53 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 optimization and safety management method based on real-time environment information, and relates to the technical field of route planning. The ship route optimization method provided by the invention can predict the service life of key parts of an unmanned ship, find potential faults in advance, suggest maintenance measures through an early warning mechanism, and improve the safety of the unmanned ship. Through deep reinforcement learning and a distributed intelligent decision-making system, each unmanned ship can make an intelligent decision based on shared environment information and the state of the unmanned ship, cooperative avoidance of obstacles among fleets is realized, and meanwhile, the route of the unmanned ship is dynamically adjusted by using real-time weather forecast and environment change information, so that the unmanned ship is more intelligent. The method is advantaged in that the method is advantaged in that the method can better adapt to emergencies and environment changes, adaptability and flexibility of ship navigation, real-time environment perception and data sharing are improved, dynamic factors are considered in a planning stage through a distributed intelligent decision-making system, fleet collaborative decision-making is realized, and the method adapts to real-time changes of the marine environment.

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 relates to the field of ship route optimization, discloses a route optimization method and system based on a particle swarm optimization algorithm and geographic information, and is used for providing comprehensive decision support covering route planning, energy scheduling, risk control and carbon emission management for shipping enterprises. Comprising the steps that a commercial decision basic data set integrating geographic information, ship multi-energy system configuration and marine environment forecast data is constructed, and a commercial fractional order parameter set is generated; environment uncertainty is modeled by using a stochastic differential equation, a multi-energy system operation cost function is integrated, and a commercial cost prediction model capable of outputting operation cost probability distribution is formed; and carrying out risk-aware business strategy optimization based on a particle swarm optimization algorithm, and finally generating an executable business decision proposal containing a detailed route trajectory, a speed plan and a multi-energy equipment scheduling strategy. According to the invention, collaborative optimization of route planning and energy management is realized, and economy, safety and environmental protection of ship operation are significantly 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 relates to the technical field of energy system scheduling, in particular to a multi-port integrated energy system collaborative optimization scheduling method, system and device. According to the method, a ship transportation model is constructed, and ship route uniqueness, transportation duration, scheduling period position closed loop, port ship in-out balance and berth number limitation are restrained; establishing a mobile hydrogen storage model, and determining ship hydrogen charging and discharging mutual exclusion, a power effective range, hydrogen loading amount balance and safety, and correlation between berth priority and hydrogen loading amount; a multi-port comprehensive energy system collaborative optimization scheduling model is constructed by taking the lowest total cost of the multi-port comprehensive energy system including a ship berth priority comprehensive penalty term as a target, and the ship hydrogen loading amount and berth scheduling are bound. The operation flexibility and efficiency of the port comprehensive energy system are effectively improved.

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 present disclosure relates to modifying a ship route, comprising: at a user interface, presenting a map (2) comprising a proposed future route (1a) for a ship (3); via the user interface, receiving input from a user, the input including at least one request for modifying a route property of the presented route and / or at least one request for modifying a predefined constraint on a ship property among a plurality of predefined constraints on ship properties; at a processing device, recalculating the proposed route based on the received request(s) and on the predefined constraints on ship properties; and, at the user interface, presenting the recalculated route (1b) on the map.

The present invention relates to the technical field of route planning, and discloses a method, system, device, and medium for dividing a navigation area adaptive to sea conditions. The present invention first obtains a great circle route with the shortest navigation distance of a target ship in a target navigation area based on navigation data of a target ship, then obtains accurate and true spatiotemporal sea condition data based on the navigation data on the great circle route using a spatiotemporal interpolation method, and then iteratively clusters the spatiotemporal sea condition data using a clustering algorithm with improved weight coefficients for sea condition characteristics to obtain refined cluster clusters. This method can achieve accurate and refined navigation area division, provide reliable data support for ocean-going vessel route optimization and unmanned vessel path planning, and further improve the quality of ocean-going vessel route optimization and unmanned vessel path planning.

The present disclosure relates to modifying a ship route, comprising: at a user interface, presenting a map (2) comprising a proposed future route (1a) for a ship (3); via the user interface, receiving input from a user, the input including at least one request for modifying a route property of the presented route and / or at least one request for modifying a predefined constraint on a ship property among a plurality of predefined constraints on ship properties; at a processing device, recalculating the proposed route based on the received request(s) and on the predefined constraints on ship properties; and, at the user interface, presenting the recalculated route (1b) on the map.

To create a vessel allocation plan that reduces transportation costs while suppressing the number of port calls.SOLUTION: A server apparatus (2) for deriving a vessel allocation plan for transporting raw materials from a plurality of loading ports to unloading ports by a plurality of vessels includes: an acquisition unit (21) configured to acquire information regarding a plurality of loading port groups, each of which is formed by grouping a plurality of loading ports; a setting unit (22) configured to set, as an index corresponding to each loading port group, an index including parameters relating to the vessel allocation plan as variables, the index indicating the total number of port calls made by vessels to the loading ports belonging to the loading port group. When one vessel calls at a plurality of loading ports belonging to the same loading port group, the number of port calls of the vessel is counted as a smaller number than the number of the plurality of ports; and a calculation unit (23) configured to derive each parameter relating to the vessel allocation plan so that the value of an objective function, which is defined as the sum of terms corresponding to the indices for the loading port groups, is minimized.SELECTED DRAWING: Figure 3

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.

The optimal route derivation server, which derives an optimal route for a ship, includes: a storage unit, which matches and stores ocean data including wind, wave height, and ocean current for each time and position included in operation data for each operation obtained from an automatic identification device installed on the ship; a corrected ship speed derivation unit, which derives a first corrected ship speed by eliminating the influence of ocean current from the speed of the ship for each operation, and derives a second corrected ship speed that takes into account the influence of wind at each position for the first corrected ship speed, and a third corrected ship speed that takes into account the influence of waves at each position for the first corrected ship speed; a speed reduction curve derivation unit, which derives a first speed reduction curve due to wind and a second speed reduction curve due to waves based on the basic speed of the ship, the second corrected ship speed, and the third corrected ship speed; and a route determination unit, which derives an optimal route for the ship by using a ship speed reduction algorithm to which the first speed reduction curve or the second speed reduction curve is applied.

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 polar region ship route real-time correction method based on dynamic risk monitoring, and the method comprises the steps: based on a risk difference degree comparison mechanism, according to the difference degree between a planned navigation risk map and an actual navigation risk map, quantifying the sudden change risk of the ice condition of sea ice, and when the difference degree exceeds a preset threshold value, triggering the re-planning of a sub-path, the sudden high-risk area of the navigation sea ice area is avoided in real time; on the basis of an improved NSGA-II algorithm, the risk, the time and the distance serve as multi-target optimization variables, optimization is carried out from the current position of a planned sub-path section to the final position of an initial planned route, a risk-sensitive optimized sub-path section is obtained, route deviation caused by accumulation of prediction errors is dynamically corrected, and the stability of a long-voyage global route is guaranteed. The problems of prediction error accumulation, route deviation, insufficient environment modeling and adaptability and lack of consideration of multi-objective optimization defects caused by the fact that the existing method cannot adapt to the rapid evolution characteristic of sea ice during ship route planning are solved.

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.

A server device (2) for deriving a ship allocation plan for transporting a raw material from a loading point to an unloading point by a ship comprises: an acquisition unit (21) that acquires condition information set by a user; a first setting unit (28) that sets, by using the condition information, a first index including a first parameter related to the ship allocation plan as a variable and indicating costs required for transportation; a second setting unit (29) that sets, by using the condition information, a second index including a second parameter related to the ship allocation plan as a variable and indicating a difference between a raw material scheduled to be transported to the unloading point and a raw material required at the unloading point; and a calculation unit (23) that derives said parameters related to the ship allocation plan so that the value of an objective function including the sum of a term pertaining to the first index and a term pertaining to the second index becomes smaller.