Ship battery replacement control method and system

Abstract

The invention provides a ship battery replacement control method and system, and the method comprises the steps: obtaining the inclination angle information of a battery replacement robot, and the nearby ship information, water depth information and wind speed information of a target ship in real time through a sensing system; the battery replacing station control system controls the working state of the battery replacing robot based on the inclination angle information, the nearby ship information, the water depth information, the wind speed information and preset battery replacing standard information, and the battery replacing robot can be controlled through the inclination angle information, the nearby ship information, the water depth information and the wind speed information. Therefore, heavy property loss and threat to personnel safety caused by gravity center imbalance of the battery replacement robot are avoided.

Description

Technical Field

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

[0002] With the continuous development of electric ship technology, the demand for battery replacement in electric ships will increase. Battery replacement robot technology can meet the needs of electric ships for fast and efficient battery replacement. The traditional battery replacement process of electric ships usually requires manual operation, involving complex handling and installation. Battery replacement robots can complete these tasks through automated operations, reduce manual intervention, reduce labor costs and error rates, improve the efficiency and accuracy of battery replacement in electric ships, and thus reduce the cost of electric ship operation and maintenance.

[0003] During the process of the battery-swapping robot replacing batteries for electric ships, the electric ships are easily affected by factors such as nearby sailing ships and wind speed, causing the electric ships to tilt too much, affecting the performance of the battery-swapping robot, and even causing the center of gravity of the battery-swapping robot to be unbalanced, resulting in major property losses and threatening personnel safety. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a ship battery replacement control method and system to alleviate the above-mentioned problems existing in the related art.

[0005] In the first aspect, an embodiment of the present invention provides a ship battery swap control method, which is applied to a ship battery swap control system, the ship battery swap control system comprising a battery swap station control system and a sensing system and a battery swap robot connected to the battery swap station control system, the battery swap robot being used to perform battery swap operations on a target ship; the ship battery swap control method comprises: the sensing system acquires in real time the inclination angle information of the battery swap robot and the nearby ship information, water depth information and wind speed information of the target ship; wherein the nearby ship information characterizes the position, heading and speed of the nearby ships corresponding to the target ship relative to the target ship; the battery swap station control system controls the working state of the battery swap robot based on the inclination angle information, the nearby ship information, water depth information and wind speed information and preset battery swap standard information; wherein the working state includes at least one of the following: whether the battery swap robot performs a battery swap operation, the running speed of the battery swap robot, and the posture of the battery swap robot.

[0006] In the second aspect, an embodiment of the present invention also provides a ship battery swap control system, which includes a battery swap station control system and a sensing system and a battery swap robot connected to the battery swap station control system; the battery swap robot is used to perform battery swap operations on a target ship; the sensing system is used to obtain inclination angle information of the battery swap robot and nearby ship information, water depth information and wind speed information of the target ship in real time; wherein the nearby ship information characterizes the position, heading and speed of the nearby ships corresponding to the target ship relative to the target ship; the battery swap station control system is used to control the working state of the battery swap robot based on the inclination angle information, the nearby ship information, water depth information and wind speed information and preset battery swap standard information; wherein the working state includes at least one of the following: whether the battery swap robot performs a battery swap operation, the running speed of the battery swap robot, and the posture of the battery swap robot.

[0007] An embodiment of the present invention provides a ship battery swap control method and system, wherein a sensing system acquires in real time the tilt angle information of a battery swap robot and nearby ship information, water depth information and wind speed information of a target ship, and a battery swap station control system controls the working state of the battery swap robot based on the tilt angle information, nearby ship information, water depth information and wind speed information as well as preset battery swap standard information, and can utilize the tilt angle information, nearby ship information, water depth information and wind speed information to control the battery swap robot, thereby avoiding significant property losses and threats to personnel safety caused by imbalance of the center of gravity of the battery swap robot.

[0008] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0009] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0011] Figure 1 This is a schematic diagram of the structure of a ship power exchange control system in an embodiment of the present invention;

[0012] Figure 2It is a flow chart of a ship power replacement control method according to an embodiment of the present invention;

[0013] Figure 3 This is a structural example diagram of a ship power exchange control system in an embodiment of the present invention;

[0014] Figure 4 This is an example flowchart of the battery replacement process for an electric ship in an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] At present, in the process of battery-swapping robots replacing batteries for electric ships, electric ships are easily affected by factors such as nearby sailing ships and wind speed, causing the electric ships to tilt too much, affecting the performance of the battery-swapping robot, and even causing the center of gravity of the battery-swapping robot to be unbalanced, resulting in major property losses and threatening personnel safety.

[0017] Based on this, the present invention provides a ship power replacement control method and system, which can alleviate the above-mentioned problems existing in the related technology.

[0018] A ship power exchange control method provided by the invention can be applied to a ship power exchange control system, see Figure 1 As shown, the ship battery exchange control system may include a battery exchange station control system 100, a sensing system 200 and a battery exchange robot 300 connected to the battery exchange station control system 100, and the battery exchange robot 300 may be used to perform battery exchange operations on the target ship. Figure 2 As shown, the ship power replacement control method may include the following steps:

[0019] In step S202, the sensing system 200 obtains the tilt angle information of the battery swap robot 300 and the nearby ship information, water depth information and wind speed information of the target ship in real time.

[0020] The nearby ship information may represent the position, heading and speed of the nearby ship corresponding to the target ship relative to the target ship.

[0021] In step S204, the battery swap station control system 100 controls the working state of the battery swap robot 300 based on the tilt angle information, nearby ship information, water depth information, wind speed information and preset battery swap standard information.

[0022] Among them, the working status may include at least one of the following: whether the battery swapping robot 300 performs a battery swapping operation, the running speed of the battery swapping robot 300, and the posture of the battery swapping robot 300.

[0023] A ship battery swap control method provided by an embodiment of the present invention can control a battery swap robot by utilizing tilt angle information, nearby ship information, water depth information, and wind speed information, thereby preventing the battery swap robot from losing its center of gravity and causing significant property losses and threatening personnel safety.

[0024] As a possible implementation, see Figures 1 to 3 As shown, the sensing system 200 may include a gyroscope 210 installed on the battery swap robot 300 and an automatic identification system (Automatic Identification System, AIS) 220, a depth sounder 230, an anemometer 240, and a video monitoring device 250 installed on the target ship; based on this, the above step S202 (i.e., the sensing system 200 obtains the tilt angle information of the battery swap robot 300 and the nearby ship information, water depth information and wind speed information of the target ship in real time) may include:

[0025] Step 1: The gyroscope 210 collects the tilt angle information of the battery-swapping robot 300 in real time.

[0026] Step 2: AIS 220 and / or video monitoring device 250 collects information of nearby ships of the target ship in real time.

[0027] Step 3: The depth sounder 230 collects the water depth information of the target ship in real time.

[0028] Step 4: The anemometer 240 collects the wind speed information of the target ship in real time.

[0029] By adopting the operation method of steps 1 to 4 above, the tilt angle information, nearby ship information, water depth information and wind speed information can be collected in real time through the gyroscope 210, AIS220, depth sounder 230, anemometer 240 and video monitoring device 25, so as to subsequently use the collected information to control the working state of the battery exchange robot 300.

[0030] As a possible implementation, the above step S204 (i.e. the battery swap station control system 100 controls the working state of the battery swap robot 300 based on the tilt angle information, nearby ship information, water depth information, wind speed information, and preset battery swap standard information) may include: the battery swap station control system 100 determines the control strategy of the battery swap robot 300 based on the tilt angle information, nearby ship information, water depth information, wind speed information, and preset target ship battery swap standard information, and controls the working state of the battery swap robot 300 according to the control strategy. With this operation mode, the battery swap robot 300 can be controlled according to a specific control strategy using the tilt angle information, nearby ship information, water depth information, wind speed information, and battery swap standard information, thereby avoiding imbalance of the center of gravity of the battery swap robot 300.

[0031] As a possible implementation, the battery swapping standard information may include a first battery swapping condition corresponding to the tilt angle information; based on this, the above-mentioned battery swapping station control system 100 determines the control strategy of the battery swapping robot 300 based on the tilt angle information, nearby ship information, water depth information and wind speed information and the preset target ship's battery swapping standard information, and the step may include: the battery swapping station control system 100 determines whether the tilt angle information meets the first battery swapping condition. If the tilt angle information does not meet the first battery swapping condition, the control strategy is determined to be the first control strategy; wherein the first control strategy may include: reducing the operating speed of the battery swapping robot 300, and / or controlling the battery swapping robot 300 to stop the battery swapping operation.

[0032] Exemplarily, the tilt angle information may include the lateral tilt angle and longitudinal tilt angle of the battery swap robot 300; the tilt angle information not satisfying the first battery swap condition may include: the lateral tilt angle of the battery swap robot 300 is not within the preset first angle range, and / or the longitudinal tilt angle of the battery swap robot 300 is not within the preset second angle range.

[0033] By adopting the above-mentioned operation method for determining the first control strategy, when the lateral tilt angle and / or longitudinal tilt angle of the battery swap robot 300 is not within the preset angle range, the working state of the battery swap robot 300 can be controlled according to the first control strategy to avoid imbalance of the center of gravity of the battery swap robot 300.

[0034] As a possible implementation, the battery swapping standard information may include a second battery swapping condition corresponding to the nearby ship information; based on this, the above-mentioned battery swapping station control system 100 determines the control strategy of the battery swapping robot 300 based on the tilt angle information, nearby ship information, water depth information and wind speed information and the preset target ship's battery swapping standard information. The step may include: the battery swapping station control system 100 determines whether the nearby ship information meets the second battery swapping condition. If the nearby ship information does not meet the second battery swapping condition, the control strategy is determined to be the second control strategy; wherein the second control strategy may include at least one of the following: reducing the running speed of the battery swapping robot 300, reducing the posture of the battery swapping robot 300, and controlling the battery swapping robot 300 to stop the battery swapping operation.

[0035] Exemplarily, the nearby ship information may include first nearby ship information and / or second nearby ship information; accordingly, the above step 2 (i.e., AIS220 and / or video surveillance device 250 collects nearby ship information of the target ship in real time) may include: AIS220 collects first nearby ship information of the target ship in real time, and / or, the video surveillance device 250 collects second nearby ship information of the target ship in real time. The nearby ship information not meeting the second power exchange condition may include at least one of the following: the distance between the target ship and its corresponding nearby ship is less than a preset distance threshold, the speed of the nearby ship corresponding to the target ship is greater than a preset speed threshold, and the angle between the heading of the nearby ship corresponding to the target ship and the direction from the nearby ship corresponding to the target ship to the target ship is less than 90°.

[0036] Among them, the AIS220 installed on the target ship can mainly be composed of a VHF communicator, a GPS locator and a communication controller connected to a shipboard display and a sensor, etc., which can send out important information such as the identity (such as ship name, call sign, etc.), position, heading, speed, etc. of the target ship in real time. While sending these important information to the outside, the AIS installed on the target ship can also receive these important information of other ships within the VHF coverage range (i.e., nearby ships corresponding to the target ship) as nearby ships, thereby realizing automatic response. The video monitoring device 250 mainly monitors the surrounding environment of the target ship through a 360° camera, and identifies other ships in the surrounding environment of the target ship (i.e., nearby ships corresponding to the target ship) through a pre-deployed image processing algorithm and calculates the position, heading, speed, etc. of the identified other ships.

[0037] By adopting the above-mentioned operating method for determining the second control strategy, when at least one of the above-mentioned three situations occurs (i.e., the distance between the target ship and its corresponding nearby ship is less than the preset distance threshold, the speed of the nearby ship corresponding to the target ship is greater than the preset speed threshold, and the angle between the heading of the nearby ship corresponding to the target ship and the direction from the nearby ship corresponding to the target ship to the target ship is less than 90°), the working state of the battery swap robot 300 can be controlled according to the second control strategy to avoid imbalance of the center of gravity of the battery swap robot 300.

[0038] As a possible implementation, the battery swapping standard information may include a third battery swapping condition corresponding to the water depth information; based on this, the above-mentioned battery swapping station control system 100 determines the control strategy of the battery swapping robot 300 based on the tilt angle information, nearby ship information, water depth information and wind speed information and the preset target ship's battery swapping standard information, and the step may include: the battery swapping station control system 100 determines whether the water depth information meets the third battery swapping condition. If the water depth information does not meet the third battery swapping condition, the control strategy is determined to be the third control strategy; wherein the third control strategy may include: lowering the posture of the battery swapping robot 300, and / or controlling the battery swapping robot 300 to stop the battery swapping operation.

[0039] By adopting the above-mentioned operation method for determining the third control strategy, when the water depth information does not meet the third battery swapping condition, the working state of the battery swapping robot 300 can be controlled according to the third control strategy to avoid imbalance of the center of gravity of the battery swapping robot 300.

[0040] As a possible implementation, the battery swapping standard information may include a fourth battery swapping condition corresponding to the wind speed information; based on this, the above-mentioned battery swapping station control system 100 determines the control strategy of the battery swapping robot 300 based on the tilt angle information, nearby ship information, water depth information and wind speed information and the preset target ship's battery swapping standard information, and the step may include: the battery swapping station control system 100 determines whether the wind speed information meets the fourth battery swapping condition. If the wind speed information does not meet the fourth battery swapping condition, the control strategy is determined to be the fourth control strategy; wherein the fourth control strategy may include at least one of the following: reducing the running speed of the battery swapping robot 300, reducing the posture of the battery swapping robot 300, and controlling the battery swapping robot 300 to stop the battery swapping operation.

[0041] By adopting the above-mentioned operation method for determining the fourth control strategy, when the wind speed information does not meet the fourth battery-swapping condition, the working state of the battery-swapping robot 300 can be controlled according to the fourth control strategy to avoid imbalance of the center of gravity of the battery-swapping robot 300.

[0042] For ease of understanding, a specific application is taken as an example to exemplarily describe the battery replacement process of an electric ship using the above-mentioned ship battery replacement control method as follows.

[0043] See also Figure 3 As shown, the ship power exchange control system may include a power exchange station control system 100 and a gyroscope 210, AIS 220, depth sounder 230, wind speed and direction instrument 240, video monitoring device 250 and power exchange robot 300 that are communicatively connected to the power exchange station control system 100. The gyroscope 210 is installed on the power exchange robot 300, and the AIS 220, depth sounder 230, wind speed and direction instrument 240, and video monitoring device 250 are installed on the target ship. The power exchange robot 300 can be used to perform power exchange operations on the target ship. Among them, the gyroscope 210, AIS 220, depth sounder 230, wind speed and direction instrument 240, video monitoring device 250 and power exchange robot 300 can communicate with the power exchange station control system 100 through existing communication protocols (such as Modbus-TCP, etc.).

[0044] See also Figure 4 As shown, using Figure 3 The electric ship power exchange process performed by the ship power exchange control system shown can be carried out according to the following process:

[0045] Step S401, the electric ship starts to replace power.

[0046] In step S402, the battery swap station control system 100 automatically determines whether the gyroscope data (ie, the data collected by the gyroscope 210) is normal.

[0047] When the lateral tilt angle included in the gyroscope data is between -15° and +15° and the longitudinal tilt angle included in the gyroscope data is between -5° and +5°, the gyroscope data is determined to be normal, and step S403 is executed;

[0048] When the lateral tilt angle is not between -15° and +15° and / or the longitudinal tilt angle is not between -5° and +5°, the gyroscope data is determined to be abnormal, and the gyroscope data collected by the gyroscope 210 is uploaded to the station control system 100 (i.e., executing step S408);

[0049] When the lateral tilt angle is between -20° and -18° or between +18° and +20° and the longitudinal tilt angle is between -10° and -8° or between +8° and +10°, step S411 is executed (i.e., the battery swap station control system 100 reduces the operating speed of the battery swap robot 300);

[0050] When the lateral tilt angle is less than -20° or greater than +20° and the longitudinal tilt angle is less than -10° or greater than +10°, step S412 is executed (i.e. the battery swap station control system 100 controls the battery swap robot 300 to suspend battery swapping).

[0051] In step S403, the AIS 220 determines whether there is a ship approaching at high speed.

[0052] AIS220 can transmit the ship's identity, location, heading, speed and other information in real time. When nearby ships are sailing at a relatively high speed, especially in narrow waterways, the ship that is changing power will be tilted to a certain extent.

[0053] When the nearby ship data collected by AIS220 indicates that there are no nearby ships within 1 km of the battery swapping ship and / or the nearby ships within 1 km of the battery swapping ship are not approaching the battery swapping ship at a speed greater than 10 knots, AIS220 determines that no ship is approaching at high speed, and executes step S404;

[0054] When the nearby ship data collected by AIS220 indicates that the nearby ship is within 1 km of the battery swapping ship and is approaching the battery swapping ship at a speed greater than 20 knots, AIS220 determines that a ship is approaching at high speed, and uploads the nearby ship data collected by AIS220 to the battery swapping station control system 100 (i.e., executing step S408), and then executes step S412 (i.e., the battery swapping station control system 100 controls the battery swapping robot 300 to suspend battery swapping);

[0055] When the nearby ship data collected by AIS220 indicates that the nearby ship is within 1 km of the battery swapping ship and is approaching the battery swapping ship at a speed greater than 10 knots and less than 15 knots, AIS220 determines that a ship is approaching at high speed, and uploads the nearby ship data collected by AIS220 to the battery swapping station control system 100 (i.e., executing step S408), and then executes step S410 (i.e., the battery swapping station control system 100 lowers the posture of the battery swapping robot 300);

[0056] When the nearby ship data collected by AIS220 indicates that the nearby ship is within 1 km of the battery swapping ship and is approaching the battery swapping ship at a speed greater than 15 knots and less than 20 knots, AIS220 determines that a ship is approaching at high speed, and uploads the nearby ship data collected by AIS220 to the battery swapping station control system 100 (i.e., executing step S408), and then executes step S411 (i.e., the battery swapping station control system 100 reduces the operating speed of the battery swapping robot 300).

[0057] Step S404, the depth sounder 230 determines whether the depth meets the battery replacement standard.

[0058] The depth sounder 230 automatically measures the water depth data of the battery swapping ship in real time. When the water depth data collected by the depth sounder 230 indicates that the water depth of the battery swapping ship is not less than 4m, the depth sounder 230 determines that the depth meets the battery swapping standard and executes step S405;

[0059] When the water depth data collected by the depth sounder 230 indicates that the water depth of the battery swapping vessel is less than 2m, the depth sounder 230 determines that the depth does not meet the battery swapping standard, and uploads the water depth data collected by the depth sounder 230 to the battery swapping station control system 100 (i.e., executing step S408), and then executes step S412 (i.e., the battery swapping station control system 100 controls the battery swapping robot 300 to suspend battery swapping);

[0060] When the water depth data collected by the depth sounder 230 indicates that the water depth of the battery swapping ship is less than 4m and greater than 2m, the depth sounder 230 determines that the depth does not meet the battery swapping standard, and uploads the water depth data collected by the depth sounder 230 to the battery swapping station control system 100 (i.e., executing step S408), and then executes step S411 (i.e., the battery swapping station control system 100 reduces the operating speed of the battery swapping robot 300).

[0061] Step S405, the anemometer 240 determines whether the wind speed meets the battery replacement standard.

[0062] When the battery-swapping ship is swapping batteries in an environment with high wind speeds, it is easy for the battery-swapping ship to tilt and shake during the battery-swapping process, which may easily cause battery-swapping failures during the battery-swapping process.

[0063] The anemometer 240 automatically measures the wind speed. When the anemometer 240 measures a wind speed less than 20 km / h, the anemometer 240 determines that the wind speed meets the battery replacement standard and executes step S406.

[0064] When the anemometer 240 measures a wind speed greater than 40 km / h, the anemometer 240 determines that the wind speed does not meet the battery swap standard, and uploads the wind speed data measured by the anemometer 240 to the battery swap station control system 100 (i.e., executing step S408), and then executes step S412 (i.e., the battery swap station control system 100 controls the battery swap robot 300 to suspend battery swapping);

[0065] When the anemometer 240 measures a wind speed greater than 30 km / h and less than 40 km / h, the anemometer 240 determines that the wind speed does not meet the battery swap standard, and uploads the wind speed data measured by the anemometer 240 to the battery swap station control system 100 (i.e., executing step S408), and then executes step S410 (i.e., the battery swap station control system 100 lowers the posture of the battery swap robot 300);

[0066] When the anemometer 240 measures a wind speed greater than 20 km / h and less than 30 km / h, the anemometer 240 determines that the wind speed does not meet the battery swapping standard, and uploads the wind speed data measured by the anemometer 240 to the battery swapping station control system 100 (i.e., executing step S408), and then executes step S411 (i.e., the battery swapping station control system 100 reduces the operating speed of the battery swapping robot 300).

[0067] Step S406, the video monitoring device 250 detects whether there is a ship approaching at high speed nearby.

[0068] The Video Surveillance Device 250 can provide a full range of views and real-time video data through a 360° camera to improve the safety and efficiency of ship operations.

[0069] When the nearby ship data collected by the video monitoring device 250 indicates that there are no nearby ships within 1 km of the battery swapping ship and / or that the nearby ships within 1 km of the battery swapping ship are not approaching the battery swapping ship at a speed greater than 10 knots, the video monitoring device 250 determines that no ship is approaching at high speed, and executes step S407;

[0070] When the nearby ship data collected by the video monitoring device 250 indicates that the nearby ship is within 1 km of the battery swapping ship and is approaching the battery swapping ship at a speed greater than 20 knots, the video monitoring device 250 determines that a ship is approaching at high speed, and uploads the nearby ship data collected by the video monitoring device 250 to the battery swapping station control system 100 (i.e., executing step S408), and then executes step S412 (i.e., the battery swapping station control system 100 controls the battery swapping robot 300 to suspend battery swapping);

[0071] When the nearby ship data collected by the video monitoring device 250 indicates that the nearby ship is within 1 km of the battery swapping ship and is approaching the battery swapping ship at a speed greater than 10 knots and less than 15 knots, the video monitoring device 250 determines that a ship is approaching at high speed, and uploads the nearby ship data collected by the video monitoring device 250 to the battery swapping station control system 100 (i.e., executing step S408), and then executes step S410 (i.e., the battery swapping station control system 100 lowers the posture of the battery swapping robot 300);

[0072] When the nearby ship data collected by the video surveillance device 250 indicates that the nearby ship is within 1 km of the battery swapping ship and is approaching the battery swapping ship at a speed greater than 15 knots and less than 20 knots, the video surveillance device 250 determines that a ship is approaching at high speed, and uploads the nearby ship data collected by the video surveillance device 250 to the battery swapping station control system 100 (i.e., executing step S408), and then executes step S411 (i.e., the battery swapping station control system 100 reduces the operating speed of the battery swapping robot 300).

[0073] Step S407, the battery swap station control system 100 controls the battery swap robot 300 to perform battery swapping to complete the battery swapping process normally.

[0074] Step S408: The battery swap station control system 100 automatically collects sensor abnormality data.

[0075] In the above step S410, the battery swap station control system 100 controls the battery swap robot 300 to lower its posture to prevent the battery swap robot 300 from being too high and causing the battery swap robot 300 to lose balance due to a high center of gravity. For example, the overall height of the battery swap robot 300 grabbing the battery pack (i.e., the vertical distance between the battery pack and the bottom of the battery swap robot 300) can be controlled to be less than 1m, and the height of the center of gravity of the battery pack (i.e., the vertical distance between the center of gravity of the battery pack and the bottom of the battery swap robot 300) can be controlled to not exceed 0.5m.

[0076] In the above step S411, the battery swap station control system 100 controls the battery swap robot 300 to reduce its own operating speed. For example, the operating speed of the battery swap robot 300 can be controlled to be reduced from the original 10 mm / s to within 2.5 mm / s.

[0077] In the above step S412, the battery swap station control system 100 controls the battery swap robot 300 to suspend battery swapping, and the internal servo motor of the battery swap robot 300 is braked to prevent the battery swap robot 300 from tilting, slipping, and other problems.

[0078] Step S409, the battery replacement process is completed.

[0079] See also Figure 1 and Figure 2 As shown, an embodiment of the present invention further provides a ship power exchange control system, which may include a power exchange station control system 100, and a sensing system 200 and a power exchange robot 300 connected to the power exchange station control system 100. The power exchange robot 300 may be used to perform power exchange operations on a target ship;

[0080] The sensing system 200 can be used to obtain the tilt angle information of the battery-swapping robot 300 and the nearby ship information, water depth information and wind speed information of the target ship in real time; wherein the nearby ship information can characterize the position, heading and speed of the nearby ship corresponding to the target ship relative to the target ship;

[0081] The battery swap station control system 100 can be used to control the working state of the battery swap robot 300 based on tilt angle information, nearby ship information, water depth information and wind speed information as well as preset battery swap standard information; wherein, the working state may include at least one of the following: whether the battery swap robot 300 performs a battery swap operation, the operating speed of the battery swap robot 300, and the posture of the battery swap robot 300.

[0082] The ship battery swap control system provided in the embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned ship battery swap control method embodiment. For the sake of brief description, for matters not mentioned in the ship battery swap control system embodiment, reference may be made to the corresponding contents in the aforementioned ship battery swap control method embodiment.

[0083] Unless otherwise specifically stated, the relative steps, numerical expressions and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0084] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0085] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0086] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A ship power exchange control method, characterized in that: The ship power exchange control method is applied to a ship power exchange control system, the ship power exchange control system includes a power exchange station control system, and a sensing system and a power exchange robot connected to the power exchange station control system, the power exchange robot is used to perform power exchange operations on a target ship; the ship power exchange control method includes: The sensing system acquires in real time the tilt angle information of the battery-swapping robot and the nearby ship information, water depth information and wind speed information of the target ship; wherein the nearby ship information represents the position, heading and speed of the nearby ship corresponding to the target ship relative to the target ship; The battery swap station control system controls the working state of the battery swap robot based on the tilt angle information, the nearby ship information, water depth information and wind speed information as well as preset battery swap standard information; wherein, the working state includes at least one of the following: whether the battery swap robot performs a battery swap operation, the operating speed of the battery swap robot, and the posture of the battery swap robot.

2. The ship power replacement control method according to claim 1, characterized in that: The battery swap station control system controls the working state of the battery swap robot based on the tilt angle information, the nearby ship information, the water depth information and the wind speed information and the preset battery swap standard information, including: The battery swap station control system determines the control strategy of the battery swap robot based on the tilt angle information, the nearby ship information, the water depth information, the wind speed information and the preset target ship's battery swap standard information, and controls the working state of the battery swap robot according to the control strategy.

3. The ship power exchange control method according to claim 2, characterized in that: The sensing system includes a gyroscope installed on the battery-swapping robot and an automatic ship identification system, a depth sounder, an anemometer, and a video monitoring device installed on the target ship; The sensing system acquires the tilt angle information of the battery swapping robot and the nearby ship information, water depth information and wind speed information of the target ship in real time, including: The gyroscope collects the tilt angle information of the battery-swapping robot in real time; The automatic ship identification system and / or the video monitoring device collects information of nearby ships of the target ship in real time; The depth sounder collects the water depth information of the target ship in real time; The anemometer collects wind speed information of the target ship in real time.

4. The ship power replacement control method according to claim 3, characterized in that: The battery swap standard information includes a first battery swap condition corresponding to the tilt angle information; the battery swap station control system determines a control strategy of the battery swap robot based on the tilt angle information, the nearby ship information, the water depth information, the wind speed information, and the preset battery swap standard information of the target ship, including: The battery swap station control system determines whether the tilt angle information meets the first battery swap condition. If the tilt angle information does not meet the first battery swap condition, the control strategy is determined to be the first control strategy; wherein, the first control strategy includes: reducing the operating speed of the battery swap robot, and / or controlling the battery swap robot to stop the battery swap operation.

5. The ship power exchange control method according to claim 3, characterized in that: The battery swap standard information includes a second battery swap condition corresponding to the nearby ship information; the battery swap station control system determines the control strategy of the battery swap robot based on the tilt angle information, the nearby ship information, the water depth information, the wind speed information and the preset battery swap standard information of the target ship, including: The battery swap station control system determines whether the nearby ship information meets the second battery swap condition. If the nearby ship information does not meet the second battery swap condition, the control strategy is determined to be the second control strategy; wherein, the second control strategy includes at least one of the following: reducing the operating speed of the battery swap robot, reducing the posture of the battery swap robot, and controlling the battery swap robot to stop the battery swap operation.

6. The ship power replacement control method according to claim 3, characterized in that: The battery swap standard information includes a third battery swap condition corresponding to the water depth information; the battery swap station control system determines the control strategy of the battery swap robot based on the tilt angle information, the nearby ship information, the water depth information, the wind speed information, and the preset battery swap standard information of the target ship, including: The battery swap station control system determines whether the water depth information meets the third battery swap condition. If the water depth information does not meet the third battery swap condition, the control strategy is determined to be the third control strategy; wherein, the third control strategy includes: lowering the posture of the battery swap robot, and / or controlling the battery swap robot to stop the battery swap operation.

7. The ship power replacement control method according to claim 3, characterized in that: The battery swap standard information includes a fourth battery swap condition corresponding to the wind speed information; the battery swap station control system determines the control strategy of the battery swap robot based on the tilt angle information, the nearby ship information, the water depth information, the wind speed information, and the preset battery swap standard information of the target ship, including: The battery swap station control system determines whether the wind speed information meets the fourth battery swap condition. If the wind speed information does not meet the fourth battery swap condition, the control strategy is determined to be the fourth control strategy; wherein, the fourth control strategy includes at least one of the following: reducing the operating speed of the battery swap robot, reducing the posture of the battery swap robot, and controlling the battery swap robot to stop the battery swap operation.

8. The ship power replacement control method according to claim 5, characterized in that: The nearby ship information includes first nearby ship information and / or second nearby ship information; the ship automatic identification system and / or the video monitoring device collects the nearby ship information of the target ship in real time, including: the ship automatic identification system collects the first nearby ship information of the target ship in real time, and / or the video monitoring device collects the second nearby ship information of the target ship in real time; The nearby ship information does not meet the second power exchange condition, including at least one of the following: the distance between the target ship and its corresponding nearby ship is less than a preset distance threshold, the speed of the nearby ship corresponding to the target ship is greater than a preset speed threshold, and the angle between the heading of the nearby ship corresponding to the target ship and the direction from the nearby ship corresponding to the target ship to the target ship is less than 90°.

9. The ship power exchange control method according to claim 4, characterized in that: The tilt angle information includes the lateral tilt angle and longitudinal tilt angle of the battery swap robot; the tilt angle information does not meet the first battery swap condition, including: the lateral tilt angle of the battery swap robot is not within the preset first angle range, and / or the longitudinal tilt angle of the battery swap robot is not within the preset second angle range.

10. A ship power exchange control system, characterized in that: The ship power exchange control system includes a power exchange station control system, and a sensing system and a power exchange robot connected to the power exchange station control system; the power exchange robot is used to perform power exchange operations on the target ship; The sensing system is used to obtain the tilt angle information of the battery-swapping robot and the nearby ship information, water depth information and wind speed information of the target ship in real time; wherein the nearby ship information represents the position, heading and speed of the nearby ship corresponding to the target ship relative to the target ship; The battery swap station control system is used to control the working state of the battery swap robot based on the tilt angle information, the nearby ship information, water depth information and wind speed information and preset battery swap standard information; wherein, the working state includes at least one of the following: whether the battery swap robot performs a battery swap operation, the operating speed of the battery swap robot, and the posture of the battery swap robot.

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