Electric energy supply system for nuclear power platform and regional coordinated supply control method

Abstract

The present application discloses an electric energy replenishment system for powering a nuclear-powered platform and a method for controlling regional coordinated replenishment, and relates to the technical field of marine electric energy replenishment. The electric energy replenishment system comprises a mobile nuclear-powered platform mother body, which carries a nuclear-powered power generation device, a lithium battery, a propulsion motor, a UUV recovery device, an underwater autonomous charging navigation device UUV, and an electric energy replenishment system management center EMC. The nuclear-powered platform can exchange data with multiple electrical devices in an underwater target area, and can also monitor the power status of each underwater autonomous charging vehicle in real time, and control the underwater autonomous charging vehicle to charge multiple underwater electrical devices according to different power statuses; the technical solution of the present application can quickly dispatch the autonomous charging vehicle for charging according to the location and charging demand of each electrical device in the underwater area, shortening the charging time of the autonomous charging vehicle between different electrical devices and improving the charging efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of marine electric energy replenishment, and more specifically, to an electric energy replenishment system for powering a nuclear-powered platform and a regional coordinated replenishment control method. Background Art

[0002] With the continuous development and utilization of marine resources, the types and number of underwater electrical equipment have increased dramatically, including underwater sensors, underwater sonars, underwater robots (large UUVs, small ROVs), underwater charging piles, etc., and the power supply demand for underwater electrical equipment is increasing. Especially in the fields of deep-sea exploration, underwater communications, environmental monitoring, etc., the continuous, efficient and reliable energy supply of underwater equipment has become a key bottleneck restricting its development. Traditional energy supply methods for underwater equipment are mainly achieved through cable connection or regular floating to replace batteries, but these methods are not only complicated to operate and inefficient, but also in deep-sea environments, the laying and maintenance costs of cables are high, and they are easily affected by environmental factors, resulting in unstable power supply. Therefore, it is particularly important to explore a new solution that can achieve remote, wireless, and continuous energy supply in complex marine environments.

[0003] As an efficient energy solution, mobile nuclear-powered platforms have gradually become a hot research direction for solving the problem of marine energy replenishment due to their advantages such as high energy density, strong endurance, and good environmental adaptability. Mobile nuclear-powered platforms can continuously generate a large amount of electricity by carrying nuclear-powered power generation devices, providing almost unlimited energy support for underwater equipment. However, there is currently a lack of a marine wireless power replenishment system and control measures to quickly and efficiently transmit the electricity generated by mobile nuclear-powered platforms to various underwater equipment scattered in a vast sea area, so as to achieve coordinated management of energy replenishment and data interaction. Therefore, it is urgent to design a marine wireless power replenishment system and replenishment control method that can use the power supply of mobile nuclear-powered platforms to replenish electricity for underwater electricity users. Summary of the invention

[0004] The purpose of this application is to overcome the shortcomings of the prior art, to provide a marine wireless power supply system powered by a mobile nuclear-powered platform and a regionalized collaborative supply control method, to comprehensively judge the relationship between the battery capacity of the underwater autonomous charging vehicle and the power consumption of the underwater electrical equipment in the area, to control the underwater autonomous charging vehicle to charge the underwater electrical equipment, to minimize the time for charging and data interaction for the underwater electrical equipment in the area, and to realize autonomous, collaborative, and efficient wireless charging and data reading interaction for multiple underwater power user objects.

[0005] The technical solution of the present application is to provide an electric energy replenishment system for powering a nuclear power platform and a regional coordinated replenishment control method, the method comprising: using the EMC inside the mobile nuclear power platform mother body to obtain the total amount of power to be charged ∑Cm of all underwater electrical equipment, and controlling the mobile nuclear power platform mother body to move to just above the area where the electrical equipment is located, wherein an underwater autonomous charging vehicle is arranged on the mobile nuclear power platform mother body;

[0006] The total amount of electricity to be charged ∑Cm is compared with the total amount of electricity N×C0 of all autonomous charging vehicles. When ∑Cm≤N×C0, Cm is the amount of electricity to be charged of the mth power-consuming device, C0 is the full charge of a single underwater autonomous charging vehicle, and N is the number of autonomous charging vehicles. The number of autonomous charging vehicles to be dispatched is determined according to ∑Cm and the number of power-consuming devices, and the autonomous charging vehicles are controlled to charge the power-consuming devices. Specifically, the steps include:

[0007] Step 101, determine whether all power-consuming devices meet the conditions of C0 ≥ Cm and N ≥ M. If so, dispatch the same number of autonomous charging vehicles as the number of power-consuming devices to complete the charging task. If not, execute step 102, where M is the number of power-consuming devices.

[0008] Step 102, dispatching S autonomous charging vehicles, where S×C0≥∑Cm and (S-1)×C0<∑Cm, when S>M, controlling the S autonomous charging vehicles to charge the power-consuming equipment collaboratively, and when S≤M, executing step 103;

[0009] Step 103: Divide the electrical equipment into Group, where To round up, use S autonomous charging vehicles to charge each group of electrical equipment in turn, and after all the electrical equipment in each group has been charged, control the autonomous charging vehicle to return to the mobile nuclear power platform mother body;

[0010] When ∑Cm>N×C0, the electrical equipment is divided into areas according to N×C0, so that N×C0 is greater than or equal to the total amount of electricity to be charged of the electrical equipment in a single sub-area, and then N autonomous charging vehicles are used to charge the electrical equipment in each sub-area in turn. After charging the electrical equipment in a sub-area, the vehicle returns to the mobile nuclear-powered platform mother body for replenishment.

[0011] Furthermore, the method further comprises:

[0012] A three-dimensional coordinate system is established with the sea level as the xy plane and the vertical direction as the z axis. The EMC sends a long-wave hydroacoustic query signal to the sea water. After receiving the hydroacoustic query signal, each underwater electrical device sends its own power to be charged and coordinate position to the outside through the long-wave hydroacoustic signal. The EMC receives the long-wave hydroacoustic signal returned by each underwater electrical device and obtains the power to be charged Cm and coordinate position (x i ,y i , z i ), i∈{1,…,M}, EMC calculates ∑Cm based on Cm, and calculates the arithmetic mean coordinate point (x0, y0, z0) according to the coordinate positions of each underwater electrical equipment. EMC controls the propulsion motor to push the mobile nuclear power platform mother body and move it to the coordinate point (x0, y0, 0), where 0 is the coordinate value in the z-axis direction of the sea level.

[0013] Furthermore, step 101 specifically includes:

[0014] When the amount of electricity to be charged and the number of all electrical equipment meet the conditions of C0≥Cm and N≥M, the EMC determines the number of underwater autonomous charging vehicles to be dispatched according to the number of electrical equipment, sets the number of underwater autonomous charging vehicles to be dispatched to M, and controls the mobile nuclear-powered platform mother body to dispatch M autonomous charging vehicles to perform one-to-one charging for all electrical equipment;

[0015] EMC randomly matches the coordinate positions of M underwater autonomous charging vehicles with M underwater electrical equipment, and controls the M underwater autonomous charging vehicles to move to the corresponding coordinate positions to charge the M underwater electrical equipment. After a single underwater autonomous charging vehicle completes charging, it returns to the corresponding UUV recovery device in the mobile nuclear-powered platform mother body to replenish power.

[0016] Furthermore, in step 102, each underwater autonomous charging vehicle is controlled to collaboratively charge the underwater electrical equipment, specifically including:

[0017] EMC randomly selects M underwater autonomous charging vehicles and randomly matches the coordinate positions of M underwater electrical equipment, and controls the M underwater autonomous charging vehicles to move to the corresponding coordinate positions for one-to-one charging. When underwater electrical equipment that has not been fully charged appears, the currently idle underwater autonomous charging vehicle with power is selected to supplement the underwater electrical equipment that has not been fully charged until the M underwater electrical equipment is fully charged. Among them, when selecting the currently idle underwater autonomous charging vehicle with power, it is selected in order from large to small according to the power carried.

[0018] Furthermore, in step 103, the electrical equipment is divided into Groups, including:

[0019] EMC arranges the electrical equipment in the order of the x value in the coordinate from small to large, and divides the arranged electrical equipment into E groups. And sort the underwater electrical equipment in group E from small to large according to the x value, where the number of electrical equipment in the last group is less than or equal to S, and the number of electrical equipment in the remaining groups is S;

[0020] Further, in step 103, each group of underwater electrical equipment is charged in sequence, specifically including:

[0021] EMC controls S autonomous charging vehicles to charge each group of electrical equipment in turn. After all the electrical equipment in a single group has been charged, the next group of electrical equipment will be charged. For the electrical equipment in each group, EMC randomly matches the coordinate positions of the S autonomous charging vehicles with the S electrical equipment, and controls the S autonomous charging vehicles to move to the corresponding coordinate positions for one-to-one charging. When there are electrical equipment that has not been fully charged, EMC selects an autonomous charging vehicle that is currently idle and has power to charge the electrical equipment that has not been fully charged. When selecting an autonomous charging vehicle that is currently idle and has power, it is selected in order from large to small according to the power it carries, until all S electrical equipment are fully charged.

[0022] Furthermore, the electrical equipment is divided into regions according to N×C0, specifically including:

[0023] EMC arranges the underwater electrical equipment in the order of the x value in the coordinate from small to large, and divides the arranged electrical equipment into G sub-areas. And sort the G sub-areas according to the x value from small to large, where the number of electrical equipment in the last sub-area is less than or equal to Y, and the number of underwater electrical equipment in each of the remaining sub-areas is Y, and the size of Y meets the condition:

[0024] Furthermore, N autonomous charging vehicles are used to charge the electrical equipment in each sub-area in turn, which specifically includes the following steps:

[0025] Step 201, determine whether all the power-consuming devices in the current sub-area meet the conditions of C0≥Cm and N≥Y. If so, dispatch autonomous charging vehicles with the same number of power-consuming devices as the current sub-area to complete the charging task. If not, execute step 2, where Y is the number of power-consuming devices in the sub-area.

[0026] Step 202, dispatching G autonomous charging vehicles, where G×C0≥∑Cm and (G-1)×C0<∑Cm, when G>Y, controlling the G autonomous charging vehicles to collaboratively charge the electrical equipment in the current sub-area, and when G≤Y, executing step 203;

[0027] Step 203: divide the current sub-area electrical equipment into Group, where To round up, G autonomous charging vehicles are used to charge each group of electrical equipment in turn. After all groups of electrical equipment are fully charged, the autonomous charging vehicles are controlled to return to the mobile nuclear power platform mother body to replenish electricity.

[0028] Step 204, after the power replenishment is completed, continue to control the autonomous charging vehicle to collaboratively charge the power-consuming equipment in the next sub-area according to the method of steps 201 to 203, and end when the power-consuming equipment in all sub-areas has been fully charged.

[0029] Furthermore, the method further comprises:

[0030] A power threshold F is set in EMC, where F = k × diy + C0 / 20, k is the proportional coefficient of the power consumed by the underwater autonomous charging vehicle per unit distance of underwater navigation, diy is the distance between the underwater autonomous charging vehicle and the mobile nuclear-powered platform mother body, and EMC monitors the power of all underwater autonomous charging vehicles in real time. When the remaining power Cr of a single underwater autonomous charging vehicle is ≤ k × diy + C0 / 20, EMC controls the underwater autonomous charging vehicle to return to the UUV recovery device of the mobile nuclear-powered platform mother body for power replenishment.

[0031] The present application also provides an electric energy supply system for executing a regional collaborative supply control method for nuclear power platform energy supply, characterized in that the system includes a mobile nuclear power platform mother body and an underwater autonomous charging vehicle UUV;

[0032] The mobile nuclear-powered platform is a carrier of the underwater autonomous charging vehicle. UUV recovery devices are arranged on both sides of the mobile nuclear-powered platform. The UUV recovery devices correspond to the autonomous charging vehicles one by one and are used to install and charge the autonomous charging vehicles. The autonomous charging vehicles are used to charge underwater electrical equipment.

[0033] A nuclear power generator, lithium batteries, propulsion motors and EMC are also installed inside the mobile nuclear-powered platform body. The nuclear power generator is used to supply power to the entire mobile nuclear-powered platform body and the autonomous charging vehicle. The lithium batteries are used to store energy and provide backup power for the mobile nuclear-powered platform body. The propulsion motors are used to push the mobile nuclear-powered platform body to a specific location according to the instructions of the EMC. The EMC is responsible for managing and dispatching the energy needs of the entire system, as well as controlling the underwater autonomous charging vehicle to charge the electrical equipment according to its charging needs.

[0034] The beneficial effects of this application are:

[0035] The technical solution in this application can quickly dispatch underwater autonomous charging vessels for charging according to the location and charging demand of each power-consuming device in the underwater area. In the dispatching process, the number of autonomous charging vessels to be dispatched is determined according to the total amount of power to be charged of the power-consuming devices, the number of power-consuming devices and the amount of power carried by the autonomous charging vessels. In the charging process, each power-consuming device is covered to the maximum extent, shortening the time for autonomous charging vessels to change and charge different power-consuming devices. At the same time, the technical solution in this application also groups and divides the power-consuming devices in the case where the number of power-consuming devices is greater than the number of autonomous charging vessels, and divides multiple power-consuming devices with close distances into one group, reducing the distance that the autonomous charging vessels sail between each power-consuming device, improving the utilization rate of the power carried by each autonomous charging vessel, and reducing the navigation loss. The technical solution in this application can minimize the charging time and improve the charging efficiency. The technical solution in this application can also be charged in different areas when there are many underwater power-consuming devices and charging needs, greatly reducing the time for charging and data interaction with underwater power-consuming devices.

[0036] The technical solution of the present application is highly economical and practical. The traditional method of connecting with cables or regularly floating up to replace batteries is not only costly but also difficult to maintain. Compared with the methods in the prior art, the present invention can realize remote, wireless, and continuous energy supply to underwater electrical equipment through the combination of a mobile nuclear-powered platform and a UUV, thereby reducing the cost of energy replenishment and the difficulty of maintenance. Moreover, the technical solution of the present invention can also be flexibly configured and expanded according to actual needs to meet the energy supply needs of underwater electrical equipment in different fields and of different scales. The technical solution in this application has greatly improved the efficiency and quality of marine energy replenishment and data management, and provided strong technical support and guarantee for the development and utilization of marine resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The advantages of the above and / or additional aspects of the present application will become apparent and easily understood in the description of the embodiments in conjunction with the following drawings, in which:

[0038] Figure 1 is a schematic diagram of an electric energy supply system for a nuclear-powered platform according to an embodiment of the present application;

[0039] Figure 2 It is a schematic flow chart of a method for regional collaborative replenishment control of nuclear power platform energy supply according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0041] In the following description, many specific details are elaborated to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited to the specific embodiments disclosed below.

[0042] like Figure 1 As shown, this embodiment provides an electric energy supply system for powering a nuclear-powered platform, the system comprising a mobile nuclear-powered platform mother body and N underwater autonomous charging vehicles;

[0043] The mobile nuclear-powered platform mother body is denoted as Yd, and the N underwater autonomous charging vehicles are denoted as UUV1, ..., UUVn, ..., UUVN, where N is a positive integer, and n is the index number of the underwater autonomous charging vehicle (i.e., the number used to index one of the autonomous charging vehicles). The underwater autonomous charging vehicle is used to charge M underwater electrical devices, and the M underwater electrical devices are denoted as U1, ..., Um, ..., UM, where M is a positive integer, and m is the index number of the underwater electrical device.

[0044] The battery power that a single underwater autonomous charging vehicle can carry after being fully charged is C0. When there are M underwater electrical equipment in the underwater area, the charging power demand of the mth underwater electrical equipment Um is Cm.

[0045] The mobile nuclear-powered platform mother body is the carrier of the underwater autonomous charging vehicle. A total of N UUV recovery devices are arranged on both sides of the platform, denoted as H1,…,Hn,…,HN. The UUV recovery device corresponds to the underwater autonomous charging vehicle one by one and is used to recover and charge the underwater autonomous charging vehicle. The underwater autonomous charging vehicle is installed in the UUV recovery device when not deployed.

[0046] A nuclear power generator, lithium battery, propulsion motor and EMC (Energy Management Center) are also installed inside the mobile nuclear power platform body. The nuclear power generator is denoted as Hdl, the lithium battery is denoted as Bt, and the propulsion motor is denoted as Tj. The nuclear power generator is used to supply power to the entire mobile nuclear power platform body and N underwater autonomous charging vehicles. The lithium battery is used to store energy and provide backup power or emergency power to the mobile nuclear power platform when necessary. The propulsion motor is used to push the platform to a specific geographic coordinate position according to the instructions of the EMC, so as to better provide energy replenishment for underwater electrical equipment or autonomous charging vehicles. The EMC is responsible for managing and dispatching the energy needs of the entire system, as well as controlling the underwater autonomous charging vehicles to charge the underwater electrical equipment according to the charging needs of the underwater electrical equipment.

[0047] In this embodiment, underwater electrical equipment may include underwater sonar SS (Submarine Sonar), underwater charging station SC (Submersible Charging Station), underwater monitoring equipment SJ (Submarine Monitoring Equipment), large UUV (Autonomous Underwater Vehicle, Unmanned Underwater Vehicle), small ROV (Remotely Operated Vehicle, Remotely Operated Vehicle) and the like.

[0048] like Figure 1 As shown, this embodiment provides a regional collaborative replenishment control method for an electric energy replenishment system powered by a nuclear power platform, the method comprising:

[0049] The EMC inside the mobile nuclear-powered platform mother body exchanges data with underwater electrical equipment by sending and receiving hydroacoustic signals, obtains the amount of power to be charged and the position of each underwater electrical equipment, calculates the total amount of power to be charged ∑Cm according to the amount of power to be charged of each underwater electrical equipment, and controls the mobile nuclear-powered platform mother body to move to the sea level just above the area where the underwater electrical equipment is located. An underwater autonomous charging vehicle for charging the underwater electrical equipment is arranged on the mobile nuclear-powered platform mother body.

[0050] Specifically, a three-dimensional coordinate system is established with the sea level as the xy plane and the vertical direction as the z axis. The EMC sends a long-wave hydroacoustic query signal to the sea water. After receiving the hydroacoustic query signal, each underwater electrical device sends its own charge capacity Cm and the coordinates of its geographical location (x i ,y i , z i), and sent out through long-wave hydroacoustic signals. EMC receives the long-wave hydroacoustic signals returned by each underwater electrical device and obtains the amount of electricity to be charged Cm and the coordinates of the geographical location (x i ,y i , z i ).

[0051] EMC calculates the total amount of power to be charged of all underwater electrical equipment ∑Cm according to the power to be charged of each underwater electrical equipment Cm, and calculates the arithmetic average coordinate point (x0, y0, z0) of all underwater electrical equipment according to the coordinate position of each underwater electrical equipment in the current area, as well as the distance d between each underwater electrical equipment. The square root of the difference can be used to calculate the distance between two different underwater electrical equipment. For example, if the coordinate is (x i ,y i , z i ) and the underwater electrical equipment with coordinates (x i+1 ,y i+1 , z i+1 The distance between underwater electrical equipment is Where i∈{1,…,M}.

[0052] After obtaining the arithmetic mean coordinate point (x0, y0, z0) of all underwater electrical equipment, the EMC controls the propulsion motor to push the mobile nuclear power platform mother body and move it to the coordinate point (x0, y0, 0), where 0 is the coordinate value in the z-axis direction of the sea level.

[0053] In this embodiment, the current area refers to the area where all underwater electrical equipment are located. After calculating the arithmetic mean coordinate point (x0, y0, z0), the EMC will control the mobile nuclear power platform mother body to move to the sea level just above the arithmetic mean coordinate point to shorten the distance between the mobile nuclear power platform mother body and each underwater electrical equipment, and reduce the power and time loss of the underwater autonomous charging vehicle in the seawater. In this embodiment, after receiving the geographic location information of each underwater electrical equipment, the EMC converts the location information into a coordinate point (x0, y0, z0). i ,y i , z i ).

[0054] In this embodiment, before sending out the underwater autonomous charging vehicles to charge the underwater electrical equipment, it is necessary to determine whether the charging task can be completed at one time based on ∑Cm and the total amount of electricity carried by all the underwater autonomous charging vehicles. When ∑Cm>N×C0, it means that the total amount of electricity carried by all the underwater autonomous charging vehicles cannot meet the charging needs of all the underwater electrical equipment in the area at one time, and the underwater autonomous charging vehicles need to return for power replenishment. When ∑Cm≤N×C0, it means that all the underwater autonomous charging vehicles can be dispatched at one time to meet the charging needs of all the underwater electrical equipment in the area, and there is no need for the underwater autonomous charging vehicles to return for charging. If the charging task can be completed at one time, a corresponding number of underwater autonomous charging vehicles can be dispatched according to the size of ∑Cm. If the charging task cannot be completed at one time, it is necessary to dispatch underwater autonomous charging vehicles multiple times to gradually complete the charging task.

[0055] EMC compares ∑Cm with the total power N×C0 of all autonomous charging vehicles, and determines whether all underwater autonomous charging vehicles can complete the charging task in a single dispatch according to ∑Cm and the total number N of underwater autonomous charging vehicles. When ∑Cm≤N×C0, it is determined that charging can be completed. EMC determines the number of autonomous charging vehicles to be dispatched according to ∑Cm and the number of power-consuming devices, and controls the autonomous charging vehicles to charge the power-consuming devices. The battery power that a single underwater autonomous charging vehicle can carry after being fully charged is C0. The specific steps include:

[0056] Step 101, EMC determines whether all underwater electrical equipment (M) meet the conditions of C0≥Cm and N≥M. If the underwater electrical equipment meets the conditions of C0≥Cm and N≥M, EMC controls the mobile nuclear-powered platform mother to dispatch M underwater autonomous charging vehicles to complete the one-to-one charging of all underwater electrical equipment. If the underwater electrical equipment does not meet the conditions of C0≥Cm and N≥M, execute step 102, wherein C0≥Cm and N≥M represent: the amount of electricity to be charged of all underwater electrical equipment is less than or equal to the amount of electricity C0 of a single underwater autonomous charging vehicle, and the number of underwater electrical equipment M is less than or equal to the number of underwater autonomous charging vehicles N, and Cm is the amount of electricity to be charged of the mth underwater electrical equipment.

[0057] In this embodiment, the EMC needs to determine the number of underwater autonomous charging vehicles that need to be dispatched based on the amount of underwater electrical equipment to be charged, the number of underwater electrical equipment, and the full charge C0 of a single underwater autonomous charging vehicle to achieve the purpose of quickly completing charging.

[0058] When the remaining charge and quantity of all underwater electrical devices meet the conditions of C0≥Cm and N≥M, the EMC needs to determine the number of underwater autonomous charging vehicles to be dispatched according to the quantity of underwater electrical devices, set the number of dispatched underwater autonomous charging vehicles to M, and control the mobile nuclear power platform mother body to dispatch M underwater autonomous charging vehicles to complete one-to-one charging of all underwater electrical devices. Specifically, the EMC randomly matches the coordinate positions of M underwater autonomous charging vehicles with those of M underwater electrical devices, and controls the M underwater autonomous charging vehicles to move to the corresponding coordinate positions to charge the M underwater electrical devices. After a single underwater autonomous charging vehicle completes charging, it returns to the corresponding UUV recovery device in the mobile nuclear power platform mother body for power replenishment.

[0059] When the remaining charge and quantity of underwater electrical devices do not meet the conditions of C0≥Cm and N≥M, there are two cases. One case is C0<Cm and N≥M, and the other is C0≥Cm and N<M. At this time, it is necessary to specifically determine the number of underwater autonomous charging vehicles to be dispatched according to the magnitudes of ∑Cm and C0. It should be noted that when the remaining charge and quantity of underwater electrical devices do not meet this condition, the situation of C0<Cm and N<M will not occur because the situation of C0<Cm and N<M cannot meet the condition of ∑Cm≤N×C0.

[0060] Step 102, the EMC controls the mobile nuclear power platform mother body to dispatch S underwater autonomous charging vehicles, where the magnitude of S meets the condition: S×C0≥∑Cm and (S - 1)×C0<∑Cm. When S>M, control each underwater autonomous charging vehicle to charge the underwater electrical devices cooperatively. When S≤M, execute Step 103.

[0061] In this embodiment, the EMC determines the number of underwater autonomous charging vehicles to be dispatched according to the magnitudes of ∑Cm and C0, so that the currently dispatched underwater autonomous charging vehicles can just meet the charging requirements of M underwater electrical devices, that is, meet the conditions of S×C0≥∑Cm and (S - 1)×C0<∑Cm, avoiding energy waste.

[0062] In the case of S>M, EMC first randomly selects M underwater autonomous charging vehicles from S underwater autonomous charging vehicles, randomly matches the coordinate positions of these M underwater autonomous charging vehicles with the coordinate positions of M underwater power-consuming devices, and controls these M underwater autonomous charging vehicles to move to the corresponding coordinate positions to charge the M underwater power-consuming devices one-to-one. When underwater power-consuming devices that are not fully charged appear, EMC selects underwater autonomous charging vehicles that are currently idle and carry power to match the positions of underwater power-consuming devices that are not fully charged, and controls them to supplement the charging of underwater power-consuming devices that are not fully charged. When selecting underwater autonomous charging vehicles that are currently idle and carry power, underwater autonomous charging vehicles are selected in order from large to small according to the power they carry for supplementary charging, that is, EMC selects the underwater autonomous charging vehicle with the largest power from all currently idle underwater autonomous charging vehicles to complete the supplementary charging task each time, and so on until all M underwater power-consuming devices are fully charged.

[0063] In this embodiment, the EMC needs to select the underwater autonomous charging vehicle with the largest power from all currently idle underwater autonomous charging vehicles to complete the supplementary charging task each time. For example, if the current remaining power UCj of the j-th underwater autonomous charging vehicle UUVj among the M underwater autonomous charging vehicles is less than the required power of the underwater electrical equipment to be charged, then the vehicle with the largest power among the remaining SM autonomous charging vehicles will need to use its own remaining power to supplement and charge the j-th underwater electrical equipment.

[0064] In this embodiment, the EMC matches the coordinate position of the underwater autonomous charging vehicle with the underwater electrical equipment, that is, the EMC makes a one-to-one correspondence between the label of the underwater autonomous charging vehicle and the coordinate position of the underwater electrical equipment, and generates instructions for controlling the underwater autonomous charging vehicle based on a group of labels of the underwater autonomous charging vehicle and the coordinate position of the underwater electrical equipment.

[0065] Step 103, EMC divides the electrical equipment into Group, where In order to round up, S underwater autonomous charging vehicles are used to charge each group of underwater electrical equipment in turn. After all groups of electrical equipment have been charged, the autonomous charging vehicles are controlled to return to the mobile nuclear-powered platform mother body.

[0066] EMC arranges the underwater electrical equipment in the order of the x value in the coordinate from small to large, and divides the arranged underwater electrical equipment into E groups. in In order to round up, the underwater electrical equipment of group E is sorted according to the x value from small to large, and the area where each group of underwater electrical equipment is located is taken as a sub-area, and a total of sub-areas arranged according to the x value from small to large are set. sub-areas, where the number of electrical equipment in the last group is less than or equal to S, and the number of electrical equipment in the remaining groups is S; specifically, EMC divides the M underwater electrical equipment into regions according to the size of the coordinate values ​​in the x-axis direction, using the x in the geographic coordinates. i The values ​​are sorted by size to obtain the first S underwater electrical equipment as the first sub-area. Similarly, the sorting is continued, and S underwater electrical equipment are taken as the second sub-area for the remaining underwater electrical equipment. And so on, the division is completed in sequence to complete the sub-area division of all underwater electrical equipment. Finally, sub-areas.

[0067] In this embodiment, when S≤M, if underwater autonomous charging vehicles are randomly matched to charge underwater electrical equipment, when the distance between two underwater electrical equipment is far, the power loss of the lower autonomous charging vehicle will increase. In order to save electricity, it is necessary to group and divide the M underwater electrical equipment according to the size of the coordinate values ​​according to the number S of underwater autonomous charging vehicles, and set the underwater electrical equipment with a closer distance in the same group. In this way, in the process of charging each group of underwater electrical equipment in turn, the sailing distance of the underwater autonomous charging vehicle is shortened, electricity is saved, and the charging efficiency is improved.

[0068] After completing the grouping, the EMC controls the S underwater autonomous charging vehicles to charge the underwater electrical equipment of each group in turn until the underwater electrical equipment of all groups is fully charged. After all the underwater electrical equipment of a single group is fully charged, the next group of underwater electrical equipment will be charged. That is, after all the underwater electrical equipment in the j-th sub-area is fully charged, the EMC controls the S underwater autonomous charging vehicles to sail as a whole to the j+1-th sub-area to charge all the underwater electrical equipment in the j+1-th sub-area. After all the underwater electrical equipment in all sub-areas is fully charged, the S underwater autonomous charging vehicles return to the UUV recovery device of the mobile nuclear-powered platform mother body to replenish power.

[0069] Specifically, for the underwater electrical equipment in each group, the EMC controls S underwater autonomous charging vehicles to charge the underwater electrical equipment in a coordinated manner, randomly matches the coordinate positions of the S underwater autonomous charging vehicles with the S underwater electrical equipment, and controls the S underwater autonomous charging vehicles to move to the corresponding coordinate positions to charge the S underwater electrical equipment one-to-one. When there is an underwater electrical equipment that has not been fully charged, the EMC selects the underwater autonomous charging vehicle that is currently idle and carries power to match the position with the underwater electrical equipment that has not been fully charged, and controls it to supplement the charging of the underwater electrical equipment that has not been fully charged. When selecting the underwater autonomous charging vehicle that is currently idle and carries power, the underwater autonomous charging vehicle is selected in order from large to small according to the power carried for supplementary charging, and so on, until the S underwater electrical equipment are fully charged. After all the underwater electrical equipment in the current group are fully charged, the EMC controls the S underwater autonomous charging vehicles to sail as a whole to the area where the next group of underwater electrical equipment is located to charge the next group of underwater electrical equipment.

[0070] When ∑Cm>N×C0, it is determined that all underwater autonomous charging vehicles cannot be charged in a single dispatch. The EMC divides the power-consuming equipment into regions according to the total power N×C0 of all autonomous charging vehicles, so that the total power N×C0 of all underwater autonomous charging vehicles is greater than or equal to the total power to be charged of the power-consuming equipment in a single sub-region, and charges the power-consuming equipment in each sub-region in turn. After charging the power-consuming equipment in a sub-region each time, it returns to replenish the power until all the power-consuming equipment in the sub-region is fully charged. Specifically, the steps include:

[0071] Step 201, the EMC determines whether all the electrical equipment in the current sub-area meets the conditions of C0≥Cm and N≥Y. If so, the EMC controls the mobile nuclear-powered platform to dispatch autonomous charging vehicles with the same number of electrical equipment in the current sub-area to complete the one-to-one charging of all underwater electrical equipment in the current sub-area. If not, step 2 is executed, where Y is the number of electrical equipment in the sub-area.

[0072] EMC randomly matches the coordinate positions of Y underwater autonomous charging vehicles with Y underwater electrical equipment, and controls the Y underwater autonomous charging vehicles to move to the corresponding coordinate positions to charge the Y underwater electrical equipment. After a single underwater autonomous charging vehicle completes charging, it returns to the corresponding UUV recovery device in the mobile nuclear-powered platform mother body to replenish power.

[0073] Step 202, the EMC controls the mobile nuclear power platform to dispatch G autonomous charging vehicles, where G×C0≥∑Cm and (G-1)×C0<∑Cm. When G>Y, the G autonomous charging vehicles are controlled to collaboratively charge the electrical equipment in the current sub-area. When G≤Y, step 203 is executed.

[0074] In this embodiment, the process of EMC controlling G autonomous charging vehicles to collaboratively charge the electrical equipment in the current sub-area is the same as the collaborative charging method in step 102, that is, first randomly select Y from the G underwater autonomous charging vehicles to charge the electrical equipment one-to-one. When there are electrical equipment that has not been fully charged, the EMC selects idle autonomous charging vehicles in order from large to small according to the amount of electricity carried for supplementary charging, which will not be repeated here.

[0075] Step 203: EMC divides the electrical equipment in the current sub-area into Group, where To round up, G autonomous charging vehicles are used to charge each group of electrical equipment in turn. After all groups of electrical equipment are fully charged, the autonomous charging vehicles are controlled to return to the mobile nuclear power platform mother body to replenish electricity.

[0076] In this embodiment, the method of dividing into groups in step 203 and the method of using the autonomous charging vehicle to charge each group of electrical equipment in turn are the same as the method in step 103, and will not be repeated here.

[0077] Step 204, after the power replenishment is completed, continue to control the autonomous charging vehicle to collaboratively charge the power-consuming equipment in the next sub-area according to the method of steps 201 to 203, and end when the power-consuming equipment in all sub-areas has been fully charged.

[0078] The above EMC divides the power consumption equipment into regions according to the total power N×C0 of all autonomous charging vehicles, including:

[0079] EMC arranges the underwater electrical equipment in the order of the x value in the coordinate from small to large, and divides the arranged electrical equipment into G sub-areas. in To round up, sort the G sub-areas from small to large according to the x value, where the number of electrical equipment in the last sub-area is less than or equal to Y, and the number of underwater electrical equipment in each of the remaining sub-areas is Y, and the size of Y meets the condition:

[0080] Specifically, EMC divides the area by sorting the M underwater power equipment according to the size of the x value, and uses the x value in the geographic coordinates to sort by size, and takes the first Y underwater power equipment, so that the sum of the power to be charged of the first Y underwater power equipment is less than or equal to N×C0 and the sum of the power to be charged of the first Y+1 underwater power equipment is greater than N×C0. The first Y underwater power equipment is used as the first sub-area, which can ensure that the power N×C0 carried by all autonomous charging vehicles dispatched at one time just fills the first sub-area. Similarly, the sorting continues, and Y underwater power equipment is taken as the second sub-area for the remaining underwater power equipment, and the multi-sub-area division of all underwater power equipment is completed in sequence, and finally divided into sub-areas, and the power N×C0 carried by all the underwater autonomous charging vehicles dispatched each time just fills one sub-area.

[0081] In this embodiment, the regional coordinated replenishment control method of the electric energy replenishment system powered by the nuclear power platform also includes:

[0082] A power threshold F is set in the EMC, and the power threshold F=k×diy+C0 / 20, wherein k is the proportional coefficient of the power consumed by the underwater autonomous charging vehicle per unit distance of underwater navigation, and diy is the distance between the underwater autonomous charging vehicle and the mobile nuclear-powered platform mother body. The EMC monitors the power of all underwater autonomous charging vehicles in real time. When the remaining power Cr of a single underwater autonomous charging vehicle is ≤k×diy+C0 / 20, the EMC controls the underwater autonomous charging vehicle to return to the UUV recovery device of the mobile nuclear-powered platform mother body for power replenishment. When the remaining power Cr of a single underwater autonomous charging vehicle is greater than k×diy+C0 / 20, the underwater autonomous charging vehicle does not return.

[0083] In this embodiment, when the underwater electrical equipment is not fully charged, the underwater autonomous charging vehicle may be low on power. Low power means that the underwater autonomous charging vehicle cannot charge the underwater electrical equipment and needs to immediately return to the UUV recovery device of the mobile nuclear-powered platform to replenish power. If it continues to consume power, it cannot return to the mobile nuclear-powered platform. Therefore, it is necessary to set a threshold value representing low power. When the threshold is reached, the EMC promptly controls the underwater autonomous charging vehicle to return.

[0084] Example: Take a marine wireless power supply system containing 8 underwater autonomous charging vehicles (UUVs) as an example to explain the charging principle:

[0085] The system configuration is:

[0086] The mobile nuclear-powered platform mother body is named Yd, carrying a nuclear-powered power generation device Hdl, a lithium battery Bt, a propulsion motor Tj, and eight UUV recovery devices H1 to H8;

[0087] Underwater autonomous charging vehicles: UUV1 to UUV8, the battery capacity C0 carried by each UUV after being fully charged is set to 100kWh;

[0088] Underwater electrical equipment: Assume that there are 15 underwater electrical equipment in the current area, which are named Um (m=1, 2, ..., 15) respectively, and the charging power demand Cm of each device is different.

[0089] The specific charging process is as follows:

[0090] S301: First collect information about electrical equipment. EMC sends a query signal to the surrounding sea area through a long-wave hydroacoustic signal. After each underwater electrical equipment Um receives the signal, it returns its own charging power demand Cm and geographical location coordinates (xi, yi, zi) through a long-wave hydroacoustic signal.

[0091] S302: Calculation of the amount of electricity to be charged and division of regions. EMC calculation obtains the total amount of electricity demand to be charged ∑Cm of all underwater electrical equipment in the region. Assuming that the amount of electricity demand to be charged of each underwater electrical equipment is: C1=15kWh, C2=20kWh, ..., C7=30kWh, then ∑Cm=15+20+...+30=285kWh. Since the total amount of electricity of the 8 UUVs is 8×100kWh=800kWh, the condition of ∑Cm≤N×C0 is satisfied.

[0092] S303: Select a charging mode. Since the total power of the eight UUVs is much greater than the total demand, and the number of UUVs is greater than the number of underwater electrical equipment (N>M), the one-to-one charging mode in step 101 is used for charging.

[0093] S304: Charging is executed. EMC assigns UUV1 to UUV7 to the corresponding underwater power equipment Um for charging according to the geographical location and power demand of the underwater power equipment. Each UUV swims to the corresponding underwater power equipment position according to the assigned task and starts wireless charging. For example, UUV1 charges 15kWh for the device with Um=1, UUV2 charges 20kWh for the device with Um=2, and so on. After all UUVs complete the charging task, they return to the mobile nuclear power platform mother body for power replenishment.

[0094] S305: Special situation handling, insufficient power handling: Assuming that during the charging process, the power of a certain UUV (such as UUV5) is insufficient to meet the charging needs of its assigned underwater electrical equipment (such as Um=5), at this time, EMC can dispatch other UUVs with sufficient power (such as UUV6) to assist in charging to ensure that all underwater electrical equipment can be fully charged; Return situation: During the charging process, if the current remaining power of any UUV is lower than the set threshold (such as 5kWh+k×diy, where k is the proportion coefficient of power consumed per unit distance of UUV underwater navigation, and diy is the distance from UUV to the mobile nuclear-powered platform mother body), it will immediately return to replenish power.

[0095] The marine wireless power supply system powered by a mobile nuclear-powered platform and the regionalized collaborative supply control method of the present invention have been effectively verified. The system can flexibly dispatch UUVs for charging according to the power demand and geographical location of underwater power equipment, thereby minimizing the charging time and improving the charging efficiency. At the same time, the system is also highly economical and practical, providing strong technical support and guarantee for the development and utilization of marine resources.

[0096] The steps in this application can be adjusted in order, combined, and deleted according to actual needs.

[0097] The units in the device of the present application can be combined, divided and deleted according to actual needs.

[0098] Although the present application is disclosed in detail with reference to the accompanying drawings, it should be understood that these descriptions are merely exemplary and are not intended to limit the application of the present application. The scope of protection of the present application is defined by the appended claims and may include various modifications, alterations and equivalents made to the invention without departing from the scope and spirit of the present application.

Claims

1. A regional collaborative supply control method for nuclear power platform energy supply, characterized in that: The method includes: The EMC inside the mobile nuclear-powered platform is used to obtain the total amount of electricity to be charged of all underwater electrical equipment ∑Cm, and the mobile nuclear-powered platform is controlled to move to the top of the area where the electrical equipment is located, wherein an underwater autonomous charging vehicle is arranged on the mobile nuclear-powered platform; The total amount of electricity to be charged ∑Cm is compared with the total amount of electricity N×C0 of all autonomous charging vehicles. When ∑Cm≤N×C0, Cm is the amount of electricity to be charged of the mth power-consuming device, C0 is the full charge of a single underwater autonomous charging vehicle, and N is the number of autonomous charging vehicles. The number of autonomous charging vehicles to be dispatched is determined according to ∑Cm and the number of power-consuming devices, and the autonomous charging vehicles are controlled to charge the power-consuming devices. Specifically, the steps include: Step 101, determine whether all power-consuming devices meet the conditions of C0 ≥ Cm and N ≥ M. If so, dispatch the same number of autonomous charging vehicles as the number of power-consuming devices to complete the charging task. If not, execute step 102, where M is the number of power-consuming devices. Step 102, dispatching S autonomous charging vehicles, where S×C0≥∑Cm and (S-1)×C0<∑Cm, when S>M, controlling the S autonomous charging vehicles to charge the power-consuming equipment collaboratively, and when S≤M, executing step 103; Step 103: Divide the electrical equipment into Group, where To round up, use S autonomous charging vehicles to charge each group of electrical equipment in turn, and after all the electrical equipment in each group has been charged, control the autonomous charging vehicle to return to the mobile nuclear power platform mother body; When ∑Cm>N×C0, the electrical equipment is divided into areas according to N×C0, so that N×C0 is greater than or equal to the total amount of electricity to be charged of the electrical equipment in a single sub-area, and then N autonomous charging vehicles are used to charge the electrical equipment in each sub-area in turn. After charging the electrical equipment in a sub-area, the vehicle returns to the mobile nuclear-powered platform mother body for replenishment.

2. The regional coordinated supply control method for nuclear power platform energy supply according to claim 1, characterized in that: The method further comprises: A three-dimensional coordinate system is established with the sea level as the xy plane and the vertical direction as the z axis. The EMC sends a long-wave hydroacoustic query signal to the sea water. After receiving the hydroacoustic query signal, each underwater electrical device sends its own power to be charged and coordinate position to the outside through the long-wave hydroacoustic signal. The EMC receives the long-wave hydroacoustic signal returned by each underwater electrical device and obtains the power to be charged Cm and coordinate position (x i ,y i , z i ), i∈{1,…,M}, EMC calculates ∑Cm based on Cm, and calculates the arithmetic mean coordinate point (x0, y0, z0) according to the coordinate positions of each underwater electrical equipment. EMC controls the propulsion motor to push the mobile nuclear power platform mother body and move it to the coordinate point (x0, y0, 0), where 0 is the coordinate value in the z-axis direction of the sea level.

3. The regional coordinated supply control method for nuclear power platform energy supply according to claim 1, characterized in that: The step 101 specifically includes: When the amount of electricity to be charged and the number of all electrical equipment meet the conditions of C0≥Cm and N≥M, the EMC determines the number of underwater autonomous charging vehicles to be dispatched according to the number of electrical equipment, sets the number of underwater autonomous charging vehicles to be dispatched to M, and controls the mobile nuclear-powered platform mother body to dispatch M autonomous charging vehicles to perform one-to-one charging for all electrical equipment; EMC randomly matches the coordinate positions of M underwater autonomous charging vehicles with M underwater electrical equipment, and controls the M underwater autonomous charging vehicles to move to the corresponding coordinate positions to charge the M underwater electrical equipment. After a single underwater autonomous charging vehicle completes charging, it returns to the corresponding UUV recovery device in the mobile nuclear-powered platform mother body to replenish power.

4. The regional coordinated supply control method for nuclear power platform energy supply according to claim 1, characterized in that: The step 102 controls each underwater autonomous charging vehicle to collaboratively charge the underwater electrical equipment, specifically including: EMC randomly selects M underwater autonomous charging vehicles and randomly matches the coordinate positions of M underwater electrical equipment, and controls the M underwater autonomous charging vehicles to move to the corresponding coordinate positions for one-to-one charging. When underwater electrical equipment that has not been fully charged appears, the currently idle underwater autonomous charging vehicle with power is selected to supplement the underwater electrical equipment that has not been fully charged until the M underwater electrical equipment is fully charged. Among them, when selecting the currently idle underwater autonomous charging vehicle with power, it is selected in order from large to small according to the power carried.

5. The regional coordinated supply control method for nuclear power platform energy supply according to claim 1, characterized in that: In step 103, the electrical equipment is divided into Groups, including: EMC arranges the electrical equipment in the order of the x value in the coordinate from small to large, and divides the arranged electrical equipment into E groups. And sort the underwater electrical equipment in group E from small to large according to the x value, where the number of electrical equipment in the last group is less than or equal to S, and the number of electrical equipment in the remaining groups is S.

6. The regional coordinated supply control method for nuclear power platform energy supply according to claim 1, characterized in that: The step 103 sequentially charges each group of underwater electrical equipment, specifically including: EMC controls S autonomous charging vehicles to charge each group of electrical equipment in turn. After all the electrical equipment in a single group has been charged, the next group of electrical equipment will be charged. For the electrical equipment in each group, EMC randomly matches the coordinate positions of the S autonomous charging vehicles with the S electrical equipment, and controls the S autonomous charging vehicles to move to the corresponding coordinate positions for one-to-one charging. When there are electrical equipment that has not been fully charged, EMC selects an autonomous charging vehicle that is currently idle and has power to charge the electrical equipment that has not been fully charged. When selecting an autonomous charging vehicle that is currently idle and has power, it is selected in order from large to small according to the power it carries, until all S electrical equipment are fully charged.

7. The regional coordinated supply control method for nuclear power platform energy supply according to claim 1, characterized in that: The regional division of electrical equipment according to N×C0 specifically includes: EMC arranges the underwater electrical equipment in the order of the x value in the coordinate from small to large, and divides the arranged electrical equipment into G sub-areas. And sort the G sub-areas according to the x value from small to large, where the number of electrical equipment in the last sub-area is less than or equal to Y, and the number of underwater electrical equipment in each of the remaining sub-areas is Y, and the size of Y meets the condition: and 8. The regional coordinated supply control method for nuclear power platform energy supply according to claim 1, characterized in that: The method of using N autonomous charging aircraft to charge the electrical equipment in each sub-area in turn specifically includes the following steps: Step 201, determine whether all the power-consuming devices in the current sub-area meet the conditions of C0≥Cm and N≥Y. If so, dispatch autonomous charging vehicles with the same number of power-consuming devices as the current sub-area to complete the charging task. If not, execute step 2, where Y is the number of power-consuming devices in the sub-area. Step 202, dispatching G autonomous charging vehicles, where G×C0≥∑Cm and (G-1)×C0<∑Cm, when G>Y, controlling the G autonomous charging vehicles to collaboratively charge the electrical equipment in the current sub-area, and when G≤Y, executing step 203; Step 203: divide the current sub-area electrical equipment into Group, where To round up, G autonomous charging vehicles are used to charge each group of electrical equipment in turn. After all groups of electrical equipment are fully charged, the autonomous charging vehicles are controlled to return to the mobile nuclear power platform mother body to replenish electricity. Step 204, after the power replenishment is completed, continue to control the autonomous charging vehicle to collaboratively charge the power-consuming equipment in the next sub-area according to the method of steps 201 to 203, and end when the power-consuming equipment in all sub-areas has been fully charged.

9. The regional coordinated supply control method for nuclear power platform energy supply according to claim 1, characterized in that: The method further comprises: A power threshold F is set in EMC, where F = k × diy + C0 / 20, k is the proportional coefficient of the power consumed by the underwater autonomous charging vehicle per unit distance of underwater navigation, diy is the distance between the underwater autonomous charging vehicle and the mobile nuclear-powered platform mother body, and EMC monitors the power of all underwater autonomous charging vehicles in real time. When the remaining power Cr of a single underwater autonomous charging vehicle is ≤ k × diy + C0 / 20, EMC controls the underwater autonomous charging vehicle to return to the UUV recovery device of the mobile nuclear-powered platform mother body for power replenishment.

10. An electric energy supply system for executing the regional coordinated supply control method for nuclear power platform energy supply according to any one of claims 1 to 9, characterized in that: The system includes a mobile nuclear-powered platform mother body and an underwater autonomous charging vehicle UUV; The mobile nuclear-powered platform mother body is the carrier of the underwater autonomous charging vehicle, and UUV recovery devices are arranged on both sides thereof. The UUV recovery devices correspond to the autonomous charging vehicles one by one and are used to install and charge the autonomous charging vehicles. The autonomous charging vehicles are used to charge underwater electrical equipment; A nuclear power generator, lithium battery, propulsion motor and EMC are also installed inside the mobile nuclear power platform mother body. The nuclear power generator is used to supply power to the entire mobile nuclear power platform mother body and the autonomous charging vehicle. The lithium battery is used to store energy and provide backup power for the mobile nuclear power platform mother body. The propulsion motor is used to push the mobile nuclear power platform mother body to a specific position according to the instructions of the EMC. The EMC is responsible for managing and scheduling the energy needs of the entire system, as well as controlling the underwater autonomous charging vehicle to charge the electrical equipment according to its charging needs.

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