CN-122022632-A - Port ship intelligent scheduling and path planning method and system based on hybrid navigation mode

CN122022632ACN 122022632 ACN122022632 ACN 122022632ACN-122022632-A

Abstract

The embodiment of the invention provides a port ship intelligent scheduling and path planning method and system based on a hybrid navigation mode, and relates to the technical field of ship scheduling technology. The method comprises the steps of obtaining ship basic data, port environment data and scheduling rule data in a current scheduling period, constructing an initial time plan and an initial time point according to the scheduling rule data, determining theoretical intersection time and theoretical intersection positions of a ship pair according to a dynamic navigational speed model of the ship pair in the initial time plan when a preset navigational mode is a bidirectional navigational mode, and generating a comprehensive scheduling instruction set based on the initial time point, the theoretical intersection time and the theoretical intersection positions. The invention solves the problem of low scheduling precision of the ship, thereby achieving the effect of improving the scheduling precision.

Inventors

LI HUA
ZHANG SIYUAN
WEN ZHICHENG

Assignees

杉数科技(北京)有限公司
上海杉数网络科技有限公司
北京杉数智能科技有限公司
广州杉数科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260203

Claims (11)

1. A port ship intelligent scheduling and path planning method based on a hybrid navigation mode is characterized by comprising the following steps: Acquiring ship basic data, port environment data and scheduling rule data in a current scheduling period; Constructing an initial time plan and an initial time point according to the scheduling rule data; When the preset navigation mode is a bidirectional navigation mode, determining a theoretical intersection time and a theoretical intersection position of the ship pair according to a dynamic navigation speed model of the ship pair in the initial time plan; And generating a comprehensive dispatching instruction set based on the initial time point, the theoretical intersection time and the theoretical intersection position.
2. The method of claim 1, wherein the initial point in time comprises a departure time, the method further comprising: aiming at a first departure ship in a departure ship queue, determining departure time of the first departure ship in the departure ship queue as preset manual designated time or logic bottom-keeping time, wherein the logic bottom-keeping time is used for indicating ending time of a previous dispatching period and expected operation completion time of the ship; acquiring the departure time of a leading departure ship in a departure ship queue; Determining the departure time of the subsequent outgoing ship according to whether the subsequent outgoing ship and the preceding outgoing ship are parked in the same harbor pool, wherein the departure time is obtained based on a preset departure safety interval; Wherein the departure safety interval is set to a first preset duration when the subsequent departure ship and the lead departure ship are berthed in the same harbor pool; When the subsequent departure boat and the lead departure boat are parked in different harbors, the departure safety interval is set to be a second preset time length, wherein the first preset time length is longer than the second preset time length.
3. The method of claim 1, wherein the initial point in time comprises a channel on-line time, and wherein when the preset navigation mode is a one-way navigation mode, the method further comprises: and determining the channel on-line time of each subsequent port entering ship in the port entering ship queue based on the channel on-line time of the first port entering ship and a preset follow-up time interval, wherein the channel on-line time of the first port entering ship in the port entering ship queue is determined based on the channel on-line time of the last port exiting ship in the port exiting ship queue and a preset safe time buffer zone.
4. The method of claim 1, wherein the initial point in time comprises a channel on-line time, and wherein when the preset navigation mode is a two-way navigation mode, the method further comprises: Judging whether the scheduling scene meets the preset high-density navigation scene condition or not; If so, the channel on-line time of the first harbor ship in the harbor ship queue is related to the off-berthing time of the harbor ship with the target serial number in the harbor ship queue, so that embedded convergence of the harbor ship flow and the harbor ship flow is realized.
5. The method of claim 1, wherein said determining a theoretical convergence time and a theoretical convergence location of the pair of vessels from a dynamic navigational speed model of the pair of vessels in the initial time plan comprises: Respectively generating a dynamic navigational speed model for an outgoing ship and an incoming ship in the ship centering; calculating the time difference of two vessels entering the channel based on the initial time points of the two vessels in the ship pair; determining an initial separation distance of two vessels on a navigation path coordinate axis when the on-line vessels are started based on a first dynamic navigational speed model of the on-line vessels and a time difference; Determining the length of an unknown time period based on a preset first function, and taking the length of the unknown time period as a theoretical intersection time length, wherein the first function comprises constraint conditions, and the constraint conditions comprise that the sum of the integral of the distances traveled by two ships in opposite directions is equal to the initial separation distance in a first unknown time period in the future from the starting moment of a ship on the line; and determining the theoretical intersection time and the theoretical intersection position based on the theoretical intersection time.
6. The method of claim 5, wherein the method further comprises: The validity check is carried out on the theoretical intersection time and the theoretical intersection position, wherein the validity check rule comprises that the theoretical intersection time is later than the channel on-line time of two ships in the ship pair, and the theoretical intersection position is positioned in a preset channel geographic range; If the validity check result meets the preset condition, marking the theoretical intersection time and the theoretical intersection position as real intersection prediction; And if the validity check result does not accord with the preset condition, generating virtual junction information according to the preset rule, wherein the virtual junction information is used for representing the space-time relative relation between the ship pairs staggered in time.
7. The port ship intelligent scheduling and path planning system based on the hybrid navigation mode is characterized by comprising the following steps: The data integration module is used for acquiring ship basic data, port environment data and scheduling rule data in the current scheduling period; the time sequence planning module is used for constructing an initial time plan and an initial time point according to the scheduling rule data; The space deduction module is used for determining the theoretical intersection time and the theoretical intersection position of the ship pair according to the dynamic navigational speed model of the ship pair in the initial time plan when the preset navigational mode is a bidirectional navigational mode; the instruction generation module is used for generating a comprehensive scheduling instruction set based on the initial time point, the theoretical intersection time and the theoretical intersection position.
8. The system of claim 7, wherein the initial point in time comprises a departure time, the system further comprising: aiming at a first departure ship in a departure ship queue, determining departure time of the first departure ship in the departure ship queue as preset manual designated time or logic bottom-keeping time, wherein the logic bottom-keeping time is used for indicating ending time of a previous dispatching period and expected operation completion time of the ship; acquiring the departure time of a leading departure ship in a departure ship queue; And determining the departure time of the subsequent departure ship according to whether the subsequent departure ship and the preceding departure ship are parked in the same harbor pool, wherein the departure time is obtained based on a preset departure safety interval.
9. Wherein the departure safety interval is set to a first preset duration when the subsequent departure ship and the lead departure ship are berthed in the same harbor pool; When the subsequent departure boat and the lead departure boat are parked in different harbors, the departure safety interval is set to be a second preset time length, wherein the first preset time length is longer than the second preset time length.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, wherein the computer program is arranged to execute the method of any of the claims 1 to 6 when run.
11. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of any of the claims 1 to 6.

Description

Port ship intelligent scheduling and path planning method and system based on hybrid navigation mode Technical Field The embodiment of the invention relates to the field of ship scheduling, in particular to a port ship intelligent scheduling and path planning method and system based on a hybrid navigation mode. Background The port is used as a core hub of the global logistics network, and the operation efficiency and the navigation safety are important. The channel in the harbor area is a limited public resource, and is a core link of harbor operation management for efficiently and safely scheduling and navigable organization of the ships in the harbor area. The traditional ship dispatching mode is highly dependent on the manual experience of a dispatcher, the arrival and departure plans of ships are manually scheduled and key time nodes are estimated, and along with the increase of global trade volume and the trend of ship enlargement, the port ship traffic flow is increasingly dense, and the traditional manual dispatching mode gradually exposes the defects of low efficiency, lack of global optimization capability, difficulty in coping with complex navigation conditions such as bidirectional navigation, high-density intersection and the like. Therefore, the realization of the intellectualization of the port ship scheduling by utilizing an advanced computer algorithm and a data analysis technology has become a key for improving the port core competitiveness. Some port scheduling systems or studies exist that attempt to automatically generate a scheduling plan using algorithms based on fixed time intervals or simple rules. For example, in the unidirectional navigation mode, the procedure of "all departure ships are separated from the port, and then the departure ships enter the port in turn" is strictly performed, and each ship is allocated a fixed preparation or following interval. These approaches improve the standardization of scheduling to some extent, but their inherent stiffness results in potential wastage of channel and berth resources. In addition, when a more complex bidirectional navigation mode is processed, the prior art can only generally give a rough arrival and departure time window, and can not accurately and dynamically deduce and predict specific intersection time and positions among a plurality of ships which move in opposite directions in a navigation channel, so that challenges are brought to the fine command and navigation safety early warning of port traffic, and the technical problem to be solved urgently is formed. Disclosure of Invention The embodiment of the invention provides a port ship intelligent scheduling and path planning method and system based on a hybrid navigation mode, which at least solve the problem of low ship scheduling precision in the related technology. According to one embodiment of the invention, a port ship intelligent scheduling and path planning method based on a hybrid navigation mode is provided, comprising the following steps: Acquiring ship basic data, port environment data and scheduling rule data in a current scheduling period; Constructing an initial time plan and an initial time point according to the scheduling rule data; When the preset navigation mode is a bidirectional navigation mode, determining a theoretical intersection time and a theoretical intersection position of the ship pair according to a dynamic navigation speed model of the ship pair in the initial time plan; And generating a comprehensive dispatching instruction set based on the initial time point, the theoretical intersection time and the theoretical intersection position. In an exemplary embodiment, the initial point in time comprises a departure time, the method further comprising: aiming at a first departure ship in a departure ship queue, determining departure time of the first departure ship in the departure ship queue as preset manual designated time or logic bottom-keeping time, wherein the logic bottom-keeping time is used for indicating ending time of a previous dispatching period and expected operation completion time of the ship; acquiring the departure time of a leading departure ship in a departure ship queue; Determining the departure time of the subsequent outgoing ship according to whether the subsequent outgoing ship and the preceding outgoing ship are parked in the same harbor pool, wherein the departure time is obtained based on a preset departure safety interval; Wherein the departure safety interval is set to a first preset duration when the subsequent departure ship and the lead departure ship are berthed in the same harbor pool; When the subsequent departure boat and the lead departure boat are parked in different harbors, the departure safety interval is set to be a second preset time length, wherein the first preset time length is longer than the second preset time length. In one exemplary embodiment, the initial point in time includes a channel on-line ti