Ship power replacement method and system

Abstract

The present invention relates to the technical field of ship battery replacement, and in particular, to a ship battery replacement method and system. The method comprises: step S11, based on the completion of the positioning of the hull assembly, obtaining the shaking state of the hull assembly. Step S12, based on the shaking state being less than the first set threshold, the hoisting assembly moves the battery box to the first set state. Step S13, based on the hoisting assembly moving the battery box to the first set state, the battery box descends to the second set state. Step S14, based on the battery box descending to the second set state, obtaining the shaking state. Step S15, based on the shaking state being less than the second set threshold, the two first guide modules move toward the battery box until they are respectively in contact with the two sides of the battery box along the first direction. Step S16, based on the battery box moving to the third set state, the battery box stops moving. In this way, the problem of easy collision of the battery box during ship battery replacement is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship power replacement, and in particular to a ship power replacement method and system. Background Art

[0002] As batteries have the advantages of high energy density, long life and environmental protection, electric ships are in line with the development trend of the future shipping industry. The endurance, safety and economy of electric ships have been improved. With the improvement of environmental awareness and the popularization of green shipping concepts, the market demand for electric ships and battery swapping technology continues to grow. Especially in ships that sail short distances and frequently enter and leave ports, the application effect of battery swapping technology is more obvious. Battery swapping technology refers to replacing the low-power battery box in the ship with a charged battery box through a lifting device. Electric ships use a direct replacement of the battery box to achieve rapid replenishment of electricity. Battery swapping technology can improve the efficiency of power supply.

[0003] Usually, the battery box is lifted from the shore to the top of the ship in the water to replace the battery box. During the battery replacement process, since there is no fixed device to fix the ship in the water, the ship is prone to shaking. Generally, a guide device is provided to guide the descent of the battery box, but the battery box will collide with the guide device during the descent process, thereby damaging the battery box and posing a safety hazard. At the same time, it will also cause the battery replacement process to take a long time, affecting the battery replacement efficiency and thus affecting the ship's operating efficiency. Summary of the invention

[0004] In order to solve the problem that battery boxes are prone to collision during ship battery replacement, the present invention provides a ship battery replacement method and system.

[0005] In a first aspect, the present invention provides a ship power replacement method, the ship power replacement method comprising:

[0006] Step S11, based on the completion of the positioning of the hull assembly, obtaining the shaking state of the hull assembly; wherein the hull assembly floats on the water surface;

[0007] Step S12, based on the shaking state being less than a first set threshold, the hoisting assembly moves the battery box to a first set state; wherein the first set state includes that the distance between the symmetry plane of the battery box along the first direction and the hoisting seat of the hoisting assembly is less than the distance between the symmetry plane of the fixing assembly along the first direction and the hoisting seat, and the hoisting assembly and the hull assembly are spaced apart;

[0008] Step S13, based on the hoisting assembly, the battery box is moved to the first setting state, and the battery box is lowered to a second setting state; wherein the second setting state includes a side of the battery box close to the hoisting seat abutting against a first guide module of a side of the fixing assembly close to the hoisting seat;

[0009] Step S14, based on the battery box descending to the second set state, obtaining the shaking state;

[0010] Step S15, based on the shaking state being less than a second set threshold, the two first guide modules move toward the battery box to respectively abut against two sides of the battery box along the first direction;

[0011] Step S16, based on the battery box moving to a third set state, the battery box stops moving; wherein the third set state includes the bottom surface of the battery box abutting against the first base unit of the fixing assembly, and the battery box is within the projection area of ​​the first base unit along the direction of the battery box.

[0012] In some embodiments, the ship power replacement method further includes:

[0013] Step S151, based on the two first guide modules moving toward the battery box, the lifting vehicle of the lifting assembly moves the battery box toward the lifting seat away from the lifting assembly to a fourth set state; wherein the fourth set state includes the lifting vehicle moving until the symmetry plane of the lifting vehicle along the first direction coincides with the symmetry plane of the first base unit along the first direction.

[0014] In some embodiments, the ship power replacement method further includes:

[0015] Step S152, after the two first guide modules move for a set time, one second guide module moves to abut against one side of the battery box along the second direction and the other second guide module moves to abut against the other side of the battery box along the second direction.

[0016] In some embodiments, the ship power replacement method further includes:

[0017] Step S1531, based on the shaking state being greater than or equal to the second set threshold and less than the third set threshold, the first guide module of the hanging seat away from the hanging assembly moves toward the hanging seat at a speed of V1, the first guide module close to the hanging seat moves away from the hanging seat at a speed of V2, and the hanging vehicle of the hanging assembly drives the battery box to move away from the hanging seat at a speed of V3; wherein V1>V2; V3<V2;

[0018] Step S1532, based on the first guide module away from the hanging seat abutting against the side of the battery box away from the hanging seat, the first guide module away from the hanging seat is withdrawn and the two second guide modules are folded; wherein, during the withdrawal process, the two first guide modules remain in contact with the battery box;

[0019] Step S1533, based on the battery box reaching the fifth setting state and the two second guide modules abutting against the battery box, the two first guide modules stop moving and the battery box stops moving away from the hanging seat; wherein the fifth setting state includes the battery box being within the projection area of ​​the first base unit of the fixing assembly along the direction of the battery box;

[0020] Step S1534: based on the battery box moving to the third set state, the battery box stops moving.

[0021] In some embodiments, the ship power replacement method further includes:

[0022] Step S1541, based on the shaking state being greater than or equal to a third set threshold and less than a fourth set threshold, the first guide module of the hanging seat away from the hanging assembly moves at a speed of V4 toward the hanging seat, the first guide module close to the hanging seat moves at a speed of V2 away from the hanging seat, and the hanging vehicle of the hanging assembly drives the battery box to move away from the hanging seat at a speed of V3; wherein V2<V4<V1;

[0023] Step S1542, based on the first guide module away from the hanging seat abutting against the side of the battery box away from the hanging seat, the first guide module away from the hanging seat is withdrawn and the two second guide modules are folded; wherein, during the withdrawal process, the two first guide modules remain in contact with the battery box;

[0024] Step S1543, based on the battery box reaching the fifth set state and the two second guide modules abutting against the battery box, the two first guide modules stop moving and the battery box stops moving away from the hanging seat;

[0025] Step S1544, based on the battery box moving to the third setting state, the battery box stops moving; wherein the third setting state includes the bottom surface of the battery box abutting against the first base unit of the fixing assembly, and the battery box is within the projection area of ​​the first base unit along the direction of the battery box.

[0026] In some embodiments, the ship power replacement method further includes:

[0027] Step S1551, based on the shaking state being greater than or equal to the fourth set threshold and less than the fifth set threshold, the battery box stops descending;

[0028] Step S1552, based on the battery box stopping descending, the first guide module away from the hanging seat of the hanging assembly moves towards the hanging seat;

[0029] Step S1553, based on the first guide module away from the hanging seat abutting against the side of the battery box away from the hanging seat, the two first guide modules and the hanging vehicle of the hanging assembly move away from the hanging seat and the two second guide modules are retracted;

[0030] Step S1554, based on the battery box reaching the fifth set state and the hoisting vehicle reaching the fourth set state, the two first guide modules and the hoisting vehicle stop moving away from the hoisting seat;

[0031] Step S1555, based on the two second guiding modules abutting against the battery box, the two second guiding modules stop moving;

[0032] Step S1556: based on the two first guide modules, the hoisting vehicle stops moving away from the hoisting seat and the two second guide modules stop moving, the battery box descends.

[0033] In some embodiments, in the step S1552, when the first guiding module away from the hanging mount moves toward the hanging mount, the first guiding module close to the hanging mount moves a first set distance toward the direction away from the hanging mount.

[0034] In some embodiments, the ship power replacement method further includes:

[0035] Step S1557, based on the battery box descending to the sixth setting state, the two first guide modules and the two second guide modules move a second setting distance away from the battery box; wherein the sixth setting state includes the battery box simultaneously abutting against the first guide unit and the second guide unit and the first guide unit and the battery box coincident with the setting value.

[0036] In a second aspect, the present invention provides a ship power exchange system, the ship power exchange system is applied to any one of the ship power exchange methods described in the first aspect, the ship power exchange system comprising:

[0037] Battery box;

[0038] Hull components;

[0039] A fixing assembly, the fixing assembly comprises a first base support unit and a second guide unit; the first base support unit is detachably connected to the hull assembly; the second guide unit comprises two first guide modules and a driving unit; one end of the first guide module is movably connected to the first base support unit, and the other end extends in a direction away from the hull assembly; the driving unit is drivingly connected to the first guide module, driving the first guide module to rotate with the connection between the first guide module and the first base support unit as the rotation axis; the two first guide modules are respectively arranged on both sides of the first base support unit at intervals along the first direction; A≥B; wherein A is the spacing between the two first guide modules away from the side of the hull assembly along the first direction, B is the size of the first base support unit along the first direction, and the angle between the first direction and the width direction of the hull assembly is within a first set range; the fixing assembly comprises a first state and a second state; the first state comprises that the two first guide modules are gradually retracted until the battery box abuts against the first guide module during the process of the hoisting assembly lowering the battery box; the second state comprises that the battery box is detachably connected to the first base support unit;

[0040] A hoisting assembly, the hoisting assembly comprising a hoisting seat, a hoisting arm, a hoisting vehicle, a second grabbing portion, and a flexible rope; the hoisting seat is spaced apart from the hull assembly; one end of the hoisting arm is detachably connected to the hoisting seat, and the other end extends away from the hoisting seat; the hoisting vehicle is slidably connected to the hoisting arm; the hoisting vehicle is drivingly connected to the flexible rope; the flexible rope is detachably connected to the second grabbing portion, driving the second grabbing portion to move along the height direction of the hoisting seat;

[0041] The lifting assembly includes a working state; the working state includes at least a portion of the lifting arm being located above the hull assembly.

[0042] In some embodiments, the second guide unit further comprises two second guide modules; one end of the second guide module is movably connected to the first bottom bracket unit, and the other end extends in a direction away from the hull assembly; the driving unit is drivingly connected to the second guide module, driving the second guide module to rotate with the connection between the second guide module and the first bottom bracket unit as the rotation axis; the two second guide modules are respectively arranged at intervals on both sides of the first bottom bracket unit along the second direction;

[0043] C≥D; wherein C is the distance between the two second guide modules away from the side of the hull assembly along the second direction, D is the size of the first base unit along the second direction, and the angle between the second direction and the length direction of the hull assembly is within a second set range.

[0044] In order to solve the problem that the battery box is easy to collide during the ship power replacement process, the present invention has the following advantages:

[0045] When the hull assembly is positioned, the shaking state of the hull assembly can be obtained. When the shaking state of the hull assembly is less than the first set threshold, the hoisting assembly can move the battery box to the first set state, thereby avoiding the battery box from easily colliding with the first guide module due to the shaking of the battery box and the hull assembly during the direct descent process. When the hoisting assembly moves the battery box to the first set state, the battery box can continue to descend to the second set state. In this way, the weight of the battery box is used to make the battery box close to the lifting seat of the lifting assembly and the first guide module of the lifting seat of the fixed assembly close to the lifting assembly keep in contact. When the hull assembly and the battery box shake relative to each other, the battery box can also be kept in contact with the first guide module of the lifting seat of the lifting assembly and the fixed assembly close to the lifting seat of the lifting assembly as much as possible, thereby avoiding the battery box from colliding with the first guide module when it continues to descend. When the battery box descends to the second set state, the shaking state of the hull assembly can be obtained. When the shaking state is less than the second set threshold, the two first guide modules can move toward the battery box to respectively abut against the two sides of the battery box along the first direction. Even if the battery box and the hull assembly shake relative to each other, the battery box and the first guide module will not collide. In this way, the battery box can move under the guidance of the two first guide modules, reducing the wear rate of the battery box, thereby improving the battery replacement efficiency and thus improving the operating efficiency of the ship. The third set state can include the bottom surface of the battery box abutting against the first base unit of the fixed assembly, and the battery box is within the projection area of ​​the first base unit along the direction of the battery box. When the battery box moves to the third set state, it means that the battery box has reached the correct position at this time, the lifting can be stopped, and the battery box can stop moving. Thereby, the problem of easy collision of battery boxes during ship battery replacement can be solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of a ship power replacement method according to an embodiment is shown;

[0047] Figure 2 A schematic diagram of a ship power exchange system according to an embodiment is shown;

[0048] Figure 3 A schematic diagram of a ship power exchange system according to another embodiment is shown;

[0049] Figure 4 A schematic diagram of a ship power exchange system according to another embodiment is shown;

[0050] Figure 5 A schematic diagram of a ship power exchange system according to another embodiment is shown;

[0051] Figure 6A partial schematic diagram of a ship power exchange system according to an embodiment is shown;

[0052] Figure 7 A partial schematic diagram of a ship power exchange system according to another embodiment is shown.

[0053] Figure numerals: 10 fixed assembly; 11 first base supporting unit; 12 first guide unit; 13 second guide unit; 131 first guide module; 132 second guide module; 20 hull assembly; 21 hull unit; 211 hull part; 212 movable seat; 213 battery compartment; 22 second base supporting unit; 23 ship crane unit; 231 trolley guide rail; 232 trolley body; 233 trolley guide rail; 234 telescopic rail; 235 trolley body; 236 lifting part; 237 first grabbing part; 30 lifting assembly; 31 lifting seat; 32 lifting arm; 33 lifting vehicle; 34 second grabbing part; 35 flexible rope; 40 battery box. DETAILED DESCRIPTION

[0054] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0055] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0056] At present, electric ships replenish electric energy by directly replacing the battery box 40, and the guide device is used to guide the battery box 40 during its descent. Since there is no fixing device to fix the electric ship in the water, the water surface is prone to fluctuations during the battery replacement process, causing the ship to shake. The lifting assembly 30 will also shake when it is lifted from the shore to the corresponding position on the ship, which will cause the battery box 40 to collide with the guide device during the battery replacement process and cause damage. It will also reduce the lifting efficiency of the battery box 40, thereby affecting the operating efficiency of the ship. Figure 2As shown, the ship power exchange system may include a hull assembly 20, a battery box 40, a fixing assembly 10, and a lifting assembly 30. The lifting assembly 30 may include a lifting seat 31, a lifting arm 32, a lifting vehicle 33, a second grabbing portion 34, and a flexible rope 35. The lifting seat 31 may be spaced apart from the hull assembly 20. One end of the lifting arm 32 may be detachably connected to the lifting seat 31, and the other end may extend in a direction away from the lifting seat 31. The lifting vehicle 33 may be slidably connected to the lifting arm 32, the lifting vehicle 33 may be driven and connected to the flexible rope 35, and the flexible rope 35 may be detachably connected to the second grabbing portion 34. The fixing assembly 10 may include a first bottom support unit 11 and a second guide unit 13, and the first bottom support unit 11 may be detachably connected to the hull assembly 20. The second guide unit 13 may include two first guide modules 131. The place where the first guide module 131 abuts against the battery box 40 is a flexible material, and the flexible material may be rubber, which is used to reduce the wear of the battery box 40. One end of the first guide module 131 can be movably connected to the first base unit 11, and the other end can extend in a direction away from the hull assembly 20. The two first guide modules 131 can be spaced apart on both sides of the first base unit 11 along a first direction, and the angle between the first direction and the width direction of the hull assembly 20 can be within a first set range (such as 0° to 5°). The lifting assembly 30 can be set in a shore port or other ships, and the lifting assembly 30 can be spaced apart from the hull assembly 20. In order to solve the problem that the battery box 40 is easy to collide during the ship's battery replacement process, a ship battery replacement method is proposed. Figure 1 As shown, the ship battery replacement method may include steps S11 to S16, and the steps will be described in detail below.

[0057] In step S11, the hull assembly 20 can float on the water surface without any fixing device to fix the hull assembly 20. When the hull assembly 20 is positioned, that is, it reaches the area where the battery can be replaced, the shaking state of the hull assembly 20 can be obtained. It is convenient to judge whether the battery replacement work can be carried out according to the shaking state of the hull assembly 20, and how to carry out the battery replacement work.

[0058] Step S12, when the shaking state of the hull assembly 20 is less than the first set threshold, that is, the battery replacement work can be performed at this time, the hoisting assembly 30 can move the battery box 40 to the first set state. The first set state can include that the distance between the symmetry plane of the battery box 40 along the first direction and the hoisting seat 31 of the hoisting assembly 30 is less than the distance between the symmetry plane of the fixed assembly 10 along the first direction and the hoisting seat 31. The first direction can be within a first set range (such as 0° to 5°) with the angle of the width direction of the hull assembly 20. The battery box 40 moves to the first set state so that during the subsequent descent, the side of the battery box 40 close to the hoisting seat 31 can slowly abut against the first guide module 131 of the fixed assembly 10 close to the hoisting seat 31, thereby reducing the probability of the battery box 40 colliding with the first guide module 131 due to the relative shaking of the battery box 40 and the hull assembly 20 during the descent process, thereby affecting the service life and hoisting efficiency of the battery box 40. The hoisting assembly 30 can be spaced apart from the hull assembly 20. The space provided at intervals can provide the battery box 40 with sufficient space for battery replacement, and reduce the possibility that the battery box 40 easily collides with the first guide module 131 when the space is small and the battery box is hoisted. In other embodiments, when the shaking state is greater than or equal to the first set threshold, the battery replacement can be stopped immediately and an alarm can be issued, and manual intervention can be requested.

[0059] Step S13, when the hoisting assembly 30 moves the battery box 40 to the first setting state, the battery box 40 can be lowered to the second setting state. The second setting state can include that the side of the battery box 40 close to the hoisting seat 31 abuts against the first guide module 131 of the fixing assembly 10 close to the hoisting seat 31, and when the hull assembly 20 and the battery box 40 shake relative to each other, the abutment of the battery box 40 and the first guide module 131 can reduce the probability of collision between the battery box 40 and the first guide module 131, so that the battery box 40 and the first guide module 131 remain in abutment, thereby avoiding collision between the battery box 40 and the first guide module 131 when the battery box 40 continues to descend.

[0060] Step S14, when the battery box 40 drops to the second set state, the shaking state of the hull assembly 20 can be obtained, so as to judge whether to continue the battery replacement work and how to perform the battery replacement work according to the subsequent shaking state.

[0061] Step S15 , when the shaking state is less than the second set threshold (which may be equal to the first set threshold), the two first guiding modules 131 may move toward the battery box 40 to respectively abut against two sides of the battery box 40 along the first direction. When the first guide module 131 of the fixing assembly 10 near the lifting seat 31 moves toward the battery box 40 near the lifting seat 31, the battery box 40 can be kept in contact with the first guide module 131 by using the weight of the battery itself. When the two first guide modules 131 can move toward the battery box 40 to respectively contact with the two sides of the battery box 40 along the first direction, the battery box 40 is clamped. During the descending process after clamping, the battery box 40 will not collide with the first guide module 131, avoiding abnormal damage to the battery box 40. The relative shaking and deviation of the battery box 40 and the first bottom bracket unit 11 during the descending process of the battery box 40 can be effectively suppressed. The two first guide modules 131 both move toward the battery box 40 to respectively contact with the two sides of the battery box 40 along the first direction. When the two first guide modules 131 contact with the battery box 40, they contact the projection area of ​​the battery box 40 in the first bottom bracket unit 11 of the fixing assembly 10 along the direction of the battery box 40. Therefore, the battery box 40 will not collide. Thereby improving the efficiency of battery replacement and thus improving the operational efficiency of the ship.

[0062] The heights of the two first guide modules 131 can be the same. When the first guide module 131 on the side of the fixing assembly 10 away from the hanging seat 31 abuts against the side of the battery box 40 away from the hanging seat 31, a force perpendicular to the plane of the side of the battery box 40 away from the hanging seat 31 and toward the side close to the hanging seat 31 is generated. When the first guide module 131 on the side of the fixing assembly 10 close to the hanging seat 31 abuts against the side of the battery box 40 close to the hanging seat 31, a force perpendicular to the plane of the side of the battery box 40 close to the hanging seat 31 and toward the side away from the hanging seat 31 is generated. One end of the battery box 40 away from the first base unit 11 is inclined toward the hanging seat 31, and the force generated by the first guide module 131 on the side of the fixing component 10 away from the hanging seat 31 is lower than the force generated by the first guide module 131 on the side of the fixing component 10 close to the hanging seat 31 in the height direction of the battery box 40. Therefore, under the action of these two forces, the battery box 40 can be rotated until the first guide module 131 on the side of the fixing component 10 away from the hanging seat 31 and the first guide module 131 on the side of the fixing component 10 close to the hanging seat 31 respectively abut against the battery box 40 at the same position in the height direction of the battery box 40, thereby achieving the purpose of adjusting the battery box 40.

[0063] Step S16, the third setting state may include that the bottom surface of the battery box 40 abuts against the first bottom bracket unit 11 of the fixing assembly 10, and the battery box 40 is within the projection area of ​​the first bottom bracket unit 11 along the direction of the battery box 40. When the battery box 40 continues to move downward to the third setting state, it means that the battery box 40 has reached the correct position, and the lifting can be stopped, so that the battery box 40 can stop moving.

[0064] In some embodiments, the ship power replacement method may further include:

[0065] Step S151, when the two first guide modules 131 move toward the battery box 40, and the first guide module 131 on the side of the fixing assembly 10 close to the hanging seat 31 moves toward the side of the battery box 40 close to the hanging seat 31, the battery box 40 can be kept in contact with the first guide module 131 by utilizing the weight of the battery itself. Since the side of the battery box 40 close to the hanging seat 31 and the first guide module 131 on the side of the fixing assembly 10 close to the hanging seat 31 still keep in contact, the hoisting vehicle 33 of the hanging assembly 30 can move the battery box 40 toward the hanging seat 31 away from the hanging assembly 30 to the fourth setting state. The fourth setting state can include the hoisting vehicle 33 moving to the point where the symmetry plane of the hoisting vehicle 33 along the first direction coincides with the symmetry plane of the first bottom bracket unit 11 along the first direction, so that the battery box 40 has a small tilt angle and is easier to adjust. At the same time, the battery box 40 is adjusted by the clamping force of the first guide module 131 on the battery box 40, which can be easily adjusted so that the clamping force of the first guide module 131 on the battery box 40 is reduced, thereby reducing the compression of the battery box 40 and extending the life of the battery box 40. In this way, when the two first guide modules 131 move toward the battery box 40, the swing angle of the battery box 40 can be reduced.

[0066] In some embodiments, the ship power replacement method may further include:

[0067] Step S152, the hull assembly 20 will shake in the length direction, and the two second guide modules 132 can be arranged at intervals on both sides of the first bottom bracket unit 11 along the second direction. One end of the second guide module 132 can be movably connected to the first bottom bracket unit 11, and the other end can extend in the direction away from the hull assembly 20. The angle between the second direction and the length direction of the hull assembly 20 can be within a second setting range (such as 0° to 5°), so as to reduce the relative shaking of the battery box 40 and the hull assembly 20 in the length direction of the hull assembly 20. After the two first guide modules 131 move for a set time, one second guide module 132 can move to abut against one side of the battery box 40 along the second direction and the other second guide module 132 can move to abut against the other side of the battery box 40 along the second direction. In this way, the first guide module 131 can control the shaking of the battery box 40 relative to the width direction and the length direction of the hull assembly 20 together with the second guide module 132, thereby completing the hoisting of the battery box 40.

[0068] In some embodiments, the ship power replacement method may further include:

[0069] Step S1531, when the shaking state is greater than or equal to the second set threshold and less than the third set threshold, the shaking state of the hull assembly 20 is relatively large at this time, the first guide module 131 of the hoisting seat 31 away from the hoisting assembly 30 can move toward the hoisting seat 31 at a speed of V1, the first guide module 131 close to the hoisting seat 31 can move away from the hoisting seat 31 at a speed of V2, and the hoisting vehicle 33 of the hoisting assembly 30 can drive the battery box 40 to move away from the hoisting seat 31 at a speed of V3, V1 can be greater than V2, in this way, the two first guide modules 131 are retracted to abut against the side of the battery box 40 away from the hoisting seat 31 and the side of the battery box 40 close to the hoisting seat 31, respectively, to avoid collision during the process of moving the battery box 40 to the projection area of ​​the first bottom bracket unit 11 along the direction of the battery box 40. V1 is a faster speed, which also shortens the battery replacement time and improves the battery replacement efficiency. V3 can be less than V2. After the two first guide modules 131 are respectively abutted against the side of the battery box 40 away from the lifting seat 31 and the side of the battery box 40 close to the lifting seat 31, the bottom surface of the battery box 40 is accurately abutted against the first base unit 11 of the fixing assembly 10 during the subsequent descent of the battery box 40.

[0070] Step S1532, two second guide modules 132 can be spaced apart on both sides of the first bottom bracket unit 11 along the second direction, and the angle between the second direction and the length direction of the hull assembly 20 can be within a second setting range (such as 0° to 5°), so as to reduce the relative shaking of the battery box 40 and the hull assembly 20 in the length direction of the hull assembly 20. Two first guide modules 131 can be spaced apart on both sides of the first bottom bracket unit 11 along the first direction, and the angle between the first direction and the width direction of the hull assembly 20 can be within a first setting range (such as 0° to 5°), so as to reduce the relative shaking of the battery box 40 and the hull assembly 20 in the width direction of the hull assembly 20. When the first guide module 131 away from the lifting seat 31 abuts against the side of the battery box 40 away from the lifting seat 31, since V1 can be greater than V2, after the two first guide modules 131 abut against both sides of the battery box 40 along the first direction, at this time, the distance between the symmetry plane of the battery box 40 along the first direction and the lifting seat 31 is smaller than the distance between the symmetry plane of the fixing component 10 along the first direction and the lifting seat 31, then the first guide module 131 away from the lifting seat 31 can be withdrawn, so that the battery box 40 is aligned with the center of the first bottom bracket unit 11 and the two second guide modules 132 can be retracted. In this way, the second guide module 132 and the first guide module 131 can control the shaking of the battery box 40 relative to the width direction and the length direction of the hull component 20 together. During the withdrawal process, the two first guide modules 131 can remain in contact with the battery box 40. The lifting vehicle 33 of the lifting assembly 30 is retracted to drive the battery box 40 to tilt toward the first guide module 131 away from the lifting seat 31, and at the same time, the battery box 40 is accurately abutted against the first base unit 11 within the projection area of ​​the first base unit 11 along the direction of the battery box 40 during the subsequent descent.

[0071] Step S1533, the fifth setting state can be that the battery box 40 is in the projection area of ​​the first bottom bracket unit 11 of the fixing assembly 10 along the direction of the battery box 40. When the battery box 40 reaches the fifth setting state and the two second guide modules 132 abut against the battery box 40, that is, after the battery box 40 reaches the fifth setting state, the two second guide modules 132 can control the shaking of the battery box 40 relative to the length direction of the hull assembly 20 during the process of continuing to descend, the two first guide modules 131 can stop moving, and the hoisting vehicle 33 can stop driving the battery box 40 to move away from the hoisting seat 31, thereby facilitating the subsequent descent of the battery box 40 until the bottom surface of the battery box 40 accurately abuts against the first bottom bracket unit 11 of the fixing assembly 10.

[0072] Step S1534, when the battery box 40 moves to the third setting state, the third setting state may include the bottom surface of the battery box 40 abutting against the first base unit 11 of the fixing assembly 10, and the battery box 40 is within the projection area of ​​the first base unit 11 along the direction of the battery box 40, indicating that the battery box 40 has reached the correct position at this time, the lifting can be stopped, and the battery box 40 can stop descending.

[0073] In this embodiment, the ship power replacement method may further include: step S1541, when the shaking state is greater than or equal to the third set threshold and less than the fourth set threshold, the first guide module 131 of the lifting seat 31 far away from the lifting assembly 30 can move toward the lifting seat 31 at a speed of V4, the first guide module 131 close to the lifting seat 31 can move away from the lifting seat 31 at a speed of V2, and the lifting vehicle 33 of the lifting assembly 30 can move away from the lifting seat 31 at a speed of V3. V4 can be less than V1 and greater than V2. At this time, the hull assembly 20 shakes greatly, and the battery box 40 is prone to collide with the first guide module 131 during the battery replacement process. Therefore, the impact force generated when the first guide module 131 and the battery box 40 collide is reduced by reducing the speed of the first guide module 131 moving away from the hoisting seat 31 of the hoisting assembly 30 toward the hoisting seat 31. It can also prevent the battery box 40 from bouncing toward another first guide module 131 and colliding after colliding with one first guide module 131, and extend the service life of the battery box 40 and the first guide module 131. Even if a collision occurs, it is within the tolerance range of the battery box 40. After the two first guide modules 131 are respectively in contact with the two sides of the battery box 40 along the first direction, the two first guide modules 131 clamp the battery box 40, which can prevent the first guide module 131 from colliding with the battery box 40.

[0074] Step S1542, when the first guide module 131 away from the lifting seat 31 can abut against the side of the battery box 40 away from the lifting seat 31, since V4 is less than V1 and greater than V2, the two first guide modules 131 are respectively abutted against the two sides of the battery box 40 along the first direction. At this time, the distance between the symmetry plane of the battery box 40 along the first direction and the lifting seat 31 is less than the distance between the symmetry plane of the fixing component 10 along the first direction and the lifting seat 31, so the first guide module 131 away from the lifting seat 31 needs to be withdrawn; and the two second guide modules 132 can be folded. In this way, the second guide module 132 and the first guide module 131 can control the shaking of the battery box 40 relative to the width direction and the length direction of the hull component 20 together. The withdrawal action allows the battery box 40 to accurately abut against the first bottom bracket unit 11 in the projection area of ​​the first bottom bracket unit 11 along the direction of the battery box 40 during the subsequent descent. During the retraction process, the two first guide modules 131 can maintain contact with the battery box 40 , thereby preventing the battery box 40 from colliding with the first guide unit 12 .

[0075] Step S1543, when the battery box 40 reaches the fifth set state and the two second guide modules 132 are in contact with the battery box 40, that is, the battery box 40 is in the projection area of ​​the first base support unit 11 of the fixing assembly 10 along the direction of the battery box 40, and continues to descend, the two second guide modules 132 can control the shaking of the battery box 40 relative to the length direction of the hull assembly 20, the two first guide modules 131 can stop moving, and the hoisting vehicle 33 can stop driving the battery box 40 to move away from the hoisting seat 31, thereby facilitating the subsequent descent of the battery box 40 to the bottom surface of the battery box 40 and accurately abutting against the first base support unit 11 of the fixing assembly 10.

[0076] Step S1544, when the battery box 40 moves to the third setting state, the battery box 40 can stop moving. The third setting state can include the bottom surface of the battery box 40 abutting against the first bottom bracket unit 11 of the fixing assembly 10, and the battery box 40 is within the projection area of ​​the first bottom bracket unit 11 along the direction of the battery box 40. When the battery box 40 moves to the third setting state, it means that the battery box 40 has reached the correct position at this time, and the lifting can be stopped, and the battery box 40 can stop moving.

[0077] In this embodiment, the ship power replacement method may further include:

[0078] Step S1551, when the shaking state is greater than or equal to the fourth set threshold and less than the fifth set threshold, the hull assembly 20 shakes the most, so the battery box 40 can stop descending, so that the two subsequent first guide modules 131 and the two second guide modules 132 can abut against the battery box 40 and then continue to descend to avoid collision.

[0079] Step S1552: When the battery box 40 stops descending, the first guide module 131 away from the hanging seat 31 of the hanging assembly 30 can move toward the hanging seat 31, so that the first guide module 131 away from the hanging seat 31 of the hanging assembly 30 can abut against the side of the battery box 40 away from the hanging seat 31.

[0080] Step S1553, when the first guide module 131 away from the lifting seat 31 abuts against the side of the battery box 40 away from the lifting seat 31, at this time, the two first guide modules 131 are both abutted against the battery box 40, and then the two first guide modules 131 and the lifting vehicle 33 of the lifting assembly 30 can move in the direction away from the lifting seat 31, and the two first guide modules 131 move with the battery box 40 clamped, and the battery box 40 can avoid collision with the first guide modules 131, and at the same time, the relative shaking of the battery box 40 and the first base unit 11 is suppressed, so that the battery box 40 can move to the projection area of ​​the first base unit along the direction of the battery box under the restriction of the first guide module 131 and the two second guide modules 132 are retracted. This facilitates the subsequent abutment of the two second guide modules 132 with the battery box 40, thereby controlling the shaking of the battery box 40 relative to the width and length directions of the hull assembly 20 together with the two first guide modules 131, while allowing the battery box 40 to accurately abut with the first bottom support unit 11 within the projection area of ​​the first bottom support unit 11 along the direction of the battery box 40 during the subsequent descent.

[0081] Step S1554, when the battery box 40 reaches the fifth setting state and the lifting vehicle 33 reaches the fourth setting state, the fourth setting state may include the lifting vehicle 33 moving to the point where the symmetry plane of the lifting vehicle 33 along the first direction coincides with the symmetry plane of the first base unit 11 along the first direction, and the fifth setting state may include the battery box 40 being in the projection area of ​​the first base unit 11 of the fixing assembly 10 along the direction of the battery box 40, the two first guide modules 131 and the lifting vehicle 33 may stop moving away from the lifting seat 31, thereby facilitating the subsequent descent of the battery box 40 to the bottom surface of the battery box 40 and accurately abutting against the first base unit 11 of the fixing assembly 10.

[0082] Step S1555, when the two second guide modules 132 abut against the two sides of the battery box 40 along the second direction, the two second guide modules 132 can stop moving, so that the battery box 40 can be guided by the two second guide modules 132 during the process of continuing to descend. The two second guide modules 132 can control the shaking of the battery box 40 relative to the length direction of the hull assembly 20.

[0083] Step S1556, when the two first guide modules 131 and the lifting vehicle 33 stop moving away from the lifting seat 31 and the two second guide modules 132 stop moving, the battery box 40 can continue to descend, and the two first guide modules 131 and the two second guide modules 132 can together control the shaking of the battery box 40 relative to the width and length directions of the hull assembly 20, so as to facilitate the battery box 40 to descend to the bottom surface of the battery box 40 and accurately abut against the first base unit 11 of the fixing assembly 10.

[0084] In this embodiment, in step S1542, when the first guide module 131 away from the hanging seat 31 moves toward the hanging seat 31, the first guide module 131 close to the hanging seat 31 can move a first set distance away from the hanging seat 31. By moving the first guide module 131 close to the hanging seat 31 by the first set distance, the battery box 40 can be moved toward the direction away from the hanging seat 31, and further by utilizing the weight of the battery box 40 itself, the battery box 40 can be continuously abutted against the first guide module 131 close to the hanging seat 31.

[0085] In this embodiment, the ship power replacement method may further include:

[0086] Step S1557, the sixth setting state may include that the battery box 40 is in contact with the first guide unit 12 and the second guide unit 13 at the same time, and the first guide unit 12 and the battery box 40 overlap the setting value. When the battery box 40 descends to the sixth setting state, the two first guide modules 131 and the two second guide modules 132 can move the second setting distance away from the battery box 40. When the battery box 40 abuts against the first guide unit 12, if the relative position of the battery box 40 still deviates from the first bottom bracket unit 11 during the descending process, the battery box 40 can be hoisted through the guidance of the first guide unit 12. The two first guide modules 131 and the two second guide modules 132 can move the second setting distance away from the battery box 40, so that the battery box 40 can be provided with a movable space to make the adjustment process of the battery box 40 smoother, so that the battery box 40 can be adaptively adjusted, so that the battery box 40 can be stably and accurately detachably connected to the first bottom bracket unit 11.

[0087] The second guide unit 13 can be lower in height than the first guide unit 12, one end of the first guide unit 12 can be detachably connected to the first base unit 11, and the other end can extend in a direction away from the hull assembly 20. The area of ​​the first guide unit 12 in the horizontal direction can be gradually reduced from the hull assembly 20 to the first base unit 11, so that the first guide unit 12 can partially form an inclined surface. In this way, when the battery box 40 is hoisted and lowered to abut against the inclined surface of the first guide unit 12, when the battery box 40 is shaken and offset, the battery box 40 can slide on the inclined surface as the battery box 40 descends. In this way, the battery box 40 can be within the vertical projection range of the first base unit 11 and the battery box 40 can abut against the first base unit 11, thereby improving the battery replacement efficiency.

[0088] This embodiment discloses a ship power exchange system, such as Figure 3As shown, it may include: a battery box 40, a hull assembly 20, a fixing assembly 10, and a lifting assembly 30. The fixing assembly 10 may include a first base unit 11 and a second guide unit 13. The first base unit 11 may be detachably connected to the hull assembly 20. This facilitates the installation and separate maintenance of the first base unit 11, and at the same time, the first base unit 11 may support the battery box 40. The second guide unit 13 may include two first guide modules 131 and a driving unit. One end of the first guide module 131 may be movably connected to the first base unit 11, and the other end may extend in a direction away from the hull assembly 20. The driving unit may be drivably connected to the first guide module 131, and drive the first guide module 131 to rotate with the connection between the first guide module 131 and the first base unit 11 as the rotation axis. This facilitates the driving unit to drive the two first guide modules 131 to rotate, as shown in FIG. Figure 4 As shown, the two first guide modules 131 are gradually retracted until they are respectively in contact with the left and right sides of the battery box 40. The contact between the battery box 40 and the first guide modules 131 can effectively suppress the relative shaking and deviation between the battery box 40 and the first bottom bracket unit 11 during the descent of the battery box 40. The hull assembly 20 is more likely to shake in the width direction than in the length direction, so the two first guide modules 131 can be spaced apart on both sides of the first bottom bracket unit 11 along the first direction. Figure 6 As shown, A can be the distance between the two first guide modules 131 away from the side of the hull assembly 20 along the first direction, B can be the size of the first bottom bracket unit 11 along the first direction, and the angle between the first direction and the width direction of the hull assembly 20 can be within a first set range (such as 0° to 5°), thereby reducing the relative shaking of the battery box 40 and the hull assembly 20 in the width direction of the hull assembly 20. A can be greater than or equal to B, such as Figure 4 As shown, the driving unit can drive the two first guide modules 131 to gradually retract to the left and right sides of the battery box 40 and respectively abut against the two first guide modules 131, thereby controlling the shaking of the battery box 40 relative to the width direction of the hull assembly 20 during the descent process. The fixing assembly 10 can include a first state and a second state. The first state can include the hoisting assembly 30 gradually retracting the two first guide modules 131 during the descent of the battery box 40 until the battery box 40 abuts against the first guide modules 131, so that the two first guide modules 131 can control the shaking of the battery box 40 relative to the width direction of the hull assembly 20 during the descent process. The second state can include the battery box 40 being within the vertical projection range of the first bottom bracket unit 11 and the battery box 40 abutting against the first bottom bracket unit 11, so that the battery box 40 and the first bottom bracket unit 11 are detachably connected. At this time, the battery box 40 can be installed with the first bottom bracket unit 11.

[0089] The hoisting assembly 30 may include a hoisting seat 31, a hoisting arm 32, a hoisting vehicle 33, a second grabbing portion 34, and a flexible rope 35. The hoisting seat 31 may be spaced apart from the hull assembly 20. The hoisting space is convenient for hoisting the battery box 40. One end of the hoisting arm 32 may be detachably connected to the hoisting seat 31, and the other end may extend in a direction away from the hoisting seat 31, so that the hoisting arm 32 can be repaired and replaced separately. The hoisting vehicle 33 may be slidably connected to the hoisting arm 32, and the hoisting vehicle 33 may move a distance as needed to hoist the battery box 40. One end of the flexible rope 35 may be drivingly connected to the hoisting vehicle 33, and the other end may be detachably connected to the second grabbing portion 34, so as to facilitate the installation, disassembly and replacement of the flexible rope 35. The hoisting vehicle 33 can reel in or release the flexible rope 35 to change the distance between the second grabbing portion 34 and the hoisting vehicle 33 . The hoisting vehicle 33 can also drive the second grabbing portion 34 to move horizontally through the flexible rope 35 , thereby controlling the movement of the battery box 40 grabbed by the second grabbing portion 34 .

[0090] The hoisting assembly 30 may include a working state. The working state may include at least a portion of the hoisting arm 32 being located above the hull assembly 20, which can ensure that the battery box 40 can be moved to a position where it can be hoisted.

[0091] In some embodiments, the second guide unit 13 may also include two second guide modules 132. One end of the second guide module 132 may be movably connected to the first base unit 11, and the other end may extend in a direction away from the hull assembly 20. The driving unit may be drivably connected to the second guide module 132, and drive the second guide module 132 to rotate with the connection between the second guide module 132 and the first base unit 11 as the rotation axis. To facilitate the driving unit to drive the two second guide modules 132 to rotate, the relative shaking and displacement of the battery box 40 and the first base unit 11 during the descent of the battery box 40 can be effectively suppressed through the abutment between the battery box 40 and the second guide module 132. The hull assembly 20 will shake in the length direction, so the two second guide modules 132 can be spaced apart on both sides of the first base unit 11 along the second direction. The angle between the second direction and the length direction of the hull assembly 20 can be within a second set range (such as 0° to 5°), thereby reducing the relative shaking of the battery box 40 and the hull assembly 20 in the length direction of the hull assembly 20. Figure 7 As shown, C can be the distance between the two second guide modules 132 and one side of the hull assembly 20 along the second direction, D can be the size of the first bottom bracket unit 11 along the second direction, and C can be greater than or equal to D. The driving unit can drive the two second guide modules 132 to gradually retract to the two sides of the battery box 40 along the second direction and respectively abut against the two second guide modules 132, thereby controlling the shaking of the battery box 40 relative to the length direction of the hull assembly 20 during the descent process.

[0092] In other embodiments, the hull assembly 20 may include a hull unit 21, a second bottom support unit 22, and a ship crane unit 23. Figure 5 As shown, the hull unit 21 may include a hull portion 211, a movable seat 212, a battery compartment 213, and a hatch. Since the ship is in a humid environment on the water, the exposed battery is easily damaged. The battery compartment 213 can be closed to dehumidify the battery box 40 and prevent the battery box 40 from being damaged. The battery compartment 213 can be detachably connected to the hull portion 211, which is convenient for quick installation and maintenance of the battery compartment 213. The second bottom bracket unit 22 can be detachably connected to the hull portion 211. It is convenient for the second bottom bracket unit 22 to be installed and disassembled separately for maintenance. The second bottom bracket unit 22 can be arranged in the space surrounded by the battery compartment 213 for the installation position of the battery box 40. The movable seat 212 can be movably connected to the hull portion 211, so that the movable seat 212 can move the battery box 40 to the correct position. The movable seat 212 can be spaced apart from the battery compartment 213. Avoid collision between the movable seat 212 and the hatch when it moves. An opening can be provided on the side of the battery compartment 213 close to the movable seat 212. The hatch can be slidably connected to the open side of the battery compartment 213. It is convenient for the battery box 40 already located on the mobile seat 212 to be quickly moved through the hatch as needed. Closing the hatch can dehumidify the battery box 40 and then form a seal. The ship power exchange system may include two fixed components 10. The first bottom bracket unit 11 can be detachably connected to the mobile seat 212. It is convenient for the installation and separate maintenance of the first bottom bracket unit 11. The two first bottom bracket units 11 can be arranged at intervals. It is convenient to have a sufficient distance between the two battery boxes 40 installed to the two first bottom bracket units 11 for heat dissipation. The ship crane unit 23 may include a trolley rail 231, a trolley body 232, a trolley rail 233, a telescopic rail 234, a trolley body 235, a hoisting part 236, and a first grabbing part 237. The trolley rail 231 can be detachably connected to the side of the battery compartment 213 away from the hull assembly 20. The trolley body 232 can be slidably connected to the trolley rail 231. The large vehicle body 232 can maintain a stable track during movement to reduce deviation and shaking. The trolley guide rail 233 can be detachably connected to the large vehicle body 232. The telescopic rail 234 can be slidably connected to the trolley guide rail 233. It is convenient for the telescopic rail 234 to move on the trolley guide rail 233. The telescopic rail 234 can be telescoped along the width direction of the hull assembly 20. The trolley body 235 can be slidably connected to the telescopic rail 234, and the trolley body 235 can move along the length direction of the hull assembly 20. The hoisting part 236 can be connected to the trolley body 235. The trolley body 235 can drive the hoisting part 236 to move along the height direction of the battery box 40. The first grabbing part 237 can be movably connected to the hoisting part 236. After the hoisting part 236 is lowered to abut against the top surface of the battery box 40, the first grabbing part 237 grabs the battery box 40. Thereby, the battery box 40 is subsequently moved into the battery compartment 213.

[0093] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present disclosure.

Claims

1. A ship power replacement method, characterized in that: The ship power replacement method comprises: Step S11, based on the completion of the positioning of the hull assembly, obtaining the shaking state of the hull assembly; wherein the hull assembly floats on the water surface; Step S12, based on the shaking state being less than a first set threshold, the hoisting assembly moves the battery box to a first set state; wherein the first set state includes that the distance between the symmetry plane of the battery box along the first direction and the hoisting seat of the hoisting assembly is less than the distance between the symmetry plane of the fixing assembly along the first direction and the hoisting seat, the hoisting assembly and the hull assembly are spaced apart; and the angle between the first direction and the width direction of the hull assembly is within a first set range; Step S13, based on the hoisting assembly, the battery box is moved to the first setting state, and the battery box is lowered to a second setting state; wherein the second setting state includes a side of the battery box close to the hoisting seat abutting against a first guide module of a side of the fixing assembly close to the hoisting seat; Step S14, based on the battery box descending to the second set state, obtaining the shaking state; Step S15, based on the shaking state being less than a second set threshold, the two first guide modules move toward the battery box to respectively abut against two sides of the battery box along the first direction; Step S16, based on the battery box moving to a third set state, the battery box stops moving; wherein the third set state includes the bottom surface of the battery box abutting against the first base unit of the fixing assembly, and the battery box is within the projection area of ​​the first base unit along the direction of the battery box.

2. A ship power replacement method according to claim 1, characterized in that: The ship power replacement method further comprises: Step S151, based on the two first guide modules moving toward the battery box, the lifting vehicle of the lifting assembly moves the battery box toward the lifting seat away from the lifting assembly to a fourth set state; wherein the fourth set state includes the lifting vehicle moving until the symmetry plane of the lifting vehicle along the first direction coincides with the symmetry plane of the first base unit along the first direction.

3. A ship power replacement method according to claim 1, characterized in that: The ship power replacement method further comprises: Step S152, after the two first guide modules move for a set time, one second guide module moves to abut against one side of the battery box along the second direction and the other second guide module moves to abut against the other side of the battery box along the second direction; the angle between the second direction and the length direction of the hull assembly is within a second set range.

4. A ship power replacement method according to claim 1, characterized in that: The ship power replacement method further comprises: Step S1531, based on the shaking state being greater than or equal to the second set threshold and less than the third set threshold, the first guide module of the hanging seat away from the hanging assembly moves toward the hanging seat at a speed of V1, the first guide module close to the hanging seat moves away from the hanging seat at a speed of V2, and the hanging vehicle of the hanging assembly drives the battery box to move away from the hanging seat at a speed of V3; wherein V1>V2; V3<V2; Step S1532, based on the first guide module away from the hanging seat abutting against the side of the battery box away from the hanging seat, the first guide module away from the hanging seat is withdrawn and the two second guide modules are folded; wherein, during the withdrawal process, the two first guide modules remain in contact with the battery box; Step S1533, based on the battery box reaching the fifth setting state and the two second guide modules abutting against the battery box, the two first guide modules stop moving and the battery box stops moving away from the hanging seat; wherein the fifth setting state includes the battery box being within the projection area of ​​the first base unit of the fixing assembly along the direction of the battery box; Step S1534: based on the battery box moving to the third set state, the battery box stops moving.

5. A ship power replacement method according to claim 4, characterized in that: The ship power replacement method further comprises: Step S1541, based on the shaking state being greater than or equal to a third set threshold and less than a fourth set threshold, the first guide module of the hanging seat away from the hanging assembly moves at a speed of V4 toward the hanging seat, the first guide module close to the hanging seat moves at a speed of V2 away from the hanging seat, and the hanging vehicle of the hanging assembly drives the battery box to move away from the hanging seat at a speed of V3; wherein V2<V4<V1; Step S1542, based on the first guide module away from the hanging seat abutting against the side of the battery box away from the hanging seat, the first guide module away from the hanging seat is withdrawn and the two second guide modules are folded; wherein, during the withdrawal process, the two first guide modules remain in contact with the battery box; Step S1543, based on the battery box reaching the fifth set state and the two second guide modules abutting against the battery box, the two first guide modules stop moving and the battery box stops moving away from the hanging seat; Step S1544, based on the battery box moving to the third setting state, the battery box stops moving; wherein the third setting state includes the bottom surface of the battery box abutting against the first base unit of the fixing assembly, and the battery box is within the projection area of ​​the first base unit along the direction of the battery box.

6. A ship power replacement method according to claim 5, characterized in that: The ship power replacement method further comprises: Step S1551, based on the shaking state being greater than or equal to the fourth set threshold and less than the fifth set threshold, the battery box stops descending; Step S1552, based on the battery box stopping descending, the first guide module away from the hanging seat of the hanging assembly moves towards the hanging seat; Step S1553, based on the first guide module away from the hanging seat abutting against the side of the battery box away from the hanging seat, the two first guide modules and the hanging vehicle of the hanging assembly move away from the hanging seat and the two second guide modules are retracted; Step S1554, based on the battery box reaching the fifth set state and the hoisting vehicle reaching the fourth set state, the two first guide modules and the hoisting vehicle stop moving away from the hoisting seat; Step S1555, based on the two second guiding modules abutting against the battery box, the two second guiding modules stop moving; Step S1556: based on the two first guide modules, the hoisting vehicle stops moving away from the hoisting seat and the two second guide modules stop moving, the battery box descends.

7. A ship power replacement method according to claim 6, characterized in that: In the step S1552, when the first guiding module away from the hanging seat moves toward the hanging seat, the first guiding module close to the hanging seat moves a first set distance toward the direction away from the hanging seat.

8. A ship power replacement method according to claim 6, characterized in that: The ship power replacement method further comprises: Step S1557, based on the battery box descending to the sixth setting state, the two first guide modules and the two second guide modules move a second setting distance away from the battery box; wherein the sixth setting state includes the battery box simultaneously abutting against the first guide unit and the second guide unit and the first guide unit and the battery box coincident with the setting value.

9. A ship power exchange system, characterized in that: The ship power exchange system is applied to a ship power exchange method according to any one of claims 1 to 8, and the ship power exchange system comprises: Battery box; Hull components; A fixing assembly, the fixing assembly comprises a first base support unit and a second guide unit; the first base support unit is detachably connected to the hull assembly; the second guide unit comprises two first guide modules and a driving unit; one end of the first guide module is movably connected to the first base support unit, and the other end extends in a direction away from the hull assembly; the driving unit is drivingly connected to the first guide module, driving the first guide module to rotate with the connection between the first guide module and the first base support unit as the rotation axis; the two first guide modules are respectively arranged on both sides of the first base support unit at intervals along the first direction; A≥B; wherein A is the spacing between the two first guide modules away from the side of the hull assembly along the first direction, B is the size of the first base support unit along the first direction, and the angle between the first direction and the width direction of the hull assembly is within a first set range; the fixing assembly comprises a first state and a second state; the first state comprises that the two first guide modules are gradually retracted until the battery box abuts against the first guide module during the process of the hoisting assembly lowering the battery box; the second state comprises that the battery box is detachably connected to the first base support unit; A hoisting assembly, the hoisting assembly comprising a hoisting seat, a hoisting arm, a hoisting vehicle, a second grabbing portion, and a flexible rope; the hoisting seat is spaced apart from the hull assembly; one end of the hoisting arm is detachably connected to the hoisting seat, and the other end extends away from the hoisting seat; the hoisting vehicle is slidably connected to the hoisting arm; the hoisting vehicle is drivingly connected to the flexible rope; the flexible rope is detachably connected to the second grabbing portion, driving the second grabbing portion to move along the height direction of the hoisting seat; The lifting assembly includes a working state; the working state includes at least a portion of the lifting arm being located above the hull assembly.

10. A ship power exchange system according to claim 9, characterized in that: The second guide unit further comprises two second guide modules; one end of the second guide module is movably connected to the first bottom bracket unit, and the other end extends in a direction away from the hull assembly; the driving part is drivingly connected to the second guide module, driving the second guide module to rotate with the connection between the second guide module and the first bottom bracket unit as the rotation axis; the two second guide modules are respectively arranged at intervals on both sides of the first bottom bracket unit along the second direction; C≥D; wherein C is the distance between the two second guide modules away from the side of the hull assembly along the second direction, D is the size of the first base unit along the second direction, and the angle between the second direction and the length direction of the hull assembly is within a second set range.

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