Energy supply and storage system for intelligent boats and control method thereof

Abstract

The present invention provides an energy supply and storage system for intelligent boats and a control method thereof. The system mainly includes an energy supply and storage module, a sensor module, a shore-based ground station module, a data processing and analysis module, a cooperative control module, and an execution module. The energy supply and storage module supplies and stores electrical energy for the intelligent boat; the sensor module obtains power supply data of the energy supply and storage module and surrounding situation information of the intelligent boat, and uploads the power supply data and surrounding situation information to the data processing and analysis module; the shore-based ground station module obtains the operation task of the intelligent boat and sends the operation task to the data processing and analysis module; the data processing and analysis module generates control instructions based on the operation task, power supply data, and surrounding situation information; the cooperative control module receives the control instruction, sends the control instruction to the execution module, and instructs the execution module to execute the control instruction. The present invention realizes an energy supply and storage system with a series decision layer and an execution layer, improves energy conservation and emission reduction effects, and improves the safety and efficiency of the energy supply and storage system.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent ships, and in particular to an energy supply and storage system for intelligent boats and a control method thereof. Background Art

[0002] The application and development of energy supply and storage systems for intelligent vessels has entered the practical stage. However, with the increasing complexity of vessel operating environments, the increasing level of intelligence, and the corresponding policies for energy conservation and emission reduction, the flexibility and adaptability of current energy supply and storage systems cannot effectively meet the actual needs of intelligent vessels for autonomous navigation and the completion of special missions. Specifically, there is a lack of interaction and coordination between power modules, upper-level central control systems, and shore-based ground stations. Currently, most vessels can check the battery information of the vessel's power supply and equipment power supply in real time, but few use this information to assist the driver in decision-making, nor are there planning and control plans that help reduce energy loss based on upper-level decision-making information.

[0003] Therefore, it is urgent to design an energy-saving, emission-reducing, safe and efficient energy supply and storage system that connects the decision-making layer, power module and execution layer in series. Summary of the Invention

[0004] In view of this, it is necessary to provide an energy supply and storage system for smart boats and a control method thereof to solve the technical problems existing in the prior art, such as the lack of interaction and coordination between the power module and the upper central control system and the shore-based ground station, resulting in poor energy conservation and emission reduction effects and low safety of smart boats.

[0005] On the one hand, the present invention provides an energy supply and storage system for intelligent boats, including an energy supply and storage module, a sensing module, a shore-based ground station module, a data processing and analysis module, a cooperative control module, and an execution module;

[0006] The energy supply and storage module is used to supply and store electrical energy for the smart boat;

[0007] The sensing module is used to obtain power data of the energy supply and storage module and surrounding situation information of the intelligent boat, and upload the power data and the surrounding situation information to the data processing and analysis module;

[0008] The shore-based ground station module is used to obtain the operation tasks of the intelligent boat and send the operation tasks to the data processing and analysis module;

[0009] The data processing and analysis module is used to generate a control instruction based on the operation task, the power supply data and the surrounding situation information;

[0010] The cooperative control module is used to receive the control instruction, and send the control instruction to the execution module, instructing the execution module to execute the control instruction.

[0011] In some possible implementations, the energy supply and storage module includes a power supply unit and a power supply and storage strategy determination unit;

[0012] The power supply and storage strategy determination unit is used to obtain the rated power and importance of each load in the intelligent boat, and determine the power supply and storage strategy according to the rated power and the importance;

[0013] The power supply unit is used to supply and store electric energy for the smart boat based on the electric energy supply and storage strategy.

[0014] In some possible implementations, the power supply unit includes a main power supply, a backup power supply, and a solar panel for charging the main power supply, and the energy supply and storage module further includes a power switching unit;

[0015] The power switching unit is used to switch to the backup power supply when the main power supply fails, and supply and store electric energy for the smart boat based on the backup power supply.

[0016] In some possible implementations, the energy supply and storage module further includes a load isolation unit and a voltage stabilization and conversion unit corresponding one-to-one to the load;

[0017] The load isolation unit is used to cut off the supply of the load and store the electric energy circuit when the load operates abnormally;

[0018] The voltage stabilization and conversion unit is used to convert the voltage provided by the power supply unit into the operating voltage of the load.

[0019] In some possible implementations, the data processing and analysis module includes a travel route planning unit and a travel route tracking control unit;

[0020] The travel route planning unit is used to determine the starting point and target point of the intelligent boat based on the operation task, and determine the expected travel path based on the starting point, the target point, the surrounding situation information and a fast random search tree algorithm, and fit the expected travel path based on the operating characteristics of the intelligent boat to obtain a target travel route;

[0021] The route tracking control unit is used to determine the expected travel motion posture of the intelligent boat based on the line of sight guidance method and the target travel route, and obtain the current travel motion posture of the intelligent boat, and generate the control instruction based on the expected travel motion posture, the current travel motion posture and the event-triggered PID control method.

[0022] In some possible implementations, the triggering conditions in the event-triggered PID control method are:

[0023]

[0024] Where, t k+1 is the next parameter update time; x(t) is the state information of the energy storage system at time t; x(t k ) is the state information of the energy storage system at the time of the most recent triggering event at time t; k is the last parameter update time; D is the threshold for event triggering; ∧ is the intersection logic symbol; inf is the operator symbol for taking the minimum value in the set; T max is the maximum allowed sampling time interval; T act The time interval between two adjacent time triggers.

[0025] In some possible implementations, the data processing and analysis module further includes a mileage prediction unit;

[0026] The mileage prediction unit is used to obtain historical samples, train the constructed initial mileage prediction model based on the historical samples, obtain a fully trained target mileage prediction model, and determine the predicted mileage of the smart boat based on the power data and the target mileage prediction model.

[0027] In some possible implementations, the shore-based ground station module further includes a predicted mileage line display unit;

[0028] The predicted mileage line display unit is used to obtain the predicted mileage and the driving map, and determine the target position of the intelligent boat in the driving map, determine the predicted mileage line with the target position as the center and the predicted mileage as the radius, and superimpose the predicted mileage line on the driving map for display.

[0029] In some possible implementations, the shore-based ground station module further includes a return reminder unit;

[0030] The return reminder unit is used to obtain the current position and port berthing point of the smart boat, determine the straight-line distance between the current position and the port berthing point, and judge whether it is necessary to return based on the straight-line distance and the predicted mileage. When returning is necessary, a return reminder signal is generated and the smart boat is controlled to return.

[0031] On the other hand, the present invention further provides a control method for an energy supply and storage system for an intelligent boat, which is applicable to the energy supply and storage system for an intelligent boat described in any of the possible implementations above. The control method for the energy supply and storage system for an intelligent boat includes:

[0032] Supply and store electrical energy for smart boats based on energy supply and storage modules;

[0033] Obtaining power supply data of the energy storage module and surrounding situation information of the intelligent boat, and obtaining an operating task of the intelligent boat;

[0034] generating a control instruction based on the operation task, the power supply data, and the surrounding situation information;

[0035] The control execution module executes the control instruction.

[0036] The beneficial effect of adopting the above embodiment is that the energy supply and storage system for intelligent boats provided by the present invention generates control instructions based on the power supply data and surrounding situation information obtained by the sensor module and the operation tasks obtained by the shore-based ground station module by setting a data processing and analysis module, and instructs the execution module to execute the control instructions, thereby realizing an energy supply and storage system of a series decision layer (data processing and analysis module, shore-based ground station module), a power supply module (energy supply and storage module) and an execution layer (execution module), which is beneficial to saving energy of the energy supply and storage system, achieving the purpose of improving energy conservation and emission reduction, and realizing the safety and efficiency of the energy supply and storage system.

[0037] Furthermore, the present invention sets up a cooperative control module as a bridge between the data processing and analysis module and the execution module, and as a channel for parallel data transmission, to provide a guarantee for the normal transmission of control instructions, thereby further improving the safety of the energy storage system. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A schematic structural diagram of an embodiment of an energy supply and storage system for intelligent boats provided by the present invention;

[0040] Figure 2 A schematic structural diagram of an embodiment of a power supply unit provided by the present invention;

[0041] Figure 3 A schematic diagram of the principle of the LOS guidance method provided by the present invention;

[0042] Figure 4 A schematic diagram of an embodiment of the control structure of the event-triggered PID control method provided by the present invention;

[0043] Figure 5A schematic flow chart of an embodiment of a control method for an energy supply and storage system for intelligent boats provided by the present invention. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] It should be understood that the schematic drawings are not drawn to scale. The flowcharts used in the present invention illustrate operations implemented according to some embodiments of the present invention. It should be understood that the operations in the flowcharts may be implemented out of sequence, and steps that do not have a logical contextual relationship may be reversed or performed simultaneously. In addition, those skilled in the art, guided by the present disclosure, may add one or more additional operations to the flowcharts or remove one or more operations from the flowcharts.

[0046] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] The embodiments of the present invention provide an energy supply and storage system for an intelligent boat and a control method thereof, which are described below.

[0048] Figure 1 A schematic flow chart of an embodiment of the energy storage system for smart boats provided by the present invention is shown as follows: Figure 1 As shown, the energy supply and storage system 10 for smart boats includes an energy supply and storage module 100, a sensor module 200, a shore-based ground station module 300, a data processing and analysis module 400, a cooperative control module 500, and an execution module 600;

[0049] The energy storage module 100 is used to supply and store electrical energy for the smart boat;

[0050] The sensing module 200 is used to obtain the power supply data of the energy storage module 100 and the surrounding situation information of the intelligent boat, and upload the power supply data and the surrounding situation information to the data processing and analysis module 400;

[0051] The shore-based ground station module 300 is used to obtain the operation tasks of the intelligent boat and send the operation tasks to the data processing and analysis module 400;

[0052] The data processing and analysis module 400 is used to generate control instructions based on the work task, power supply data and surrounding situation information;

[0053] The cooperative control module 500 is used to receive control instructions and send the control instructions to the execution module 600, instructing the execution module 600 to execute the control instructions.

[0054] Compared with the prior art, the energy supply and storage system 10 for smart boats provided in an embodiment of the present invention generates control instructions based on the power supply data and surrounding situation information obtained by the sensor module 200 and the operation tasks obtained by the shore-based ground station module 300 by setting a data processing and analysis module 400, and instructs the execution module 600 to execute the control instructions, thereby realizing the energy supply and storage system 10 of the series decision layer (data processing and analysis module 400, shore-based ground station module 300), power supply module (energy supply and storage module 100) and execution layer (execution module 600), which is beneficial to saving energy of the energy supply and storage system 10, achieving the purpose of improving energy conservation and emission reduction, and realizing the safety and efficiency of the energy supply and storage system 10.

[0055] Furthermore, the embodiment of the present invention sets the cooperative control module 500 as a bridge between the data processing and analysis module 400 and the execution module 600, and as a channel for parallel data transmission, to provide a guarantee for the normal transmission of control instructions, thereby further improving the safety of the energy storage system 10.

[0056] It should be noted that: in order to allow operators to view power supply data and surrounding situation information in real time, in a specific embodiment of the present invention, the shore-based ground station module 300 is also used to obtain power supply data and surrounding situation information in real time through 4G / 5G communication or digital image communication, and display important data in the power supply data and surrounding situation information in the human-computer interaction interface for operators to make decisions and view.

[0057] In some embodiments of the present invention, the sensor module 200 includes but is not limited to a laser rangefinder, a surveillance camera, an inertial measurement unit, and the like.

[0058] Among them, the execution module 600, as a receiver of the boat control signal, can change its own speed and gear value, such as propeller thrusters, steering gear, etc., according to the changes in the upper-level control signal, so as to control the actual movement of the smart boat.

[0059] Since the energy supply and storage module 100 in the prior art supplies and stores electric energy in a strategy of supplying and storing electric energy and then turning on, that is, simultaneously supplies and stores electric energy to all loads, and does not propose a solution for intelligently supplying and storing electric energy according to the priority of different loads, the supply and storage of electric energy is not refined enough and cannot meet the requirements of the characteristic functions of the intelligent boat. In some embodiments of the present invention, such as Figure 1 As shown, the energy supply and storage module 100 includes a power supply unit 110 and a supply and storage power strategy determination unit 120;

[0060] The power supply and storage strategy determination unit 120 is used to obtain the rated power and importance of each load in the intelligent boat, and determine the power supply and storage strategy according to the rated power and importance;

[0061] The power supply unit 110 is configured to supply and store electric energy for the smart boat based on the electric energy supply and storage strategy.

[0062] The power supply and storage strategy determination unit 120 in the embodiment of the present invention determines the power supply and storage strategy based on the rated power and importance, and designs a refined battery power management and control method. According to this method, different load supply and storage power decisions can be made within different ranges of the battery's remaining capacity to meet the power supply and storage needs of the most important equipment, thereby meeting the requirements of the characteristic functions of smart boats.

[0063] In some embodiments of the present invention, Figure 2 As shown, the power supply unit 110 includes a main power supply 111 , a backup power supply 112 , and a solar panel 113 for charging the main power supply 111 .

[0064] The embodiment of the present invention achieves the goal of green environmental protection by configuring the solar cell panel 113 to charge the main power source 111 , that is, utilizing solar energy instead of fossil energy to reduce carbon emissions.

[0065] The rated power of the solar cell panel 113 is 300W.

[0066] Specifically, the main power supply 111 includes a 12V80AH main equipment battery and a 48V120AH equipment battery. The 48V120AH equipment battery can provide stable current and power for the motor of the smart boat, and the 12V80AH main equipment battery provides energy for various communication equipment in the cabin, as well as the data processing and analysis module 400, the cooperative control module 500, etc.

[0067] In order to improve the robustness of the energy storage module 100, in some embodiments of the present invention, such as Figure 2 As shown, the power supply unit 110 further includes a power switching unit 114;

[0068] The power switching unit 114 is used to switch to the backup power supply 112 when the main power supply 111 fails, and supply and store electric energy for the smart boat based on the backup power supply 112.

[0069] The embodiment of the present invention switches to the backup power supply 112 to supply and store electrical energy for the smart boat when the main power supply 111 fails. This ensures that the boat continues to travel safely when the main power supply 111 fails, avoids the risk of the boat losing control, and further improves the safety of the smart boat.

[0070] It should be noted that the power switching unit 114 can switch from the main power supply 111 to the backup power supply 112 in an automatic or manual manner. Specifically, the manual switching can be performed by a remote controller.

[0071] It should also be noted that the power switching flag will be sent to the data processing and analysis module 400 along the CAN bus, and then sent to the shore-based ground station module 300 through 4G / 5G or digital image transmission communication, thereby prompting the operator to change the load supply and power storage method.

[0072] In order to ensure the secondary development performance of the energy supply and storage module 100, so that the energy supply and storage module 100 is suitable for the changing intelligent boat travel environment and function, in some embodiments of the present invention, such as Figure 2 As shown, the power supply unit 110 also includes a power control development board 115. The power control development board 115 includes an STM32F407 series development board. The development board adopts an ARM architecture, and the size of the on-chip Flash can be up to 512K. At the same time, it integrates multiple peripheral functions such as timer, CAN, ADC, SPI, I2C, USB, UART, etc., which can provide energy for loads such as special sensors such as water quality detectors while assuming the task of signal transmission. Because the power control development board is designed with multiple communication bus modules, such as 485 bus, 232 bus and CAN communication bus, it can supply and store electric energy for special equipment and loads while assuming the function of a data transmission bridge for the sensor. The power development board supports one CAN bus, one 485 bus, and one 232 bus communication, and can easily mount the data to be transmitted on the communication module of the power control board, and then connect it to the communication interface of the cooperative control module 500 and the data processing and analysis module 400 in parallel to realize data upload and input data processing and analysis module 400 for processing.

[0073] Furthermore, in some embodiments of the present invention, Figure 1 As shown, the energy storage module 100 further includes a load isolation unit 130 and a voltage stabilization conversion unit 140 corresponding to the loads one by one;

[0074] The load isolation unit 130 is used to cut off the load supply and store the power circuit when the load operates abnormally;

[0075] The voltage stabilization and conversion unit 140 is used to convert the voltage provided by the power supply unit 110 into an operating voltage of the load.

[0076] In the embodiment of the present invention, the load isolation unit 130 is provided to prevent abnormal operation of the load from affecting the normal operation of other load circuits, thereby improving the safety of the energy storage system 10. The voltage stabilization conversion unit 140 is provided to ensure stable power output, further improving the safety of the energy storage system 10.

[0077] In some embodiments of the present invention, Figure 1 As shown, the data processing and analysis module 400 includes a travel route planning unit 410 and a travel route tracking control unit 420;

[0078] The route planning unit 410 is used to determine the starting point and target point of the intelligent vessel based on the operation task, and determine the expected route based on the starting point, target point, surrounding situation information, and a rapid-exploring random tree (RRT) algorithm. The expected route is fitted based on the operating characteristics of the intelligent vessel to obtain the target route.

[0079] The route tracking control unit 420 is used to determine the expected movement posture of the intelligent boat based on the line of sight (LOS) guidance method and the target movement route, and obtain the current movement posture of the intelligent boat, and generate control instructions based on the expected movement posture, the current movement posture and the event-triggered PID control method.

[0080] After determining the desired travel path based on the RRT algorithm, the embodiment of the present invention fits the desired travel path based on the operating characteristics of the intelligent boat to obtain the target travel route, which can avoid the boat from making large-angle turns, reduce the degree of mutation of the electrical signal of the execution module 600, and improve the endurance of the power supply unit 110.

[0081] Furthermore, the embodiment of the present invention determines the expected movement posture of the intelligent boat based on the line of sight guidance method and the target travel route. Since the LOS guidance method requires fewer parameters to be adjusted and ensures that the intelligent boat will not oscillate frequently at both ends of the target travel route, the operating frequency of the execution module 600 is further reduced, and the endurance of the power supply unit 110 is further improved.

[0082] Furthermore, the embodiment of the present invention generates control instructions based on the expected moving motion posture, the current moving motion posture and the event-triggered PID control method. Compared with the traditional PID control method, the update frequency of the control instructions can be reduced, thereby reducing the number of actions of the execution module 600, that is: further reducing the number of load mutations of the power supply unit 110, thereby further improving the battery life of the power supply unit 110.

[0083] In a specific embodiment of the present invention, the specific working process of the route planning unit 410 is as follows:

[0084] (1) Using real-time kinematic (RTK), laser rangefinders, millimeter-wave radars, marine radars and other sensors to collect and pre-process information about the surrounding environment and sea conditions of intelligent vessels;

[0085] (2) Parameter setting. Based on the data obtained in step (1), the environmental map is first modeled, and the map size related to the water area and the boat is manually set. In the specific embodiment of the present invention, the map size is 150*150. Then, the high-precision map with obstacles set in advance is converted into a binary map, in which the obstacles and the shore are set to black, and the navigable water area is set to white. That is, the grayscale of the obstacle is 1, and the grayscale of the obstacle-free area is 0. Then, an inertial coordinate system is established, and the starting point and target point of the boat are set in the modeled environmental map according to the starting point and end point manually planned by the operator. In this embodiment, the starting point is set to (5, 5) in the first quadrant, and the target point is set to (145, 145) in the first quadrant. The route search compensation is set to 25, the maximum acceptable number of iterations is 10,000, and the expected route of the boat calculated by the RRT algorithm is [x d ,y d ], which contains the time dimension and the curve function of the polynomial fit.

[0086] (3) The desired route obtained in step (2) is processed to meet the maneuvering characteristics of the boat and reduce its unevenness. Since the route obtained by the RRT algorithm is a line connecting segments composed of broken line segments, it is necessary to fit the broken line to a curve. The fitting function used in this embodiment is shown as follows: y = a1x n +a2x n-1 +a3x n-2 +…+a n-1 x+a n , that is, a curve polynomial. In the process of fitting the curve, the number of fittings can be set manually. The number of fittings needs to be adjusted so that it not only meets the maneuvering characteristics of the boat, but also has a smaller fitting error with the original broken line.

[0087] The principle of the LOS guidance method is to calculate the corresponding guidance point according to the geometric distance between the vessel and the target route and the forward distance, so as to calculate the desired heading angle, such as Figure 3 As shown, the starting point of the target route is p k (x k ,y k ), end point p k+1 (x k+1 ,y k+1 ), the shortest distance from the boat to the target is e, the foresight distance is △, and the LOS angle is ψ los The angle between the desired route and the X-axis of the NED (North East Down) coordinate system is α k , the specific working process of the route tracking control unit 420 is:

[0088] (1) First, the current latitude and longitude of the boat measured by RTK and the latitude and longitude of the boat's desired position are converted into the corresponding point in the NED coordinate system. The origin of the NED coordinate system is the latitude and longitude coordinate point when the boat is powered on during operation.

[0089] (2) According to the distance calculation formula between line segments and points, the vertical distance between the current ship and the desired route in the NED coordinate system is obtained, and the slope of the desired route in this coordinate system is calculated. The foresight distance is set, and a circle with the foresight distance as the radius is drawn from the vertical point of the vertical line to the end point of the desired route. The circle intersects with the desired route to obtain the LOS guidance point.

[0090] (3) Calculate the angle between the line vector connecting the LOS guidance point and the current position of the ship and the vector of the desired route to obtain the LOS guidance angle. Subtract the angle between the desired route and the X-axis of the NED from the LOS angle to obtain the desired heading angle of the ship at the current moment.

[0091] (4) The route following manipulator makes the boat move toward the end point of the desired route segment. When the acceptance circle radius is reached, it can be considered that the boat has reached the end point of the segment, and then the starting point and end point of the segment are updated until the target point is finally reached, and the LOS guidance ends.

[0092] Among them, the foresight distance and the acceptance circle radius can be adjusted manually. In order to reduce the oscillation frequency of the boat at the left and right ends of the desired route, 3 times the ship length is selected as the foresight distance. In order to make the route switching smoother and reduce the sudden change of actuator action caused by large-angle turns of the ship, 3 times the ship length is selected as the acceptance circle radius.

[0093] It's important to note that the principle behind the event-triggered PID control method is to add appropriate trigger conditions to traditional PID control. When these conditions are triggered, the control signal input from the PID controller to the actuator is altered. This manually configured trigger condition can reduce computer resource consumption and actuator frequency while maintaining accurate tracking accuracy, thereby increasing battery life.

[0094] In a specific embodiment of the present invention, the triggering conditions in the event-triggered PID control method are:

[0095]

[0096] Where, t k+1 is the next parameter update time; x(t) is the state information of the energy storage system at time t; x(t k ) is the state information of the energy storage system at the time of the most recent triggering event at time t; k is the last parameter update time; D is the threshold for event triggering; ∧ is the intersection logic symbol; inf is the operator symbol for taking the minimum value in the set; T max is the maximum allowed sampling time interval; T act The time interval between two adjacent time triggers.

[0097] The embodiment of the present invention avoids frequent triggering updates of the control status in a short period of time by setting the above-mentioned trigger conditions. This condition can ensure that there is a lower limit for the difference between the two update times of the control system, thereby avoiding the problem of the controller updating the status infinitely within a period of time, reducing the computational burden of the controller, and also reducing the number of sudden actions of the actuator, thereby effectively increasing the battery life of the power supply unit 110.

[0098] It should be understood that the control structure of the event-triggered PID control method is as follows: Figure 4As shown, the control structure's input is the output of the boat's LOS guidance method, namely, the desired heading angle and boat speed. The controlled object is the boat's executive module 600, and the output is the actual boat heading angle and boat speed. The control structure uses an incremental PID control method. According to the above formula, it first calculates the difference between the current boat state and the previous event triggering state to see if it exceeds a preset threshold. If so, it then determines whether the time interval between the two event triggering events is greater than the maximum system sampling interval. If both conditions are met, the error between the updated actual and desired boat values ​​is input into the PID control structure, which then calculates the corresponding control signal and sends it to the executive module 600, thereby changing the boat's motion state. If either of the two conditions is not met, the control signal sent by the PID control structure to the executive module 600 will not be updated, and a zero-order hold will be used to continuously output the same control signal.

[0099] In order to further improve the travel safety of the intelligent boat, in some embodiments of the present invention, such as Figure 1 As shown, the data processing and analysis module 400 further includes a mileage prediction unit 430;

[0100] The mileage prediction unit 430 is used to obtain historical samples, train the constructed initial mileage prediction model based on the historical samples, obtain a fully trained target mileage prediction model, and determine the predicted mileage of the smart boat based on the power supply data and the target mileage prediction model.

[0101] In the embodiment of the present invention, a mileage prediction unit 430 is provided to determine the predicted mileage of the smart boat. The predicted mileage can be reasonably calculated based on the power supply data, so that the operator can make decisions on the next step of the smart boat, avoid the smart boat from losing control, and further improve the reliability and safety of the smart boat.

[0102] Specifically, the historical samples include the sailing speed determined according to the minimum cruising speed, maximum cruising speed and number of cruising speed gears of the ship, as well as the actual supply and storage time of electric energy and mileage corresponding to the sailing speed. The initial mileage prediction model constructs a mapping relationship between the ship's travel speed, the current capacity of the power supply unit 110 and the remaining mileage. The structure of the initial mileage prediction model includes three layers, namely, an input layer, an intermediate layer and an output layer. The input and output layers are two-dimensional and one-dimensional respectively. The connection weights and bias items of the input layer and the intermediate layer, and the intermediate layer and the output layer are set respectively. The activation function adopts the Gaussian function. The loss function adopted in this embodiment is MSE (mean square error). The true value in the data is compared with the estimated value fitted by the neural network. The mean square error of MSE is used to update the connection weights and bias items using the gradient descent method. In this embodiment, the learning rate is set to be small while meeting the speed of update iteration and reducing the possibility of overfitting.

[0103] After the model training is complete, the target mileage prediction model can be used to calculate the predicted mileage at the current battery capacity at the corresponding boat speed.

[0104] Among them, the boat speed v is:

[0105]

[0106] Where, v min is the minimum cruising speed; v max is the maximum cruising speed; D is the gear number.

[0107] In order to enable the operator to intuitively see the predicted mileage on the shore-based ground station module 300, in some embodiments of the present invention, such as Figure 1 As shown, the shore-based ground station module 300 further includes a predicted mileage line display unit 310;

[0108] The predicted mileage line display unit 310 is used to obtain the predicted mileage and the driving map, and determine the target position of the intelligent boat in the driving map, determine the predicted mileage line with the target position as the center and the predicted mileage as the radius, and superimpose the predicted mileage line on the driving map for display.

[0109] The embodiment of the present invention superimposes the predicted mileage line on the driving map, which can serve as an auxiliary for operators to perform route planning and a reference for feature tasks.

[0110] In order to prevent the boat from losing control when the battery capacity is too low, in some embodiments of the present invention, Figure 1 As shown, the shore-based ground station module 300 further includes a return reminder unit 320;

[0111] The return reminder unit 320 is used to obtain the current position and port berthing point of the smart boat, determine the straight-line distance between the current position and the port berthing point, and judge whether it is necessary to return based on the straight-line distance and the predicted mileage. When it is necessary to return, a return reminder signal is generated and the smart boat is controlled to return.

[0112] The embodiment of the present invention determines whether the smart boat needs to return based on the straight-line distance and the predicted mileage. When it needs to return, it generates a return reminder signal and controls the smart boat to return. This can implement a control strategy that automatically returns only when the battery capacity is too low, ensuring that the smart boat will not lose control, further improving the safety and reliability of the smart boat.

[0113] On the other hand, based on the energy supply and storage system for smart boats, correspondingly, an embodiment of the present invention further provides a control method for the energy supply and storage system for smart boats, which is applicable to the energy supply and storage system for smart boats described in any of the above embodiments; Figure 5 As shown, the control method of the energy supply and storage system for smart boats includes:

[0114] S501, supplying and storing electric energy for the smart boat based on the energy supply and storage module;

[0115] S502: Obtaining power supply data for the energy storage module and surrounding situation information of the intelligent boat, and obtaining an operation task of the intelligent boat;

[0116] S503, generating a control instruction based on the operation task, power supply data and surrounding situation information;

[0117] S504: Control the execution module to execute the control instruction.

[0118] It should be noted that the steps in the method in the above embodiment can be added or expanded according to the various modules or units in the energy supply and storage system for smart boats. For details, please refer to the description in the embodiment of the energy supply and storage system for smart boats, which will not be repeated here.

[0119] The above is a detailed introduction to the energy supply and storage system for smart boats and the control method thereof provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. An energy supply and storage system for intelligent boats, characterized in that: It includes energy supply and storage module, sensor module, shore-based ground station module, data processing and analysis module, cooperative control module and execution module; The energy supply and storage module is used to supply and store electrical energy for the smart boat; The sensing module is used to obtain power data of the energy supply and storage module and surrounding situation information of the intelligent boat, and upload the power data and the surrounding situation information to the data processing and analysis module; The shore-based ground station module is used to obtain the operation tasks of the intelligent boat and send the operation tasks to the data processing and analysis module; The data processing and analysis module is used to generate a control instruction based on the operation task, the power supply data and the surrounding situation information; The cooperative control module is used to receive the control instruction, and send the control instruction to the execution module, instructing the execution module to execute the control instruction; The data processing and analysis module includes a travel route planning unit and a travel route tracking control unit; The travel route planning unit is used to determine the starting point and target point of the intelligent boat based on the operation task, and determine the expected travel path based on the starting point, the target point, the surrounding situation information and a fast random search tree algorithm, and fit the expected travel path based on the operating characteristics of the intelligent boat to obtain a target travel route; The route tracking control unit is used to determine the expected movement posture of the intelligent boat based on the line of sight guidance method and the target movement path, and obtain the current movement posture of the intelligent boat, and generate the control instruction based on the expected movement posture, the current movement posture and the event-triggered PID control method; The triggering conditions in the event-triggered PID control method are: Where, The next parameter update time; Provides status information of the energy storage system at time t; Provides status information of the energy storage system at the time of the most recent trigger event at time t; The last parameter update time; The threshold for event triggering; To take the intersection logic symbol; It is the operator symbol for obtaining the minimum value in a set; is the maximum allowed sampling time interval; The time interval between two adjacent time triggers.

2. The energy supply and storage system for smart boats according to claim 1 is characterized in that: The energy supply and storage module includes a power supply unit and a power supply and storage strategy determination unit; The power supply and storage strategy determination unit is used to obtain the rated power and importance of each load in the intelligent boat, and determine the power supply and storage strategy according to the rated power and the importance; The power supply unit is used to supply and store electric energy for the smart boat based on the electric energy supply and storage strategy.

3. The energy supply and storage system for smart boats according to claim 2 is characterized in that: The power supply unit includes a main power supply, a backup power supply and a solar panel for charging the main power supply, and the energy supply and storage module also includes a power switching unit; The power switching unit is used to switch to the backup power supply when the main power supply fails, and supply and store electric energy for the smart boat based on the backup power supply.

4. The energy supply and storage system for smart boats according to claim 2, characterized in that: The energy supply and storage module further includes a load isolation unit and a voltage stabilization conversion unit corresponding one-to-one to the load; The load isolation unit is used to cut off the supply of the load and store the electric energy circuit when the load operates abnormally; The voltage stabilization and conversion unit is used to convert the voltage provided by the power supply unit into the operating voltage of the load.

5. The energy supply and storage system for smart boats according to claim 1, characterized in that: The data processing and analysis module also includes a mileage prediction unit; The mileage prediction unit is used to obtain historical samples, train the constructed initial mileage prediction model based on the historical samples, obtain a fully trained target mileage prediction model, and determine the predicted mileage of the smart boat based on the power data and the target mileage prediction model.

6. The energy supply and storage system for smart boats according to claim 5, characterized in that: The shore-based ground station module also includes a predicted mileage line display unit; The predicted mileage line display unit is used to obtain the predicted mileage and the driving map, and determine the target position of the intelligent boat in the driving map, determine the predicted mileage line with the target position as the center and the predicted mileage as the radius, and superimpose the predicted mileage line on the driving map for display.

7. The energy supply and storage system for smart boats according to claim 6, characterized in that: The shore-based ground station module also includes a return reminder unit; The return reminder unit is used to obtain the current position and port berthing point of the smart boat, determine the straight-line distance between the current position and the port berthing point, and judge whether it is necessary to return based on the straight-line distance and the predicted mileage. When returning is necessary, a return reminder signal is generated and the smart boat is controlled to return.

8. A control method for an energy supply and storage system for an intelligent boat, characterized in that: The energy supply and storage system for smart boats according to any one of claims 1 to 7 is applicable, and the control method of the energy supply and storage system for smart boats includes: Supply and store electrical energy for smart boats based on energy supply and storage modules; Obtaining power supply data of the energy storage module and surrounding situation information of the intelligent boat, and obtaining an operating task of the intelligent boat; generating a control instruction based on the operation task, the power supply data, and the surrounding situation information; The control execution module executes the control instruction.

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