Dynamic electric quantity balance and collaborative replenishment system among fleets

Abstract

The invention provides an inter-fleet dynamic electric quantity balance and collaborative replenishment system, which relates to the technical field of shipping transportation, and comprises an intelligent scheduling module used for obtaining a data set containing electric power conditions, navigation parameters, sea condition influences and task progress requirements of each ship based on ship motion states, ship equipment is monitored in real time to obtain data and analyze environmental influence to obtain adjustment parameters, then the total energy consumption contribution of a single ship is calculated, the total loss of a fleet is quantified to fuse to obtain the initial amount of total energy consumption and correct to obtain the navigation efficiency, and then a power output adjustment strategy is formulated for a main propulsion ship according to the navigation efficiency and an electric power balance target. And finally, a collaborative supply path is planned by taking the low-power ship as a core and combining multi-party information. According to the invention, efficient coordination of deployment and supply of the fleet on power management is realized, the transportation efficiency is improved, the cost is reduced, and the navigation safety is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of shipping transportation, and particularly to a dynamic power balance and collaborative replenishment system among fleets. Background Art

[0002] Traditional fleets adopt fixed power distribution, and there is a lack of an intelligent power coordination mechanism between the main propulsion ship and the barges. For example, in the transportation of dangerous goods, when the power demand of a barge suddenly increases due to equipment failure, the traditional fleet cannot adjust the power distribution in real time, which may lead to overloading of the ship's power system and even cause chain failures. In addition, when the fleet passes through complex sea areas, the fixed power distribution strategy may not be able to dynamically balance the navigation resistance and energy consumption, resulting in insufficient power of some ships and delays in the voyage. The existing fleet power replenishment mostly relies on port docking and tugboat assistance, lacking the ability of autonomous collaborative mobile replenishment. In ocean bulk cargo transportation, if the battery of a barge runs out of power, it is necessary to wait for an external replenishment ship to berth and manually connect the cable, which not only takes several hours, but also may cause a short-circuit risk due to operation errors. Traditional technologies cannot achieve dynamic wireless charging and rapid battery replacement during navigation, seriously restricting the endurance and mission continuity of the fleet.

[0003] In addition, most of the traditional fleet connection devices are designed with mechanical latches, which are prone to failure under harsh sea conditions. For example, when sailing in the Arctic ice area, frequent ice squeezing may cause the connection device to loosen and the power transmission to be interrupted, resulting in the barge losing power and deviating from the course. In addition, the traditional communication system has weak anti-interference ability and a large data packet loss rate in a high-salt fog corrosion environment, making it difficult to achieve precise navigation and collision avoidance for multi-ship coordination, with significant safety hazards. Traditional fleet management does not integrate energy and task scheduling, resulting in coexistence of energy waste and task delays. In the scenario of multi-type cargo combined transportation, the main propulsion ship outputs power at a fixed power and cannot dynamically adjust the thrust distribution according to the real-time load of the barges. At the same time, manual coordination of the power states of each ship is still required during loading and unloading operations, resulting in an extended port stay time. Traditional technologies are limited by rigid architectures, manual dependence, and environmental vulnerability, and it is difficult to meet the modern shipping requirements for dynamic balance, autonomous coordination, and adaptability to extreme scenarios. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a dynamic power balance and collaborative replenishment system among fleets, which can improve the endurance and emergency response efficiency of the fleet and reduce the comprehensive operation cost.

[0005] To solve the above technical problem, the technical solution of the present invention is as follows:

[0006] In a first aspect, a dynamic power balance and collaborative replenishment system among fleets includes:

[0007] The power management module is used to monitor the battery capacity, power consumption rate, and task requirements of each vessel in real time, and generate the power usage situation and task-driven power demand matrix for each ship;

[0008] The intelligent scheduling module is used to dynamically adjust the power output strategy of the main propulsion ship according to the power demand matrix and the ship motion state, and obtain the collaborative replenishment path;

[0009] The connection management module is used to control the opening and closing sequence of the mechanical-hydraulic connection device according to the collaborative replenishment path and the power adjustment plan, and synchronously establish the power transmission channel and communication tasks;

[0010] The mobile energy storage module is used to operate the mobile energy storage device on the auxiliary replenishment ship according to the power transmission and communication tasks, and provide fixed-point charging and battery replacement services for the maintenance ships with insufficient power.

[0011] Furthermore, monitoring the battery capacity, power consumption rate, and task requirements of each vessel in real time, and generating the power usage situation and task-driven power demand matrix for each ship, including:

[0012] Through the power monitoring equipment on each ship, collect the real-time voltage and current data of the battery for monitoring, and obtain the real-time value of the battery capacity and the power consumption rate;

[0013] According to the real-time value of the battery capacity and the power consumption rate, equip each ship with a task management terminal, and input the information of this task through the task management terminal;

[0014] Generate the power usage situation and task-driven power demand matrix for each ship according to the data of the power monitoring equipment and the task details of the task management terminal.

[0015] Furthermore, obtain a dataset for each ship including power status, navigation parameters, sea condition impacts, and task progress requirements based on the ship motion state, monitor the data obtained by the ship equipment in real time, analyze the environmental impacts to obtain adjustment parameters, then calculate the total energy consumption contribution of a single ship, quantify the total losses of the fleet to integrate and obtain the initial total energy consumption, and correct it to obtain the navigation efficiency. Then, based on the navigation efficiency and the power balance target, formulate a power output adjustment strategy for the main propulsion ship. Finally, taking the ships with insufficient power as the core, plan the collaborative replenishment path by integrating multiple parties' information, including:

[0016] According to the ship motion state, obtain the real-time position and navigation speed information from the ship positioning equipment and speed sensors to obtain a dataset for each ship, including the power status, navigation parameters, sea condition impacts, and task progress requirements of each ship;

[0017] Real-time monitoring of the vessels and the equipment carried on the vessels in the fleet to obtain the power demand and efficiency changes, and collect environmental data. Based on this, analyze the impact of environmental factors on equipment energy consumption to obtain environmental impact adjustment parameters. Combine the parameters with the real-time data to calculate the instantaneous effective energy consumption of the equipment, accumulate to obtain the total energy consumption contribution of a single vessel, identify and quantify the total loss of energy loss in the fleet, integrate the instantaneous effective energy consumption and the total loss to obtain the initial total energy consumption, and correct the instantaneous effective energy consumption to obtain the overall navigation efficiency of the fleet;

[0018] According to the overall navigation efficiency and power balance target of the fleet, formulate a power output adjustment strategy for the main propulsion vessel. When the power of some vessels is insufficient and affects the progress of the fleet, instruct the main propulsion vessel to reduce the power output. When the vessels with insufficient power are approaching the task completion point, instruct the main propulsion vessel to increase the power output;

[0019] Taking the vessels with insufficient power in the fleet as the core, combined with the real-time position, task progress and the resource situation of surrounding replenishment, obtain the collaborative replenishment route.

[0020] Furthermore, real-time monitoring of the vessels and the equipment carried on the vessels in the fleet to obtain the power demand and efficiency changes, and collect environmental data. Based on this, analyze the impact of environmental factors on equipment energy consumption to obtain environmental impact adjustment parameters. Combine the parameters with the real-time data to calculate the instantaneous effective energy consumption of the equipment, accumulate to obtain the total energy consumption contribution of a single vessel, identify and quantify the total loss of energy loss in the fleet, integrate the instantaneous effective energy consumption and the total loss to obtain the initial total energy consumption, and correct the instantaneous effective energy consumption to obtain the overall navigation efficiency of the fleet, including:

[0021] Real-time monitor each vessel and the equipment carried on the vessels in the fleet to obtain the real-time power demand and equipment efficiency changes. At the same time, collect environmental data through weather stations and sea condition monitors;

[0022] According to the environmental data, analyze the impact of environmental factors on equipment energy consumption, including judging the downstream or upstream state by the angle between the water flow direction and the ship's heading, quantifying the navigation resistance according to the wind speed and wave height, and evaluating the impact on equipment efficiency in combination with the air temperature, to obtain the environmental impact adjustment parameters;

[0023] Normalize and combine the real-time power demand, equipment efficiency changes and environmental impact adjustment parameters to obtain the instantaneous effective energy consumption of the equipment during the task time;

[0024] Accumulate the instantaneous effective energy consumption of all equipment on each vessel during their respective task time periods to obtain the total energy consumption contribution of a single vessel during the entire task period;

[0025] Identify and quantify the sources of energy loss during the operation of the fleet to obtain the total loss;

[0026] Normalize the instantaneous effective energy consumption and the total loss, and then fuse them to obtain the initial total energy consumption required for the fleet to actually complete the task, and correct the instantaneous effective energy consumption to obtain the overall navigation efficiency of the fleet.

[0027] Furthermore, the sources of energy loss include transmission loss, conversion loss, and storage loss.

[0028] Furthermore, according to the collaborative replenishment path and the power adjustment plan, control the opening and closing sequence of the mechanical-hydraulic connection device, and synchronously establish the power transmission channel and the communication task, including:

[0029] Send an instruction to the connection management according to the collaborative replenishment path and the power adjustment plan, determine the task type, and match the corresponding connection device operation;

[0030] According to the instruction, the robotic arm uses lidar to locate the connection port of the target ship, and the hydraulically driven guiding device aligns the latch with the target groove and closes along the guide rail, and realizes the connection through the elastic latch. At the same time, the sensor detects the sealing performance of the interface;

[0031] After connection, the power transmission interface establishes an electrical connection and transmits power from the ship with sufficient power to the ship with insufficient power according to the power adjustment plan; at the same time, the interface establishes a communication link, and according to the preset communication protocol, enables the ships to exchange navigation data, equipment status information, and relevant task data.

[0032] Furthermore, according to the power transmission and communication tasks, operate the mobile energy storage device on the auxiliary replenishment ship to provide fixed-point charging and battery replacement services for the maintenance ship with insufficient power, including:

[0033] Real-time monitor the battery power of the maintenance ship. When the power is lower than the preset safety threshold, automatically trigger the emergency response program of the mobile energy storage device, lock the target ship and plan the replenishment route;

[0034] Receive the low-power alarm and the information of the locked target ship, and generate a replenishment route according to the position of the maintenance ship, the current sea conditions, and the task priority factors;

[0035] When the replenishment route reaches the target position, use the connection device to connect with the maintenance ship to provide fixed-point charging and battery replacement services.

[0036] Furthermore, according to the environmental data, analyze the impact of environmental factors on the equipment energy consumption, including judging the downstream or upstream state by the angle between the water flow direction and the ship's heading, quantifying the navigation resistance according to the wind speed and wave height, and evaluating the impact on the equipment efficiency in combination with the air temperature, to obtain the environmental impact adjustment parameters, including:

[0037] Obtain the angle between the water flow direction and the ship's heading. By quantifying the degree of fit between the angle and the ship's sailing direction, a quantitative index of the impact of the water flow direction on energy consumption is obtained;

[0038] Collect wind speed and wave height data. According to the wind speed and the degree of influence of the wind speed on the navigation resistance, a quantitative index of the impact of the wind speed and wave height on energy consumption is obtained;

[0039] Real-time monitor the current temperature, and compare the current temperature with the final operating temperature of the equipment. Evaluate the impact of the temperature deviation from the final state on the equipment efficiency, and obtain a quantitative index of the impact of the temperature on the equipment efficiency;

[0040] Integrate the water flow, wind speed, wave height, and temperature, and finally obtain the environmental impact parameters, including the overall impact of environmental factors such as water flow, wind speed, wave height, and temperature on the energy consumption of the equipment.

[0041] In a second aspect, a computing device includes:

[0042] One or more processors;

[0043] A storage device for storing one or more programs, which when executed by the one or more processors cause the one or more processors to implement the described system.

[0044] In a third aspect, a computer-readable storage medium stores a program that, when executed by a processor, implements the described system.

[0045] The above solution of the present invention has at least the following beneficial effects:

[0046] The dynamic power balance and collaborative replenishment among the fleets are an innovation to the traditional shipping mode. Through multi-faceted optimization and innovation, improvements have been achieved in the fields of transportation efficiency, operating costs, navigation safety, and environmental friendliness. This not only brings higher economic benefits to the shipping industry but also enhances the industry's ability to cope with complex and changing transportation environments, strongly promoting the development of the shipping industry towards intelligent and green directions. Precise power monitoring and task-driven power demand matrix analysis enable the fleet to replenish power in a timely manner according to the actual needs of each ship, avoiding ship deceleration or shutdown due to insufficient power and ensuring the stable sailing rhythm of the entire fleet. The power sharing and optimized allocation among the fleets are realized, avoiding energy waste caused by excessive power reserves of some ships, while reducing the number of times ships need to berth frequently to replenish energy due to power problems, reducing the berthing costs and additional energy consumption.

[0047] Continuous monitoring of battery capacity and power consumption can promptly detect potential problems with ship power and issue warnings, enabling crew members to take preventive measures in advance to avoid navigation accidents caused by power failures. In adverse sea conditions, ships can maintain a stable power supply through coordinated replenishment, ensuring the normal operation of navigation, communication, and safety equipment, and enhancing the ship's stability and ability to respond to emergencies. Dynamically adjusting the power distribution of the fleet according to mission requirements enables rational utilization of power resources, avoiding the phenomenon of resource idleness or shortage caused by unreasonable power distribution in the traditional mode. Regardless of the transportation mission the fleet undertakes or the complex waters it sails in, it can provide stable power support for the ships. When sailing in special waters such as shoals and narrow channels, the ship can optimize power usage and flexibly adjust the equipment power to ensure navigation safety; for different cargo transportation tasks, including high requirements for continuous power supply in refrigerated cargo transportation, the power of refrigeration equipment can be prioritized to ensure the quality of the cargo is not affected, enhancing the fleet's adaptability to diverse transportation tasks and complex environments. Optimizing power distribution and coordinated replenishment reduces unnecessary energy consumption of the ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a schematic diagram of a dynamic power balance and coordinated replenishment system between fleets provided by an embodiment of the present invention.

[0049] Figure 2 is a schematic flow diagram of calculating the energy consumption of a single ship and a fleet and correcting the navigation efficiency based on real-time monitoring of the ship's motion state and analysis of environmental impacts, formulating a power adjustment strategy in combination with the power balance target, and planning a coordinated replenishment path for ships with insufficient power. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0051] As Figure 1 shown, an embodiment of the present invention provides a dynamic power balance and coordinated replenishment system between fleets, including:

[0052] A power management module 1 for real-time monitoring of the battery capacity, power consumption rate, and mission requirements of each ship, and generating a power usage situation and a mission-driven power demand matrix for each ship;

[0053] An intelligent scheduling module 2 for dynamically adjusting the power output strategy of the main propulsion ship according to the power demand matrix and the ship's motion state to obtain a coordinated replenishment path;

[0054] The connection management module 3 is used to control the opening and closing sequence of the mechanical-hydraulic connection device according to the collaborative supply path and power adjustment plan, and synchronously establish the power transmission channel and communication task.

[0055] The mobile energy storage module 4 is used to operate the mobile energy storage device on the auxiliary supply ship according to the power transmission and communication tasks, and provide fixed-point charging and battery replacement services for the operation and maintenance ship with insufficient power.

[0056] In the embodiment of the present invention, by real-time monitoring the battery capacity and power consumption rate of each ship, accurate power data support is provided for the fleet. The captain and management personnel can plan power use in advance and arrange tasks reasonably based on these data to avoid task interruption or equipment damage caused by insufficient power. Generate a task-driven power demand matrix according to the task requirements, so that the power supply closely matches the actual tasks. For tasks that require high-energy-consuming equipment to operate, ensure sufficient power support; for low-energy-consuming tasks, avoid power waste and improve power use efficiency.

[0057] Dynamically adjust the power output strategy of the main propulsion ship according to the power demand matrix and ship motion state to ensure efficient utilization of power while meeting the power demand of the fleet. Avoid energy waste caused by unreasonable power output and reduce operating costs. By planning the collaborative supply path, time waste and energy consumption during the supply process are reduced. The ship can obtain the required power faster, maintain a stable sailing speed, and improve the transportation efficiency of the entire fleet.

[0058] Precisely control the opening and closing sequence of the mechanical-hydraulic connection device to ensure the rapid and stable establishment of the power transmission channel. This enables efficient power transfer within the fleet to meet the power demands of each ship and improve the overall power supply stability of the fleet. Synchronously establish communication tasks to ensure real-time data exchange between ships. Crew members can share navigation data, equipment status information, and task progress in a timely manner to achieve closer collaborative operations, improve navigation safety, and task execution efficiency. Convenient connection and separation: The quick connection and separation functions of the mechanical-hydraulic connection device facilitate the combination and adjustment of the fleet at different task stages. Whether it is for supply, ship replacement, or emergency response, connection or separation operations can be completed, saving time and labor costs.

[0059] Operate the mobile energy storage device on the auxiliary supply ship to provide fixed-point charging and battery replacement services for the operation and maintenance ship with insufficient power, providing a flexible power supply method for the fleet. In the case of being far from the port or charging station, it can also ensure the power supply of the ship and avoid navigation interruption caused by power exhaustion. By timely replenishing power and replacing batteries, the burden on the ship's own battery is reduced, which helps to extend the service life of the battery and other power equipment and reduce equipment maintenance and replacement costs.

[0060] In a preferred embodiment of the present invention, the battery capacity, power consumption rate, and task requirements of each vessel are monitored in real time to generate a power usage situation and a task-driven power demand matrix for each vessel, which may include:

[0061] Through the power monitoring device on each vessel, real-time voltage and current data of the battery are collected for monitoring to obtain the real-time value of the battery capacity and the power consumption rate;

[0062] Based on the real-time value of the battery capacity and the power consumption rate, a task management terminal is equipped for each vessel, and information about the current task is input through the task management terminal;

[0063] Based on the data from the power monitoring device and the task details of the task management terminal, a power usage situation and a task-driven power demand matrix for each vessel are generated.

[0064] In the embodiment of the present invention, high-precision power monitoring devices are installed in the batteries of each vessel, including smart meters, current sensors, and voltage sensors. According to the characteristics and actual requirements of ship power, an appropriate data acquisition frequency is set. For power with large fluctuations, the acquisition frequency can be appropriately increased; for relatively stable power, the acquisition frequency can be decreased. The power monitoring device transmits the collected voltage and current data to the data processing unit on the ship through wired or wireless communication. Using the collected voltage and current data and combining with the characteristic parameters of the battery, the change amount of the battery capacity per unit time, that is, the power consumption rate, is obtained.

[0065] A task management terminal suitable for the ship's use environment is determined, and the task management terminal is installed at a position on the ship that is easy to operate and observe, and it is ensured that the connection with the ship's power and communication networks is normal. A special task information input interface is developed on the task management terminal, and the interface should be simple and clear to facilitate the crew to input relevant information about the task, including task type, task duration, task route, and expected docking points. After the crew inputs the task information on the task management terminal, the input information is verified to ensure the integrity and accuracy of the information.

[0066] The real-time value of the battery capacity and the power consumption rate data collected by the power monitoring device are integrated with the task information stored in the task management terminal. Based on the integrated data, the power usage situation of each vessel in different task stages is analyzed, including the power consumption of each device and the power distribution situation. A power usage curve is plotted to visually display the changing trend of the ship's power consumption. Based on the analysis results of the power usage situation and combined with the task information, a task-driven power demand matrix for each vessel is generated. Suppose a ship has task stages, and each stage has power demand indicators, then the task-driven power demand matrix can be expressed as The rows of the matrix represent different task phases, and the columns represent different power demand indicators, including total power demand and power demand of each device. The elements in the matrix represent the power demand values under the corresponding task phases.

[0067] Suppose a fleet of 3 ships is performing a maritime cargo transportation task. Each ship is equipped with an electricity monitoring device that collects voltage and current data of the battery at a frequency of once per second. The real-time value of the battery capacity of Ship 1 is 80%, and the power consumption rate is 2% per hour; the real-time value of the battery capacity of Ship 2 is 75%, and the power consumption rate is 2.5% per hour; the real-time value of the battery capacity of Ship 3 is 85%, and the power consumption rate is 1.5% per hour. Each ship is equipped with a task management terminal, and the crew inputs the information of this transportation task on the terminal. The task type is cargo transportation, the task duration is 3 days, the task route is from Port A to Port B, and there is a stopover for cargo loading and unloading in the middle.

[0068] Integrate and analyze the data of the electricity monitoring device and the task details of the task management terminal. In the first phase of the task (from Port A to the stopover in the middle), the total power demand of Ship 1 is expected to be 3000 degrees, the propulsion demand is 2000 degrees, the cargo handling equipment demand is 500 degrees, and the equipment demand is 500 degrees; the total power demand of Ship 2 is expected to be 2800 degrees, and the demands of each device are allocated proportionally; the total power demand of Ship 3 is expected to be 3200 degrees. Generate a task-driven power demand matrix for each ship during the entire task process.

[0069] By monitoring the battery capacity and power consumption rate in real time, the power status of each ship can be accurately grasped. Combining the power demand matrix generated from the task information makes power management more refined, avoids waste and shortage of power resources, and improves power usage efficiency. The task-driven power demand matrix provides an important basis for task planning. According to the power demand information in the matrix, the crew can reasonably arrange the task progress, equipment usage, and supply plan to ensure the smooth completion of the task. Timely detection of abnormal battery capacity and excessive power consumption problems, and taking measures in advance to handle them, avoid safety accidents caused by power failures, and improve the safety and reliability of the fleet. Optimize the allocation and use of power resources, reduce unnecessary power consumption, and lower energy costs. At the same time, reasonable task planning and supply plans also reduce the docking time and operating costs of the ships.

[0070] In a preferred embodiment of the present invention, based on the ship motion state, a data set including power status, navigation parameters, sea condition impact, and task progress requirements is obtained for each ship. The data of the ship equipment is monitored in real time, and the environmental impact is analyzed to obtain adjustment parameters. Then, the total energy consumption contribution of a single ship is calculated, the total loss of the fleet is quantified, and the initial total energy consumption is obtained by fusion and corrected to obtain the navigation efficiency. Finally, based on the navigation efficiency and the power balance target, a power output adjustment strategy is formulated for the main propulsion ship. Finally, with the ship with insufficient power as the core and combining multiple information, a collaborative replenishment path is planned, which may include:

[0071] According to the ship motion state, real-time position and navigation speed information are obtained from the ship positioning device and the speed sensor to obtain a data set for each ship, including the power status, navigation parameters, sea condition impact, and task progress requirements of each ship;

[0072] The power demand and efficiency changes of the ships and the equipment carried in the fleet are monitored in real time, and the environmental data is collected. Based on this, the impact of environmental factors on the equipment energy consumption is analyzed to obtain the environmental impact adjustment parameters. Combining the parameters with the real-time data, the instantaneous effective energy consumption of the equipment is calculated, and the total energy consumption contribution of a single ship is obtained by accumulation. The total loss of the fleet's energy loss is identified and quantified, and the initial total energy consumption is obtained by fusing the instantaneous effective energy consumption and the total loss, and the instantaneous effective energy consumption is corrected to obtain the overall navigation efficiency of the fleet;

[0073] According to the overall navigation efficiency and power balance target of the fleet, a power output adjustment strategy is formulated for the main propulsion ship. When the power of some ships is insufficient and affects the fleet progress, the main propulsion ship is instructed to reduce the power output. When the ship with insufficient power approaches the task completion point, the main propulsion ship is instructed to increase the power output;

[0074] With the ship with insufficient power in the fleet as the core, combining the real-time position, task progress, and the resources available for replenishment in the surrounding area, a collaborative replenishment path is obtained.

[0075] In the embodiment of the present invention, the ship positioning device continuously receives satellite signals, and the speed sensor measures the relative motion between the water flow and the ship to obtain the navigation speed of the ship, which is transmitted to the central control system of the ship in real time. At the same time, the battery capacity and power consumption rate power status data of each ship are retrieved from the power management, combined with the sea condition data (wind speed, wave height, water flow speed and direction) obtained by the meteorological monitoring device, and the task progress information (completed task part, remaining task content, and estimated completion time) in the task management, to integrate and form a detailed data set for each ship including power status, navigation parameters, sea condition impact, and task progress requirements.

[0076] Based on the power status data of each ship, using the real-time value of battery capacity and the power consumption rate, combined with the estimated duration of the remaining tasks and the power factor of each device, calculate the power required to complete the remaining tasks under the current power status. Combine the power required for all ships to complete the remaining tasks, and considering the current sailing speed and route parameters of the fleet, take into account the impact of sea conditions on sailing speed and power consumption (headwinds and adverse currents will increase power consumption and reduce sailing speed), and evaluate the overall sailing efficiency of the fleet. According to the evaluation result of the overall sailing efficiency of the fleet and the set power balance target, formulate a strategy for adjusting the power output of the main propulsion ship. When it is monitored that some ships have insufficient power and, based on the calculation, maintaining the current sailing speed and power output will prevent these ships from completing the remaining tasks and thus affect the overall progress of the fleet, send an instruction to the main propulsion ship to reduce the power output. After reducing the power output, the overall speed of the fleet will decrease, but the power consumption can be reduced, enabling the ships with insufficient power to hold on until the appropriate time for power replenishment.

[0077] When the ships with insufficient power are approaching the task completion point, in order to complete the task as soon as possible, instruct the main propulsion ship to increase the power output and accelerate the sailing speed of the fleet. On the premise of ensuring safety, let the ships with insufficient power complete the task before the power runs out. Taking the ships with insufficient power in the fleet as the core, obtain the real-time position through the ship positioning system. Combine the task progress information to understand the remaining voyage and estimated time to the task completion point. At the same time, use the communication system to obtain the resource situation for replenishment in the vicinity, including the positions of nearby auxiliary replenishment ships and the distribution information of offshore charging stations. Considering factors such as sea conditions, sailing safety, and time cost comprehensively, plan a final collaborative replenishment route.

[0078] Suppose there is a fleet consisting of 5 ships responsible for transporting a batch of goods from Port A to Port B, with a total voyage of 500 nautical miles. The ship positioning equipment and speed sensors collect data in real time. Ship 1 is currently located at 20°N, 110°E, with a sailing speed of 12 knots; Ship 2 is located at 20.1°N, 110.1°E, with a sailing speed of 11.5 knots. The power status of each ship shows that Ship 3 has 30% of its power remaining, and the power consumption rate is 5% per hour; Ship 4 has 40% of its power remaining, and the power consumption rate is 4% per hour. In terms of sea conditions, the current wind speed is 10 knots, the wind direction is northeast, the wave height is 2 meters, the water flow speed is 2 knots, and the flow direction is southeast. The task progress shows that the fleet has completed 300 nautical miles of the voyage and is expected to reach Port B in another 20 hours. This information is integrated to form a dataset for each ship.

[0079] After calculation, the power required for Ship 3 to complete the remaining 200 nautical miles of the voyage is approximately 400 degrees, and the power required for Ship 4 is approximately 350 degrees. Considering the impact of sea conditions on the sailing speed and power consumption, the overall sailing efficiency of the current fleet is evaluated as low. At the current speed and power consumption, Ships 3 and 4 may not be able to maintain sufficient power before reaching the port. Since the insufficient power of Ships 3 and 4 may affect the progress of the fleet, the main propulsion ship is instructed to reduce the power output, and the fleet speed is reduced to 10 knots. When Ships 3 and 4 approach Port B, the main propulsion ship increases the power output, and the fleet speed is increased to 13 knots. It is found that the power shortage of Ship 3 is relatively serious, and a collaborative replenishment path is planned with Ship 3 as the core. There is an auxiliary replenishment ship located at 21°N, 111°E. A collaborative replenishment path is planned for the auxiliary replenishment ship to meet Ship 3 at 20.5°N, 110.5°E, avoiding a sea area with severe convective weather ahead to ensure the safety and efficiency of the replenishment process.

[0080] By adjusting the power output of the main propulsion ship in real time, the fleet can maintain a relatively reasonable sailing speed in different situations, avoid a significant decrease in the overall speed due to power problems of some ships, ensure that the fleet completes the task on time, and reduce the transportation time. Dynamically adjusting the power output according to the power status of each ship avoids the situation where some ships cannot continue to sail due to power exhaustion, ensures the power balance of the fleet, ensures that each ship can complete the task smoothly, and improves the reliability of task completion. Planning a collaborative replenishment path with the ship with insufficient power as the core and combining various aspects of information improves the timeliness and accuracy of replenishment, reduces unnecessary sailing distance and time, and reduces the replenishment cost and risk. It can flexibly adjust strategies according to various complex factors such as the ship's motion state, power status, sea conditions, and task progress, enabling the fleet to maintain a good operating state in different sailing environments and task conditions, and enhancing the overall adaptability of the fleet.

[0081] In a preferred embodiment of the present invention, real-time monitoring of the ships and the equipment carried in the fleet is carried out to obtain the power demand and efficiency changes, and environmental data is collected. Based on this, the impact of environmental factors on equipment energy consumption is analyzed to obtain environmental impact adjustment parameters. Combining the parameters with real-time data, the instantaneous effective energy consumption of the equipment is calculated. The total energy consumption contribution of a single ship is accumulated, the total energy loss of the fleet is identified and quantified, and the total initial energy consumption is obtained by integrating the instantaneous effective energy consumption and the total energy loss, and the instantaneous effective energy consumption is corrected to obtain the overall sailing efficiency of the fleet, which may include:

[0082] Carry out real-time monitoring of each ship and the equipment carried in the fleet to obtain real-time power demand and equipment efficiency changes. At the same time, collect environmental data through weather stations and sea condition monitors;

[0083] According to the environmental data, the impact of environmental factors on equipment energy consumption is analyzed, including judging the downstream or upstream state by the angle between the water flow direction and the ship's heading, quantifying the sailing resistance according to the wind speed and wave height, and evaluating the impact of the equipment efficiency in combination with the temperature, and obtaining the environmental impact adjustment parameters, including:

[0084] Obtain the angle between the water flow direction and the ship's heading, and obtain a quantitative index of the effect of the water flow direction on energy consumption by quantifying the degree of fit between the angle and the ship's sailing direction;

[0085] Collect wind speed and wave height data, and obtain quantitative indicators of wind speed and wave height on energy consumption based on the impact of wind speed and wind speed on sailing resistance;

[0086] Monitor the current temperature in real time and compare it with the final working temperature of the equipment to evaluate the impact of the temperature deviation from the final state on the equipment efficiency and obtain a quantitative index of the effect of the temperature on the equipment efficiency.

[0087] Integrate water flow, wind speed, wave height and temperature to finally obtain environmental impact parameters, including the overall impact of water flow, wind speed, wave height and temperature environmental factors on equipment energy consumption;

[0088] The real-time power demand, equipment efficiency changes and environmental impact adjustment parameters are normalized and combined to obtain the instantaneous effective energy consumption of the equipment during the mission time;

[0089] The instantaneous effective energy consumption of all equipment on each ship during their respective mission time periods is accumulated to obtain the total energy consumption contribution of a single ship during the entire mission period;

[0090] Identify and quantify the sources of energy loss in fleet operation and obtain the total loss;

[0091] The instantaneous effective energy consumption and the total energy consumption are normalized and then merged to obtain the initial total energy consumption required for the fleet to actually complete the task. The instantaneous effective energy consumption is corrected to obtain the overall navigation efficiency of the fleet.

[0092] In the embodiment of the present invention, the power sensor is used to measure the power of each ship. Real-time monitoring of each device (thruster, radar) to obtain The instantaneous power consumption For example, when the thruster is accelerating =2000W, reduced to 500W during cruising. Equipment efficiency variation coefficient , calculated in real time by the efficiency monitoring module, reflecting the fluctuation of energy conversion efficiency caused by aging and load changes of the equipment (the motor efficiency coefficient is in the range of 0.85-0.95, the conversion efficiency of high-efficiency motor is 0.95, and the conversion efficiency of ordinary motor is around 0.85). Environmental data is collected through weather stations and sea condition monitors, and the angle between water flow and heading , wind speed , wave height and air temperature , and normalize the wind speed, wave height and temperature difference (convert to values in the range [0, 1], denoted as , , ). Convert environmental data in different units (m / s, m, °C) to dimensionless pure numerical values (0 - 1) to avoid calculation deviations caused by dimensional differences (such as the irrationality when directly adding "10 m / s" of wind speed and "2 m" of wave height in a formula). Calculate the absolute value of the cosine of the included angle . The larger the value (close to 1), the more the water flow is in the same direction (downstream) or opposite direction (upstream) to the course of the ship. The smaller the value (close to 0), the more perpendicular it is

[0093] Substitute into the first term of the formula: , where is the weight of the water flow influence, and its value range is 0.2 - 0.4. In waters where the water flow speed changes greatly and the water flow has an impact on ship navigation, including rivers and narrow straits, can be close to 0.4; while in open seas, the water flow is relatively stable and has less impact on navigation, can take a value close to 0.2 is the influence coefficient of the water flow on energy consumption, and its value range is 0.7 - 0.9. If the hydrodynamic performance of the ship is good and its adaptability to water flow changes is strong, can take a relatively small value, such as 0.7; on the contrary, for ships with general hydrodynamic performance, can be close to 0.9. When going downstream is close to 1, and the value of this term is smaller (energy consumption is reduced); when going upstream, the value of this term may increase

[0094] Multiply the square of the normalized wind speed by the wind speed influence coefficient , that is The value range is 0.5 - 0.7. The wind speed has a greater impact on the navigation resistance of the ship. When sailing at high speed, can take a value of 0.7; if the ship's sailing speed is low, the influence of the wind speed is relatively small, can take a value of 0.5. Multiply the normalized wave height by the wave height influence coefficient , that is , The value range is 0.3 - 0.5. The influence of the wave height on ship navigation is related to the seakeeping performance of the ship. For ships with poor seakeeping performance, the influence of the wave height on energy consumption is greater, is 0.5; for ships with good seakeeping performance, can take a value of 0.3. After adding the two and multiplying by the amplification coefficient , that is , The value range is 0.5 - 0.7. When the ship's hull design is highly sensitive to wind and waves, it can take the value of 0.7; if the ship design can effectively reduce wind and wave resistance, it can take the value of 0.5. After adding 1 and multiplying by the weight , The value range is 0.4 - 0.6. In the marine environment, wind and waves are important factors affecting the energy consumption of ship navigation, especially in ocean voyages and storm-prone areas. It can take the value of 0.6; while in inland rivers or relatively calm sea areas, it can be reduced to 0.4. That is, the second term of the formula: , which reflects the characteristic that the resistance increases linearly with the square of the wind speed and the wave height. The larger the value, the higher the additional energy consumption. Calculate the normalized temperature difference = , where represents the reference temperature or the baseline temperature, represents the upper limit value of the temperature, represents the lower limit value of the temperature.

[0095] Substitute into the third term of the formula: , is the temperature influence weight, The value range is 0.1 - 0.3. In regions with large temperature variations and obvious impacts on equipment performance, such as polar or tropical regions, it can be 0.3; while in temperate regions with relatively stable temperatures, it can take the value of 0.1. is the temperature influence coefficient on efficiency, and the value range is 0.8 - 1.0. For equipment that is more sensitive to temperature changes, such as batteries and electronic devices, it can take the value of 1.0; while for equipment with better high-temperature or low-temperature resistance, is 0.8. The larger the temperature difference, the larger it is, and the smaller the value of this term (the lower the equipment efficiency and the higher the energy consumption).

[0096] For any equipment and time , calculate the instantaneous effective energy consumption according to the product relationship in the formula, where is the environmental impact coefficient. If at a certain moment the thruster = 1000W, = 0.9 (efficiency 90%), and in a countercurrent environment = 1.1, then the instantaneous effective energy consumption is 990W, which represents the actual energy consumption intensity of the equipment under its own efficiency fluctuations and environmental impacts. For the equipment The task time period is [0, (the thruster works continuously = 3600s). Accumulate the instantaneous effective energy consumption to obtain the total energy consumption of a single device . Divide the time into tiny intervals = 1s. Calculate the instantaneous value at each time point and accumulate . For example, if the device works for 10s and 10 instantaneous values are sampled, the total energy consumption is the sum of these 10 values multiplied by 1s. Add up the total energy consumption of the devices during the mission period of a single ship to obtain the total energy consumption contribution of a single ship, and repeat the process for all ships in the entire fleet. Finally, form the total energy consumption of the devices in the entire fleet: Total energy consumption of the devices in the entire fleet . If there are 2 ships in the fleet and 3 devices on each ship, then = 6. The of each device may be different (device 1 works for 2 hours, device 2 works for 1 hour), and it is necessary to integrate and accumulate them separately.

[0097] Statistical total loss of energy loss sources

[0098] . For example, hull resistance loss ( = 1): Calculate according to the water flow speed and ship speed. Assume = 50000J; battery charge and discharge loss ( = 2): Calculate according to the battery efficiency of 90%. The loss is 10% of the total energy consumption of the device, that is = 0.1 × total energy consumption of the devices in the entire fleet; heat dissipation loss ( = 3): Monitor through temperature sensors and estimate it to be 5% of the device energy consumption, that is = 0.05 × total energy consumption of the devices in the entire fleet. The total loss . Deduct the total loss from the total energy consumption of the devices in the entire fleet to obtain the theoretical net energy consumption required to complete the task: Theoretical net energy consumption . This value represents the energy consumption directly used by the device to complete the task, excluding additional losses due to water flow resistance and heat dissipation. According to the comprehensive efficiency of the energy system (battery energy storage efficiency of 85%, motor conversion efficiency of 90%, and after combination = 0.85 × 0.90 = 0.765), calculate the final effective power , that is, the overall navigation efficiency of the fleet.

[0099] Calculate the actual energy consumption of the fleet to complete the tasks, enabling managers to deeply understand the energy consumption of each ship and each device. This helps formulate detailed energy management strategies, including reasonably allocating energy, optimizing the operation time of devices, avoiding energy waste, and achieving efficient use of energy. It provides accurate energy consumption data support for the fleet's task planning. When planning the task route and arranging the task progress, the energy consumption factor can be fully considered to determine the most energy-efficient navigation plan, ensure the smooth completion of the task within the allowable range of energy supply, and improve the transportation efficiency. By identifying and quantifying energy losses, targeted measures can be taken to reduce losses. Real-time monitoring of the fleet's energy consumption status helps detect potential energy problems in a timely manner. Improving the energy utilization efficiency of the fleet and reducing energy consumption means reducing the pollutant emissions of the ships.

[0100] In another preferred embodiment of the present invention, the sources of energy losses include transmission losses, conversion losses, and storage losses, which may include:

[0101] Identify the lines and devices involved in power transmission in the fleet, including cables, busbars, transformers, and switches. The power transmission lines between different ships and between various devices within the ship need to be considered. The connection cables between the main propulsion ship and the barge, as well as the wiring from the power source to each electrical device within the ship. Use professional instruments to measure the resistance, inductance, and capacitance parameters of the transmission lines. The resistance can be measured by a resistance meter, and the inductance and capacitance can be obtained by using the corresponding inductance-capacitance meters. At the same time, record the length, cross-sectional area, and material information of the lines, which will affect the power transmission loss.

[0102] Find out the devices with energy conversion in the fleet, including generators, motors, inverters, and rectifiers.

[0103] Obtain the conversion efficiency of each energy conversion device under different working conditions. The conversion efficiency changes with factors such as the device load and operating temperature. Therefore, it is necessary to record the real-time operating parameters of the device. Install power sensors at the input and output ends of the energy conversion device to measure the input power and output power. By integrating the power over time, the input energy and output energy are obtained.

[0104] Determine the energy storage devices used in the fleet, including battery packs and supercapacitors. Different types of energy storage devices have different storage characteristics and loss mechanisms. Use the corresponding monitoring devices to real-time monitor the power, voltage, current, and temperature parameters of the energy storage devices. These parameters can reflect the charge and discharge status and health status of the energy storage devices. Consult the materials of the energy storage devices to obtain the parameters related to storage losses, including the self-discharge rate and charge-discharge efficiency. The self-discharge rate represents the rate of natural loss of the power of the energy storage device when it is not connected to a load, and the charge-discharge efficiency reflects the energy conversion loss during the charging and discharging processes of the energy storage device.

[0105] In a preferred embodiment of the present invention, according to the collaborative replenishment path and power adjustment scheme, controlling the opening and closing sequence of the mechanical-hydraulic connection device and synchronously establishing the power transmission channel and communication task may include:

[0106] Sending an instruction to the connection management according to the collaborative replenishment path and power adjustment scheme, determining the task type, and matching the corresponding connection device operation;

[0107] According to the instruction, the robotic arm uses lidar to locate the connection port of the target ship, and the hydraulically driven guiding device aligns the latch with the target groove and closes along the guide rail, achieving connection through an elastic latch. Meanwhile, the sensor detects the sealing performance of the interface;

[0108] After connection, the power transmission interface establishes an electrical connection and transmits power from the ship with sufficient power to the ship with insufficient power according to the power adjustment scheme; meanwhile, the interface establishes a communication link, and according to the preset communication protocol, enables the ships to exchange navigation data, equipment status information, and relevant task data.

[0109] In the embodiment of the present invention, an instruction is sent to the connection management according to the pre-planned collaborative replenishment path and power adjustment scheme. After receiving the instruction, the connection management analyzes the key task information, including the type of replenishment and the ship numbers involved, to determine the task type. Subsequently, the connection management matches the corresponding connection device operation process in the built-in operation instruction library according to the task type. This includes the action sequence, time nodes, and parameter setting information of each component of the mechanical-hydraulic connection device, ensuring that the connection device can operate precisely according to the task requirements.

[0110] When the mechanical-hydraulic connection device receives the execution instruction, the robotic arm installed on the connection device starts. The lidar mounted on the robotic arm begins to work, scanning and positioning the connection port of the target ship. The lidar emits laser beams and measures the distance to the target based on the time delay of the reflected light, thereby mapping the position and shape information of the connection port of the target ship. According to this information, the robotic arm adjusts its own posture and moves the hydraulically driven guiding device near the target connection port. The latch on the guiding device is aligned with the target groove under hydraulic drive. Then, the latch closes along the guide rail until it completely fits with the target groove. At this time, the elastic latch comes into play, tightly clamping the target groove to achieve a firm connection between the ships. During the connection process, the sensor installed at the connection interface continuously detects the sealing performance of the interface. Once abnormal sealing is detected, information is immediately fed back to adjust or re-perform the connection operation in a timely manner.

[0111] After the ships are successfully connected, the power transmission interface starts to work. Under the action of the control signal, the circuit connection mechanism inside the power transmission interface automatically establishes a circuit connection from the ship with sufficient power to the ship with insufficient power. At the same time, according to the power transmission power and time requirements set in the power adjustment plan, power transmission begins. While the power is being transmitted, the communication interface also starts to establish a communication link. The communication interface exchanges navigation data, equipment status information, and relevant task data according to the preset communication protocol to achieve information sharing and collaborative operations between ships.

[0112] Suppose there is a fleet consisting of three ships. Ship A has sufficient power and Ship B has insufficient power. The fleet has planned a collaborative replenishment route and decides that Ship A will supply power to Ship B. The fleet control sends an instruction to the connection management according to the collaborative replenishment route and the power adjustment plan. After parsing the instruction, the connection management determines that the task type is power replenishment and involves Ship A and Ship B. It finds the corresponding operation process of the mechanical-hydraulic connection device in the operation instruction library and prepares to execute the connection operation. Ship A and Ship B gradually approach along the planned route. The robotic arm of the mechanical-hydraulic connection device on Ship A starts, and the lidar scans and locates the connection port of Ship B. Through the measurement of the lidar, the robotic arm moves the hydraulically driven guiding device near the connection port of Ship B, aligns the lock with the target groove and closes it along the guide rail, and the elastic buckle firmly catches to achieve the connection between the two ships. During the connection process, the sensor detects that the interface has good sealing performance.

[0113] After the two ships are successfully connected, the power transmission interface automatically establishes a circuit connection and starts to transmit power from Ship A to Ship B according to the power set in the power adjustment plan. At the same time, the communication interface establishes a communication link according to the preset communication protocol, and Ship A and Ship B start to exchange navigation data, equipment status information, and task data. Ship B sends its battery power and equipment operation status information to Ship A, and Ship A shares its navigation parameters and task progress information with Ship B to achieve information sharing and facilitate the collaborative operation of the two ships.

[0114] By precisely controlling the opening and closing sequence of the mechanical-hydraulic connection device and simultaneously establishing the power transmission channel and communication tasks, rapid and stable connection between ships and efficient resource replenishment and information sharing are achieved. This enables the fleet to adjust resource allocation in a timely manner according to the actual situation during mission execution, improving the overall operation efficiency. Real-time communication between ships allows crew members to promptly understand each other's navigation data and equipment status information, avoiding safety accidents such as collisions caused by poor information flow. Meanwhile, in case of an emergency with insufficient power, rapid power replenishment can be carried out to ensure the normal operation of key ship equipment and guarantee navigation safety. A reasonable power adjustment and power transmission scheme avoid damage to ship equipment due to insufficient power and overload operation, extending the service life of the equipment. Moreover, the detection of interface sealing during the connection process ensures the reliability of the connection and reduces the risk of equipment failures caused by unstable connection. It is possible to match the corresponding connection device operations according to different mission types (power replenishment, cargo transfer), making the fleet more adaptable. Whether in regular transportation missions or rescue missions in the face of emergencies, the connection between ships and the interaction of resources and information can be completed quickly and accurately to meet the complex and changing mission requirements.

[0115] In a preferred embodiment of the present invention, according to the power transmission and communication tasks, operating the mobile energy storage device on the auxiliary supply ship to provide fixed-point charging and battery replacement services for the operation and maintenance ship with insufficient power may include:

[0116] Real-time monitoring of the battery power of the operation and maintenance ship. When the power is lower than the preset safety threshold, automatically trigger the emergency response program of the mobile energy storage device, lock the target ship and plan the replenishment route;

[0117] Receive the low-power alarm and the information of the locked target ship, and generate a replenishment route based on factors such as the position of the operation and maintenance ship, the current sea conditions, and the mission priority;

[0118] When the replenishment route reaches the target position, use the connection device to connect with the operation and maintenance ship to provide fixed-point charging and battery replacement services.

[0119] In an embodiment of the present invention, high-precision battery power monitoring sensors are installed on the operation and maintenance ship. These sensors will collect the battery power data in real time and transmit the data to the monitoring of the auxiliary supply ship through wireless communication. The monitoring will continuously analyze and process these data. In the monitoring of the auxiliary supply ship, a safety power threshold is preset. When the received battery power data of the operation and maintenance ship is lower than the threshold, the emergency response program of the mobile energy storage device will be automatically triggered. The program will immediately activate the target locking function and accurately lock the position of the operation and maintenance ship with insufficient power through the global positioning system. At the same time, start to preliminarily plan the replenishment route from the current position of the auxiliary supply ship to the position of the target operation and maintenance ship.

[0120] The control of the auxiliary supply ship receives low battery alerts and locked target ship information from monitoring. At the same time, through the on-board meteorological monitoring equipment and sea condition sensors, the current sea condition information is obtained in real time, including wind speed, wave height, water flow speed and direction. In addition, according to the task management of the fleet, the task priorities of the maintenance ships are determined. The position of the maintenance ship, the current sea condition and task priority factors are input into the route. Considering various factors, such as avoiding areas with severe sea conditions to ensure navigation safety and giving priority to guaranteeing the maintenance ships for high-priority tasks. The initially planned supply route is optimized and adjusted to generate a final supply route.

[0121] The auxiliary supply ship sails towards the target location according to the generated supply route. During the sailing process, the positioning system is continuously used for navigation and position update to ensure accurate arrival at the target location. When the auxiliary supply ship arrives at the target location, a connection device on the ship is used to connect with the maintenance ship. The connection device can be a robotic arm or hydraulic docking to ensure a firm and stable connection. During the connection process, leak tightness detection and electrical connection tests are carried out to ensure the safe conduct of charging and battery replacement services. After successful connection, according to the needs of the maintenance ship and the battery status, the mobile energy storage device starts to implement fixed-point charging services for the maintenance ship. During the charging process, the charging current, voltage and battery temperature parameters are monitored in real time to ensure safe and efficient charging. If the battery of the maintenance ship is damaged or needs to be replaced, the operators of the auxiliary supply ship will use professional tools to perform the battery replacement operation, install the new battery on the maintenance ship, and recycle the old battery.

[0122] Suppose in the maintenance operation of an offshore wind farm, there is a maintenance ship responsible for inspecting and maintaining multiple wind turbines. The auxiliary supply ship is on standby in the nearby sea area, monitoring the battery power of the maintenance ship in real time. During the execution of the task by the maintenance ship, the battery power gradually decreases. When the power monitoring sensor detects that the battery power is lower than the preset safety threshold, the data is transmitted to the monitoring system of the auxiliary supply ship. The monitoring system immediately triggers the emergency response program of the mobile energy storage device and locks the position of the maintenance ship through navigation. At this time, the maintenance ship is located in the northeast corner of the offshore wind farm. The control system of the auxiliary supply ship receives the low battery alert and the position information of the maintenance ship. At the same time, the meteorological monitoring equipment shows that the current sea condition is medium wind and waves, the wind speed is 15 knots, the wave height is 2 meters, and the water flow direction is southeast. The task management shows that the task priority of the maintenance ship is high because it is performing an inspection task on a key wind turbine. Based on this information, a supply route is generated, avoiding the areas with larger wind and waves and directly sailing towards the location of the maintenance ship.

[0123] The auxiliary supply ship sails along the supply route and finally reaches the position of the operation and maintenance ship. The operator uses the robotic arm to connect the auxiliary supply ship to the operation and maintenance ship, and conducts leak tightness detection and electrical connection testing. After confirming the safety of the connection, the mobile energy storage device starts to charge the battery of the operation and maintenance ship. During the charging process, it is found that one battery of the operation and maintenance ship is damaged. The operator uses professional tools to replace the damaged battery with a new one to ensure that the operation and maintenance ship can continue to perform its tasks.

[0124] Through real-time monitoring and timely emergency response, it is possible to provide charging and battery replacement services when the operation and maintenance ship has insufficient power, avoid interruption of operation and maintenance tasks due to power problems, and ensure the continuity and efficiency of offshore operations. Timely charging and battery replacement services can ensure the normal operation of the key equipment of the operation and maintenance ship, reduce equipment failures and safety accidents caused by insufficient power. At the same time, the safety detection carried out during the connection and charging process improves the safety of the operation. Generating the supply route according to the sea conditions and task priorities can reasonably arrange the sailing route of the auxiliary supply ship, avoid unnecessary sailing and energy consumption, and improve the resource utilization efficiency. By providing timely support to the operation and maintenance ship with insufficient power, the entire fleet can work better together, improve the overall efficiency of the fleet and the ability to respond to emergencies.

[0125] An embodiment of the present invention also provides a computing device, including: a processor, a memory storing a computer program, and when the computer program is run by the processor, it executes the system as described above. All implementation manners in the above system embodiment are applicable to this embodiment and can also achieve the same technical effects.

[0126] An embodiment of the present invention also provides a computer-readable storage medium storing instructions, and when the instructions are run on a computer, the computer is made to execute the system as described above. All implementation manners in the above system embodiment are applicable to this embodiment and can also achieve the same technical effects.

[0127] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle described in the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A dynamic power balance and collaborative replenishment system between fleets, characterized in that, Including: A power management module, which is used to monitor the battery capacity, power consumption rate and task requirements of each vessel in real time, and generate the power usage situation and task-driven power demand matrix of each ship; An intelligent scheduling module, which is used to obtain a dataset of each ship including power status, navigation parameters, sea condition impacts and task progress requirements based on the ship motion state, monitor the data obtained by the ship equipment in real time, analyze the environmental impacts to obtain adjustment parameters, and then calculate the total energy consumption contribution of a single ship, quantify the total losses of the fleet to integrate and obtain the initial total energy consumption, and correct it to obtain the navigation efficiency. Then, based on the navigation efficiency and power balance target, formulate a power output adjustment strategy for the main propulsion ship. Finally, taking the ships with insufficient power as the core, plan a collaborative replenishment path by integrating multiple parties' information; A connection management module, which is used to control the opening and closing sequence of the mechanical-hydraulic connection device according to the collaborative replenishment path and power adjustment plan, and synchronously establish a power transmission channel and communication tasks; A mobile energy storage module, which is used to operate the mobile energy storage device on the auxiliary replenishment ship according to the power transmission and communication tasks, and provide fixed-point charging and battery replacement services for the maintenance ships with insufficient power.

2. The dynamic power balance and collaborative replenishment system between fleets according to claim 1, wherein Monitor the battery capacity, power consumption rate and task requirements of each vessel in real time, and generate the power usage situation and task-driven power demand matrix of each ship, including: Collect the real-time voltage and current data of the battery through the power monitoring equipment on each ship for monitoring, and obtain the real-time value of the battery capacity and the power consumption rate; Equip each ship with a task management terminal according to the real-time value of the battery capacity and the power consumption rate, and input the information of this task through the task management terminal; Generate the power usage situation and task-driven power demand matrix of each ship according to the data of the power monitoring equipment and the task details of the task management terminal.

3. The dynamic power balance and collaborative replenishment system between fleets according to claim 2, wherein Obtain a dataset of each ship including power status, navigation parameters, sea condition impacts and task progress requirements based on the ship motion state, monitor the data obtained by the ship equipment in real time, analyze the environmental impacts to obtain adjustment parameters, and then calculate the total energy consumption contribution of a single ship, quantify the total losses of the fleet to integrate and obtain the initial total energy consumption, and correct it to obtain the navigation efficiency. Then, based on the navigation efficiency and power balance target, formulate a power output adjustment strategy for the main propulsion ship. Finally, taking the ships with insufficient power as the core, plan a collaborative replenishment path by integrating multiple parties' information, including: According to the ship motion state, obtain the real-time position and navigation speed information from the ship positioning equipment and speed sensors to obtain a dataset of each ship, including the power status, navigation parameters, sea condition impacts and task progress requirements of each ship; Monitor the power demand and efficiency changes of the ships and the installed equipment in the fleet in real time and collect environmental data. Based on this, analyze the impact of environmental factors on the equipment energy consumption to obtain environmental impact adjustment parameters. Combine the parameters with the real-time data to calculate the instantaneous effective energy consumption of the equipment, and accumulate to obtain the total energy consumption contribution of a single ship. Identify and quantify the total losses of the fleet's energy losses, integrate the instantaneous effective energy consumption and the total losses to obtain the initial total energy consumption, and correct the instantaneous effective energy consumption to obtain the overall navigation efficiency of the fleet; According to the overall navigation efficiency and power balance objectives of the fleet, formulate a power output adjustment strategy for the main propulsion ship. When the power of some ships is insufficient and affects the progress of the fleet, instruct the main propulsion ship to reduce power output. When the ship with insufficient power approaches the task completion point, instruct the main propulsion ship to increase power output; Taking the ships with insufficient power in the fleet as the core, combine the real-time position, task progress and the resource situation for replenishment in the vicinity to obtain a collaborative replenishment path.

4. The inter-fleet dynamic power balance and collaborative replenishment system according to claim 3, wherein Monitor the ships and the equipment carried on them in the fleet in real time to obtain the power demand and efficiency changes, and collect environmental data. Based on this, analyze the impact of environmental factors on equipment energy consumption to obtain environmental impact adjustment parameters. Combine the parameters with real-time data to calculate the instantaneous effective energy consumption of the equipment, accumulate to obtain the total energy consumption contribution of a single ship, identify and quantify the total energy loss of the fleet to obtain the total loss, and fuse the instantaneous effective energy consumption and the total loss to obtain the initial total energy consumption required for the fleet to complete the task, and correct the instantaneous effective energy consumption to obtain the overall navigation efficiency of the fleet, including: Monitor each ship and the equipment carried on it in the fleet in real time to obtain the real-time power demand and the changes in equipment efficiency. At the same time, collect environmental data through weather stations and sea condition monitors; According to the environmental data, analyze the impact of environmental factors on equipment energy consumption, including judging the downstream or upstream state by the angle between the water flow direction and the ship's heading, quantifying the navigation resistance according to the wind speed and wave height, and evaluating the impact on equipment efficiency in combination with the air temperature to obtain environmental impact adjustment parameters; Normalize and combine the real-time power demand, equipment efficiency changes and environmental impact adjustment parameters to obtain the instantaneous effective energy consumption of the equipment during the task time; Accumulate the instantaneous effective energy consumption of all equipment on each ship during their respective task time periods to obtain the total energy consumption contribution of a single ship during the entire task period; Identify and quantify the sources of energy loss during the operation of the fleet to obtain the total loss; Normalize and fuse the instantaneous effective energy consumption and the total loss to obtain the initial total energy consumption required for the fleet to actually complete the task, and correct the instantaneous effective energy consumption to obtain the overall navigation efficiency of the fleet.

5. The dynamic power balance and collaborative replenishment system between fleets according to claim 4, characterized in that, The sources of energy loss include transmission loss, conversion loss and storage loss.

6. The dynamic power balance and collaborative replenishment system between fleets according to claim 5, characterized in that, According to the collaborative replenishment path and power adjustment plan, control the opening and closing sequence of the mechanical-hydraulic connection device, and synchronously establish a power transmission channel and a communication task, including: According to the collaborative replenishment path and power adjustment plan, send instructions to the connection management to determine the task type and match the corresponding connection device operations; According to the instructions, the robotic arm uses lidar to locate the connection port of the target ship, and the hydraulically driven guiding device aligns the lock to the target groove and closes along the guide rail, and realizes the connection through an elastic buckle. At the same time, the sensor detects the sealing performance of the interface; After connection, the power transmission interface establishes an electrical connection and transmits power from the ship with sufficient power to the ship with insufficient power according to the power adjustment plan; at the same time, the interface establishes a communication link, and according to the preset communication protocol, enables the ships to exchange navigation data, equipment status information and relevant task data.

7. The dynamic power balance and collaborative replenishment system between fleets according to claim 6, characterized in that, According to the power transmission and communication tasks, operate the mobile energy storage device on the auxiliary replenishment ship to provide fixed-point charging and battery replacement services for the maintenance ship with insufficient power, including: Monitor the battery power of the real-time monitoring and operation and maintenance ship. When the power is lower than the preset safety threshold, automatically trigger the emergency response program of the mobile energy storage device, lock the target ship and plan the supply route; Receive the low-power alarm and the information of the locked target ship, and generate a supply route according to the position of the operation and maintenance ship, the current sea conditions and the task priority factors; When the supply route reaches the target position, use the connection device to connect with the operation and maintenance ship, and implement fixed-point charging and battery replacement services.

8. The inter-fleet dynamic power balance and collaborative replenishment system according to claim 4, characterized in that According to the environmental data, analyze the impact of environmental factors on the energy consumption of the equipment, including judging the downstream or upstream state by the angle between the water flow direction and the ship's heading, quantifying the navigation resistance according to the wind speed and wave height, and evaluating the impact of the equipment efficiency by combining the air temperature, to obtain the environmental impact adjustment parameters, including: Obtain the angle between the water flow direction and the ship's heading, and obtain the quantitative index of the water flow direction on the energy consumption by quantifying the degree of fit between the angle and the ship's navigation direction; Collect the wind speed and wave height data, and obtain the quantitative index of the wind speed and wave height on the energy consumption according to the wind speed and the influence degree of the wind speed on the navigation resistance; Real-time monitor the current air temperature, compare the current air temperature with the final working air temperature of the equipment, evaluate the impact of the deviation of the air temperature from the final state on the equipment efficiency, and obtain the quantitative index of the air temperature on the equipment efficiency; Integrate the water flow, wind speed, wave height and air temperature, and finally obtain the environmental impact parameters, including the overall impact of environmental factors such as water flow, wind speed, wave height and air temperature on the energy consumption of the equipment.

9. A computing device, characterized in that, Including: One or more processors; A storage device for storing one or more programs, which when executed by the one or more processors cause the one or more processors to implement the system according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, A program is stored in the computer-readable storage medium, and when the program is executed by a processor, the system according to any one of claims 1 to 8 is implemented.

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