CN115660461A - Method for constructing autonomous ship berthing function evaluation index system - Google Patents
Method for constructing autonomous ship berthing function evaluation index system Download PDFInfo
- Publication number
- CN115660461A CN115660461A CN202211245882.9A CN202211245882A CN115660461A CN 115660461 A CN115660461 A CN 115660461A CN 202211245882 A CN202211245882 A CN 202211245882A CN 115660461 A CN115660461 A CN 115660461A
- Authority
- CN
- China
- Prior art keywords
- index
- berthing
- ship
- autonomous
- indexes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000011156 evaluation Methods 0.000 title claims abstract description 30
- 238000012216 screening Methods 0.000 claims abstract description 9
- 238000007670 refining Methods 0.000 claims abstract description 4
- 238000007619 statistical method Methods 0.000 claims abstract description 4
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000010606 normalization Methods 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 4
- 238000004873 anchoring Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
Landscapes
- Business, Economics & Management (AREA)
- Human Resources & Organizations (AREA)
- Engineering & Computer Science (AREA)
- Strategic Management (AREA)
- Development Economics (AREA)
- Economics (AREA)
- Entrepreneurship & Innovation (AREA)
- Educational Administration (AREA)
- Operations Research (AREA)
- Marketing (AREA)
- Game Theory and Decision Science (AREA)
- Quality & Reliability (AREA)
- Tourism & Hospitality (AREA)
- Physics & Mathematics (AREA)
- General Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a method for constructing an autonomous berthing function evaluation index system of a ship, which comprises the following steps: dividing the autonomous ship berthing process based on the operation process, wherein each divided stage is used as a first-level index of an evaluation index system; primarily selecting secondary indexes under each primary index according to the divided autonomous berthing process; screening secondary indexes based on independence by adopting a statistical method; judging the importance of the index according to the information entropy of the secondary index by adopting an entropy weight method and based on the significance of the information quantity; and refining the evaluation index system, judging whether each secondary index can be refined continuously, and if so, continuously dividing to generate a third-level index. The invention provides a method for evaluating an index system aiming at the autonomous berthing dependence function of an intelligent ship, and the method can establish the corresponding evaluation index system aiming at different ship tonnages and carried equipment, is suitable for various intelligent ships, and reduces the subjectivity and the randomness of manually screening evaluation indexes.
Description
Technical Field
The invention relates to an evaluation index system construction method, in particular to a ship autonomous berthing function evaluation index system construction method.
Background
The autonomous berthing and debarking function has high requirement on berthing operation because the ship is in a low-speed motion state when berthing at a wharf, and the stress condition of the ship is complex due to the limited operation water area. The research on the intelligent ship autonomous berthing and departing system is a key technology for realizing the intelligentization of ships and an important means for improving the safety of the ships.
The research of the automatic berthing system cannot leave a perfect test verification system and a sound standard. Reasonably establishing a complete evaluation index system is a precondition for ensuring the correctness of an evaluation result, and plays a vital role in evaluating the autonomous berthing function.
At the present stage, a complete and reasonable evaluation index system is not established for evaluating the autonomous berthing function of the intelligent ship, and the problem of evaluating the autonomous berthing function of the intelligent ship is difficult to solve.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a method for constructing an autonomous ship berthing function evaluation index system, which is used for effectively assisting research and development testers in evaluating the functions of the autonomous ship berthing function by combining the whole process operation and motion state of an autonomous ship berthing operation process from the aspect of constructing the autonomous ship berthing function evaluation index system.
The technical scheme is as follows: the invention comprises the following steps:
dividing the autonomous berthing and disembarking process of a ship based on an operation flow, wherein each divided stage is used as a primary index of an evaluation index system;
step two, primarily selecting secondary indexes under each primary index according to the divided autonomous berthing and departing processes;
step three, screening secondary indexes based on independence by adopting a statistical method;
judging the importance of the indexes according to the information entropy of the secondary indexes by adopting an entropy weight method and based on the significance of the information quantity;
and step five, refining the evaluation index system, judging whether each secondary index can be refined continuously, and if so, dividing continuously to generate a third-level index.
The third step specifically comprises:
s31, assuming that a indexes, b groups of data to be evaluated, x, are obtained through preliminary selection ij And x kj The j-th group of data representing the i-th index and the j-th group of data representing the k-th index form an original index matrix which is as follows:
s32, calculating a correlation coefficient between the two indexes, wherein the correlation coefficient between the ith index and the jth index is as follows:
s33, checking the correlation coefficient of each index, if r ij If =0, it means that there is no correlation between the two indices, and if not, it means that there is a correlation between the two indices.
The entropy weight method in the fourth step comprises the following steps:
S4I, carrying out standardization processing on the data of each index,suppose that n indexes, m groups of data to be evaluated, x are still present after screening based on independence ij The j-th group of data representing the i-th index forms an original index matrix which is as follows:
as for the forward direction index,
for the reverse index,
for the oscillation index, conversion is needed to be carried out firstly when normalization is carried out, and the index is converted into a forward index or a reverse index so as to ensure comparability between data;
s42, calculating the specific gravity:
S43, calculating the information entropy of each index:
if the information entropy of the index is smaller, the amount of information provided by the index is larger, the effect in comprehensive evaluation is larger, and the weight is higher.
And the secondary indexes preliminarily selected in the step two cover the speed, the course, the position control and the steering of the steering oar of the ship at each stage of the berthing.
And the secondary indexes are selected by analyzing factors influencing autonomous berthing and combining berthing operation key points and relevant convention specifications.
And the autonomous berthing and departing process of the ship in the first step is divided into an autonomous berthing control stage and an autonomous departing control stage.
The autonomous berthing maneuver is set to take off the anchor from the ground until the vessel reaches the cable on the berthing system.
And the autonomous debarking control stage is set to be that the ship unlocks the cable till the navigation of the ship channel is finished.
Has the advantages that: the invention provides an evaluation index system construction method aiming at the autonomous berthing dependence function of an intelligent ship, and the method can be used for establishing corresponding evaluation index systems aiming at different ship tonnages and carried equipment, is suitable for various intelligent ships, and simultaneously reduces the subjectivity and the randomness of manually screening evaluation indexes.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, the construction method of the present invention includes the steps of:
the method comprises the following steps of firstly, dividing an autonomous berthing and departing process of a ship based on an operation process, and specifically dividing the autonomous berthing and departing process into two stages, wherein each stage is used as a first-level index of an evaluation index system. The autonomous berthing is set as that the ship starts anchoring from an anchoring ground until a mooring rope on a berth system is reached, and the autonomous berthing is set as that the ship unlocks the mooring rope until the navigation of the ship channel is finished. The autonomous berthing stage can be subdivided into several stages of channel navigation, path planning, berthing operation and the like.
The type and tonnage of the ship and the equipped sensors, propellers and other equipment all influence the stage division. Ships are classified into full-drive ships and under-drive ships according to the driving capability of the ships, and the ships are classified into small ships, medium ships, large ships and ultra-large ships according to the tonnage of the ships. The ships with different driving capacities and tonnages have larger difference in the operation performance, the ships with better operability have stronger course stability and starting brake capacity, so that the operation flow is divided without great detail, and a path planning stage and an embankment operation stage need to be focused; for the ship with poor handling performance, the various stages of berthing need to be divided in detail.
And step two, according to the divided autonomous berthing and departing processes, primarily selecting secondary indexes under each primary index by analyzing factors influencing autonomous berthing and combining berthing operation key points and relevant convention specifications. The preliminarily selected secondary indexes comprise information such as the speed, the course, the position control, the steering of the steering oar and the like of each stage of the ship berthing.
Step three, screening secondary indexes based on independence by adopting a statistical method, and specifically comprising the following steps of:
s31, assuming that a indexes, b groups of data to be evaluated, x, are obtained through preliminary selection ij And x kj The j-th group of data representing the i-th index and the j-th group of data representing the k-th index form an original index matrix which is as follows:
s32, calculating a correlation coefficient between the two indexes, wherein the correlation coefficient between the ith index and the jth index is as follows:
s33, checking the correlation coefficient of each index, if r ij If =0, it means that there is no correlation between the two indices, and if not, it means that there is a correlation between the two indices. If the correlation coefficient is large, it can be inferred that the repeated information reflected between the two indexes is more, and when the correlation coefficient of the indexes is larger than 0.9, the repeated information between the two indexes exceeds the critical value, and one of the indexes needs to be deleted or will be deletedThe two indexes are combined.
And fourthly, judging the importance of the indexes according to the information entropy of the secondary indexes by adopting an entropy weight method based on the significance of the information quantity, wherein the entropy weight method comprises the following steps:
s41, standardizing the data of each index, and assuming that n indexes exist after screening based on independence, m groups of data to be evaluated and x ij The j-th group of data representing the i-th index forms an original index matrix which is as follows:
as for the forward direction index,
for the reverse index,
for the oscillation index, that is, the index with the smaller value from a certain interval range is better, and the index with the larger value from a certain interval range is worse, conversion is needed to be performed first during normalization, and the index is converted into a forward index or a reverse index, so as to ensure comparability between data.
S42, calculating the specific gravity:
wherein p is ij Is the specific gravity of the index value of the jth group of data to be evaluated under the ith index, z ij For normalizing the processed index data, if p ij =0, then
S43, calculating the information entropy of each index:
if the information entropy of the index is smaller, the larger the information amount provided by the index is, the larger the information entropy plays a role in comprehensive evaluation is, and the weight should be higher. When the information entropy value of the index is greater than 0.997, the weight corresponding to the index is very small, so that the information entropy of the deleted index is greater than 0.997.
And step five, refining the evaluation index system, judging whether each secondary index can be refined continuously, and if so, dividing continuously to generate a third-level index. For example, the second-level indexes include indexes such as a sailing speed, a pitch, a rudder propeller manipulation and the like, the sailing speed can be further divided into a ship normal phase speed and a longitudinal speed, the pitch can be further divided into a distance between the ship and other ships and a distance between the ship and a berth, and the rudder propeller manipulation can be further divided into rudder manipulation times and a propeller manipulation.
Claims (8)
1. A method for constructing an autonomous berthing and departing function evaluation index system of a ship is characterized by comprising the following steps:
dividing an autonomous berthing process of a ship based on an operation flow, wherein each divided stage is used as a first-level index of an evaluation index system;
step two, primarily selecting secondary indexes under each primary index according to the divided autonomous berthing process;
thirdly, screening secondary indexes by adopting a statistical method based on independence;
judging the importance of the indexes according to the information entropy of the secondary indexes by adopting an entropy weight method and based on the significance of the information quantity;
and step five, refining the evaluation index system, judging whether each secondary index can be refined continuously, and if so, dividing continuously to generate a third-level index.
2. The method for constructing the evaluation index system for the autonomous berthing and disembarking function of the ship according to claim 1, wherein the third step specifically comprises:
s31, assuming that a indexes, b groups of data to be evaluated, x, are obtained through preliminary selection ij And x kj The j group data of the i index and the k index form an original index matrix which is as follows:
s32, calculating a correlation coefficient between the two indexes, wherein the correlation coefficient between the ith index and the jth index is as follows:
s33, checking the correlation coefficient of each index, if r ij And =0, this means that there is no correlation between the two indices, and conversely, this means that there is a correlation between the two indices.
3. The method for constructing the evaluation index system of the autonomous berthing-alongside function of the ship according to claim 1, wherein the entropy weight method in the fourth step comprises the following steps:
s41, standardizing the data of each index, and assuming that n indexes exist after screening based on independence, m groups of data to be evaluated and x ij The j-th group of data representing the i-th index forms an original index matrix which is as follows:
as for the forward direction index,
for the reverse index,
for the oscillation index, conversion is needed to be carried out firstly when normalization is carried out, and the index is converted into a forward index or a reverse index so as to ensure comparability between data;
s42, calculating the specific gravity:
S43, calculating the information entropy of each index:
if the information entropy of the index is smaller, the amount of information provided by the index is larger, the effect in comprehensive evaluation is larger, and the weight is higher.
4. The method for constructing the index system for evaluating the autonomous berthing and departing function of the ship as claimed in claim 1, wherein the secondary indexes preliminarily selected in the second step cover the speed, the course, the position control and the steering of a steering oar of the ship at each stage of berthing and departing.
5. The method for constructing the evaluation index system of the autonomous berthing function of the ship according to claim 1 or 4, wherein the secondary index is selected by analyzing factors influencing autonomous berthing and combining berthing control points and relevant convention specifications.
6. The method for constructing an index system for evaluating the autonomous berthing function of a ship according to claim 1, wherein the autonomous berthing process in the first step is divided into an autonomous berthing maneuvering phase and an autonomous berthing maneuvering phase.
7. The method as claimed in claim 6, wherein the autonomous berthing maneuver stage is defined as the period from the anchor of the ship to the arrival of the cable on the berth system.
8. The method as claimed in claim 6, wherein the autonomous berthing maneuver stage is set as the vessel unbends the vessel to the end of the vessel channel.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202211245882.9A CN115660461A (en) | 2022-10-12 | 2022-10-12 | Method for constructing autonomous ship berthing function evaluation index system |
PCT/CN2023/079769 WO2024077850A1 (en) | 2022-10-12 | 2023-03-06 | Method for constructing evaluation index system for autonomous berthing and unberthing function of ship |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202211245882.9A CN115660461A (en) | 2022-10-12 | 2022-10-12 | Method for constructing autonomous ship berthing function evaluation index system |
Publications (1)
Publication Number | Publication Date |
---|---|
CN115660461A true CN115660461A (en) | 2023-01-31 |
Family
ID=84988024
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202211245882.9A Pending CN115660461A (en) | 2022-10-12 | 2022-10-12 | Method for constructing autonomous ship berthing function evaluation index system |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN115660461A (en) |
WO (1) | WO2024077850A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024077850A1 (en) * | 2022-10-12 | 2024-04-18 | 江苏科技大学 | Method for constructing evaluation index system for autonomous berthing and unberthing function of ship |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20190011400A (en) * | 2017-07-25 | 2019-02-07 | 주식회사 삼우이머션 | Method of evaluating for entry and departure of port |
CN111353222A (en) * | 2020-02-25 | 2020-06-30 | 智慧航海(青岛)科技有限公司 | Simulation test system and method for automatic berthing capacity of intelligent ship |
CN112163282A (en) * | 2020-10-30 | 2021-01-01 | 智慧航海(青岛)科技有限公司 | Comprehensive performance evaluation method for intelligent ship |
CN112836377A (en) * | 2021-02-07 | 2021-05-25 | 智慧航海(青岛)科技有限公司 | Ship simulation test system based on digital simulation |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020041955A1 (en) * | 2018-08-28 | 2020-03-05 | 大连理工大学 | Method for evaluating comprehensive performance of numerical control machine tool based on improved pull-apart grade method |
CN109377041A (en) * | 2018-10-16 | 2019-02-22 | 河海大学 | A kind of two-phase evaluation method about shipping business |
CN109543750A (en) * | 2018-11-22 | 2019-03-29 | 广东省智能制造研究所 | A kind of power consumption user energy efficiency evaluating method |
CN111275325A (en) * | 2020-01-19 | 2020-06-12 | 智慧航海(青岛)科技有限公司 | Construction method of intelligent ship sensing module evaluation index system |
CN115660461A (en) * | 2022-10-12 | 2023-01-31 | 江苏科技大学 | Method for constructing autonomous ship berthing function evaluation index system |
-
2022
- 2022-10-12 CN CN202211245882.9A patent/CN115660461A/en active Pending
-
2023
- 2023-03-06 WO PCT/CN2023/079769 patent/WO2024077850A1/en unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20190011400A (en) * | 2017-07-25 | 2019-02-07 | 주식회사 삼우이머션 | Method of evaluating for entry and departure of port |
CN111353222A (en) * | 2020-02-25 | 2020-06-30 | 智慧航海(青岛)科技有限公司 | Simulation test system and method for automatic berthing capacity of intelligent ship |
CN112163282A (en) * | 2020-10-30 | 2021-01-01 | 智慧航海(青岛)科技有限公司 | Comprehensive performance evaluation method for intelligent ship |
CN112836377A (en) * | 2021-02-07 | 2021-05-25 | 智慧航海(青岛)科技有限公司 | Ship simulation test system based on digital simulation |
Non-Patent Citations (2)
Title |
---|
张旭尧,苏济,李芳蕾主编: "教育测量与评价", 30 September 2020, 吉林科学技术出版社, pages: 115 - 116 * |
戴官全 等: "基于AHP和变异系数法的大型邮轮靠泊风险研究", 广州航海学院学报, vol. 28, no. 2, pages 76 - 14 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024077850A1 (en) * | 2022-10-12 | 2024-04-18 | 江苏科技大学 | Method for constructing evaluation index system for autonomous berthing and unberthing function of ship |
Also Published As
Publication number | Publication date |
---|---|
WO2024077850A1 (en) | 2024-04-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3330171B1 (en) | Apparatus for predicting a power consumption of a maritime vessel | |
CN111353222B (en) | Simulation test system and method for automatic berthing capability of intelligent ship | |
CN115050214B (en) | AIS data-based ship collision risk prediction method | |
CN115660461A (en) | Method for constructing autonomous ship berthing function evaluation index system | |
CN111599130A (en) | Environmental risk early warning system for marine rescue | |
CN113156947A (en) | Method for planning path of ship in dynamic environment | |
CN111898285A (en) | Underwater unmanned autonomous vehicle cluster operation efficiency evaluation method | |
Belenky et al. | Toward performance-based criteria for intact stability | |
Wang et al. | Impact of navigational safety level on seaport fairway capacity | |
CN110765607A (en) | Method for determining reasonable capacity of port shore power system based on simulation optimization | |
CN111240229B (en) | Fault information processing system based on intelligent ship berthing-off simulation test | |
Çakıroğlu et al. | Applying a fuzzy-AHP for the selection of a suitable tugboat based on propulsion system type | |
Krata et al. | Bayesian approach to ship speed prediction based on operational data | |
CN113139318A (en) | Dynamic evaluation method for icebreaking capacity of polar region ship | |
CN109974837B (en) | Ship structure damage identification method based on rule reasoning | |
CN110175406B (en) | Multi-ship following behavior simulation method based on ship networking condition | |
CN111639397A (en) | BP neural network-based ship cable breakage early warning method under strong wind action | |
CN116127846A (en) | Intelligent evaluation method and system for anti-rolling technology | |
CN111290298B (en) | Simulation test system and method for automatic off-berthing function of intelligent ship | |
CN114118604B (en) | Method and system for predicting ferry crossing channel behavior based on machine learning | |
CN115410419A (en) | Ship mooring early warning method and system, electronic device and storage medium | |
CN114897439A (en) | Safety assessment model for ship berthing-against scheduling | |
Ma et al. | Comprehensive Evaluation of Emergency Situation after Collisions at Sea Based on Extenics | |
Studenikin et al. | The onboard expert measuring system for assessing the technogenic risk during towing operations based on the fuzzy logic | |
Kim et al. | Exploring marine accident causation: A case study |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination |