CN112053008A - Cascade ship lock navigation scheduling operation method based on time sequence composite operation model - Google Patents
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Abstract
The invention discloses a step ship lock navigation scheduling operation method based on a time sequence composite operation model, which comprises the following steps: decomposing the ship queuing and passing process and the ship lock running process into sub-processes according to the time-space sequence; establishing a ship lock operation time sequence composite operation model, naming the ship lock operation subprocesses, compiling unique identification for the ship lock operation subprocesses, and calculating the time of the ship passing through the lock in each subprocess state; determining the pass-gate times and the optimal launching time of the ship by combining the calculation results of the step 2 according to the final opening time of the first-level gate of each gate time in the pass-gate plan; and (4) optimizing the gear plan of the ship lock according to the lockage times and the optimal launching time of each ship calculated in the step (3). The method decomposes the continuous multistage ship lock operation process, establishes a ship lock operation time sequence composite operation model, and realizes the automatic calculation of the time of each subprocess in the ship lock operation process.
Description
Technical Field
The invention belongs to the field of navigation control, and particularly relates to a step ship lock navigation scheduling operation method based on a time sequence composite operation model.
Background
The ship lock is used for realizing a water conservancy pivot ship lock passage through opening and closing a water drain valve, and can be divided into a single-stage ship lock and a multi-stage ship lock according to the structural form, namely, the ship lock is a single-stage ship lock with only one lock chamber, and the ship lock is a multi-stage ship lock with two or more continuous lock chambers. The multistage ship lock adopts a one-way continuous lockage mode, namely after a ship enters a lock in a first lock chamber, the ship lock starts to operate, after a primary gate is opened, the ship enters the lock in the same direction, the ship lockage always follows the same direction, and the lockage efficiency mainly depends on the time interval between two lockages. The ship passes through a multi-stage ship lock in a one-way continuous lockage mode, the lockage requirement is mainly declared by the ship, a navigation dispatching department arranges a lockage plan according to the arrival condition of the ship, and the ship runs to a lockage water area of the ship lock according to the arranged lockage plan. The multi-stage ship lock is presented as a phenomenon that cascade queuing waits for passing the lock, the analysis of the running process of the continuous multi-stage ship lock is the basis for establishing a digital ship lock, the ship lock passing the lock is essentially a scene that the traffic organization process of hub navigation is continuously and circularly repeated, the scene has the characteristics of fixed space range (relatively fixed ship lock infrastructure and position space) and high process similarity, the intelligent scene is relatively single, and the data source and the data volume determine the requirement on computing power.
On the background that the passing ability of the ship lock cannot meet the requirement of passing lock shipping, how to excavate the passing ability of the ship lock to deal with the increase of the passing lock requirement in the future and improve the navigation ability of the ship lock is a realistic subject to be faced by the ship lock industry. The intervention behaviors of the ship lock process such as information collection tasks, decision making, instruction output and the like in the operation process of the multistage ship lock are finished manually, the efficiency of the ship lock intervention behavior is influenced by factors such as skill level, energy, emotion and the like of operators, and certain volatility and bottleneck improvement exist.
Disclosure of Invention
The invention aims to solve the problems and provides a step ship lock navigation scheduling operation method based on a time sequence composite operation model, wherein the time sequence composite model of the ship lock starting operation process is established, the automatic calculation of the lockage time, the equipment operation time, the ship navigation berthing time and the operator gear shift command time of each sub-process in the ship lock operation process is realized, and a basis is provided for the lock identification, the intelligent pre-advance prompt of the ship to be locked for the lock entry scheduling and the optimal launching time machine suggestion.
The technical scheme of the invention is a stair lock navigation scheduling operation method based on a time sequence composite operation model, which comprises the following steps,
step 1: decomposing the ship queuing and passing process and the ship lock operation process into sub-processes matched with the continuous multistage ship lock step characteristics according to the time-space sequence, naming the ship lock operation sub-processes and compiling unique identification for the ship lock operation sub-processes;
step 2: establishing a ship lock operation time sequence composite operation model, and calculating the time of the ship passing through the lock in each sub-process state;
and step 3: determining the pass-gate times and the optimal launching time of the ship by combining the calculation results of the step 2 according to the final opening time of the first-level gate of each gate time in the pass-gate plan;
and 4, step 4: and (4) optimizing the gear plan of the ship lock according to the lockage times and the optimal launching time of each ship calculated in the step (3).
In the step 1, the ship queuing and passing process and the ship lock operation process comprise four basic processes of a ship passing navigation process, a dispatching and commanding process, a ship lock equipment facility state conversion process and a ship lock water conveying process, and are a composite queuing process. The ship passes through the corresponding stages of formation, waiting, passing through the lock and exiting the lock in a fish-through mode, and the step ship lock ascends or descends in a step mode. In terms of time, on the basis of ship lockage time sequence, ships are accumulated to pass through each lock chamber step by step until the ships exit from the lock, and in terms of space, the classification characteristic of the continuous multistage ship lock operation process is that the water level change in each interval lock chamber is in a synchronous lifting trend, the water depth of adjacent lock chambers is in a depth staggered state, and the simultaneous on-load operation of the adjacent lock chambers and the on-load lock chambers are distributed at intervals.
In step 2, naming the ship lock operation sub-process, sensing and acquiring segmented discrete time sequence data through a navigation scheduling system, a ship lock control system and ship GPS/Beidou positioning information data, carrying out association and fusion processing on the data processing platform through classification and clustering, extracting a lock time plan and a launching time, matching with a lock time number and a ship navigation process, and finishing the initialization of entering the lock to serve as a starting point of the ship lock operation process.
The time sequence composite operation model of the ship lock operation process is named as a subprocess A1 when a ship passing through the lock continuously operates downwards step by step and enters a first lock chamber from an upstream navigation wall, wherein the subprocess comprises the processes of ship navigation, gear command, ship lock equipment facility state conversion, ship lock water level conversion and ship lock operation control; the operation process of the ship from one lock chamber to the second lock chamber is named as a sub-process A2 and comprises the processes of ship navigation, gear command, ship lock equipment facility state conversion, ship lock water level conversion and ship lock operation control; the operation process of the ship from the second lock chamber to the third lock chamber is named as a sub-process A3, and comprises the processes of ship navigation, gear command, ship lock equipment facility state conversion, ship lock water level conversion and ship lock operation control; meanwhile, another lock operation process is started, the lock ship starts a process of entering the first lock chamber from the upstream navigation wall, the operation process is named as a sub-process B1, and by analogy, a complete lock operation process A comprises sub-processes A1, A2, A3, A4 and A5 … … according to the time-space sequence, a = { A1, A2, A3, A4 and A5 … … } of multi-object composite, another turning process B = { B1, B2, B3, B4 and B5 … … } of each process has high similarity, and by analogy, a plurality of operation control sub-processes are combined in series through the time sequence and the space sequence to form a total process, data of corresponding sub-processes are similarly connected by time labels, and finally a large number of time series data series are formed; the up-going stepwise continuous operation is similar to the down-going stepwise continuous operation.
ΔT=2tr+t1+tA2+t2+tB1
In the formula trIndicating operator gear command time, t1、t2The running time of the first lock bow ship lock equipment and the second-time A berthing time t of the locksA2Indicating the time of flight of the gate A to the second stage gate chamber and the time t of flight of the gate BB1Representing the sailing and berthing time of the gate B to the first-stage gate chamber; t is tA2And tB1The accumulated delta T standard value of the previous gate can be obtained according to the statistics of the accumulated big data, and the gate-in starting time of the next gate can be calculated.
After the current lock entry moment is sensed and obtained through the lock control system, calculating the entry starting time of the next lock preparation entry ship, namely the navigation wall to-be-locked ship, by accumulating delta T, and based on the entry starting time, identifying the complete lock flow and providing an intelligent pre-advance prompt and an optimal engine launching suggestion for the navigation wall to-be-locked ship entry scheduling.
Further, planned lock time of the ship passing process of the lock is planned in a limited time period obtained through accumulation calculation of a ship lock operation time sequence composite operation model, each sub-process time in the actual lock passing process of the ship passing the lock is predicted in advance, comparison optimization is carried out, the actual lock passing process is corrected, process control efficiency is improved, and the purpose of improving ship lock passing efficiency is further achieved
Preferably, the step ship lock navigation scheduling operation method based on the time sequence composite operation model is suitable for navigation operation control of a continuous five-stage ship lock.
Compared with the prior art, the invention has the beneficial effects that:
1) the continuous multistage ship lock operation process is decomposed, the ship lock operation time sequence composite operation model is established, the automatic calculation of the lockage time, the equipment operation time, the ship navigation berthing time and the operator gear shift command time of each subprocess in the ship lock operation process is realized, the lockage time and the optimal launching time of the ship can be calculated, the ship lock navigation efficiency is improved conveniently, and the ship lock operation automation is realized.
2) The invention names and establishes a unique identifier for the ship lock operation subprocess, establishes similar connection of the ship lock operation process through time sequence data classification and clustering operation, reproduces the ship lock operation process data and realizes the digitization of the ship lock operation process information.
3) The ship lock pass-by process is matched with the ship lock operation process, automatic identification of the ship lock times, automatic association of a scheduling plan and actual results of lock time operation are realized, and support is provided for establishing a new ship lock operation prediction control mode based on data driving.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic view of a multistage ship lock operation process according to an embodiment.
FIG. 2 is an exploded view of the ship queuing and passing lock process and the ship lock operation process according to the embodiment.
Fig. 3 is a schematic diagram of the sub-process times of the operation process of the example step lock.
Fig. 4 is a schematic diagram of an operation process of the three gorges five-level ship lock according to the embodiment.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Embodiments select a three gorges continuous five-level ship lock as an implementation object. The ship lock operation process is a total process formed by compounding basic processes of gear command, ship navigation and ship lock operation/state conversion and spatial sequences of a waiting lock, an entering lock, a step-by-step passing lock and an exiting lock according to a certain time-space sequence of multiple objects of a passing lock ship, a ship lock equipment facility, a lock chamber, a navigation channel water level and an operator, and similarity connection, classification and clustering of time sequence data in the ship lock operation process are realized through process compound operation. The ship lock operation process is different under different environmental conditions in the ship lock passing process, water is basically filled and drained through the valve, the water level of the lock chamber and the navigation channel is lifted, and the gate is horizontally opened to enable the ship to pass.
The five-stage ship lock operation process flow comprises the following steps: when a certain leading fleet X waits for a lock in a specified time period and a specified place according to the operation level and related specified requirements, the leading fleet enters a first-level lock chamber and stops correctly after receiving a lock entering command. The ship lock operator operates and closes the first-level gate, and the program automatically completes the actions of opening the valve for water delivery, opening the lower lock head gate and the like. When the leading fleet X enters the third-level lock chamber from the second-level lock chamber, the following fleet Y can enter the first-level lock chamber from an upstream navigation channel; when the leading fleet X enters the fifth-level lock chamber from the fourth-level lock chamber, the following fleet Y can enter the third-level lock chamber from the second-level lock chamber, and a third fleet Z can drive into the first-level lock chamber … … through the upstream approach channel to circulate in sequence until the sixth-level lock head gate is opened horizontally and the fleet exits the lock. The operation process of the intermediate stage lock head equipment of the ship lock is basically consistent with the process of the ship passing through the first stage lock chamber. Therefore, the one-way passing lock of the continuous multi-stage ship lock passes through the fish-through type and is in a stepped ascending or descending manner. Due to the requirement of water filling and draining of the ship lock, an empty lock chamber without a ship (team) for parking is needed between the front and the rear adjacent lock chambers, and the continuous operation of the continuous multi-stage ship lock can be ensured.
As shown in fig. 1-4, the method for the navigation scheduling operation of the cascade ship lock based on the time sequence composite operation model is used for the navigation operation control of the three gorges continuous five-level ship lock, and comprises the following steps,
step 1: decomposing the ship queuing and passing process and the ship lock operation process;
analyzing four action objects of an operator, a ship passing through a lock, a lock facility, a lock chamber and a navigation channel water level to obtain a lock operation process consisting of gear command, ship navigation, state conversion of the lock facility and water level conversion of the lock chamber, and decomposing the lock operation process into subprocesses matched with the step characteristics of the continuous five-stage lock according to a time-space sequence, wherein the subprocesses are shown in figure 2;
step 2: establishing a ship lock operation time sequence composite operation model based on ship lock operation process decomposition, performing accumulation operation according to a ship lock passing process by taking lock passing time and a space sequence as the basis, naming each ship lock operation subprocess and compiling a unique identifier for each ship lock operation subprocess, and calculating the time of a lock passing ship in each subprocess state, wherein the time is shown in figure 3;
and step 3: according to the final opening time of a first-level gate when a certain gate begins in a lockage passing plan, calculating according to a ship lock operation time sequence composite operation model to obtain the time of each lockage passing sub-process of a ship and the interval time of adjacent gates, and accordingly identifying the complete lockage passing and providing a basis for the suggestion of the optimal launching timer;
and 4, step 4: and (4) optimizing the gear plan of the ship lock according to the lockage times and the optimal launching time of each ship calculated in the step (3). The ship lock passing queuing process and the ship lock running process are decomposed: the space positions of the multi-stage ship lock infrastructure are relatively fixed, and the transportation process of a ship passing through the three gorges ship lock is a composite queuing process which is formed by the ship lock passing navigation process, the dispatching command process, the ship lock equipment facility state conversion process and the ship lock water delivery process. And the lock operator intervenes the ship through a dispatching command process according to the collected ship navigation process information, and simultaneously, the lock control system is operated to convert the facility state of the lock equipment and intervene the ship lock water delivery process, so that the expected target that the ship lock-passing navigation process accords with the traffic organization is finally achieved.
A ship lock operation time sequence composite operation model is established on the basis that the space position of ship lock infrastructure is relatively fixed and time is taken as a scale of a measurement process, the establishment process of the model is mainly based on a ship lock passing operation flow, and the process decomposition is taken as an effective means for realizing composite operation under the condition that a ship enters a first-stage lock chamber from a navigation wall area to be locked, passes through a next-stage lock chamber step by step and finally goes out of the lock.
After the navigation scheduling system, the ship lock control system and the ship GPS/Beidou positioning information data sensing and acquisition, a large amount of segmented discrete time sequence data are classified and clustered on a data processing platform, association and fusion processing are carried out, the scheduling system selects a frame number, extracts a lock number plan and a launching time, and completes the initialization of entering a lock by matching with the lock number and the ship navigation process, namely, the starting point named in the ship lock operation process.
A time sequence composite operation model in the ship lock operation process: taking the following successive operation mode as an example, the process of the ship (team) passing through the lock entering the first lock chamber from the upstream navigation wall is named as a sub-process A1, the operation process of the ship moving from the first lock chamber to the second lock chamber is named as a sub-process A2, and the method mainly comprises the basic processes of ship navigation, gear command/interaction, ship lock equipment facility state conversion, ship lock water level conversion, ship lock operation control, process monitoring and the like. The operation process of the ship from the second lock chamber to the third lock chamber is named as a subprocess A3, and the operation process also comprises basic processes of ship navigation, gear command/interaction, ship lock equipment facility state conversion, ship lock water level conversion, ship lock operation control, process monitoring and the like. At the same time, another lock operation procedure starts, the lock ship starts the procedure of entering the first lock chamber from the upstream navigation wall, this operation procedure is named as sub-procedure B1, and so on, a complete lock operation procedure a, which includes sub-procedures a1, a2, A3, A4, A5 in time-space order, can be expressed as a multi-object composite time sequence procedure a = { a1, a2, A3, A4, A5}, another rotation procedure B = { B1, B2, B3, B4, B5}, each procedure has high similarity, and so on, and procedure C, D … …, procedure B enters B3, procedure C starts …. Thus, a plurality of operation control sub-processes are serially connected and compounded through time and space sequences to form a total process, data of the corresponding sub-processes are similarly connected through time labels, and finally a large number of time sequence data series are formed.
And the ship lock operation process time sequence composite model reproduces ship lock passing operation process data through time accumulation composite operation. Therefore, automatic calculation of the lock passing time, the facility state conversion time of the lock equipment, the water level conversion time of the lock, the ship navigation berthing time and the gear shift command time of an operator in each sub-process in the ship lock operation process is realized.
Decomposing according to the ship lockage queuing process of the three gorges ship lock, taking the time as a timing starting point when the first stage herringbone lock door is opened, if the ship is berthed in a certain lock for the next time, starting the water delivery valve to drain water until the next lock is horizontal, then starting the herringbone lock, and moving the ship to the next lock chamber;
time T of transfer of ship of brake A to a brake chamber1=tA1，tA1For the time that the vessel of bank a is transferred to a lock chamber, sub-process a1 represents the transfer of the vessel of bank a to a lock chamber;
time T of transfer of ship of brake A to two brake chambers2=T1+tr+t2+tA2，t r Indicating operator gear command time, t2Indicating the operating time of the two-gate head equipment, tA2Indicating the time for the ship of bank A to transfer to the second lock chamber, and sub-process A2 indicates the process for the ship of bank A to transfer from the first lock chamber to the second lock chamber；
Time T for transferring ship with gate A to three gate chambers3=T2+tr+t3+tA3，t r Indicating operator gear command time, t3Indicating the operating time of the three-gate head equipment, tA3Represents the time for the vessel of gate a to transfer to the three-lock chamber, and sub-process a3 represents the transfer of the vessel of gate a from the two-lock chamber to the three-lock chamber;
time T for transferring ship with gate A to four gate chambers4=T3+tr+t4+tA4，t r Indicating operator gear command time, t4Indicating four-gate head equipment running time, tA4Represents the time for the vessel of gate a to transfer to the four-gate chamber, and sub-process a4 represents the transfer of the vessel of gate a from the three-gate chamber to the four-gate chamber;
time T for transferring ship with gate A to five-gate chamber5=T4+tr+t5+tA5，t r Indicating operator gear command time, t5Indicating five-head equipment operating time, tA5Represents the time for the ship of gate a to transfer to the five-gate chamber, and sub-process a5 represents the process for the ship of gate a to transfer from the four-gate chamber to the five-gate chamber;
time T of entering downstream of ship with brake A6=T5+tr+t6+tA6，t r Indicating operator gear command time, t6Indicates the operating time of the six-gate head equipment, tA6The sub-process A6 represents the time when the ship of gate A sails from the five-gate chamber to the downstream through the six-gate first, and the sub-process A6 represents the process when the ship of gate A moves from the five-gate chamber to the downstream;
time T of transfer of ship of gate B to a gate chamber3 ’=T2+tr+t1+tB1，t1Indicating a head of line equipment operating time, tB1Representing the time for the vessel of gate B to move to a gate chamber;
……
the time interval Δ T between the gate a and the gate B can be accumulated and calculated by a time sequence composite operation model, and can be expressed as:
ΔT=T3 ’-T1=2tr+t1+tA2+t2+tB1
in the formula trIndicating operator gear command time, t1、t2The running time of the first lock bow ship lock equipment and the second-time A berthing time t of the locksA2Indicating the time of flight of the gate A to the second stage gate chamber and the time t of flight of the gate BB1The time for moving the gate B to the first-stage gate chamber is a known quantity or a standard value. Therefore, according to the accumulated large data of the three gorges five-level ship lock running for years, the average value of the time difference is taken as a condition parameter for identifying and matching the lock times, and the accumulated delta T standard value of the previous lock time can calculate the starting time of the next lock time. Under the normal operation condition, after the current lock entry moment is sensed by the ship lock control system, the entry starting time of the ship to be entered into the lock at the next lock is calculated by accumulating delta T standard values, and based on the entry starting time, a complete lock flow is identified and an intelligent pre-advance prompt and an optimal launching time aircraft suggestion for the ship to be entered into the lock by the navigation wall are given.
According to the big data statistics of the accumulated operation of the three gorges five-level ship lock for years, the average values of the berthing time are respectively 23min and 24min according to the number and the positions of ships of the lock A and the lock B, and the average values of the operation time of the first lock and the operation time of the second lock are respectively 18min and 17min for the three gorges ship lock.
In the embodiment, the starting time of the next gate A is the descending gate number 900546756 of the three gorges south line in 2019, 2, 4 and 2019, the starting time of the next gate A is 12:27:10, the starting time of the next gate B (namely the opening time of the first gate A) is 14:08:00, the difference between the starting time and the actual operation data in the current day is 14:08:50, the difference between the starting time and the actual operation time is 0.35%, and the error range is smaller than 0.5%, so that the effectiveness of the time sequence composite operation model and the cascade lock navigation scheduling method in the ship lock operation process marked by time is described.
In this embodiment, no matter the continuous five-stage ship lock is in an ascending mode or a descending mode, the ship lock operation process decomposition mode is consistent with the ship lock operation process time sequence composite operation model, and the naming method of the ship lock operation process is also the same. The gate number is used as a unique identifier of a certain planned gate passing gate and is uniquely associated with the gate ship in the dispatching system. By matching with the ship navigation process information, the problem of matching between the ship and the ship lock operation process and the time and the space position of the ship in the ship lock is solved, the entrance initialization is realized, and the cooperativity and the synchronism between the ship lock operation and the ship navigation process are realized.
Claims (7)
1. The method for navigation scheduling operation of the cascade ship lock based on the time sequence composite operation model is characterized by comprising the following steps,
step 1: decomposing the ship queuing and passing process and the ship lock running process into sub-processes matched with the continuous multistage ship lock step characteristics according to the time-space sequence;
step 2: establishing a ship lock operation time sequence composite operation model, naming the ship lock operation subprocesses, compiling unique identification for the ship lock operation subprocesses, and calculating the time of the ship passing through the lock in each subprocess state;
and step 3: and (3) determining the pass-gate times and the optimal launching time of the ship by combining the calculation results of the step (2) according to the final opening time of the first-stage gate of each gate time in the pass-gate plan.
2. The method for navigation scheduling operation of the cascade ship lock based on the time sequence composite operation model, according to claim 1, is characterized by further comprising the following steps of 4: and (4) optimizing the gear plan of the ship lock according to the lockage times and the optimal launching time of each ship calculated in the step (3).
3. The method for navigation, dispatching and operation of the step ship lock based on the time-series composite operational model according to claim 1, wherein in the step 1, the ship queuing and passing process and the ship lock operation process comprise a ship passing navigation process, a dispatching command process, a ship lock equipment facility state conversion process and a ship lock water delivery process, and are a composite queuing process.
4. The method for the navigation scheduling operation of the cascade ship lock based on the time sequence composite operation model according to claim 1, wherein in the step 2, the ship lock operation subprocess is named, segmented discrete time sequence data are acquired through the sensing of the navigation scheduling system, the ship lock control system and the ship GPS/Beidou positioning information data, association and fusion processing are carried out on the data processing platform through classification and clustering, the lock time plan and the launching time are extracted, and the initialization of entering the lock is completed through the matching with the lock time number and the ship navigation process and used as the starting point of the ship lock operation process.
5. The method for the navigation scheduling operation of the cascade lock based on the time sequence composite operation model according to claim 1, wherein the time sequence composite operation model is operated by the lock, and when the cascade operation is carried out continuously, the process that the ship passing through the lock enters the first lock chamber from the upstream navigation wall is named as a sub-process A1, and the sub-process comprises ship navigation, gear command, lock equipment facility state conversion, lock water level conversion and lock operation control; the operation process of the ship from one lock chamber to the second lock chamber is named as a sub-process A2 and comprises the processes of ship navigation, gear command, ship lock equipment facility state conversion, ship lock water level conversion and ship lock operation control; the operation process of the ship from the second lock chamber to the third lock chamber is named as a sub-process A3, and comprises the processes of ship navigation, gear command, ship lock equipment facility state conversion, ship lock water level conversion and ship lock operation control; meanwhile, another lock operation process is started, the lock ship starts a process of entering the first lock chamber from the upstream navigation wall, the operation process is named as a sub-process B1, and by analogy, a complete lock operation process A comprises sub-processes A1, A2, A3, A4 and A5 … … according to the time-space sequence, a = { A1, A2, A3, A4 and A5 … … } of multi-object composite, another turning process B = { B1, B2, B3, B4 and B5 … … } of each process has high similarity, and by analogy, a plurality of operation control sub-processes are combined in series through the time sequence and the space sequence to form a total process, data of corresponding sub-processes are similarly connected by time labels, and finally a large number of time series data series are formed; the up-going stepwise continuous operation is similar to the down-going stepwise continuous operation.
6. The method for dispatching and operating the ship lock navigation based on the time sequence composite operation model according to claim 5, in step 3, determining the number of lockgates of the ship, decomposing the process of queuing and lockgates of the ship, taking the time as a timing starting point when the first stage herringbone gate is opened, if the berthing of the ship in a certain lock is finished, starting the water delivery valve to drain water until the next stage herringbone gate is horizontal, then opening the herringbone gate, and transferring the ship to the next lock chamber, and repeating the steps, wherein the ship is transferred from the first lock chamber to the next lock chamber, the ship is propelled from one state to the next state, and performing time sequence composite operation, and the final time of the first stage herringbone gate is taken as the starting time of lockgate A until the final time of the next first stage herringbone gate, which is the starting time of the next stage gate B; the time interval Δ T between shutter A and shutter B is calculated as follows:
ΔT=2tr+t1+tA2+t2+tB1
in the formula trIndicating operator gear command time, t1、t2The running time of the first lock bow ship lock equipment and the second-time A berthing time t of the locksA2Indicating the time of flight of the gate A to the second stage gate chamber and the time t of flight of the gate BB1Representing the sailing and berthing time of the gate B to the first-stage gate chamber; t is tA2And tB1The accumulated delta T standard value of the previous gate can be obtained according to the statistics of the accumulated big data, and the gate-in starting time of the next gate can be calculated.
7. The method as claimed in claim 6, wherein the step lock navigation scheduling operation method based on the time-series composite operational model is characterized in that after the current lock entry time is sensed by the lock control system, the entry start time of the next lock ready-to-enter ship, i.e. the navigation wall to-be-locked ship, is calculated by accumulating the Δ T, and based on the entry start time, the complete lock flow is identified and an intelligent advance prompt and an optimal time-of-flight suggestion for the navigation wall to-be-locked ship entry scheduling are given.
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