Following control method, device and equipment for supply ship of electric ship

Abstract

The invention provides a following control method, device and equipment for a supply ship of an electric ship, and relates to the technical field of ship battery replacement control, and the method comprises the steps: receiving the ship position and operation data of a ship to be subjected to battery replacement; generating a first position control parameter based on the ship position; controlling the supply ship to go to the ship position based on the first position control parameter; when the distance between the current position of the supply ship and the ship position is smaller than a configured distance threshold value, state control parameters are generated based on the operation data; and controlling the advancing state of the supply ship based on the state control parameter. According to the method, the state of the supply ship is controlled according to the state of the ship to be subjected to battery replacement in the battery replacement process, so that the ship to be subjected to battery replacement can receive the battery pack sent by the supply ship under the condition that the operation state of the ship to be subjected to battery replacement is not changed, such as no deceleration and no stop; the power conversion efficiency is improved, the power conversion cost is reduced, the flexibility is enhanced, and the power conversion safety and reliability are improved.

Description

Technical Field

[0001] The present application relates to the technical field of ship power replacement control, and in particular to a following control method, device and equipment for a supply ship of an electric ship. Background Art

[0002] An electric ship is a ship driven by electricity, powered by electric motors and battery packs, replacing traditional internal combustion engine-driven ships. Depending on the battery installation method, electric ships can be further divided into fixed charging electric ships and battery-swapping electric ships. Fixed charging electric ships refer to ships with battery packs installed in fixed cabins and charged at fixed locations such as docks. Battery-swapping electric ships refer to ships with battery packs integrated in a standard container. Ships can be charged at fixed locations such as docks like fixed charging electric ships, or they can directly replace box-type battery packs at the above locations for rapid recharging.

[0003] However, the existing battery replacement technology for electric ships not only has low battery replacement efficiency and cannot ensure safety, but also requires the electric ship to shut down to complete the battery replacement operation. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a following control method, device and equipment for a supply ship of an electric ship, so as to solve the above-mentioned problems existing in the prior art, improve the safety and operating efficiency of battery replacement, and realize the precise docking of the supply ship with the ship to be powered.

[0005] In a first aspect, a following control method of a supply ship of an electric ship is provided, and the method may include:

[0006] Receive the ship position and operation data of the ship to be replaced;

[0007] Based on the ship position, generating a first position control parameter; based on the first position control parameter, controlling the supply ship to go to the ship position;

[0008] When the distance between the current position of the supply ship and the position of the ship is less than a configured distance threshold, generating a state control parameter based on the operation data;

[0009] Based on the state control parameters, the traveling state of the supply ship is controlled.

[0010] In an optional implementation, before generating the state control parameter based on the operation data, the method further includes:

[0011] The battery swap station cloud platform sends the current position and supply parameters of the supply ship to the ship to be replaced;

[0012] After the ship to be replaced with power confirms the replacement of power based on the current position and the replenishment parameters, the ship sends the replacement confirmation information to the replacement station cloud platform; wherein the replacement confirmation information includes communication verification information;

[0013] The battery swap station cloud platform sends the battery swap confirmation information to the supply ship;

[0014] The supply ship communicates and interacts with the ship to be powered based on the communication verification information.

[0015] In an optional implementation, the operation data includes: speed and heading; the state control parameters include: speed control parameters and direction control parameters;

[0016] Based on the operation data, a state control parameter is generated, including:

[0017] Based on the heading, a direction control parameter is generated; based on the speed, a speed control parameter is generated.

[0018] In an optional implementation, controlling the traveling state of the supply ship based on the state control parameter includes:

[0019] Based on the direction control parameter, controlling the supply ship to adjust the forward direction so that the forward direction of the supply ship is the same as the heading;

[0020] Based on the speed control parameter, the supply ship is controlled to adjust its speed so that the speed of the supply ship is the same as the ship speed.

[0021] In an optional implementation, after controlling the traveling state of the supply ship, the method further includes:

[0022] Sending a position detection signal to the ship to be replaced with power, and receiving a position feedback signal fed back by the ship to be replaced with power;

[0023] Based on the position feedback signal, a second position control parameter is generated; based on the second position control parameter, the supply ship is controlled to adjust the current position.

[0024] In an optional implementation, the position detection signal includes a transverse position detection signal and a longitudinal position detection signal;

[0025] The position feedback signal includes: a lateral position feedback signal and a longitudinal position feedback signal;

[0026] The second position control parameters include: a transverse second position control parameter and a longitudinal second position control parameter.

[0027] In an optional implementation, generating a second position control parameter based on the position feedback signal, and controlling the supply ship to adjust the current position based on the second position control parameter includes:

[0028] generating a second lateral position control parameter based on the lateral position feedback signal;

[0029] Based on the second lateral position control parameter, controlling the supply ship to adjust the lateral distance from the ship to be replaced;

[0030] generating a second longitudinal position control parameter based on the longitudinal position feedback signal;

[0031] Based on the second longitudinal position control parameter, controlling the supply ship to adjust the longitudinal distance from the ship to be replaced;

[0032] In a second aspect, a following control device for a supply ship of an electric ship is provided, and the device may include:

[0033] A receiving unit, used to receive the ship position and operation data of the ship to be replaced; wherein the operation data includes: speed and heading;

[0034] A control unit, configured to generate a first position control parameter based on the ship position; control the supply ship to move to the ship position based on the first position control parameter; generate a state control parameter based on the operation data when the distance between the current position of the supply ship and the ship position is less than a configured distance threshold; and control the traveling state of the supply ship based on the state control parameter;

[0035] A detection unit, used to send a position detection signal to the ship to be replaced with electricity, and receive a position feedback signal fed back by the ship to be replaced with electricity;

[0036] The adjustment unit is used to generate a second position control parameter based on the position feedback signal; and control the supply ship to adjust the current position based on the second position control parameter.

[0037] In a third aspect, an electronic device is provided, the electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0038] Memory, used to store computer programs;

[0039] The processor is used to implement any method step described in the first aspect when executing the program stored in the memory.

[0040] In a fourth aspect, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any method step described in the first aspect is implemented.

[0041] During the battery replacement process, the present application controls the state of the supply ship according to the state of the ship to be replaced, so that the ship to be replaced can receive the battery pack delivered by the supply ship without slowing down, stopping operation, or changing its own operating state; thereby improving the efficiency of battery replacement, reducing the cost of battery replacement, enhancing flexibility, and improving the safety and reliability of battery replacement.

[0042] The present application adopts the strategy of first approaching laterally and then longitudinally to allow the supply ship to approach the ship to be replaced, which not only reduces the risk of collision, but also can more accurately adjust the position of the supply ship with high accuracy; it can be applied under different environmental conditions, and the approach process is divided into two stages, providing the crew with more reaction time and space to evaluate the situation and make corresponding adjustments; it can also save time for position adjustment and reduce resource consumption. Once the lateral positioning is accurate, the longitudinal approach process is usually faster because the time for position adjustment has been reduced; the visibility of position adjustment is enhanced, and the lateral approach can allow observers on the ship to have a better field of view to monitor the docking process. When the two ships are side by side, the crew can communicate instantly through gestures or direct shouting.

[0043] This application can also reduce human resources and enable rapid information exchange. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A flow chart of a following control method of a supply ship of an electric ship provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of a following control method for a supply ship of an electric ship provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of the structure of a follow-up control device for a supply ship of an electric ship provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] The following control method of the supply ship of the electric ship provided in the embodiment of the present application can be applied in a server or in a terminal with strong computing power. The server can be a physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms. The terminal can be a user equipment (User Equipment, UE) such as a mobile phone, a smart phone, a laptop, a digital broadcast receiver, a personal digital assistant (PDA), a tablet computer (PAD), a handheld device, a vehicle-mounted device, a wearable device, a computing device or other processing equipment connected to a wireless modem, a mobile station (Mobile Station, MS), a mobile terminal (Mobile Terminal), etc. The terminal and the server can be directly or indirectly connected by wired or wireless communication, and this application is not limited here.

[0051] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0052] Figure 1 The following diagram of the following control method of the supply ship of an electric ship provided in the embodiment of the present application is shown in FIG. Figure 1 As shown, the method may include:

[0053] Step S110, receiving the ship position and operation data of the ship to be replaced; generating a first position control parameter based on the ship position; and controlling the supply ship to go to the ship position based on the first position control parameter.

[0054] In an embodiment of the present application, before the supply ship arrives near the ship to be replaced with batteries, the supply ship and the ship to be replaced with batteries communicate through the battery replacement station cloud platform, that is, the ship to be replaced with batteries will upload its own ship location, model, required power and operating data to the battery replacement station cloud platform, and the supply ship will also upload the model of the supply ship, the model of the battery carried, the power of the battery carried and other data to the battery replacement station cloud platform; after receiving the data uploaded by the ship to be replaced with batteries, the battery replacement station cloud platform will forward the operating data and ship location to the supply ship.

[0055] In an embodiment of the present application, the operating data of the ship to be replaced includes speed and heading.

[0056] In an embodiment of the present application, when the supply ship receives the ship position of the ship to be replaced with electricity, it will use the ship position or the surrounding position of the ship position as the target position, and control itself to go to the target position, that is, to the ship position.

[0057] Step S120: When the distance between the current position of the supply ship and the position of the ship is less than the configured distance threshold, a state control parameter is generated based on the operation data; and the traveling state of the supply ship is controlled based on the state control parameter.

[0058] In an embodiment of the present application, the distance threshold may be pre-set by the battery swap station cloud platform, or may be pre-set by the ship to be battery swapped.

[0059] In an embodiment of the present application, before generating the state control parameters, the method also includes: the battery swap station cloud platform sends the current position and supply parameters of the supply ship to the ship to be replaced; after the ship to be replaced confirms the battery swap based on the current position and supply parameters, it sends battery swap confirmation information to the battery swap station cloud platform; wherein the battery swap confirmation information includes communication verification information; the battery swap station cloud platform sends the battery swap confirmation information to the supply ship; the supply ship communicates and interacts with the ship to be replaced based on the communication verification information.

[0060] In an embodiment of the present application, when the distance between the current position of the supply ship and the position of the ship is less than the configured distance threshold, that is, when the supply ship has arrived near the ship to be replaced with power, both the supply ship and the ship to be replaced with power need to perform identity authentication and confirm the charging information. When the identity authentication is passed and the charging information is confirmed to be correct, the supply ship and the ship to be replaced with power need to communicate directly.

[0061] In an embodiment of the present application, the battery swap station cloud platform can monitor the current position of the supply ship in real time, compare the current position with the ship position of the corresponding ship to be swapped, and determine that the distance between the current position of the supply ship and the ship position is less than the configured distance threshold; the supply ship can also send a proximity signal to the battery swap station cloud platform to confirm when it detects that the ship position between itself and the ship to be swapped is less than the distance threshold.

[0062] In an embodiment of the present application, when the distance between the current position of the supply ship and the ship's position is less than the configured distance threshold, it is necessary to send its current position and corresponding supply parameters to the battery swap station cloud platform; specifically, the supply parameters include: the model, power and identity authentication information of the battery carried by the supply ship.

[0063] In the embodiment of the present application, when the cloud platform of the battery swap station receives the information sent by the supply ship, it will send the corresponding information to the ship to be replaced. The ship to be replaced will first verify the identity of the supply boat based on the identity verification information. If the verification fails or the ship to be replaced does not receive the data sent by the cloud platform of the battery swap station, it proves that the approaching ship is not a supply ship. The ship to be replaced needs to be vigilant or take other measures.

[0064] If the verification is successful, it confirms whether the current position of the supply ship is close to its own ship position. If not, it proves that the supply ship's moving position has deviated and needs to be corrected. At this time, the ship to be replaced needs to upload its own ship position to the battery replacement station cloud platform again, and forward it to the supply ship through the battery replacement station cloud platform.

[0065] At the same time, if the current position of the supply ship is close to the position of its own ship, the ship to be replaced with batteries needs to determine whether the supply parameters are correct, such as whether the model of the battery carried matches its own battery model, and whether the power meets its own needs.

[0066] Once all information is verified, the battery replacement confirmation is completed.

[0067] In the embodiment of the present application, after completing the battery swap confirmation, the ship to be battery swapped needs to send the battery swap confirmation information to the battery swap station cloud platform, and the battery swap station cloud platform forwards the battery swap confirmation information to the supply ship.

[0068] In an embodiment of the present application, the battery replacement confirmation information includes: data such as the battery model of the ship to be replaced, the current battery power, and communication verification information; among them, the battery model and the current battery power are used for the supply ship to match the secondary battery data to avoid mismatch in the battery replacement model; the communication verification information is used to establish a communication connection between the supply ship and the ship to be replaced.

[0069] In an embodiment of the present application, the communication interaction between the supply ship and the ship to be replaced with power can be carried out through various means such as radio communication, satellite communication, mobile network communication, WIFI communication, optical communication and sonar communication; and two communication connections are established during the communication process to improve the communication efficiency and reliability between the supply ship and the ship to be replaced with power, thereby ensuring the safety and efficiency of the power replacement operation.

[0070] In the embodiment of the present application, the state control parameters include: speed control parameters and direction control parameters.

[0071] In the embodiment of the present application, state control parameters are generated based on the operating data, including: generating direction control parameters based on the heading; generating speed control parameters based on the speed.

[0072] In the embodiment of the present application, based on the state control parameter, the traveling state of the supply ship is controlled, including:

[0073] Based on the direction control parameters, the supply ship is controlled to adjust its forward direction so that its forward direction and heading are the same; based on the speed control parameters, the supply ship is controlled to adjust its speed so that its speed and navigation speed are the same.

[0074] In an embodiment of the present application, when the supply ship approaches the ship to be replaced with power, the ship to be replaced with power may be in a forward state or in a stopped state; when the ship to be replaced with power is in a forward state, the supply ship is made to move forward at the same speed and in the same direction as the ship to be replaced with power; when the ship to be replaced with power is in a stopped state, the supply ship is also made to stop; based on the state control parameters, the purpose of controlling the moving state of the supply ship is to keep the supply ship and the ship to be replaced with power relatively still.

[0075] In the embodiment of the present application, after controlling the traveling state of the supply ship, the method further includes:

[0076] Send a position detection signal to the ship to be replaced with power, and receive a position feedback signal fed back by the ship to be replaced with power; generate a second position control parameter based on the position feedback signal; and control the supply ship to adjust its current position based on the second position control parameter.

[0077] In an embodiment of the present application, a position detection sensor is provided on the supply ship, and the position detection sensor may be an infrared ranging sensor, a magnetic sensor, or other ranging sensors; specifically, the magnetic sensor may be a Hall effect sensor, a magnetoresistive sensor, or a fluxgate sensor.

[0078] In one embodiment of the present application, the position detection sensor is arranged at the front end or side of the supply ship so as to be close to the docking position with the ship to be replaced with electricity.

[0079] In an embodiment of the present application, the electric ship may be pre-configured with a battery delivery location, such as a designated area on the deck or a battery compartment at the bow, stern or one side of the electric ship; the electric ship may pre-set a magnetic source at the battery delivery location; or the battery may be directly used as a magnetic source.

[0080] In an embodiment of the present application, when the position detection sensor is an infrared ranging sensor or other ranging sensor, the supply ship sends a position detection signal to the electric ship and receives a signal fed back by the electric ship; if the electric ship is pre-equipped with a signal receiver and transmitter in a designated area, the signal receiver and transmitter can also receive the position detection signal and feed back a corresponding signal.

[0081] In another embodiment of the present application, when the position detection sensor is a magnetic sensor, a position detection signal is sent to the electric ship, and a position feedback signal is received; according to the position feedback signal, the magnetic field change of the battery delivery position is determined, and the distance between the supply ship and the battery delivery position is determined based on the magnetic field change; based on the distance between the supply ship and the battery delivery position, a second position control parameter is generated.

[0082] In the embodiment of the present application, the position detection signal includes a transverse position detection signal and a longitudinal position detection signal. The position feedback signal includes: a transverse position feedback signal and a longitudinal position feedback signal; and the second position control parameter includes: a transverse second position control parameter and a longitudinal second position control parameter.

[0083] In the embodiment of the present application, based on the position feedback signal, a second position control parameter is generated, and based on the second position control parameter, the supply ship is controlled to adjust the current position, including:

[0084] Based on the lateral position feedback signal, a lateral second position control parameter is generated; based on the lateral second position control parameter, the supply ship is controlled to adjust the lateral distance from the ship to be replaced; based on the longitudinal position feedback signal, a longitudinal second position control parameter is generated; based on the longitudinal second position control parameter, the supply ship is controlled to adjust the longitudinal distance from the ship to be replaced.

[0085] In the embodiment of the present application, the purpose of controlling the supply ship to adjust the current position is to make the supply ship reach the target position, which is used to characterize the optimal battery replacement position of the supply ship. Generally speaking, the target position is related to the ship to be replaced. If the battery delivery position designated by the battery replacement ship is located on one side, then the target position, that is, the side where the battery delivery position is located, can maintain a safe distance from the ship to be replaced and can stably complete the battery replacement action.

[0086] In the embodiment of the present application, the supply ship integrates multiple sensors such as GPS, compass, anemometer, current meter, etc. and is also equipped with multiple high-definition cameras, which can monitor the ship's position, heading, speed and environmental data in real time and collect images at multiple locations.

[0087] In an embodiment of the present application, a method for acquiring a target position includes:

[0088] Obtain historical replenishment data of the supply ship; wherein the historical replenishment data includes the model, heading, speed, historical relative position of the supply ship and the historical ship to be replaced, historical replacement position and historical control parameters of the supply ship; input the historical supply data into a pre-built prediction model based on machine learning to obtain a trained prediction model; input the data detected by the supply ship in real time into the trained prediction model to obtain the thrust control parameters, direction control parameters and target position of the supply ship.

[0089] Specifically, the historical control parameters of the supply ship include: historical control parameters of the thrust, direction and position of the supply ship.

[0090] In the embodiment of the present application, control parameters of the supply ship are generated based on the thrust control parameters and the direction control parameters to accurately control the supply ship; the supply ship is controlled to adjust the current position to the target position.

[0091] In the embodiment of the present application, in the process of controlling the supply ship, it is necessary to monitor the distance between the supply ship and the ship to be replaced in real time. When the distance is less than the configured safety distance threshold, an alarm message is generated, and the supply ship is promptly controlled to move away from the ship to be replaced.

[0092] In an embodiment of the present application, by real-time analysis of the monitoring image, the distance between the supply ship and the ship to be replaced, as well as the positional relationship and status between them are determined; when there is an abnormality, an adjustment signal is generated in time to control the supply ship to adjust its operating status.

[0093] In another embodiment of the present application, the longitudinal distance between the supply ship and the ship to be replaced with electricity may be adjusted first, and then the lateral distance between the two may be adjusted.

[0094] In an embodiment of the present application, when the supply ship arrives at the target location, the robot is controlled to place the batteries stored in it on the ship to be replaced, or deliver them to the mechanical platform or robot of the ship to be replaced; or the ship to be replaced controls the robot to take the batteries from the supply ship.

[0095] In an embodiment of the present application, after the supply ship completes the battery swap, that is, the ship to be replaced takes away the battery and sends a confirmation of the completion of the battery swap, the supply ship plans a route back to the city based on data such as the current location and environmental conditions, and stays away from the ship to be replaced.

[0096] In one embodiment of the present application, Figure 2 As shown, the following control method of the supply ship of the electric ship includes:

[0097] S1: The battery swap station platform generates a trajectory of the target location after receiving the order information;

[0098] S2: Synchronize the location track of the customer’s ship to the supply station through the battery swap station platform;

[0099] S3: The battery swap station platform detects that the supply ship has arrived near the customer's ship and synchronizes the supply ship's information to the customer's mobile phone and the ship;

[0100] S4: Receive customer information confirmation;

[0101] S5: The ship starts to detect the customer's power exchange position using the replenishment lateral position signal and approaches the lateral position;

[0102] S6: The ship stops moving after detecting the feedback signal from the position signal sensor;

[0103] S7: The vessel again uses the longitudinal position signal of the replenishment to detect the customer's battery replacement position and approaches the longitudinal position.

[0104] S8: When it is detected that the customer's ship is in operation;

[0105] S9: The battery swap station platform detection is currently in operation. After the ship information of the client is synchronized with the battery swap station platform and the ship's speed and other information are obtained;

[0106] S10: The supply ship will trigger the follow mode and follow the customer ship on the voyage;

[0107] S11: Execute steps S5, S6 and S7 again.

[0108] Corresponding to the above method, the embodiment of the present application also provides a follow-up control device for a supply ship of an electric ship, such as Figure 3 As shown, the following control device of the supply ship of the electric ship includes:

[0109] The receiving unit 310 is used to receive the ship position and operation data of the ship to be replaced; wherein the operation data includes: speed and heading;

[0110] The control unit 320 is used to generate a first position control parameter based on the ship position; based on the first position control parameter, control the supply ship to go to the ship position; when the distance between the current position of the supply ship and the ship position is less than the configured distance threshold, generate a state control parameter based on the operation data; based on the state control parameter, control the travel state of the supply ship;

[0111] The detection unit 330 is used to send a position detection signal to the ship to be replaced, and receive a position feedback signal fed back by the ship to be replaced;

[0112] The adjustment unit 340 is used to generate a second position control parameter based on the position feedback signal; and control the supply ship to adjust the current position based on the second position control parameter.

[0113] The functions of each functional unit of the following control device of the supply ship for an electric ship provided in the above-mentioned embodiments of the present application can be realized through the above-mentioned method steps. Therefore, the specific working process and beneficial effects of each unit in the following control device of the supply ship for an electric ship provided in the embodiments of the present application will not be repeated here.

[0114] The present application also provides an electronic device, such as Figure 4As shown, it includes a processor 410 , a communication interface 420 , a memory 430 and a communication bus 440 , wherein the processor 410 , the communication interface 420 , and the memory 430 communicate with each other via the communication bus 440 .

[0115] Memory 430, for storing computer programs;

[0116] The processor 410 is used to execute the program stored in the memory 430 to implement the following steps:

[0117] Receive the ship position and operation data of the ship to be replaced; wherein the operation data includes: speed and heading;

[0118] Based on the ship position, a first position control parameter is generated; based on the first position control parameter, the supply ship is controlled to go to the ship position; when the distance between the current position of the supply ship and the ship position is less than the configured distance threshold, a state control parameter is generated based on the operation data; based on the state control parameter, the traveling state of the supply ship is controlled;

[0119] Sending a position detection signal to the ship to be replaced, and receiving a position feedback signal fed back by the ship to be replaced;

[0120] Based on the position feedback signal, a second position control parameter is generated; based on the second position control parameter, the supply ship is controlled to adjust the current position.

[0121] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0122] The communication interface is used for communication between the above electronic device and other devices.

[0123] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0124] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0125] The implementation methods and beneficial effects of the components of the electronic device in the above embodiments to solve the problems can be seen in Figure 1 The various steps in the illustrated embodiment are implemented, therefore, the specific working process and beneficial effects of the electronic device provided by the embodiment of the present application are not repeated here.

[0126] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the following control method of the supply ship of the electric ship in any of the above embodiments.

[0127] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the following control method of a supply ship of an electric ship in any of the above embodiments.

[0128] Those skilled in the art will appreciate that the embodiments in the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt a complete hardware embodiment, a complete software embodiment, or a form of an embodiment combining software and hardware. Moreover, the present application may adopt a form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0132] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

[0133] Obviously, those skilled in the art can make various changes and modifications to the embodiments in the present application without departing from the spirit and scope of the embodiments in the present application. Thus, if these modifications and variations of the embodiments in the present application fall within the scope of the claims and their equivalents in the embodiments of the present application, the embodiments of the present application are also intended to include these modifications and variations.

Claims

1. A following control method for a supply ship of an electric ship, characterized in that: The method comprises: Receive the ship position and operation data of the ship to be replaced; Based on the ship position, generating a first position control parameter; based on the first position control parameter, controlling the supply ship to go to the ship position; When the distance between the current position of the supply ship and the position of the ship is less than a configured distance threshold, generating a state control parameter based on the operation data; Based on the state control parameters, the traveling state of the supply ship is controlled.

2. The method according to claim 1, characterized in that Before generating the state control parameter based on the operation data, the method further includes: The battery swap station cloud platform sends the current position and supply parameters of the supply ship to the ship to be replaced; After the ship to be replaced with power confirms the replacement of power based on the current position and the replenishment parameters, the ship sends the replacement confirmation information to the replacement station cloud platform; wherein the replacement confirmation information includes communication verification information; The battery swap station cloud platform sends the battery swap confirmation information to the supply ship; The supply ship communicates and interacts with the ship to be powered based on the communication verification information.

3. The method according to claim 1, characterized in that The operation data includes: speed and heading; the state control parameters include: speed control parameters and direction control parameters; Based on the operation data, a state control parameter is generated, including: Based on the heading, a direction control parameter is generated; based on the speed, a speed control parameter is generated.

4. The method according to claim 3, characterized in that Based on the state control parameter, controlling the traveling state of the supply ship includes: Based on the direction control parameter, controlling the supply ship to adjust the forward direction so that the forward direction of the supply ship is the same as the heading; Based on the speed control parameter, the supply ship is controlled to adjust its speed so that the speed of the supply ship is the same as the ship speed.

5. The method according to claim 1, characterized in that After controlling the traveling state of the supply ship, the method further includes: Sending a position detection signal to the ship to be replaced with power, and receiving a position feedback signal fed back by the ship to be replaced with power; Based on the position feedback signal, a second position control parameter is generated; based on the second position control parameter, the supply ship is controlled to adjust the current position.

6. The method according to claim 5, characterized in that The position detection signal includes a transverse position detection signal and a longitudinal position detection signal; The position feedback signal includes: a lateral position feedback signal and a longitudinal position feedback signal; The second position control parameters include: a transverse second position control parameter and a longitudinal second position control parameter.

7. The method according to claim 6, characterized in that Generating a second position control parameter based on the position feedback signal, and controlling the supply ship to adjust the current position based on the second position control parameter, including: generating a second lateral position control parameter based on the lateral position feedback signal; Based on the second lateral position control parameter, controlling the supply ship to adjust the lateral distance from the ship to be replaced; generating a second longitudinal position control parameter based on the longitudinal position feedback signal; Based on the second longitudinal position control parameter, the supply ship is controlled to adjust the longitudinal distance from the ship to be replaced.

8. A follow-up control device for a supply ship of an electric ship, characterized in that: The device comprises: A receiving unit, used to receive the ship position and operation data of the ship to be replaced; wherein the operation data includes: speed and heading; A control unit, configured to generate a first position control parameter based on the ship position; control the supply ship to move to the ship position based on the first position control parameter; generate a state control parameter based on the operation data when the distance between the current position of the supply ship and the ship position is less than a configured distance threshold; and control the traveling state of the supply ship based on the state control parameter; A detection unit, used to send a position detection signal to the ship to be replaced with electricity, and receive a position feedback signal fed back by the ship to be replaced with electricity; The adjustment unit is used to generate a second position control parameter based on the position feedback signal; and control the supply ship to adjust the current position based on the second position control parameter.

9. An electronic device, characterized in that: The electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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