore, the navigation safety constraints for ship passage are expressed as follows:

[0033]

[0034]

[0035]

[0036]

[0037]

[0038] In the formula: To represent the first Did the start time of the first ship's mission begin earlier than the first? The 0-1 variables of the ship mission, when the... The first ship's mission started earlier than the first. When a ship is on a mission ,otherwise, ; To represent the first Did the start time of the first ship's mission begin earlier than the first? The 0-1 variables of the ship mission, when the... The first ship's mission started earlier than the first. When a ship is on a mission ,otherwise, ; For the collection of tasks for vessels entering the port; For the collection of tasks for departing vessels; A set of ship missions with berth conflicts; To represent the first A continuous variable representing the start time of each ship's mission; For the first The ships are tasked with sailing to the rendezvous point. Time; For safe distances for navigation; It is an infinite number; These are the various intersections in a one-way, multi-intersection waterway; For the first A collection of intersections along the routes of individual ship missions; For the first A collection of intersections along the routes of individual ship missions; To represent the first A continuous variable representing the start time of each ship's mission; For the first Overall navigation time for each vessel mission; For the first The overall navigation time for each vessel mission.

[0039] Beneficial effects: The present invention provides a ship-pilot collaborative optimization method for long-distance pilotage with one-way and multiple intersections. By considering the navigation safety constraints of ship passage and the navigation characteristics of one-way channels, the method considers navigation safety as a traffic pattern that maintains a certain safe distance at multiple intersections. Furthermore, it considers complex factors such as traffic flow alternation and tide time windows in one-way channels, and coordinates the ship traffic organization planning in complex waters from a global perspective. Simultaneously, based on the constraints of pilot task allocation, and on the basis of one-way multi-intersection channel traffic organization, the system comprehensively considers the task allocation requirements such as pilot qualification levels, pilotage work time limits, and pilotage task coordination. Pilot allocation is also considered in conjunction with traffic organization to achieve effective connection and adjustment between the two. Ultimately, under the premise of ensuring safety, pilot allocation is incorporated into traffic organization considerations, forming a collaborative optimization model that matches pilot-vehicle entry and exit tasks. This system comprehensively considers the influencing factors of traffic organization in complex waterways and integrates multiple factors related to pilot allocation, thereby optimizing channel resource utilization and pilotage efficiency. It provides a more flexible and efficient solution for vessel traffic organization and pilotage resource allocation during peak hours, effectively improving navigation and pilotage efficiency while reducing costs. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a flowchart of the ship-pilot collaborative optimization method for one-way multi-intersection long channel round-trip pilotage according to the present invention; Figure 2 This is a schematic diagram of a one-way multi-intersection waterway in the port area according to an embodiment of the present invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, 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.

[0043] This embodiment introduces a ship-pilot collaborative optimization method for long-course unidirectional multi-intersection pilotage, including the following steps: Figure 1 As shown: S1: Construct a mixed-integer linear programming model for the coordinated optimization of pilot allocation and ship scheduling in a one-way multi-intersection waterway in port waters; This embodiment considers the collaborative optimization of pilot allocation and vessel scheduling in a long channel with multiple intersections in a port waterway. Pilotage involves pilots traveling back and forth across the channel, while vessel scheduling involves multiple considerations such as safe navigation at multiple intersections, one-way navigation rules, and tide time windows. To address the complex constraints involved in the collaboration, a mixed-integer linear programming model is constructed.

[0044] In this embodiment, (1) the mixed-integer linear programming model considers the collaborative optimization problem of pilot allocation and ship scheduling under non-mandatory pilotage, and plans ship traffic organization with a one-day scheduling cycle; (2) the planning period is discretized into a set of time steps, with 5 minutes as one time step; (3) the capacity of the anchorage outside the port is sufficient to meet the anchorage needs of ships; (4) the berth plan has been formulated, and the sailing time of ships in the channel is fixed; (5) this embodiment considers factors such as weather conditions, navigation obstacles, emergencies, and ship plan failures. During the scheduling cycle, all resources, including tugboats, are sufficient and in normal operating condition.

[0045] Preferably, the mixed-integer linear programming model is represented as follows: (1) (2) (3) (4) In the formula: All are index numbers for ship missions; For ship mission sets; To represent the first The delay time of a ship's mission is a continuous variable. For the first The waiting delay cost for each ship mission; For the navigator's index; The total number of pilots; A collection of tasks for ships requiring pilotage; To represent the first Was the ship task assigned to the [number]th [ship]? The 0-1 variable representing the pilot's pilotage task, when the first... The ship mission was assigned to the first When a pilot is performing a pilotage task ,otherwise ; For the first The cost of assigning tasks to each pilot is calculated as shown in equation (2), where Indicates the first The pilot carried out the first The timeframe for each ship's mission; This represents the basic cost of a pilotage mission; This represents the pilot's rank weighting coefficient; For the first The cost of using a pilot boat by a pilot is calculated as shown in equation (3). To expand the set; A virtual node used to ensure that pilotage missions have a start and end point; To represent the first The ship mission in Immediately after the completion of the pilotage mission of the first ship, it was... The 0-1 variable for the pilot's navigation, when the first pilot... The ship mission in Immediately after the completion of the pilotage mission, the ship was... A pilot guides the way. ,otherwise, ; Indicates that the pilot has performed the [number] consecutive [number] times. The ship mission and the The transfer time for each ship's mission; Indicates that the pilot has performed the [number] consecutive [number] times. The ship mission and the The cost of using pilot boats for each ship mission.

[0046] Specifically, the cost of pilotage is related to the turnaround time for pilots to perform continuous pilotage tasks, including: round-trip pilotage (round-trip across long channels for continuous tasks of port entry-exit or port exit-entry), and non-round-trip pilotage (change within the port basin or change in the port entry area).

[0047] Specifically, Equation (1) represents the objective function of the collaborative optimization model, which minimizes the total cost of ship task delay and pilot allocation. The pilot allocation cost includes the cost of allocating pilot tasks. Costs of pilots using pilot boats to reach the boarding location .

[0048] S2: The constraints for constructing the mixed integer linear programming model include: ship mission start time constraint, ship navigation safety constraint, pilot task allocation constraint, and pilotage and tide time window constraint.

[0049] Preferably, the ship mission start time constraint is expressed as follows: (5) (6) (7) (8) In the formula: To represent the first The delay time of a ship's mission is a continuous variable. To represent the first A continuous variable representing the start time of each ship's mission; For the first The estimated start time of each vessel's mission; For the first The maximum delay limit for each ship mission; To represent the first A continuous variable representing the start time of each ship's mission; For the first Overall navigation time for each vessel mission; For the first Loading and unloading time for each vessel mission; A collection of port entry and exit tasks for ships.

[0050] Equations (5) to (8) are constraints on the start time of ship missions. Constraint (5) defines the delay of ship missions, constraint (6) indicates that the delay of ship missions is limited to a certain range as needed, constraint (7) indicates that the start time of ship missions is not less than its arrival time at the port, and constraint (8) indicates the correlation between the arrival and departure times of the same ship within the scheduling cycle.

[0051] Preferably, the navigation safety constraints for ship passage are expressed as follows: (9) (10) (11) (12) (13) (14) In the formula: To represent the first Did the start time of the first ship's mission begin earlier than the first? The 0-1 variables of the ship mission, when the... The first ship's mission started earlier than the first. When a ship is on a mission ,otherwise, ; To represent the first Did the start time of the first ship's mission begin earlier than the first? The 0-1 variables of the ship mission, when the... The first ship's mission started earlier than the first. When a ship is on a mission ,otherwise, ; For the collection of tasks for vessels entering the port; For the collection of tasks for departing vessels; A set of ship missions with berth conflicts; To represent the first A continuous variable representing the start time of each ship's mission; For the first The ships are tasked with sailing to the rendezvous point. Time; For safe distances for navigation; It is an infinite number; These are the various intersections in a one-way, multi-intersection waterway; For the first A collection of intersections along the routes of individual ship missions; For the first A collection of intersections along the routes of individual ship missions; To represent the first A continuous variable representing the start time of each ship's mission; For the first Overall navigation time for each vessel mission; For the first The overall navigation time for each vessel mission.

[0052] Equations (9) to (14) are navigation safety constraints for ship passage. Constraint (9) indicates that the order of entering and leaving the port for the same ship within the scheduling cycle is fixed. Equation (10) indicates that the order of tasks for any two ships is unique. Equation (11) indicates that the order of entering and leaving the port for ships with berth conflicts is fixed. Equation (12) indicates that ships traveling in the same direction and opposite directions need to maintain a safe distance at multiple intersection points. Equations (13) to (14) indicate that in a one-way channel, there can only be ship traffic flow in one direction.

[0053] Preferably, the pilot task allocation constraints are expressed as follows: (15) (16) (17) (18) (19) (20) (twenty one) In the formula: To represent the first Was the ship task assigned to the [number]th [ship]? A 0-1 variable representing a pilot's pilotage task; To represent the first Is the mission of the ship undertaken by the first The 0-1 variables for the first task of piloting a navigator, when the first... The first ship mission is the The first task of a pilot. ,otherwise, ; To represent the first Is the mission of the ship undertaken by the first The 0-1 variable for the last task piloted by the pilot, when the first... The first ship mission is the The pilot's last mission. ,otherwise, ; To represent the first The ship mission in Immediately after the completion of the pilotage mission of the first ship, it was... A 0-1 variable for a pilot's navigation; For the first The sailing time from the ship's mission start point to the pilot's landing point; For the pilot to continuously perform the first The ship mission and the The transfer time for each ship's mission.

[0054] Equations (15) to (21) are constraints on pilot assignment. Equation (15) indicates that each vessel requiring pilotage can only be assigned one pilot, and Equation (16) is a variable association constraint, which means that the variables... and Establish the connection. Equations (17) and (18) indicate that each pilot’s pilotage process should include a start task and an end task. Equation (19) indicates that the pilotage sequence of the pilot is unique. Equation (20) indicates that the pilotage sequence variable needs to maintain flow balance constraints. Equation (21) indicates that the next pilotage task must start after the previous ship’s task is completed, that is, the connection time of the pilotage tasks needs to be met.

[0055] Preferably, the pilotage and tide-riding time window constraints are expressed as follows: (twenty two) (twenty three) (twenty four) (25) (26) In the formula: This is the lower limit of the pilot's working time window; This is the upper limit of the pilot's working time window; This is an index for the tide-riding time window; For the first A collection of tide-following windows for individual ship missions; To represent the first Should the first ship mission be selected? A 0-1 variable is used to determine the tidal navigation time window, when the ship's mission... Select tide time window When navigating at high tide, ,otherwise, ; A collection of tasks for ships that require tidal navigation; For the first The lower limit of the tide-following time window for each vessel mission; For the first The upper limit of the tide time window for each vessel mission.

[0056] Equations (22) to (26) are constraints on the pilotage and tide-following time windows. Equations (22) to (23) indicate that the pilotage task must be carried out within the specified time window, and equations (24) to (26) indicate that the vessel can only choose one tide-following time window and must navigate within the time window.

[0057] Specifically, in this embodiment, the variables are defined as follows: (27) (28) (29) (30) (31) (32) Equations (27) to (32) define the decision variables.

[0058] S3: Based on the constraints of the mixed-integer linear programming model, the Gurobi solver is used to solve the mixed-integer linear programming model to obtain the allocation results of pilot and ship entry and exit tasks, providing a basis for on-site allocation of ships and pilots entering and leaving the port.

[0059] Specifically, this embodiment uses the Gurobi solver to solve the mixed integer linear programming model for pilot allocation and ship scheduling collaborative optimization. The solver uses built-in heuristics to collaboratively optimize ship traffic organization and pilot arrangement. This process does not require additional manual intervention in the heuristics or manual parameter tuning, and can directly obtain the optimal or near-optimal scheduling results that meet all constraints, thus forming a collaborative organization scheme.

[0060] A specific embodiment of the present invention is as follows: Let's take a seaport in northern China as an example. This port consists of 3 main channels, 4 branch channels, 4 harbor basins (containing 45 berths), 1 outer anchorage, and other infrastructure, such as... Figure 2As shown. The experiment used actual port data as input parameters. Three traffic densities were set based on the actual port traffic flow. Arrival berths were generated exponentially based on actual data. Detailed parameters are shown in Table 1. The deadweight tonnage of the vessels ranged from 2,000 to 50,000 tons, and the cargo type and feasible berths could be determined. Vessels exceeding 30,000 deadweight tons required specific tidal windows when passing through the channel. Large vessels above 30,000 deadweight tons required sufficient draft and navigation at appropriate tide heights. In this port, the required tide heights for vessels of 30,000, 35,000, 40,000, and 50,000 deadweight tons were 0.41 meters, 0.6 meters, 0.71 meters, and 1.21 meters, respectively. Based on the statistical tide height data provided by the port authority, it was possible to calculate whether the tidal window for a specific vessel met the requirements within each time unit. Demurrage fees were set to [5, 20].

[0061] Consider a daily scheduling plan. Each time step is 10 minutes, therefore the planning cycle is divided into 144 time steps. Pilot work hours are set to [0, 72] and [72, 144]. Each work period includes at least two pilots of different ranks. Vessels with a deadweight tonnage of 50,000 require highly skilled pilots. Pilot duty costs are set to 5 and 10 based on rank, respectively. The transition time for round-trip pilotage is set to 3, and the transition time for non-round-trip pilotage (port basin transition or port entry area transition) is set to 1, with costs of 10 and 20, respectively.

[0062] Table 1. Port tonnage and proportion of vessels in example ports

[0063] Table 2 shows the scheduling arrangements and pilot allocation for the 30 vessels. A total of 6 pilots are available. During the first pilotage period, only 4 vessels require pilotage services, so only one pilot is needed. During the second pilotage period, due to the large number of vessels and the presence of a large vessel (No. 22), the senior pilot (No. 6) will need to coordinate tasks with other pilots (Nos. 4 and 5).

[0064] Table 2 Results of the Coordinated Optimization of Pilot Allocation and Ship Scheduling

[0065] To verify the effectiveness of the method in this embodiment, it was compared with two other methods. The first method is the two-stage optimization method (TS). First, vessel scheduling is optimized, and a traffic management plan is developed. Then, the vessel sequence is used to optimize the pilot allocation order. These two plans can be obtained through two-stage optimization. The second method is the traditional management method (FCFS). FCFS is a method of scheduling vessels according to a first-come, first-served rule and assigning pilots in the same way. Based on FCFS, a rule-based heuristic method (RBH) was designed to obtain the management plan. RBH operates according to the two-stage scheduling method used in actual ports. First, vessels that need to meet tidal requirements should be prioritized. Then, vessel traffic management is performed based on the earliest allowed start time of the remaining tasks. Pilot allocation refers to the developed vessel traffic management plan. For large tonnage vessels, senior pilots are allocated based on cost, and then low-cost pilots are allocated based on the fixed start time in the vessel traffic management plan.

[0066] Table 3 presents the results for 15 examples. Under low traffic density conditions, the cost achieved using this embodiment is similar to that of TS. The larger intervals between tasks allow for more flexibility in both conflict resolution and pilot task allocation, resulting in a smaller gap between collaborative optimization and two-stage optimization. This gap gradually widens as traffic density increases. As the task intervals between vessel traffic flows decrease, direct optimization improves flexibility and achieves better results than two-stage optimization. Compared to TS, this embodiment can reduce costs by up to 13%. The cost managed by FCFS is higher than other methods. Compared to FCFS, this embodiment can reduce costs by up to 29%. This demonstrates the significant advantages of collaborative optimization and the great potential for improving existing scheduling methods.

[0067] Table 3 Comparison of Collaborative Optimization Methods

[0068] This embodiment presents a ship-pilot collaborative optimization method for long-haul, one-way, multi-intersection pilotage. A mixed-integer linear programming model is established, which serves as the objective function and related constraints of the collaborative optimization model. These constraints include ship task start time constraints, navigation safety constraints, pilot task allocation constraints, and pilotage and tide-following time window constraints. The Gurobi solver is used for solving these constraints. By considering the navigation safety constraints of ship passage and the characteristics of one-way channel navigation, navigation safety is considered as a traffic pattern maintaining a certain safe distance at multiple intersection points. Furthermore, complex factors such as traffic flow alternation and tide-following time windows in one-way channels are taken into account, allowing for a global perspective in planning ship traffic organization in complex waterways. Simultaneously, based on the constraints of pilot task allocation, and on the basis of one-way multi-intersection channel traffic organization, the system comprehensively considers the task allocation requirements such as pilot qualification levels, pilotage work time limits, and pilotage task coordination. Pilot allocation is also considered in conjunction with traffic organization to achieve effective connection and adjustment between the two. Ultimately, under the premise of ensuring safety, pilot allocation is incorporated into traffic organization considerations, forming a collaborative optimization model that matches pilot-vehicle entry and exit tasks. This system comprehensively considers the influencing factors of traffic organization in complex waterways and integrates multiple factors related to pilot allocation, thereby optimizing channel resource utilization and pilotage efficiency. It provides a more flexible and efficient solution for vessel traffic organization and pilotage resource allocation during peak hours, effectively improving navigation and pilotage efficiency while reducing costs.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and 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 or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for optimizing ship-pilot collaboration under one-way, multi-intersection long-channel pilotage, characterized in that, Includes the following steps: S1: Construct a mixed-integer linear programming model for the coordinated optimization of pilot allocation and ship scheduling in a one-way multi-intersection waterway in port waters; S2: The constraints for constructing the mixed integer linear programming model include: ship mission start time constraint, ship navigation safety constraint, pilot task allocation constraint, and pilotage and tide time window constraint. S3: Based on the constraints of the mixed-integer linear programming model, the Gurobi solver is used to solve the mixed-integer linear programming model to obtain the allocation results of pilot and ship entry and exit tasks, providing a basis for on-site allocation of ships and pilots entering and leaving the port.

2. The method for optimizing ship-pilot collaboration under one-way multi-intersection long channel pilotage as described in claim 1, characterized in that, The mixed-integer linear programming model is represented as follows: In the formula: All are index numbers for ship missions; For ship mission sets; To represent the first The delay time of a ship's mission is a continuous variable. For the first The waiting delay cost for each ship mission; For the navigator's index; The total number of pilots; A collection of tasks for ships requiring pilotage; To represent the first Was the ship task assigned to the [number]th [ship]? The 0-1 variable representing the pilot's pilotage task, when the first... The ship mission was assigned to the first When a pilot is performing a pilotage task ,otherwise ; For the first The cost of assigning tasks to each pilot; Indicates the first The pilot carried out the first The timeframe for each ship's mission; This represents the basic cost of a pilotage mission; This represents the pilot's rank weighting coefficient; For the first The cost of using a pilot boat by a pilot; To expand the set; A virtual node used to ensure that pilotage missions have a start and end point; To represent the first The ship mission in Immediately after the completion of the pilotage mission of the first ship, it was... The 0-1 variable for the pilot's navigation, when the first pilot... The ship mission in Immediately after the completion of the pilotage mission, the ship was... A pilot guides the way. ,otherwise, ; Indicates that the pilot has performed the [number] consecutive [number] times. The ship mission and the The transfer time for each ship's mission; Indicates that the pilot has performed the [number] consecutive [number] times. The ship mission and the The cost of using pilot boats for each ship mission.

3. The method for optimizing ship-pilot collaboration under one-way multi-intersection long channel pilotage as described in claim 2, characterized in that, The pilot task allocation constraints are expressed as follows: In the formula: To represent the first Was the ship task assigned to the [number]th [ship]? A 0-1 variable representing a pilot's pilotage task; To represent the first Is the mission of the ship undertaken by the first The 0-1 variables for the first task of piloting a navigator, when the first... The first ship mission is the The first task of a pilot. ,otherwise, ; To represent the first Is the mission of the ship undertaken by the first The 0-1 variable for the last task piloted by the pilot, when the first... The first ship mission is the The pilot's last mission. ,otherwise, ; To represent the first The ship mission in Immediately after the completion of the pilotage mission of the first ship, it was... A 0-1 variable for a pilot's navigation; For the first The sailing time from the ship's mission start point to the pilot's landing point; For the pilot to continuously perform the first The ship mission and the The transfer time for each ship's mission.

4. The ship-pilot collaborative optimization method for one-way multi-intersection long channel pilotage as described in claim 3, characterized in that, The constraints on the pilotage and tide-riding time windows are expressed as follows: In the formula: This is the lower limit of the pilot's working time window; This is the upper limit of the pilot's working time window; This is an index for the tide-riding time window; For the first A collection of tide-following windows for individual ship missions; To represent the first Should the first ship mission be selected? A 0-1 variable is used to determine the tidal navigation time window, when the ship's mission... Select tide time window When navigating at high tide, ,otherwise, ; A collection of tasks for ships that require tidal navigation; For the first The lower limit of the tide-following time window for each vessel mission; For the first The upper limit of the tide time window for each vessel mission.

5. The method for optimizing ship-pilot collaboration under one-way, multi-intersection long channel pilotage as described in claim 4, characterized in that, The ship mission start time constraint is expressed as follows: In the formula: To represent the first The delay time of a ship's mission is a continuous variable. To represent the first A continuous variable representing the start time of each ship's mission; For the first The estimated start time of each vessel's mission; For the first The maximum delay limit for each ship mission; To represent the first A continuous variable representing the start time of each ship's mission; For the first Overall navigation time for each vessel mission; For the first Loading and unloading time for each vessel mission; A collection of port entry and exit tasks for ships.

6. The method for optimizing ship-pilot collaboration under one-way multi-intersection long channel pilotage as described in claim 5, characterized in that, The navigation safety constraints for ships are expressed as follows: In the formula: To represent the first Did the start time of the first ship's mission begin earlier than the first? The 0-1 variables of the ship mission, when the... The first ship's mission started earlier than the first. When a ship is on a mission ,otherwise, ; To represent the first Did the start time of the first ship's mission begin earlier than the first? The 0-1 variables of the ship mission, when the... The first ship's mission started earlier than the first. When a ship is on a mission ,otherwise, ; For the collection of tasks for vessels entering the port; For the collection of tasks for departing vessels; A set of ship missions with berth conflicts; To represent the first A continuous variable representing the start time of each ship's mission; For the first The ships are tasked with sailing to the rendezvous point. Time; For safe distances for navigation; It is an infinite number; These are the various intersections in a one-way, multi-intersection waterway; For the first A collection of intersections along the routes of individual ship missions; For the first A collection of intersections along the routes of individual ship missions; To represent the first A continuous variable representing the start time of each ship's mission; For the first Overall navigation time for each vessel mission; For the first Overall navigation time for each vessel mission; For the first Loading and unloading time for each vessel mission; For the first The loading and unloading time for each ship's mission.

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