CN-122015849-A - Ship route speed optimization method, system, ship navigation device and medium

CN122015849ACN 122015849 ACN122015849 ACN 122015849ACN-122015849-A

Abstract

The application discloses a ship route speed optimization method, a system, a ship navigation device and a medium, which belong to the technical field of intelligent navigation of ships and comprise the steps of obtaining multi-source data related to navigation environments of the ships, constructing environment models at all sampling moments in a navigation process, initializing node attributes of a starting point and a finishing point of navigation of the ships based on preset navigation parameters, determining a current node and corresponding node attributes of the ships at the current moment based on the environment models at the current moment and the node attributes of the starting point, the finishing point and the node attributes of the current node, constructing an objective function, carrying out route and speed collaborative optimization on the objective function based on the environment models at all sampling moments in the navigation process, and determining an optimal route and an optimal speed at all nodes on the optimal route. The algorithm searching efficiency can be greatly improved, and the planning result can be more fit with the actual operation requirement of the ship under the condition of taking weather data and navigational speed dynamic adjustment into consideration in the whole process.

Inventors

HU SHAOLIANG
MA BINGYAO
XU JIARUN
ZHOU GANGJIE
HU BIN
YANG FENG

Assignees

中国船舶集团有限公司第七一一研究所

Dates

Publication Date: 20260512
Application Date: 20260126

Claims (12)

1. A method for optimizing the line speed of a ship, comprising: Acquiring multi-source data related to the navigation environment of the ship, and constructing an environment model at each sampling time in the navigation process; Initializing node attributes of a starting point and an ending point of ship navigation based on preset navigation parameters, wherein the node attributes at least comprise position, navigation speed and time; Determining a current node and a corresponding node attribute of the ship at the current moment based on the environmental model at the current moment and the node attribute of the starting point; constructing an objective function based on the starting point, the ending point and the node attribute of the current node; And carrying out route and speed collaborative optimization on the objective function based on an environmental model at each sampling time in the navigation process, and determining an optimal route and an optimal speed at each node on the optimal route.
2. The method for optimizing the line speed of a ship according to claim 1, wherein the acquiring multi-source data related to the navigation environment of the ship, and constructing an environment model at each sampling time in the navigation process, comprises: Determining a sailing sea area based on the starting point and the ending point of the sailing of the ship; acquiring multi-source data related to the environment of the sailing sea area in real time, wherein the multi-source data at least comprises wind speed data and draft data; Preprocessing the multi-source data to obtain preprocessed multi-source data; and based on a preset wind speed threshold value and a preset draft threshold value, carrying out rasterization on the preprocessed multi-source data, and constructing an environment model at each sampling time in the sailing process.
3. The method for optimizing the line speed of a ship according to claim 1, wherein the preprocessing the multi-source data to obtain preprocessed multi-source data comprises: and resampling, longitude copying and binarizing the multi-source data to obtain the preprocessed multi-source data.
4. A method of optimizing the line speed of a ship according to claim 2 or 3, wherein determining the current node and the corresponding node attribute of the ship at the current time based on the environmental model at the current time and the node attribute of the starting point comprises: Determining a plurality of adjacent nodes of the starting point based on grids in the environmental model at the current moment; and screening the adjacent nodes based on the environmental model at the current moment, and determining the current node and the corresponding node attribute of the ship at the current moment.
5. The method of optimizing a line speed of a ship according to claim 1, wherein the constructing an objective function based on node attributes of the start point, the end point, and the current node comprises: Calculating a first accumulated fuel consumption and a first accumulated range from the starting point to a current node and a second accumulated fuel consumption and a second accumulated range from the current node to the end point based on the starting point, the end point and the node attribute of the current node; Constructing a cost function based on the first accumulated oil consumption and the first accumulated range; constructing a heuristic function based on the second accumulated oil consumption and the second accumulated range; And constructing an objective function based on the cost function and the heuristic function.
6. The method for optimizing the line speed of a ship according to claim 1, wherein the performing the collaborative optimization of the line and the speed of the target function based on the environmental model at each sampling time in the navigation process to determine the optimal line and the optimal speed at each node on the optimal line comprises: based on an environmental model at each sampling time in the navigation process, carrying out route and speed collaborative optimization on the objective function, and updating the position and the moving direction of the current node; And repeatedly executing the collaborative optimizing step, and iteratively updating the position and the moving direction of the current node by dynamically adjusting the searching area and the pruning searching direction until the preset termination condition is met, thereby determining the optimal route and the optimal speed at each node on the optimal route.
7. The ship course speed optimization method according to claim 6, wherein the dynamically adjusting search area means narrowing a search range gradually as the navigation progresses, the search range being defined by a grid area determined based on a positional relationship between the current node and the end point.
8. The ship course speed optimization method according to claim 6, wherein the step of pruning the search direction comprises: Determining a plurality of movable directions based on an environment model at the current time and the current node; Calculating the angle difference between the angle corresponding to each movable direction and the angle from the current node to the end point; and updating the moving direction of the current node based on the quantity that the absolute value of the angle difference is smaller than a preset angle.
9. The ship course speed optimization method according to claim 1, wherein the navigation parameters include a speed optimization range and a desired navigation time; The navigational speed optimization range is a range from a minimum navigational speed to a maximum navigational speed, the minimum navigational speed is determined based on a navigational path estimated value from the current node to the terminal point and an expected residual time, and the expected residual time is determined based on an expected navigational time and a navigational time.
10. A marine vessel line speed optimization system, comprising: The environment model construction module is used for acquiring multi-source data related to the navigation environment of the ship and constructing an environment model at each sampling time in the navigation process; The node initializing module is used for initializing node attributes of a starting point and an ending point of the ship navigation based on preset navigation parameters, wherein the node attributes at least comprise position, navigation speed and time; The current node determining module is used for determining a current node and a corresponding node attribute of the ship at the current moment based on the environment model at the current moment and the node attribute of the starting point; The objective function construction module is used for constructing an objective function based on the starting point, the ending point and the node attribute of the current node; And the optimization module is used for carrying out the collaborative optimization of the route and the speed of the target function based on the environmental model at each sampling time in the navigation process, and determining the optimal route and the optimal speed at each node on the optimal route.
11. A marine vessel navigation device comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, implements the method of any of claims 1-9.
12. A computer readable storage medium, characterized in that it has stored thereon a computer program, which is loaded by a processor to perform the steps in the method of any of claims 1-9.

Description

Ship route speed optimization method, system, ship navigation device and medium Technical Field The application relates to the technical field of intelligent navigation of ships, in particular to a ship route speed optimization method, a system, a ship navigation device and a medium. Background Currently, in the field of route planning, methods applied to ship route planning mainly include graphic search algorithms, such as a traditional A star search algorithm, dijkstra algorithm, jumping point search (Jump Point Search, JPS) algorithm, and the like, and intelligent cluster optimization algorithms, such as a particle cluster optimization algorithm, an ant colony algorithm, a genetic algorithm, and the like. Compared with the prior art, the graphic search algorithm has the advantages of clear theory and simple flow in the ship navigation path planning because the graphic search algorithm does not depend on complex parameter adjustment and can carry out deterministic search according to a preset target. The traditional A star searching algorithm combines the completeness of the Dikkera algorithm and the heuristic of the optimal preferential searching, and is considered as an effective method for carrying out path optimization in a static environment. However, in the case of excessively complex navigation environments and instantaneous changes in meteorological conditions, the global search strategy of the conventional a-star search algorithm will lead to a surge in computation, resulting in poor timeliness of route planning. Disclosure of Invention The utility model provides a ship route speed optimization method, a system, a ship navigation device and a medium, which aim to solve the problem of poor timeliness of related route planning. In a first aspect, a ship route speed optimization method is provided, which includes the following steps: Acquiring multi-source data related to the navigation environment of the ship, and constructing an environment model at each sampling time in the navigation process; Initializing node attributes of a starting point and an ending point of ship navigation based on preset navigation parameters, wherein the node attributes at least comprise position, navigation speed and time; Determining a current node and a corresponding node attribute of the ship at the current moment based on the environmental model at the current moment and the node attribute of the starting point; constructing an objective function based on the starting point, the ending point and the node attribute of the current node; And carrying out route and speed collaborative optimization on the objective function based on an environmental model at each sampling time in the navigation process, and determining an optimal route and an optimal speed at each node on the optimal route. In some embodiments, the acquiring multi-source data related to the navigation environment of the ship, and constructing an environment model at each sampling time in the navigation process, includes: Determining a sailing sea area based on the starting point and the ending point of the sailing of the ship; acquiring multi-source data related to the environment of the sailing sea area in real time, wherein the multi-source data at least comprises wind speed data and draft data; Preprocessing the multi-source data to obtain preprocessed multi-source data; and based on a preset wind speed threshold value and a preset draft threshold value, carrying out rasterization on the preprocessed multi-source data, and constructing an environment model at each sampling time in the sailing process. In some embodiments, the preprocessing the multi-source data to obtain preprocessed multi-source data includes: and resampling, longitude copying and binarizing the multi-source data to obtain the preprocessed multi-source data. In some embodiments, the determining, based on the environmental model at the current time and the node attribute of the starting point, the current node and the corresponding node attribute of the ship at the current time includes: Determining a plurality of adjacent nodes of the starting point based on grids in the environmental model at the current moment; and screening the adjacent nodes based on the environmental model at the current moment, and determining the current node and the corresponding node attribute of the ship at the current moment. In some embodiments, the constructing an objective function based on the starting point, the ending point, and node attributes of the current node includes: Calculating a first accumulated fuel consumption and a first accumulated range from the starting point to a current node and a second accumulated fuel consumption and a second accumulated range from the current node to the end point based on the starting point, the end point and the node attribute of the current node; Constructing a cost function based on the first accumulated oil consumption and the first accumulated range; const