A battery automatic replacement device and method for unmanned ship operating at sea

Abstract

The present invention relates to the field of marine equipment, and in particular to an automatic battery replacement device and method for an unmanned ship operating at sea. An automatic battery replacement device for an unmanned ship operating at sea, comprising a plurality of battery replacement floating platforms, the battery replacement floating platforms being distributed at different positions on the sea surface; each battery replacement floating platform comprising a plurality of pairs of battery replacement assemblies and a plurality of unmanned ship berthing positions, each unmanned ship berthing position corresponding to a pair of battery replacement assemblies; the unmanned ship comprising a battery box, after the unmanned ship stops at the unmanned ship berthing position, the battery box is correspondingly connected to the battery replacement assembly. The present invention greatly reduces the risks brought by manual battery replacement through the collaboration between the unmanned ship and the floating platform, making the measurement operation at sea safer.

Description

Technical Field

[0001] The present invention relates to the field of marine equipment, and in particular to a battery automatic replacement device and method for an unmanned ship for offshore operations. Background Art

[0002] An unmanned boat is a fully automatic surface robot that can navigate on the water according to preset tasks without remote control, relying on precise satellite positioning and self-sensing. It is widely used in scientific research, meteorology, military, freight, coastal defense, rescue and other fields, and has gradually become an important force in offshore wind power detection. However, wind turbines are often distributed in places far away from the shore in the sea, with harsh working environments and are often affected by natural conditions such as waves and storms. In such an environment, unmanned boats need to operate continuously for a long time to complete the monitoring and maintenance of wind turbines. However, the capacity of traditional batteries is limited and cannot meet the needs of long-term continuous operation, so batteries need to be replaced regularly. However, there are a series of problems with manual battery replacement. Manual battery replacement requires personnel to board the ship, which poses a safety hazard, especially in severe weather conditions, and accidents are very likely to occur during battery replacement. Secondly, the data transmission of the equipment on the unmanned boat also needs to be obtained manually. Summary of the invention

[0003] The first object of the present invention is to provide an automatic battery replacement device for an unmanned ship operating at sea, which solves the problem of potential safety hazards caused by manual battery replacement.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is:

[0005] An automatic battery replacement device for an unmanned ship operating at sea includes a plurality of battery replacement floating platforms distributed at different positions on the sea surface; each battery replacement floating platform includes a plurality of pairs of battery replacement components and a plurality of unmanned ship berthing positions, each unmanned ship berthing position corresponds to a pair of battery replacement components; the unmanned ship includes a battery box, and after the unmanned ship stops at the unmanned ship berthing position, the battery box is connected to the battery replacement components accordingly.

[0006] Furthermore, each pair of battery replacement assemblies includes two battery replacement assemblies, and the two battery replacement assemblies are respectively located on both sides of the unmanned boat berthing position; each battery replacement assembly includes a battery temporary storage box and a battery pushing member, the batteries are stored in the battery temporary storage box, the battery temporary storage box is fixed to the floating platform through a first slide rail assembly, the battery pushing member is located at one end of the battery temporary storage box, and the battery pushing member is connected to the floating platform through a second slide rail assembly; the battery temporary storage box is slidably connected to the unmanned boat berthing position through a third sliding assembly.

[0007] Furthermore, sealing rails and docking slide rails are provided on both sides of the unmanned boat's docking position, and sealing bosses are respectively provided at both ends of the battery box, which are adapted in the sealing rails; docking sliders are provided on both sides of the unmanned boat, and the docking sliders are adapted to the docking slide rails.

[0008] Furthermore, the battery temporary storage box and the battery box have the same composition, including: a box body, a movable door and a sliding roller, the box body has a cavity for placing the battery, and the sliding roller is respectively connected to the top and bottom of the cavity; battery guide rails are respectively provided on both sides of the cavity, and the battery guide rails are connected to battery fixing slots; the movable door is connected to both ends of the box body through a driving assembly.

[0009] Furthermore, the driving assembly includes a gear, a motor and a transmission rod; the movable door is provided with a through hole, which is adapted to the gear; the motor is connected to the transmission rod, and the gear is connected to both ends of the transmission rod.

[0010] Furthermore, connecting pieces are provided on both sides of the battery, and rollers are connected to the top and bottom of the connecting pieces respectively, and the rollers are adapted to the battery guide rails; elastic balls are provided on the outer sides of the connecting pieces, and the elastic balls are adapted to the battery fixing slots.

[0011] Furthermore, it also includes a control system, which includes a communication unit, a positioning unit and a control unit. The communication unit is connected to the positioning unit, and the control unit can control the movement of the battery replacement assembly and the replacement of the battery; the positioning unit sends the position of the battery replacement platform to the unmanned ship and the shore-based system through the communication unit.

[0012] Furthermore, the unmanned boat is provided with a hydraulic lifting bracket, a battery box lifting platform and a battery box fixing frame at the stern, the hydraulic lifting bracket is connected to both sides of the battery box fixing frame, the battery box lifting platform is connected to the bottom of the battery box fixing frame, and the battery box fixing frame is used to fix the battery box.

[0013] Another object of the present invention is to provide a method for automatically replacing batteries for unmanned ships operating at sea, which solves the problem of potential safety hazards caused by manual battery replacement.

[0014] A method for automatically replacing batteries for an unmanned ship operating at sea, using an automatic battery replacement device for an unmanned ship operating at sea as described in the above embodiment, comprising: when the unmanned ship detects that the battery in the battery box is low on power, the unmanned ship will receive the location of a battery replacement platform and then sail to the location of the battery replacement platform; after the unmanned ship arrives at the battery replacement platform, the unmanned ship locates the unmanned ship berthing position, and then adjusts the height of the battery box to connect the battery box with a battery temporary storage box, and sends the battery to the battery box through a battery pusher; after the unmanned ship detects that the power is sufficient, it means that the battery replacement is completed, and the unmanned ship sails away from the battery replacement platform.

[0015] Furthermore, when the unmanned boat stops at the unmanned boat berthing position, the driving component opens the movable doors on both sides of the battery box and the battery temporary storage box to connect the battery box and the battery temporary storage box, and then the battery pusher sends the battery to the battery box.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0017] After the unmanned boat finds and docks at the unmanned boat berthing position through the positioning of the battery exchange floating platform, the sealing boss on the unmanned boat will enter the sealing track to prevent seawater from entering the floating platform, so that the battery replacement can be carried out under dirty and waterless conditions. After the battery box is connected to the battery temporary storage box, the battery pusher will push the battery from the battery temporary storage box on one side into the battery box, and push the battery without power into the battery temporary storage box on the opposite side. In the process of changing the battery, it is ensured that there will always be batteries in the unmanned boat, maintaining the stability of the power supply of the equipment carried by the unmanned boat, which is beneficial to the continuity of the load equipment data. And there is no need for technicians to go to the sea to replace the battery, which reduces the difficulty of replacing the battery of the unmanned boat. Through the collaboration between the unmanned boat and the floating platform, the present invention greatly reduces the risks brought by manual battery replacement, making the measurement operation at sea safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of an automatic battery replacement device for an unmanned ship operating at sea.

[0019] Figure 2 It is a schematic diagram of the connection between the battery box and the battery temporary storage box.

[0020] Figure 3 This is a schematic diagram of the lifting bracket.

[0021] Figure 4 Schematic diagram of the battery box.

[0022] Figure 5 Schematic diagram of batteries and battery storage box.

[0023] Figure 6 A schematic diagram of the drive components.

[0024] Figure 7 Schematic diagram of the sealed track.

[0025] Figure 8 Flowchart for replacing batteries for an unmanned boat.

[0026] In the figure: 1. Battery exchange floating platform; 2. Control system; 3. Battery replacement assembly; 4. Unmanned boat berthing position; 5. Unmanned boat; 6. Battery box; 7. Hydraulic lifting bracket; 8. Battery box lifting platform; 9. Battery box fixing frame; 11. Sealing track; 12. Docking slide rail; 13. Sealing boss; 14. Docking slider; 21. Battery temporary storage box; 22. Battery pusher; 23. First slide rail assembly; 24. Second slide rail assembly; 25. Third slide rail assembly; 31. Box; 32. Moving door; 33. Sliding roller; 34. Pool guide rail; 35. Battery fixing slot; 36. Gear; 37. Motor; 38. Transmission rod; 41. Connector; 42. Roller; 43. Elastic ball. DETAILED DESCRIPTION

[0027] Example 1

[0028] like Figure 1 As shown, a battery automatic replacement device for an unmanned ship operating at sea includes a plurality of battery replacement platforms 1 and a control system 2. The battery replacement platforms 1 are distributed at different positions on the sea surface; the battery replacement platforms 1 are provided with solar panels, which can replenish the power of the platforms. A connection port is also provided at the bottom of the battery replacement platform 1, which can be connected to a submarine cable, and the submarine cable can also charge the battery replacement platform 1. Each battery replacement platform 1 includes a plurality of pairs of battery replacement components 3 and a plurality of unmanned ship berthing positions 4, and each unmanned ship berthing position 4 corresponds to a pair of battery replacement components 3; the unmanned ship 5 includes a battery box 6, and after the unmanned ship 5 stops at the unmanned ship berthing position 4, the battery box 6 is connected to the battery replacement component 3 accordingly. The control system 2 includes a communication unit, a positioning unit and a control unit, and the communication unit is connected to the positioning unit, and the control unit can control the movement of the battery replacement component 3 and the replacement of the battery; the positioning unit sends the position of the battery replacement platform 1 to the unmanned ship 5 and the shore-based system through the communication unit. When the unmanned boat 5 detects that the battery power in the battery box 6 is low, the unmanned boat 5 will sail to the battery swap platform 1 according to the received positioning information of the battery swap platform 1. If the unmanned boat 5 cannot receive the position signal of the battery swap platform 1 in real time, the unmanned boat 5 will sail according to the last received position information of the battery swap platform 1 before the disconnection. After reaching the signal range, the unmanned boat 5 will resume receiving the position signal of the battery swap platform 1 and readjust the driving direction.

[0029] like Figure 7As shown, the tail of the unmanned boat 5 is provided with a hydraulic lifting bracket 7, a battery box lifting platform 8 and a battery box fixing frame 9, the hydraulic lifting bracket 7 is connected to both sides of the battery box fixing frame 9, the battery box lifting platform 8 is connected to the bottom of the battery box fixing frame 9, and the battery box fixing frame 9 is used to fix the battery box 6. After the unmanned boat 5 arrives at the unmanned boat berthing position 4, the hydraulic lifting bracket 7 will detect the pressure of the current water surface, so as to obtain the current depth of the unmanned boat 5, and then change the depth through the battery box lifting platform 8, so that the unmanned boat 5 rises to the target height, so that the battery box 6 and the battery temporary storage box are at the same height, which is convenient for battery replacement. After the tail of the unmanned boat 5 is docked, a fixed buckle is provided on the unmanned boat berthing position 4 to improve the stability of the unmanned boat 5 and improve work efficiency.

[0030] like Figure 2 As shown, the two sides of the unmanned boat docking position 4 are provided with sealing rails 11 and docking slide rails 12, and the two ends of the battery box 6 are respectively provided with sealing bosses 13, which are adapted to the sealing rails 11; the two sides of the unmanned boat 5 are provided with docking sliders 14, which are adapted to the docking slide rails 12. After the depth adjustment of the unmanned boat 5 is completed, the sealing boss 13 will enter the sealing rail 11, so that the battery replacement action is always carried out in a waterless environment, and the docking slider 14 will also enter the docking slide rail 12 to improve the stability of the unmanned boat 5.

[0031] like Figures 3 to 6 As shown, each pair of battery replacement components 3 includes two battery replacement components 3, and the two battery replacement components 3 are respectively located on both sides of the unmanned boat berthing position 4; each battery replacement component 3 includes a battery temporary storage box 21 and a battery pusher 22, and the battery is stored in the battery temporary storage box 21, and the battery temporary storage box 21 is fixed on the floating platform through a first slide rail component 23, and the battery pusher 22 is located at one end of the battery temporary storage box 21, and the battery pusher 22 is connected to the floating platform through a second slide rail component 24; the battery temporary storage box 21 is slidably connected to the unmanned boat berthing position 4 through a third slide assembly 25. The battery box 6 is provided with an infrared transmitter, and the battery temporary storage box 21 is provided with an infrared receiver. After the infrared signal emitted by the infrared transmitter is received by the infrared receiver, the battery box 6 can be connected to the battery temporary storage box 21. According to the specifications of different unmanned boats 5, the length of the unmanned boats 5 is different, and the position of the battery box 6 is also different. The battery temporary storage box 21 and the battery pusher 22 will move forward and backward through the first slide rail assembly 23 and the second slide rail assembly 24 respectively until they move to a position that can be connected with the battery box 6. After the battery box 6 is connected with the battery temporary storage box 21, the battery pusher 22 will push the batteries in the battery temporary storage box 21 into the battery box 6, push the batteries in the battery box 6 into the battery temporary storage box 21 on the opposite side, and realize the charging of the batteries in the battery temporary storage box 21. When the battery is replaced next time, the fully charged battery will be pushed into the battery box 6, and this cycle will be repeated.

[0032] The battery temporary storage box 21 and the battery box 6 have the same composition, including: a box body 31, a movable door 32 and a sliding roller 33. The box body 31 has a cavity for placing batteries, and the sliding roller 33 is respectively connected to the top and bottom of the cavity; battery guide rails 34 are respectively provided on both sides of the cavity, and the battery guide rails 34 are connected to battery fixing slots 35; the battery guide rails 24 in the battery box 6 can discharge the battery, and the battery guide rails 24 in the battery temporary storage box 21 can charge the battery; the movable door 32 is connected to both ends of the box body 31 through a driving component. The driving component includes a gear 36, a motor 37 and a transmission rod 38; the movable door 32 is provided with a through hole, and the through hole is adapted to the gear 36; the motor 37 is connected to the transmission rod 38, and the gear 36 is connected to both ends of the transmission rod 38. After the infrared receiver receives the signal transmitted by the infrared transmitter, the motor 37 starts, and the motor 37 drives the movable door 32 to open. At this time, the battery pusher 22 starts to push the battery. After the battery enters the cavity, the sliding roller 33 will reduce the friction of the battery during movement, making the movement smoother. The battery of the unmanned boat 5 is divided into two parts. During the pushing process, there will always be a battery in the battery box 6. This battery will realize the uninterrupted power supply design of the unmanned boat 5 system, maintain the stability of the power supply of the carried equipment, and facilitate the continuity of the load equipment data.

[0033] Connectors 41 are provided on both sides of the battery, and rollers 42 are connected to the top and bottom of the connectors 41, respectively. The rollers 42 are matched with the battery rails; elastic balls 43 are provided on the outside of the connectors 41, and the elastic balls 43 are matched with the battery fixing slots 35. When the battery pusher 22 pushes the battery, the rollers 42 will reduce the friction during pushing, and the elastic balls 43 will be fixed in the fixing slots to achieve stable power supply of the battery.

[0034] Example 2

[0035] like Figure 8As shown, a method for automatically replacing batteries for unmanned boats operating at sea, using an automatic battery replacement device for unmanned boats operating at sea as described in the above embodiment, including: when the unmanned boat detects that the battery in the battery box is low on power, the unmanned boat starts to choose to return to the battery exchange platform to replace the battery, the battery exchange platform will send the location to the unmanned boat, the unmanned boat will receive the location of the battery exchange platform, and then sail to the location of the battery exchange platform; if the working position of the unmanned boat exceeds the position signal receiving range, the unmanned boat will sail to the last location information of the battery exchange platform before disconnection, after the unmanned boat arrives at the battery exchange platform, the unmanned boat locates the unmanned boat berthing position, after the unmanned boat arrives at the unmanned boat berthing position, the hydraulic lifting bracket will detect the pressure of the current water surface, so as to obtain the current depth of the unmanned boat, and then change the depth through the battery box lifting platform, so that the unmanned boat rises to the target height, so that the battery box and the battery temporary storage box are at the same height, and the sealing boss and the sealing track are at the same height, and the docking slider and the docking slide rail are at the same height, and then the battery box is connected to the battery temporary storage box. After the connection is completed, the driving component opens the movable doors on both sides of the battery box and the battery temporary storage box to connect the battery box and then the battery pusher sends the battery to the battery box. The battery pusher sends the battery to the battery box. When the unmanned boat detects that the battery is fully charged, it means that the battery replacement is completed, the movable door is closed, and finally the unmanned boat leaves the battery exchange platform.

[0036] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An automatic battery replacement device for an unmanned ship operating at sea, characterized in that: It includes a plurality of battery-exchange floating platforms, which are distributed at different positions on the sea surface; each battery-exchange floating platform includes a plurality of pairs of battery replacement components and a plurality of unmanned boat berthing positions, and each unmanned boat berthing position corresponds to a pair of battery replacement components; the unmanned boat includes a battery box, and after the unmanned boat stops at the unmanned boat berthing position, the battery box is connected to the battery replacement component accordingly; Each pair of battery replacement components includes two battery replacement components, and the two battery replacement components are respectively located on both sides of the unmanned boat berthing position; each battery replacement component includes a battery temporary storage box and a battery pusher, the battery is stored in the battery temporary storage box, the battery temporary storage box is fixed to the floating platform through a first slide rail component, the battery pusher is located at one end of the battery temporary storage box, and the battery pusher is connected to the floating platform through a second slide rail component; the battery temporary storage box is slidably connected to the unmanned boat berthing position through a third sliding component; Sealing rails and docking slide rails are provided on both sides of the unmanned boat docking position, and sealing bosses are provided at both ends of the battery box, which are adapted to the sealing rails; docking sliders are provided on both sides of the unmanned boat, which are adapted to the docking slide rails; The unmanned boat is provided with a hydraulic lifting bracket, a battery box lifting platform and a battery box fixing frame at the stern, the hydraulic lifting bracket is connected to both sides of the battery box fixing frame, the battery box lifting platform is connected to the bottom of the battery box fixing frame, and the battery box fixing frame is used to fix the battery box.

2. The automatic battery replacement device for an unmanned ship for offshore operations according to claim 1 is characterized in that: The battery temporary storage box has the same composition as the battery box, including: a box body, a movable door and a sliding roller. The box body has a cavity for placing the battery, and the sliding roller is respectively connected to the top and bottom of the cavity; battery guide rails are respectively provided on both sides of the cavity, and the battery guide rails are connected to battery fixing slots; the movable door is connected to both ends of the box body through a driving component.

3. The automatic battery replacement device for an unmanned ship for offshore operations according to claim 2 is characterized in that: The driving assembly comprises a gear, a motor and a transmission rod; a through hole is provided on the movable door, and the through hole is adapted to the gear; the motor is connected to the transmission rod, and the gear is connected to both ends of the transmission rod.

4. The automatic battery replacement device for an unmanned ship for offshore operations according to claim 2 is characterized in that: Connectors are provided on both sides of the battery, and rollers are connected to the top and bottom of the connectors respectively, and the rollers are matched with the battery guide rails; elastic balls are provided on the outer side of the connectors, and the elastic balls are matched with the battery fixing slots.

5. The automatic battery replacement device for an unmanned ship for offshore operations according to claim 2 is characterized in that: It also includes a control system, which includes a communication unit, a positioning unit and a control unit. The communication unit is connected to the positioning unit, and the control unit can control the movement of the battery replacement assembly and the replacement of the battery; the positioning unit sends the position of the battery replacement platform to the unmanned ship and the shore-based system through the communication unit.

6. A method for automatically replacing batteries for an unmanned ship operating at sea, characterized in that: An automatic battery replacement device for an unmanned ship for offshore operations as described in any one of claims 1 to 5 includes: when the unmanned ship detects that the battery in the battery box is low on power, the unmanned ship will receive the location of the battery replacement platform and then sail to the location of the battery replacement platform; after the unmanned ship arrives at the battery replacement platform, the unmanned ship locates the unmanned ship berthing position, and then adjusts the height of the battery box to connect the battery box with the battery temporary storage box, and sends the battery to the battery box through the battery pusher. After the unmanned ship detects that the power is sufficient, it means that the battery replacement is completed and the unmanned ship sails away from the battery replacement platform.

7. The method for automatically replacing batteries for an unmanned ship for offshore operations according to claim 6, characterized in that: When the unmanned boat stops at the unmanned boat berthing position, the driving component opens the movable doors on both sides of the battery box and the battery temporary storage box to connect the battery box and the battery temporary storage box, and then the battery pusher sends the battery to the battery box.

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