35 results about "Ship routing" patented technology

The invention discloses an offshore platform anti-collision device and method based on multi-mode BEV perception, and the device comprises a three-dimensional fusion distance measurement module, a UWB distance measurement module, a ship navigation state monitoring module, a platform marine environment monitoring module, and a central processing unit. The three-dimensional fusion ranging module comprises a holder, a laser radar and a camera, and is used for performing 360-degree three-dimensional scanning on the periphery of the offshore platform; the UWB distance measuring modules are installed on the periphery of a ship and pile legs of an offshore platform. The ship navigation state monitoring module is used for acquiring ship position, navigational speed and course information in real time; the platform marine environment monitoring module collects wind wave data and weather data near the offshore platform and route information of passing ships through network communication. The invention discloses an offshore platform anti-collision device with real-time monitoring and collision risk assessment functions, the anti-collision safety of an offshore platform is improved, and the occurrence rate of collision accidents is reduced.

The invention discloses a marine transportation supply chain risk identification and early warning method based on a dynamic knowledge graph, and the method comprises the steps: carrying out the entity identification of multi-source data according to a global ontology model, so as to obtain the structural data of a marine transportation supply chain; obtaining a dynamic knowledge graph according to the sea transportation supply chain structured data; performing risk conduction path analysis on the marine transportation supply chain based on the dynamic knowledge graph to obtain a risk event cascade effect value of the marine transportation supply chain; on the basis of the constructed risk probability prediction model, predicting and outputting a path comprehensive identification risk value of the ship route according to the dynamic knowledge graph in combination with the risk event cascade effect value; and according to the path comprehensive identification risk value, dividing an early warning level, and according to the early warning level, realizing early warning and decision-making of the marine transportation supply chain. According to the method, the problems of global view missing, insufficient risk relevance insight, prediction lag and the like caused by data islands in an existing method are solved, and the problems of poor real-time performance and accuracy of risk management of the marine transportation supply chain are solved.

The invention discloses a ship route planning method and system in a polar region sea ice environment and a program product. The ship route planning method comprises the steps of preprocessing satellite remote sensing radiation intensity data, performing image reconstruction of inter-ice water channel detection through an improved Vision Transform model, planning and visualizing a ship route and the like. The deep features of the image blocks are extracted through a Transformer encoder which comprises a multi-head self-attention mechanism and is processed by a multi-layer perceptron; and the Transform encoder firstly performs layer normalization on the input, and then performs multi-head attention mechanism and multiple linear transformation and regularization processing. And realizing path planning in an inter-ice water channel environment by fusing a dynamic planning cost function through a fast marching method. Compared with a traditional algorithm, the method has the advantages that the calculation precision is higher in the same scene, the calculation efficiency is greatly improved, and the planning result obtained after multiple costs are comprehensively considered is given instead of pursuing the shortest distance.

The invention discloses a ship refined perception full-voyage track fitting and optimization method, which comprises the steps of drawing historical data acquired by an AIS (Automatic Identification System) to obtain a full-voyage-segment ship route track diagram, and dividing the full-voyage-segment ship route track diagram into a training set and a test set, the training set being used for generating an input image and a training label; based on the input image and the training label, loading historical weight parameters at the same time, and training to obtain a deep learning track separation model; testing set data is processed and then input into a deep learning track separation model, the model outputs an image, track data is cut and divided into a straight line stage and a curve stage, and track fitting is carried out in a segmented mode; combining the segmented tracks to obtain an overall track of the ship route; comparing the difference between the fitted curve and the actual curve, calculating a precision index, and if the precision is improved, iteratively updating a weight parameter of the deep learning trajectory separation model; otherwise, repeatedly training the iteration model until the precision index meets the requirement. According to the invention, the track features can be effectively identified, and the track fitting precision is effectively improved.

The invention discloses a ship route multi-target optimization model oriented to a composite sea condition scene, and relates to the technical field of ship route management, comprising the following steps of: acquiring ship navigation state data and marine environment data in real time by using marine monitoring equipment, a sensor network and ship equipment; establishing motion models of the ship under different sea conditions in combination with historical data; according to the method, the dynamic attitude model of the floating obstacle is constructed, dynamic changes such as rolling and pitching of the floating obstacle under the action of stormy waves are captured in real time, and a time-varying risk field is constructed in combination with a trajectory uncertainty ellipse. Compared with a traditional static obstacle processing mode, the model can accurately quantify real-time changes of the dynamic windward area, the resistance coefficient and the influence range of the obstacle, route planning errors caused by neglecting the dynamic characteristics of the obstacle are avoided, the movement state of the obstacle is updated in real time through the dynamic attitude vector, and the obstacle processing accuracy is improved. The ship can avoid the risk area expanded due to the posture change of the obstacle in advance, and the collision probability is remarkably reduced.

The invention belongs to the technical field of ship scheduling optimization, and particularly relates to a container branch transport ship scheduling optimization method and system. The method comprises the steps of obtaining the number of ports and the number of ships for container transportation, setting algorithm parameters, initializing a population by utilizing Logistic chaotic mapping, decoding each individual, recording a historical optimal solution and a global optimal solution, entering a main loop to iteratively update individual positions, and starting an eagle positioning fishing mechanism and adaptive variation. A dynamic reverse learning mechanism calculates new fitness and an individual optimal position, and when the number of continuous stagnation times of the individual exceeds a threshold value, an escape mechanism is started, a golden section method is adopted to adjust departure time, 2-opt local search is performed on each ship route, a new position fitness value is evaluated, and an individual optimal solution is updated; if the maximum number of iterations is reached or a convergence threshold is met, outputting a global optimal solution; otherwise, returning to the main loop to continue iteration. The method can improve the performance of the algorithm in solving the scheduling optimization problem of the container branch transport ship.

The invention relates to a ship route automatic recommendation and matching method and system based on big data, and the method comprises the steps: receiving a starting point position and an end point position selected by a user, and automatically matching a corresponding nearest port as an actual starting point port and an actual end point port; generating a plurality of candidate routes in combination with historical navigation data, real-time meteorological data and ship performance parameters in the route database; carrying out adaptive analysis on the candidate routes based on the ship type and the cargo capacity, and excluding candidate routes which do not conform to ship navigation conditions; performing multi-dimensional evaluation on the candidate airlines through a preset optimization algorithm, generating an airline recommendation list, and sending the airline recommendation list to a user interface; and continuously monitoring the real-time state data of the route selected by the user, and triggering an automatic re-planning process if detecting that the channel is abnormal or the weather is suddenly changed. According to the method, big data analysis, intelligent matching and dynamic optimization are integrated, and automatic, multi-dimensional and high-reliability route recommendation and collaborative management are realized.

The invention relates to the technical field of ship route planning, in particular to a ship navigation real-time optimal route planning method based on an improved genetic algorithm, and the method comprises the steps: obtaining an input data set containing ship static parameters, multi-period environment prediction data and navigation constraints; an improved path search algorithm based on a comprehensive cost function is adopted to process input data, an initial navigation path is generated, and the cost function synchronously considers leg length, navigation risk and violation penalty. And carrying out speed scheme optimization on the initial path by adopting an improved genetic algorithm containing specific chromosome coding and a multi-target fitness function to generate an optimal speed distribution scheme. And fusing the initial path and the speed scheme, and outputting a route planning result containing a route point sequence and the recommended navigational speed of each route segment. According to the invention, integrated collaborative optimization of the path and the speed is realized.

The invention relates to the field of intelligent shipping, in particular to a ship route tidal window passage calculation method and system, and the method comprises the steps: obtaining the navigation parameters of a ship and the hydrological geographic information of a target route; calculating the minimum safe water depth required by the ship in the sailing process based on the sailing parameters; predicting the tidal height change of at least one tidal point on the target route in a period of time in the future based on the hydrological geographic information; the actual water depth change of the tidal point in a period of time in the future is dynamically determined in combination with the tidal height change and hydrological geographic information; performing comparative analysis on the actual water depth change and the minimum safe water depth, and generating one or more passable time windows of the tidal point according to an analysis result; and outputting a passable time window for ship navigation decision. According to the method, multiple factors such as ship sinkage, waves, ship swing and safety reserve are comprehensively considered, the dynamically calculated minimum safety water depth is more scientific and comprehensive, and risks possibly brought by fixed safety margin are avoided.

The invention provides a ship route planning model training method and a related device. An electronic device obtains a current observation state of a ship intelligent body; wherein the observation state comprises an obstacle observed by the ship intelligent body; according to the observation state, the collision risk between the ship intelligent body and the obstacle is determined; the observation state and the collision risk are processed through the ship intelligent body, and a navigation strategy for the observation state and the collision risk is obtained; generating a strategy reward of the navigation strategy according to the navigation strategy; and updating the ship agent according to the strategy reward. Thus, the observation state containing the dynamic obstacle is obtained, and the collision risk between the ship intelligent body and the obstacle is evaluated based on the observation state, so that the model has the capability of identifying time-varying risk factors such as front floating ice and sea fog, thereby dynamically responding to the multi-source time-varying risk in the north pole complex environment, and improving the real-time performance and safety of route planning.

The invention relates to an auxiliary decision-making method for ship fuel selection, which breaks through a traditional route division mode singly based on geographic distance or time, integrates docking ports, predicted navigation time, geographic position information, regulation region boundaries and fuel information conditions in a ship route plan, breaks through the traditional route division mode, and improves the ship fuel selection efficiency. Finely dividing the set route into a plurality of small route segments; according to the division mode, the actual conditions of all the legs can be accurately matched, and a more accurate basis is provided for follow-up fuel selection. When fuel is selected in each leg, factors in multiple aspects such as fuel cost, regulatory requirements and operation states (such as cargo capacity) of the ship are comprehensively balanced. And different fuels are flexibly switched and used, so that the optimal balance between the economical efficiency and compliance of ship operation is realized. The relevance between different legs and dynamic changes of laws and regulations and cost are fully considered, the purpose of lowest total fuel cost is achieved from the global perspective, and meanwhile it is ensured that the ship strictly meets the requirements of the laws and regulations all the time.

This invention provides a computer implementation method for generating routes in waterways for the automatic control of marine vessels. [Solution] A computer implementation method for generating a route P in a channel 40 for the automatic control of an ocean vessel 10, comprising: acquiring position data of the ocean vessel; determining, based on the position data, that the ocean vessel is approaching or in the channel; identifying the starboard portion of the channel relative to the position of the ocean vessel from geographic map data; determining a collision-free route in the starboard portion 52 of the channel while moving through the channel; and providing an output of the determined collision-free route for the automatic control of the ocean vessel along the determined collision-free route.

The invention relates to the field of meteorological data fusion, in particular to a man-machine collaborative ocean vessel route planning method and system combined with meteorological data, and the method comprises the steps: obtaining historical vessel navigation trajectory data and electronic chart data in response to a route planning request, and generating a global navigation grid covering a navigation area based on the data; generating an initial route from a starting point to a terminal point based on the global navigation grid in combination with preset ship parameters; acquiring weather forecast data, and coupling the weather forecast data with the initial route to deduce a future ship position of a ship on the initial route; based on the deduced initial route, receiving an editing operation of a user on the deduced initial route in real time, and forming an optimized route based on an operation result; according to the weather forecast data, calculating a comprehensive navigation performance index of an optimized route; and outputting the optimized route and the corresponding comprehensive navigation performance index based on the calculation result.

The invention provides a ship route determination method and device and a readable storage medium. The ship route determination method comprises the steps of obtaining an identifier mapping library of a target ship; acquiring a first track data set according to the identifier mapping library; performing discretization processing on navigation parameters in the first trajectory data set to obtain a second trajectory data set with a discretization state label, the navigation parameters at least including the course, the navigational speed and the immersion depth; range data of a target port are acquired; acquiring grid data covering the target port according to the range data; according to the second track data set and the grid data, obtaining grid course data and steering area marks in each grid unit in the grid data; and according to the grid course data, the steering area mark and the second track data set, obtaining a target course. Through clustering and path search algorithms, a dynamic route which accords with historical optimal practice and adapts to a specific ship state is synthesized.

This invention provides a method for route planning for marine vessels that partially mitigates the effects of environmental disturbances such as wind and ocean currents on the movement of vessels. [Solution] A computer implementation method is provided that acquires wind data indicating the strength and direction of the wind for an ocean vessel (S102), acquires ocean current data indicating the strength and direction of the ocean current for an ocean vessel (S104), detects the position of an obstacle in front of the ocean vessel (S106), determines constraints that are adjusted based on the wind data and ocean current data in relation to the distance the ocean vessel has traveled from the obstacle to the obstacle (S108), generates a route for the ocean vessel to counter the wind and ocean current calculated based on the wind data and ocean current data while complying with the constraints (S110), and provides output data of the generated route (S112).

This invention discloses a ship path planning method and system based on BeiDou grid codes, belonging to the field of path planning technology. The method includes acquiring planning data of the area to be planned for the ship, classifying the ship into priority levels, combining prior paths, priority levels, and planning indicators, generating a BeiDou grid code-based grid map through a real-world BeiDou grid code management module for global path planning, conducting collision risk analysis based on real-time sensing data from navigation and positioning systems, AIS, gyrocompass, logs, waves, and weather forecasts, evaluating the path planning effect based on the post-planning task completion efficiency, and adaptively adjusting the grid code level based on different indicators such as planning effect or energy efficiency. This method analyzes and mines real-time sensing data such as port information, ship route information, historical path planning data, and meteorological information to recommend routes, improve the safety, economy, and reliability of routes, and enhance the ship's intelligence level and operational efficiency.

This invention relates to the field of ship navigation and ocean search technology, specifically disclosing a method and system for ship route planning and control when towing underwater equipment. The method includes: generating a detection path based on ship performance parameters, towing condition parameters, and operational environment conditions. The detection path includes parallel straight segments and curved turning segments, with adjacent parallel straight segments connected by the curved turning segments. The turning radius of the curved turning segments is determined through multi-constraint coupling analysis, which comprehensively considers constraints on the towed object's bottoming resistance, ship turning radius constraints, speed matching constraints, and route geometry constraints. Based on the detection path, a line-of-sight guidance law is used to control the ship's navigation, achieving path tracking. This invention effectively avoids accidents such as towed objects hitting the bottom and propeller entanglement, improves detection area coverage and operational efficiency, and is applicable to ocean detection operations involving various types of ships towing sonar and similar towed equipment.

The invention belongs to the field of route planning, and discloses a ship route extraction method and system based on AIS data, and the method comprises the steps: 1, converting AIS trajectory data into a structured trajectory set; step 2, acquiring a trajectory subset and constructing a route map based on the structured trajectory set and water depth information in the chart database; step 3, acquiring a fracture segment set based on the trajectory subset and the route map; 4, track splicing is conducted on the fracture sections in the fracture section set, and a track repairing set is obtained; step 5, obtaining a structured map based on the track repair set; and step 6, obtaining an optimal path based on the structured map. According to the method, the whole process from AIS track processing to path application is covered with a complete reproducible six-stage process, the problems that in an existing method, physics cannot be achieved, the structure is discontinuous, and scheduling is unavailable are solved, and the method has remarkable engineering application value and patent creativity.

The invention provides a ship route planning method based on fusion of an electronic chart and dynamic meteorological information. The method comprises the following steps: determining a planned sea area range according to a ship route planning starting point and a ship route planning ending point, preprocessing navigation objects in the planned sea area based on electronic chart data, and constructing a static high-precision navigation environment model without geometric redundancy; converting the preprocessed electronic chart data into a unified plane projection coordinate system, and generating a static grid map for route planning; acquiring meteorological information data of a corresponding moment based on a planning time starting point, performing interpolation processing on meteorological information, fusing the meteorological information with the static grid map, and constructing a dynamic meteorological grid map changing along with time; and on the basis of the static grid map and the dynamic meteorological grid map, constructing a multi-level grid environment model, and performing route planning based on an improved path search algorithm to obtain an optimal route meeting ship navigation safety constraints.

The invention discloses a ship route speed optimization method and system, a ship navigation device and a medium, and belongs to the technical field of ship intelligent sailing, and the method comprises the steps: obtaining multi-source data related to the sailing environment of a ship, and constructing an environment model at each sampling moment in the sailing process; initializing node attributes of a starting point and a terminal point of ship navigation based on preset navigation parameters; determining a current node of the ship at the current moment and a corresponding node attribute based on the environment model at the current moment and the node attribute of the starting point; constructing a target function based on the starting point, the ending point and the node attributes of the current node; and on the basis of the environment model at each sampling moment in the navigation process, carrying out route and navigational speed collaborative optimization on the target function, and determining an optimal route and an optimal navigational speed at each node on the optimal route. The algorithm searching efficiency can be greatly improved, and the planning result can better meet the actual operation requirement of the ship under the condition that meteorological data and navigational speed dynamic adjustment are considered in the whole process.

This invention discloses a method for planning vessel routes in dredged sections of inland waterways based on an improved particle swarm optimization (PSO) algorithm, belonging to the field of smart shipping. The method includes: acquiring a raster digital elevation model (DEM); constructing a channel map for the target vessel based on the DEM; setting initialization parameters for route planning based on the channel map; and planning the vessel route in the dredged section of inland waterways using the improved PSO algorithm based on these initialization parameters. The fitness function of the improved PSO algorithm is a weighted sum of constraints on navigation distance, grounding risk, water depth, and route smoothing. Furthermore, a standard normal distribution function and an activation function are introduced into the velocity and position update formulas of the particles in the improved PSO algorithm. This invention solves the problem of insufficient adaptability and safety of routes planned by existing methods in actual navigation.

The application discloses a ship speed prediction and optimization method and device and a readable storage medium, and relates to the field of ship speed prediction and optimization.The method comprises the following steps: establishing a ship speed prediction model by taking a main engine power, a ship heading, a flow speed, a relative flow direction, a wind speed, a relative wind direction, an effective wave height, a relative wave direction, and a combination period of wind waves and swell waves as input and taking a ship speed as output; obtaining ship route planning information and marine weather forecast information; dividing a ship planned route into a plurality of planned segments; obtaining relevant information of each planned segment in combination with the marine weather forecast information, and then predicting real ship speeds of each planned segment under corresponding weather sea conditions and different main engine powers in combination with the ship speed prediction model; and establishing a cost function according to the main engine power and the corresponding real ship speed, and constructing a ship speed optimization model in combination with constraint conditions, so that optimized speeds of each planned segment are obtained. The application can predict and optimize ship speeds.

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.

The application discloses a kind of low clearance restricted water area dredging ship route intelligent planning method and system, it is related to ship route planning technical field, by determining under-depth dredging unit set first, then generating candidate route segment set and construction action event set, and determine mud collection time window using cutting time window, then according to mud collection time window and mud suction time window from reamer covering dredging unit set Effective dredging unit is screened, avoid in the scene of dredging in urban navigable river, only be swept by equal-width reamer geometry, but not timely into the middle suction or not into the effective mud suction range of sealed suction cavity Under-depth area is mistaken for having completed dredging, so as to reduce the problem of local under-excavation, repeated dredging and additional scanning route increase after retest, and make forward dredging and backward dredging process more in line with the actual mud suction conditions of front water gate, rear water gate and sealed suction cavity.

The invention relates to a control method and device for accompanying piloting boat navigation, electronic equipment and a medium, and belongs to the technical field of ship path planning, and the method comprises the steps: obtaining ship cross-domain multi-modal fusion data of a target navigation water area; obtaining a feature association probability distribution database based on ship cross-domain multi-modal fusion data; extracting route data in the feature association probability distribution database to obtain a route database of a ship drawn by a destination; determining a ship intention inference model based on the feature association probability distribution database, the destination traction ship route database, the destination of the target ship and the time-space behavior data of the target ship; determining an optimal path of the target ship in the target navigation water area based on a ship intention inference model; and controlling the navigational speed, the navigational direction and the rudder angle of the target piloting boat according to the optimal path based on a PID controller. According to the invention, the sailing efficiency of the accompanying piloting boat is improved.

The invention provides a ship-end multi-mode routing selection method based on communication service priorities, and belongs to the technical field of maritime communication. The method mainly comprises the following steps: acquiring external transmission service flow of a ship end, constructing an access decision model by taking the transmission rate of the maximum service flow in communication time as a target based on a maritime wireless channel model, and determining a communication mode at each moment based on the access decision model; and according to the communication mode at each moment and the QoS requirement of the external transmission service flow, based on the ship network model, constructing a routing decision model by taking a maximized utility function in the communication time as a target, and determining a transmission path based on the routing decision model. According to the method, the instantaneous performance and the service bearing capacity of each wireless interface are evaluated in real time in an access layer by using a double-stage intelligent routing model, and path scheduling is performed in combination with the service priority and the network resource condition in an in-ship routing layer, so that the most suitable transmission scheme is dynamically matched for different services; and the stability and resource utilization rate of the ship network are obviously improved.

The application provides a ship route determination method, device and readable storage medium. The ship route determination method comprises the following steps: obtaining an identification mapping library of a target ship; obtaining a first trajectory data set according to the identification mapping library; performing discrete processing on a navigation parameter in the first trajectory data set to obtain a second trajectory data set with a discrete state label, wherein the navigation parameter at least comprises a heading, a speed and a draft depth; obtaining range data of a target port; obtaining grid data covering the target port according to the range data; obtaining grid heading data and a turning area mark in each grid unit in the grid data according to the second trajectory data set and the grid data; and obtaining a target route according to the grid heading data, the turning area mark and the second trajectory data set. Through a clustering and path search algorithm, a dynamic route conforming to historical optimal practice and suitable for a specific ship state is synthesized.

The application relates to the technical field of ship navigation and marine search, and particularly discloses a ship route planning and control method and system for towing underwater operation equipment, which comprises the following steps: generating a detection path according to ship performance parameters, towing working condition parameters and operation environment conditions, wherein the detection path comprises parallel straight line segments and arc turning segments, and adjacent parallel straight line segments are connected through arc turning segments; wherein the turning arc radius of the arc turning segment is determined through multi-constraint coupling analysis, and the multi-constraint coupling analysis comprehensively considers the anti-bottom contact constraint of the towed object, the ship turning radius constraint, the speed matching constraint and the route geometric constraint; and the ship is controlled to sail based on the detection path by using a line-of-sight guidance law, so that path tracking is realized. The application effectively avoids accidents such as the bottom contact of the towed object and the winding of the propeller, improves the detection area coverage rate and the operation efficiency, and is suitable for marine detection operations of various ship-towed sonars and similar towed equipment.

The invention discloses an inland river grooving section ship route planning method based on an improved particle swarm optimization algorithm, and belongs to the field of intelligent shipping, and the method comprises the steps: obtaining a grid digital elevation model; constructing a channel map of the target ship according to the grid digital elevation model; setting route planning initialization parameters according to the channel map of the target ship; according to the route planning initialization parameters, utilizing an improved particle swarm algorithm to plan an inland river grooving section ship route; the fitness function of the improved particle swarm algorithm is the weighted sum of a navigation distance constraint, a stranding risk constraint, a water depth constraint and a route smoothness constraint; and a standard normal distribution function and an activation function are introduced into a speed and position updating formula of particles in the improved particle swarm algorithm. According to the invention, the problem that the path planned by the existing method is insufficient in adaptability and safety in actual navigation is solved.

The application provides a heading and speed cooperative planning method under fixed time based on an A-star algorithm, relates to the ship route design technical field, and comprises the following steps: extracting environmental data in a specified region under corresponding time, and performing grid processing on the sea area in the range; processing original AIS data, and performing feature extraction on a voyage section; constructing and training a prediction model of oil consumption rate and propeller rotating speed by using characteristic values of the voyage section; improving a conventional A-star algorithm process, adding a speed planning function, and outputting a time-limited minimum oil consumption route. The application can guarantee that a ship is effectively kept away from a strong wind and wave area while reducing oil consumption, and navigation decision is more flexible, and the application can adapt to complex and changeable ocean navigation tasks.