Refueling method, refueling device, electronic device, readable storage medium and chip

Abstract

The present invention provides a refueling method, a refueling device, an electronic device, a readable storage medium and a chip, wherein the refueling method is used for an unmanned boat refueling system, the refueling system comprises an unmanned boat and a supply ship, the unmanned boat is provided with a first launching assembly and a refueling head, the supply ship comprises an oil pipeline and a refueling probe connected to one end of the oil pipeline, the refueling method comprises: in response to a launch instruction of the supply ship, determining the relative position information between the unmanned boat and the supply ship; collecting at least one environmental parameter and a motion parameter through a sensor; determining a first launch parameter of the first launching assembly according to the environmental parameter, the motion parameter and the relative position information; controlling the first launching assembly to launch a probe traction cable toward the supply ship; in response to a first cable retraction instruction of the supply ship, retracting the probe traction cable to connect the refueling probe with the refueling head; and transporting the oil in the supply ship to the unmanned boat through the oil pipeline via the refueling probe.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boats, and in particular to a refueling method, a refueling device, an electronic device, a readable storage medium and a chip. Background Art

[0002] With the rapid development and widespread application of unmanned boat technology, unmanned boats are becoming more and more common at sea. The power of unmanned boats is mainly achieved by consuming oil. Therefore, the replenishment of fuel for unmanned boats has become an inevitable problem. In the existing technical solutions, the refueling of unmanned boats at sea is achieved by having the unmanned boats return to the mother ship for manual refueling, or by refueling unmanned boats to unmanned boats or unmanned aerial vehicles to unmanned boats. However, no matter which of the above methods is used for refueling, special unmanned aerial vehicles, unmanned boats and mother ships are required for refueling. In the entire refueling process, there is a waste of refueling trips, the cost of refueling is high, and the cost performance is low. Summary of the invention

[0003] In view of this, the present invention aims to solve the problem of high refueling cost of unmanned boats.

[0004] Specifically, the present invention is achieved through the following technical solutions:

[0005] A first aspect of the present invention provides a refueling method for an unmanned boat.

[0006] A second aspect of the present invention provides a refueling device for an unmanned boat.

[0007] A third aspect of the present invention provides an electronic device.

[0008] A fourth aspect of the present invention provides a readable storage medium.

[0009] A fifth aspect of the present invention provides a chip.

[0010] The refueling method for an unmanned boat provided by the present invention is used in an unmanned boat refueling system, comprising an unmanned boat and a supply ship, wherein the unmanned boat is provided with a first launching assembly and a refueling head, and the supply ship comprises an oil pipeline and a refueling probe connected to one end of the oil pipeline, and the refueling method comprises: determining the relative position information between the unmanned boat and the supply ship in response to a launching instruction of the supply ship; collecting at least one environmental parameter and a motion parameter through a sensor; determining a first launching parameter of the first launching assembly according to the environmental parameter, the motion parameter and the relative position information; controlling the first launching assembly to launch a probe traction rope toward the supply ship according to the first launching parameter, the probe traction rope being used to connect the refueling probe of the supply ship; in response to a first cable retraction instruction of the supply ship, retracting the probe traction rope to connect the refueling probe with the refueling head; and transporting the oil in the supply ship to the unmanned boat through the oil pipeline via the refueling probe.

[0011] In some technical solutions, optionally, a second launching component and a locking device are provided on the unmanned boat. Before determining the first launching parameters of the first launching component according to the environmental parameters, motion parameters and relative position information, it also includes: determining the second launching parameters of the second launching component according to the environmental parameters, motion parameters and relative position information; according to the second launching parameters, controlling the second launching component to launch a guide rope toward the supply ship, the guide rope is used to connect the cross rope of the supply ship; in response to the second cable-retracting instruction of the supply ship, retracting the guide rope to fix part of the cross rope to the unmanned boat through the locking device.

[0012] In some technical schemes, optionally, the second transmission parameters of the second transmitting component are determined based on the environmental parameters, motion parameters and relative position information, specifically including: determining the adjusted position information corresponding to the relative position information based on the motion parameters and the environmental parameters; determining the first motion information of the second transmitting component based on the motion parameters and the adjusted position information; and determining the second transmission parameters of the second transmitting component based on the first motion information.

[0013] In some technical solutions, optionally, before responding to the launch instruction of the supply ship and determining the relative position information between the unmanned boat and the supply ship, it also includes: obtaining the preparation instruction of the supply ship; collecting the second motion information of the supply ship according to the preparation instruction; controlling the unmanned boat to move until the supply ship is within the refueling range of the unmanned boat according to the second motion information; and determining the relative position information between the unmanned boat and the supply ship.

[0014] In some technical solutions, optionally, a signal light is provided on the unmanned boat, which responds to the first cable-retracting command from the supply ship and retracts the probe traction rope to connect the oil supply probe with the oil receiving head, specifically including: responding to the first cable-retracting command issued by the supply ship, controlling the probe traction rope and the oil supply probe connected to the probe traction rope to be retracted until the oil supply probe is docked with the oil receiving head; determining the docking status of the oil supply probe and the oil receiving head through a visual camera; and when the docking status is a connected state, controlling the signal light to display light information corresponding to the connected state.

[0015] In some technical solutions, optionally, the oil in the supply ship is transported to the unmanned boat through the oil pipeline via the oil supply probe, specifically including: in response to the communication signal between the oil supply probe and the oil receiving head, the oil in the supply ship is transported to the oil tank of the unmanned boat through the oil pipeline; the oil amount information in the oil tank is determined by the oil level sensor in the oil tank; when the oil amount reaches the oil amount threshold, the supply ship is controlled to stop oil delivery.

[0016] In some technical solutions, optionally, when the oil level reaches an oil level threshold, the supply ship is controlled to stop oil transportation, specifically including: when the oil level reaches the oil level threshold, in response to a separation command issued by the supply ship, the supply ship is controlled to stop oil transportation; and the oil supply probe is controlled to separate from the oil receiving head.

[0017] In some technical solutions, optionally, an oil receiving box is provided at the bottom of the oil tank; the oil in the supply ship is transported to the unmanned boat through the oil supply probe via the oil pipeline, and also includes: determining the oil leakage information corresponding to the oil tank through the oil leakage sensor in the oil receiving box; and sending the oil leakage information to the control terminal corresponding to the unmanned boat.

[0018] The second aspect of the present invention provides a refueling device for an unmanned boat, which is used for an unmanned boat. The refueling device is used for an unmanned boat refueling system. The refueling system includes an unmanned boat and a supply ship. The unmanned boat is provided with a first launch assembly and a refueling head. The supply ship includes an oil pipeline and a refueling probe connected to one end of the oil pipeline. The refueling device includes: a measuring and guiding device: used to respond to the launch instruction of the supply ship and determine the relative position information between the unmanned boat and the supply ship; a collecting device: used to collect at least one environmental parameter and motion parameter through a sensor; a sighting device: used to determine the first launch parameter of the first launch assembly according to the environmental parameter, the motion parameter and the relative position information; a launching device: used to control the first launch assembly to launch a probe traction rope toward the supply ship according to the first launch parameter, and the probe traction rope is used to connect the refueling probe of the supply ship; a winch device: used to respond to the first cable retraction instruction of the supply ship, retract the probe traction rope to connect the refueling probe with the refueling head; a receiving device: used to transport the oil in the supply ship to the unmanned boat through the refueling probe through the oil pipeline. The refueling device implements the steps of the refueling method of the first aspect of the present invention.

[0019] The third aspect of the present invention provides an electronic device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor, which implements the steps of the refueling method of the first aspect of the present invention when executed by the processor.

[0020] A fourth aspect of the present invention provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the refueling method of the first aspect of the present invention are implemented.

[0021] A fifth aspect of the present invention provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the steps of the refueling method of the first aspect of the present invention.

[0022] The technical solution provided by the present invention brings at least the following beneficial effects:

[0023] The present invention proposes a refueling method for an unmanned boat. By improving the existing lateral supply method, a refueling device is used to construct an oil transfer channel with a supply ship to complete the refueling of the unmanned boat. The method is suitable for supply ships of civilian ships or military ships at sea to refuel unmanned boats at sea, which expands the selection types of supply ships. Supply ships can be selected nearby to supply refuel to unmanned boats, which reduces the cost of refueling and improves the cost-effectiveness and reliability of refueling. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0026] Figure 1 A schematic diagram of a flow chart of a refueling method for an unmanned boat provided in an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of a flow chart of a refueling method for an unmanned boat provided in an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of a flow chart of a refueling method for an unmanned boat provided in an embodiment of the present invention;

[0029] Figure 4 A schematic diagram of a flow chart of a refueling method for an unmanned boat provided in an embodiment of the present invention;

[0030] Figure 5 A schematic diagram of a flow chart of a refueling method for an unmanned boat provided in an embodiment of the present invention;

[0031] Figure 6 A schematic diagram of a flow chart of a refueling method for an unmanned boat provided in an embodiment of the present invention;

[0032] Figure 7 A schematic diagram of a flow chart of a refueling method for an unmanned boat provided in an embodiment of the present invention;

[0033] Figure 8 A schematic diagram of a flow chart of a refueling method for an unmanned boat provided in an embodiment of the present invention;

[0034] Fig. 9 A schematic diagram of the structure of a refueling device provided in an embodiment of the present invention;

[0035] Fig.10 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0036] Fig.11 A flow chart of the unmanned launch and docking phase provided by an embodiment of the present invention;

[0037] Fig.12 A flow chart of the unmanned refueling and cable release phase provided by an embodiment of the present invention;

[0038] Fig.13 A schematic diagram of the structure of an unmanned boat provided by an embodiment of the present invention;

[0039] Fig.14 A schematic structural diagram of a supply ship provided in an embodiment of the present invention.

[0040] in, Fig. 9 , Fig.10 , Fig.13 and Fig.14 The corresponding relationship between the component names and numbers in is as follows:

[0041] 200 refueling device, 201 measuring and guiding device, 202 collecting device, 203 aiming device, 204 launching device, 205 winch device, 206 receiving device, 300 electronic equipment, 302 processor, 304 memory, 400 unmanned boat, 401 first launching component, 402 oil receiving head, 403 second launching component, 404 locking device, 405 signal light, 406 fuel tank, 407 oil receiving box, 500 supply ship, 501 oil pipeline, 502 oil supply probe. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] See also Figure 1 In a first aspect, the present invention provides a refueling method for an unmanned boat, which is used in an unmanned boat refueling system, including an unmanned boat 400 and a supply ship 500, such as Fig.13 and Fig.14 The unmanned boat 400 is provided with a first launching assembly 401 and a refueling head 402, the supply ship 500 includes an oil pipeline 501 and a refueling probe 502 connected to one end of the oil pipeline 501, and the refueling method includes:

[0044] S102: In response to the launch command of the supply ship, determine the relative position information between the unmanned boat and the supply ship;

[0045] S104: Collect at least one environmental parameter and a motion parameter through a sensor;

[0046] S106: Determine a first launch parameter of the first launch component according to the environmental parameter, the motion parameter, and the relative position information;

[0047] S108: According to the first launch parameter, the first launch assembly is controlled to launch a probe traction rope toward the supply ship, where the probe traction rope is used to connect to the oil supply probe of the supply ship;

[0048] S110: In response to the first cable reeling instruction of the supply ship, retract the probe traction cable to connect the oil supply probe with the oil receiving head;

[0049] S112: The oil in the supply ship is transported to the unmanned boat through the oil pipeline via the oil supply probe.

[0050] The refueling method for an unmanned boat provided in this embodiment is used for a refueling system for an unmanned boat, which mainly includes an unmanned boat and a supply ship. The unmanned boat is provided with a first launching assembly and a refueling head. The supply ship includes an oil pipeline and a refueling probe connected to one end of the oil pipeline. First, a "launch" command is issued on the supply ship. The unmanned boat needs to receive the launch command according to a remote control receiver. Then, the relative position information with the supply ship is given in real time through the radar and visual measurement and guidance equipment on the unmanned boat, that is, information including the distance and direction of the supply ship. This helps to determine the relative position of the unmanned boat and the supply ship, facilitates the subsequent establishment of an oil channel between the unmanned boat and the supply ship, and makes full connection preparations for refueling the unmanned boat. After determining the relative position of the supply ship, at least one or more environmental parameters and motion parameters are collected through sensors to understand the surrounding environmental conditions and the motion conditions of the unmanned boat during the refueling process, so as to prepare for the subsequent aiming system to aim at the supply ship and establish an oil transfer channel with the supply ship. The environmental parameters include environmental information such as sea conditions, wind speed, and wave height, and the motion parameters include motion information such as the speed, attitude, and tilt angle of the unmanned boat itself. According to the environmental parameters, motion parameters, and relative position information with the supply ship collected by the unmanned boat, the control system solves and obtains the first launch parameter of the first launch component, that is, the launch information for adjusting the aiming is obtained. It can be understood that the environmental parameters, motion parameters, and relative position information with the supply ship are brought into the control system, and the pitch angle and azimuth angle of the launch device are adjusted after calculation to determine the aiming of the aiming system, which helps to improve the accuracy and success rate of the launch, and ensure that the launch probe traction cable can be accurately launched to the supply ship, thereby preparing for the next step of establishing an oil transfer channel with the supply ship. Furthermore, the first launch parameter obtained is automatically input into the control system, and the system controls the first launch component to launch the probe traction cable toward the supply ship, and the staff on the supply ship or the shore connect the probe traction cable and the oil supply probe, so that when the unmanned boat retracts the probe traction cable, it can bring back the oil supply probe. Subsequently, the supply ship issues a cable-retracting command to the unmanned boat, and the unmanned boat obtains the cable-retracting command, and completes the traction of the oil supply probe to the unmanned boat through the newly added winch, and finally realizes the docking of the oil supply probe and the oil receiving head. It should be added that one end of the oil supply probe is docked with the oil receiving head, and the other end is used to connect the oil pipeline. In this way, an oil supply channel is established between the unmanned boat and the supply ship, and preparations are made for the next step of refueling. Finally, the oil in the supply ship is transported to the unmanned boat through the oil supply probe through the oil pipeline to realize the refueling of the unmanned boat.

[0051] It can be understood that the refueling method of the unmanned boat of the present application is to respond to the launch command of the supply ship, determine the position, direction and motion state of the supply ship by obtaining the relative position information of the unmanned boat and the supply ship, and then collect one or more environmental parameters and motion parameters through sensors, including the sea conditions, wind speed, speed and attitude around the unmanned boat, and solve them through the control system to adjust the pitch angle and azimuth of the aiming system to improve the accuracy of the unmanned boat launching at the supply ship. Subsequently, the probe traction cable is sent out through the aiming system and the first launching component, and then the staff on the supply ship connects the probe traction cable with the oil supply probe, and issues the first cable retraction command to the unmanned boat. The unmanned boat retracts the probe traction cable and the oil supply probe by setting up a new winch, and docks the oil supply probe with the oil receiving head on the unmanned boat, wherein one end of the oil supply probe is connected to the oil pipeline, that is, one end of the oil pipeline is on the supply ship, and the other end is connected to the unmanned boat through the oil supply probe and the oil receiving head, and finally, the oil pipeline is established to realize the refueling of the unmanned boat.

[0052] Simply put, the present invention is an improvement on the existing lateral supply method, which flexibly integrates the unmanned autonomous control on the unmanned boat into the existing supply system. It is suitable for supply ships of civilian ships and military ships at sea to refuel the unmanned boats at sea. By using this design method, the selection types of supply ships are expanded, replacing the refueling method of using special drones and unmanned boats in the existing solution. Supply ships can be selected nearby to supply refuel to the unmanned boats, which reduces the cost of refueling, improves the cost-effectiveness and reliability of refueling, brings more opportunities to the maritime field, and enables unmanned boats to cope with different sea conditions and mission requirements.

[0053] In some embodiments, optionally, Fig.13 As shown, the unmanned boat 400 is provided with a second launching assembly 403 and a locking device 404. Figure 2 As shown, before determining the first launch parameter of the first launch component according to the environmental parameter, the motion parameter and the relative position information, it also includes:

[0054] S1052: Determine a second launch parameter of the second launch component according to the environmental parameter, the motion parameter, and the relative position information;

[0055] S1054: According to the second launching parameter, the second launching assembly is controlled to launch a guide rope toward the supply ship, where the guide rope is used to connect the span rope of the supply ship;

[0056] S1056: In response to the second cable-retracting instruction from the supply ship, the guide rope is retracted to fix part of the cross-rope to the unmanned boat through a locking device.

[0057] In this embodiment, a second launching component and a locking device are provided on the unmanned boat. Specifically, before determining the first launching parameters of the first launching component according to the environmental parameters, motion parameters and relative position information, the environmental parameters and motion parameters of the unmanned boat and the relative position information between the unmanned boat and the supply ship, including distance information and direction information, are first obtained through sensors and measurement and guidance equipment. The environmental parameters, motion parameters and relative position information are brought into the unmanned boat control system to calculate and determine the second launching information of the second launching component. By obtaining the above parameters, the pitch angle and azimuth angle of the second launching component are determined to improve the accuracy of launching to the supply ship. Accuracy and success rate, at the same time, the working cylinder and control cylinder in the launcher begin to inflate. Further, the unmanned boat control system controls the second launching component to launch a guide rope to the supply ship through the setting of the second launching parameter, so as to establish a connection between the supply ship and the unmanned boat. The guide rope is used to connect the cross-cable on the supply ship. After the supply ship receives the guide rope, the staff on the supply ship connects the guide rope with the cross-cable, and then the supply ship gives the unmanned boat remote control receiver a "cable retraction" command, the winch on the unmanned boat retracts the guide rope, and then the cross-cable locking mechanism automatically locks the cross-cable, which helps to make the connection between the supply ship and the unmanned boat more stable and improve the reliability and safety of the oil transportation channel.

[0058] In short, the unmanned boat adjusts the launch angle and direction of the guide rope to the supply ship through environmental parameters, motion parameters and relative position information with the supply ship. After the supply ship receives the launched guide rope, the staff connects the guide rope with the cross-rope, and the unmanned boat retracts the guide rope so that the cross-rope is automatically locked to the cross-rope mechanism on the unmanned boat. This connection method helps to establish a connection channel between the supply ship and the unmanned boat, strengthens the connection between the two, and improves the stability and reliability of the refueling process.

[0059] In a specific embodiment, Fig.11 As shown, before determining the first launch parameter of the first launch assembly, the unmanned boat first obtains the launch command issued by the supply ship, and the radar and visual measurement and guidance equipment on the unmanned boat give the distance and azimuth information from the supply ship in real time. Then the launcher cylinder of the unmanned boat begins to inflate, including the working cylinder and the control cylinder. At the same time, the gyroscope on the unmanned boat feeds back the offset angle of the launch platform according to the collected offset data of the unmanned boat itself, and adjusts the horizontal stability of the launch platform through its stabilization device. The sea conditions, wind speed, speed, unmanned boat attitude and other parameters provided by the sensors on the unmanned boat and the distance and azimuth information of the radar and visual measurement and guidance equipment are solved by the control system to adjust the pitch angle and azimuth of the launcher. When the launch time is calculated by the control system, the launcher is triggered to launch the guide rope. After the guide rope is sent to the supply ship, the staff of the supply ship connects the guide rope with the cross rope, and then the supply ship issues a "cable collection" command to the unmanned boat, and the unmanned boat winch retracts the guide rope and the load rope, and then the cross rope locking mechanism locks the load rope, and finally the winch stops.

[0060] like Figure 3 As shown, in some embodiments, optionally, determining the second launch parameter of the second launch component according to the environmental parameter, the motion parameter and the relative position information specifically includes:

[0061] S10522: Determine adjustment position information corresponding to the relative position information according to the motion parameters and the environment parameters;

[0062] S10524: Determine first motion information of the second transmitting component according to the motion parameter and the adjusted position information;

[0063] S10526: Determine a second transmitting parameter of the second transmitting component according to the first motion information.

[0064] In this embodiment, the adjustment position information corresponding to the relative position information is determined according to the motion parameters and the environmental parameters. Specifically, the motion parameters include speed parameters and attitude parameters, and the environmental parameters include sea condition parameters and wind speed parameters. The adjustment position information of the launch platform on the unmanned boat is determined by the above parameters and the relative position information with the supply ship. It can be understood that the unmanned boat will cause the launch platform to move under the influence of the environment and its own navigation, so there is instability. By collecting the above parameters, the self-aiming system can be used to determine the adjustment position information of the launch platform when it is adjusted to a stable state. The first motion information of the second launch component is determined according to the motion parameters and the adjustment position information, that is, the stability of the second launch component before the launch guide rope is guaranteed by the determined first motion information, and the launch deviation is prevented because the unmanned boat is under the influence of the movement or the surrounding environment. Finally, the second launch parameter of the second launch component is determined according to the first motion information, that is, the pitch angle and azimuth angle of the second launch component are adjusted to ensure the accuracy of the launch.

[0065] like Figure 4 As shown, in some embodiments, optionally, before responding to the launch instruction of the supply ship and determining the relative position information between the unmanned boat and the supply ship, the method further includes:

[0066] S1012: Get the supply ship's preparation instructions;

[0067] S1014: collecting the second movement information of the supply ship according to the preparation instruction;

[0068] S1016: According to the second motion information, the unmanned boat is controlled to move until the supply ship is within the refueling range of the unmanned boat;

[0069] S1018: Determine the relative position information between the unmanned boat and the supply ship.

[0070] In this embodiment, the preparation instruction of the supply ship is first obtained, and the supply ship maintains a low speed and a stable direction to facilitate the establishment of an oil supply channel with the unmanned boat. Then, the unmanned boat collects the second motion information of the supply ship according to the preparation instruction and through radar and visual measurement guidance equipment, where the second motion information includes the motion direction and motion speed, so as to establish a stable connection between the unmanned boat and the supply ship. Then, according to the collected second motion information, the unmanned boat is controlled to move toward the supply ship until it moves into the oil receiving range of the unmanned boat, in preparation for the subsequent establishment of the oil transfer channel. Finally, the relative position information between the unmanned boat and the supply ship is determined, that is, the unmanned boat and the supply ship are kept at the same speed and parallel at a fixed distance, so that the two ships remain relatively still.

[0071] In short, the above method can enable the unmanned boat and the supply ship to establish communication quickly and accurately, and by keeping the two boats relatively still, the stability of the communication between the two can be ensured, thus preparing for the subsequent establishment of an oil pipeline.

[0072] like Fig.13 As shown, in some embodiments, optionally, a signal light 405 is provided on the unmanned boat 400. Figure 5 As shown, in response to the first cable reeling instruction of the supply ship, the probe traction cable is retracted to connect the oil supply probe with the oil receiving head, which specifically includes:

[0073] S1102: In response to the first cable retracting instruction issued by the supply ship, the probe traction cable and the oil supply probe connected to the probe traction cable are controlled to be retracted until the oil supply probe is docked with the oil receiving head;

[0074] S1104: Determine the docking status of the oil supply probe and the oil receiving head through a visual camera;

[0075] S1106: When the docking state is a connected state, control the signal light to display light information corresponding to the connected state.

[0076] In this embodiment, a signal light is provided on the unmanned boat to provide feedback on the connection between the oil receiving head and the oil supply probe on the unmanned boat. Specifically, first, the unmanned boat controls the probe traction rope and the oil supply probe connected to the probe traction rope to be retracted according to the first cable retraction instruction issued by the supply ship, until the oil supply probe is docked with the oil receiving head. Since one end of the oil supply probe is connected to an oil pipeline, an oil supply channel can be formed between the supply ship and the unmanned boat through the docking of the oil supply probe with the oil receiving head, so as to supply oil to the unmanned boat. Then, the docking and separation of the oil supply probe and the oil receiving head are monitored by a visual detection camera, and then fed back to the signal light to provide a successful docking status. When the docking status is a connected state, the unmanned boat controls the signal light to display the light information corresponding to the connected state. Similarly, when the docking status is a disconnected state, the unmanned boat controls the signal light to display the light information corresponding to the disconnected state.

[0077] By detecting the docking status of the oil supply probe and the oil receiving head and using signal lights to feedback information, the operator can better understand the connection status of the oil transfer channel between the unmanned boat and the supply ship, thereby providing the operator with information on whether oil can be supplied, which can effectively improve the reliability and success rate of refueling and improve refueling efficiency.

[0078] It should be added that the light information of the signal light can be diverse. For example, different colors or flashing times can be set to distinguish the signal light to give different corresponding signals.

[0079] like Figure 6 As shown, in some embodiments, optionally, the oil in the supply ship is transported to the unmanned boat through the oil supply probe via an oil pipeline, specifically including:

[0080] S1122: In response to the communication signal between the oil supply probe and the oil receiving head, the oil in the supply ship is transported to the oil tank of the unmanned boat through the oil pipeline;

[0081] S1124: determining the amount of oil in the oil tank through an oil level sensor in the oil tank;

[0082] S1126: When the oil level reaches the oil level threshold, control the supply ship to stop oil transportation.

[0083] In this embodiment, the refueling system of the supply ship is started by obtaining the connection signal between the refueling probe and the refueling head, that is, once the connection is firm, the automatic refueling system on the refueling ship is started, and the oil in the supply ship is transmitted to the fuel tank of the unmanned boat by means of the oil pipeline, wherein the oil pipeline can be a hose or other connecting equipment, and then the oil level sensor in the fuel tank detects the oil quantity information in the fuel tank to determine the amount of refueling in the fuel tank. In addition, the flow rate and flow rate of refueling in the mailbox can be monitored by a monitoring device to ensure the accuracy and safety of the transmission. At the same time, an oil quantity threshold is set for the detection device in the fuel tank, that is, when the oil quantity in the fuel tank reaches the oil quantity threshold, the unmanned boat releases a signal to the supply ship through the signal light display to control the supply ship to stop refueling. On the contrary, when the oil quantity in the fuel tank does not reach the oil quantity threshold, the unmanned boat does not release a signal to the supply ship, and the supply ship continues to refuel the unmanned boat until the oil quantity in the fuel tank reaches the oil quantity threshold.

[0084] like Figure 7 As shown, in some embodiments, optionally, when the oil volume reaches the oil volume threshold, controlling the supply ship to stop oil delivery specifically includes:

[0085] S11262: When the oil volume reaches the oil volume threshold, in response to a separation instruction issued by the supply ship, control the supply ship to stop oil transportation;

[0086] S11264: Control the oil supply probe to separate from the oil receiving head.

[0087] In this embodiment, when the oil level in the fuel tank reaches the oil level threshold, the unmanned boat responds to the separation command issued by the supply ship, and the supply ship stops refueling the unmanned boat. Specifically, after the unmanned boat obtains the separation command from the supply ship, the oil supply probe and the oil receiving head are separated by the oil supply head unlocking mechanism, the unmanned boat gives a signal light display, and then controls the probe traction cable winch to release the cable, and the supply ship retracts the oil pipeline. Then the supply ship issues a cable release command, and the unmanned boat controls the cross-cable locking mechanism to release the cross-cable according to the cable release command of the supply ship, and then gives a signal of successful release through the signal light. The supply ship staff remotely controls the receiver to issue a cable release command, and the supply ship retracts the cross-cable and guide rope. Then the staff on the supply ship separates the guide rope and the cross-cable, and hangs the launching egg back on the guide rope. The supply ship issues a cable retraction command, and the unmanned boat automatically retracts the guide rope through the winch control, and gives a prompt through the signal light to end the refueling process.

[0088] like Fig.13 As shown, in some embodiments, optionally, an oil receiving box 407 is provided at the bottom of the oil tank 406; Figure 8 As shown, the oil in the supply ship is transported to the unmanned boat through the oil supply probe through the oil pipeline, and also includes:

[0089] S1128: determining the oil leakage information corresponding to the oil tank through the oil leakage sensor in the oil receiving box;

[0090] S1129: Send the oil leakage information to the control terminal corresponding to the unmanned boat.

[0091] In this embodiment, an oil receiving box is provided at the bottom of the fuel tank to receive the oil leaked from the fuel tank, so as to detect whether the fuel tank is leaking. Specifically, the oil leakage information corresponding to the fuel tank is determined by the oil leakage sensor provided in the oil receiving box. That is, when oil flows from the fuel tank into the oil receiving box, the oil leakage sensor in the oil receiving box will detect the oil leakage information, and then give a prompt with a signal light, and send the oil leakage information to the control terminal of the unmanned boat, and then the control terminal transmits the oil leakage signal so that the oil leakage of the unmanned boat can be dealt with as soon as possible.

[0092] like Fig. 9As shown, the second aspect of the present invention provides a refueling device 200 for an unmanned boat, which is used for an unmanned boat 400. The refueling device 200 is used for a refueling system of the unmanned boat 400. The refueling system includes an unmanned boat 400 and a supply ship 500. The unmanned boat 400 is provided with a first launching assembly 401 and a refueling head 402. The supply ship 500 includes an oil pipeline 501 and an oil supply probe 502 connected to one end of the oil pipeline 501. The refueling device 200 includes: a measuring and guiding device 201: used to respond to a launching instruction of the supply ship and determine the relative position information of the unmanned boat and the supply ship; a collecting device 202: used to obtain the relative position information of the unmanned boat and the supply ship through The sensor collects at least one environmental parameter and motion parameter; the aiming device 203 is used to determine the first launch parameter of the first launch component according to the environmental parameter, the motion parameter and the relative position information; the launching device 204 is used to control the first launch component to launch the probe traction cable toward the supply ship according to the first launch parameter, and the probe traction cable is used to connect the oil supply probe of the supply ship; the winch device 205 is used to respond to the first cable reeling instruction of the supply ship, retract the probe traction cable to connect the oil supply probe with the oil receiving head; the receiving device 206 is used to transport the oil in the supply ship to the unmanned boat through the oil supply probe through the oil pipeline. The refueling device implements the steps of the refueling method of the first aspect of the present invention.

[0093] In this embodiment, the second aspect of the present invention provides a refueling device 200 for an unmanned boat, which is used for an unmanned boat 400. The refueling device 200 is used for a refueling system of the unmanned boat 400. The refueling system includes an unmanned boat 400 and a supply ship 500. The unmanned boat 400 is provided with a first launching assembly 401 and a refueling head 402. The supply ship 500 includes an oil pipeline 501 and an oil supply probe 502 connected to one end of the oil pipeline 501. The refueling device 200 includes: a measuring and guiding device 201, a collecting device 202, an aiming device 203, a launching device 204, a winch device 205 and a receiving device 206. Specifically, the measuring and guiding device 201 is used to determine the relative position information between the unmanned boat 400 and the supply ship 500 in response to the launch instruction of the supply ship 500; the collecting device 202 is used to collect at least one environmental parameter and motion parameter through a sensor; the aiming device 203 is used to determine the first launch parameter of the first launch component 401 according to the environmental parameter, the motion parameter and the relative position information; the launching device 204 is used to control the first launch component 401 to launch the probe traction rope toward the supply ship 500 according to the first launch parameter, and the probe traction rope is used to connect the oil supply probe 502 of the supply ship 500; the winch device 205 is used to respond to the first cable retracting instruction of the supply ship 500, retract the probe traction rope to connect the oil supply probe 502 with the oil receiving head 402; the receiving device 206 is used to transport the oil in the supply ship 500 to the unmanned boat 400 through the oil supply probe 502 through the oil pipeline 501.

[0094] In some embodiments, optionally, the refueling device is also used to: determine a second launch parameter of the second launch component based on environmental parameters, motion parameters and relative position information; control the second launch component to launch a guide rope toward the supply ship based on the second launch parameter, the guide rope being used to connect the cross rope of the supply ship; and in response to a second cable-retracting instruction from the supply ship, retract the guide rope to fix part of the cross rope to the unmanned boat through a locking device.

[0095] In some embodiments, optionally, the refueling device is also used to: determine the adjusted position information corresponding to the relative position information based on the motion parameters and the environmental parameters; determine the first motion information of the second launching component based on the motion parameters and the adjusted position information; and determine the second launching parameters of the second launching component based on the first motion information.

[0096] In some embodiments, optionally, the refueling device is also used to: obtain the preparation instruction of the supply ship; collect the second motion information of the supply ship according to the preparation instruction; control the unmanned boat to move until the supply ship is within the refueling range of the unmanned boat according to the second motion information; and determine the relative position information between the unmanned boat and the supply ship.

[0097] In some embodiments, optionally, the refueling device is also used to: respond to a first cable retraction command issued by the supply ship, control the probe traction rope and the oil supply probe connected to the probe traction rope to be retracted until the oil supply probe is docked with the oil receiving head; determine the docking status of the oil supply probe and the oil receiving head through a visual camera; and when the docking status is a connected state, control the signal light to display light information corresponding to the connected state.

[0098] In some embodiments, optionally, the refueling device is also used to: in response to a communication signal between the oil supply probe and the oil receiving head, transport the oil in the supply ship to the oil tank of the unmanned boat through the oil pipeline; determine the oil quantity information in the oil tank through the oil level sensor in the oil tank; when the oil quantity reaches the oil quantity threshold, control the supply ship to stop refueling.

[0099] In some embodiments, optionally, the refueling device is also used to: when the oil level reaches an oil level threshold, in response to a separation command issued by the supply ship, control the supply ship to stop oil delivery; and control the oil supply probe to separate from the oil receiving head.

[0100] In some embodiments, optionally, the refueling device is also used to: determine the oil leakage information corresponding to the oil tank through the oil leakage sensor in the oil receiving box; and send the oil leakage information to the control terminal corresponding to the unmanned boat.

[0101] Through the above-mentioned unmanned boat refueling device, the existing lateral supply method is improved, so that the unmanned boat refueling can be flexibly integrated into the existing supply system, increasing the reliability and safety of the unmanned boat liquid cargo supply. At the same time, it is suitable for supply ships of maritime civilian ships and military ships to refuel maritime unmanned boats, expanding the selection types of supply ships, and replacing the refueling method of using special drones and unmanned boats in the existing solution. Supply ships can be selected nearby to supply refuel to unmanned boats, reducing the cost of refueling, improving the cost-effectiveness and reliability of refueling, bringing more opportunities to the maritime field, and enabling unmanned boats to cope with different sea conditions and mission requirements.

[0102] like Fig.10 As shown, the third aspect of the present invention provides an electronic device 300, including a processor 302, a memory 304, and a program or instruction stored in the memory 304 and executable on the processor 302. When the program or instruction is executed by the processor 302, the steps of the refueling method of the first aspect of the present invention are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0103] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned electronic devices and non-electronic devices.

[0104] The fourth aspect of the present invention provides a readable storage medium, on which programs or instructions are stored. When the programs or instructions are executed by a processor, the steps of the refueling method of the first aspect of the present invention are implemented, and the same technical effects can be achieved. To avoid repetition, they will not be described here.

[0105] The methods may be implemented in a variety of different ways depending on the specific features and / or example applications. For example, the methods may be implemented by a combination of hardware, firmware, and / or software. For example, in a hardware implementation, the processor may be implemented in one or more application-specific integrated circuits, digital signal processors, digital signal processing devices, programmable logic devices, field programmable gate arrays, controllers, microcontrollers, microprocessors, electronic devices, other device units for performing the above functions, and / or combinations thereof.

[0106] A computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. A computer readable storage medium may be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above devices, but is not limited thereto. A non-exhaustive list of more specific examples of computer readable storage media includes: a portable computer floppy disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, a static random access memory, a portable optical disk read-only memory, a digital universal disk, a memory card, a floppy disk, an encoding mechanical device (such as a punched card or a groove with a raised structure having instructions recorded thereon), and any suitable combination of the above devices. The computer readable storage medium used herein should not be understood as a transmission signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium, or an electrical signal transmitted through a wire, etc.

[0107] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0108] The fifth aspect of the present invention provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the steps of the refueling method of the first aspect of the present invention, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0109] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0110] In a specific embodiment, Fig.11As shown, the launch and docking process of the unmanned boat at sea in this application is as follows: step S201: the supply ship issues a preparation command; step S202: the supply ship and the unmanned boat are about 55m apart, and the two boats maintain the same channel and run in parallel with a fixed distance; step S203: the supply ship issues a "launch command"; step S204: the unmanned boat receives the launch command issued by the supply ship; step S205: the radar and visual equipment work; step S206: determine the real-time distance and azimuth information between the unmanned boat and the supply ship and transmit it to the unmanned boat; step S207: the launcher cylinder starts to inflate; step S208: the working cylinder starts to inflate; step S209: the control cylinder starts to inflate; step S210: the gyroscope feeds back the platform angle; step S211: the stable platform is adjusted horizontally; step S212: the aiming system aims, including (pitch angle, azimuth angle); Step S213: Use the unmanned boat sensor to collect environmental parameters (including sea conditions, wind speed), speed, and unmanned boat posture; Step S214: The control system calculates the launch time; Step S215: The transmitter launches the guide rope; Step S216: The supply ship staff connects the guide rope to the cross cable; Step S217: The supply ship issues a cable collection instruction; Step S218: The unmanned boat winch retracts the guide rope and the load-bearing rope; Step S219: The cross-cable locking mechanism locks the load-bearing rope; Step S220: The winch stops working; Step S221: The signal light is displayed; Step S222: The supply ship's refueling pipe and refueling probe slide along the cross cable toward the unmanned boat's refueling cone; Step S223: Determine whether the docking is successful; Step S224: The judgment result is no, and the signal light is abnormal; Step S225: The judgment result is yes, and the signal light is displayed; Step S226: The docking is completed.

[0111] Specifically, the supply ship first issues a preparation command, and then the supply ship maintains a relatively slow speed and is about 55 meters away from the unmanned boat, and the two boats maintain the same channel and a fixed distance in parallel. The supply ship then issues a "launch" command, and the unmanned boat receives the launch signal issued by the supply ship. At this time, the unmanned boat uses radar and visual equipment to provide real-time distance and azimuth information between the supply ship and the unmanned boat, and transmits the collected data to the unmanned boat. The unmanned boat uses the distance and azimuth information between the supply ship and the supply ship to control the gyroscope feedback platform angle and stabilize the platform level adjustment to make the launch platform stable. At the same time, the launcher's gas cylinder begins to inflate, including the working cylinder and the control cylinder, in preparation for the subsequent launch of the launcher. Furthermore, the unmanned boat collects surrounding environmental parameters (including sea conditions, wind speed), speed, and unmanned boat attitude information through sensors, as well as distance and azimuth information collected by radar and visual equipment from the supply ship, and then determines the aiming of the aiming system by adjusting the level of the launch platform, including the adjustment of the pitch and azimuth angles of the aiming system. After that, the launch time is calculated according to the control system, and the guide rope on the launcher is launched. After the unmanned boat launches the guide rope to the supply ship, the supply ship staff connects the guide rope to the cross-rope, and then the supply ship issues a cable-collecting command. The unmanned boat responds to the cable-collecting command and controls the unmanned boat winch to retract the guide rope and the load-bearing rope connected to the guide rope, and uses the cross-rope locking mechanism to lock the load-bearing rope on the unmanned boat. After that, the winch stops working, and the signal light gives the information that the winch has stopped working. Then the supply ship's refueling pipe and the oil supply probe connected to the refueling pipe slide along the cross-rope to the refueling cone of the unmanned boat, and the detection equipment is used to determine the docking status of the oil supply probe and the refueling cone. If the determination result is yes, the signal light gives a prompt, indicating that the docking process is over. If the determination result is no, the signal light gives an abnormal prompt, and the oil supply probe is re-docked with the refueling cone.

[0112] In another specific embodiment, Fig.12 As shown, the application of the refueling and unlocking process of the unmanned boat at sea is as follows: step S301: start refueling; step S302: refueling status monitoring; step S303: determine whether it is full; step S304: signal light display; step S305: the unmanned boat is refueled; step S306: determine whether it is leaking; step S307: the signal light is abnormal; step S308: the supply ship issues a "separation command"; step S309: the oil supply head unlocking mechanism separates the oil supply head and the oil receiving cone; step S301: the oil supply head unlocking mechanism separates the oil supply head and the oil receiving cone; step S304: the signal light is displayed; step S305: the unmanned boat is refueled; step S306: determine whether it is leaking; step S307: the signal light is abnormal; step S308: the supply ship issues a "separation command"; step S309: the oil supply head unlocking mechanism separates the oil supply head and the oil receiving cone; step S309: the oil supply head unlocking mechanism separates the oil supply head and the oil receiving cone; step S309: the unmanned boat is refueled; step S301 ... 10: Signal light displays; Step S311: The supply ship retracts the refueling pipe; Step S312: The supply ship issues a "cable release" command; Step S313: The cross-cable locking mechanism releases the cross-cable; Step S314: Signal light displays; Step S315: The supply ship retracts the cross-cable and the guide rope; Step S316: The staff separates the guide rope from the cross-cable and hangs the launcher back on the guide rope; Step S317: The unmanned winch retracts the guide rope; Step S318: Signal light displays; Step S319: The refueling of the unmanned boat is completed.

[0113] Specifically, when the unmanned boat starts to refuel, the refueling status in the fuel tank of the unmanned boat is monitored in real time through the sensor to determine whether the fuel tank is full. When the fuel tank is full, a signal light is used to give a prompt, feedback information on the completion of refueling, and the next operation is performed. When the fuel tank is not full, the refueling status continues to be monitored. During the refueling process, the oil leakage sensor is also used to detect whether the fuel tank is leaking. If the judgment result is yes, it means that the fuel tank is leaking, the signal light is abnormally displayed, and the unmanned boat oil leakage information is fed back. If the judgment result is no, it means that the fuel tank is not leaking, and the refueling status continues to be monitored. After the refueling is completed, the unmanned boat issues a "separation" command. The unmanned boat responds to the separation command and uses the refueling head unlocking mechanism to separate the refueling head from the refueling cone. The signal light shows a signal of successful separation, and then the supply ship retracts the refueling pipe. Further, the supply ship issues a "cable release" command to the unmanned boat. The unmanned boat controls the cross-cable mechanism to release the cross-cable according to the received cable release command, and gives a prompt through the signal light, indicating that the cross-cable is successfully released. Then the supply ship retracts the cross-cable and guide rope according to the signal given by the signal light, and then the staff on the supply ship separates the guide rope from the cross-cable and hangs the launcher back on the guide rope. Then a recovery command is issued to the unmanned boat. The unmanned boat retracts the guide rope through the winch, and then a signal light shows that the guide rope has been recovered, and finally the refueling of the unmanned boat ends.

[0114] In a specific embodiment, the present application provides an unmanned boat offshore refueling device, which specifically relates to the field of unmanned boats. With the widespread application of unmanned boat technology in many fields, unmanned boat technology has also developed accordingly. The unmanned boat offshore autonomous refueling device involves multiple technical fields and backgrounds to ensure the successful execution and safety of autonomous refueling tasks. The following are the main aspects of these technical backgrounds:

[0115] Autonomous navigation technology: Unmanned boats need to have advanced autonomous navigation and path planning capabilities to perform autonomous operations at sea, including identifying the location of fuel supply equipment, calculating the best path, avoiding obstacles and ensuring precise docking.

[0116] Sensing technology: Use various sensors such as lidar, visual recognition cameras, GPS, inertial navigation systems, etc. to perceive the environment, fuel supply equipment and mission progress to support navigation and safety decision-making.

[0117] Communication technology: Establish a reliable communication link to achieve real-time data transmission and remote control between the unmanned boat and the remote operation center. This may include satellite communication, wireless network or other communication protocols.

[0118] Control Systems and Autonomous Docking Technology: Develop advanced control systems to ensure accuracy and stability of autonomous docking. This includes docking algorithms, control loops, and dynamics modeling.

[0119] Mechanical Design and Engineering: Design and build mechanical devices such as unmanned boats, connecting equipment and launchers to ensure their structural strength, stability and reliability.

[0120] Power system: Provides power suitable for the operation of the unmanned boat, which can be batteries, fuel cells or other power sources.

[0121] Safety technology: including safety measures such as emergency stop systems, leak detection and emergency fault handling to prevent unexpected events and accidents.

[0122] Data Processing and Decision Algorithms: Develop data processing and decision algorithms to process sensor data, calculate navigation paths, perform docking, and monitor mission progress.

[0123] Oil transfer technology: Develop oil transfer systems to ensure safe transfer and storage of oil.

[0124] Artificial Intelligence and Machine Learning: In some cases, use of artificial intelligence and machine learning techniques to improve task autonomy, adaptability, and intelligent decision making.

[0125] These technical areas work together to support the smooth execution of unmanned boats in autonomous refueling missions. This field involves highly complex engineering and scientific challenges that require the collaboration of multidisciplinary teams. As technology continues to develop, autonomous offshore refueling systems will continue to evolve to improve the efficiency and safety of missions.

[0126] This application is applicable to both manual and unmanned autonomous operation modes, and can be flexibly integrated into the existing supply system to increase the reliability and safety of liquid cargo replenishment for unmanned boats. Supply ships of civilian or military ships at sea can refuel unmanned boats at sea, using a horizontal replenishment method, which can be flexibly integrated into the existing supply system.

[0127] In order to achieve the above objectives, autonomous refueling at sea is realized. The main functions are as follows:

[0128] S1. It adopts a horizontal replenishment method and can be flexibly integrated into the existing replenishment system. This device is suitable for supply ships of civilian ships or military ships at sea to refuel unmanned boats at sea. Its working process is divided into four stages: launching guide ropes, setting up refueling channels, monitoring the refueling process, and releasing the refueling channels.

[0129] Furthermore, the specific implementation of S1 is as follows:

[0130] In order to adapt to the unmanned operation environment of unmanned boats, the liquid cargo lateral supply process of manned ships needs to be adjusted. The adjusted process also includes the stages of launching, docking, refueling, and releasing the rope, that is, launching the guide rope, setting up the refueling channel, the refueling process and monitoring, and releasing the refueling channel. Refueling in unmanned mode requires highly reliable automation systems, remote monitoring and communication technologies to ensure safe and effective operation. The specific details of the process may vary depending on the type of unmanned boat, the characteristics of the refueling ship, and the mission requirements.

[0131] The autonomous refueling of unmanned boats in unmanned mode usually requires a series of highly intelligent and automated equipment. These include variable load self-controlled transmitters, measurement and guidance equipment, aiming and positioning devices, automatic cable arrangement devices, electric winches, etc. These equipment components work together to enable the unmanned boat to autonomously complete the refueling task in unmanned mode while ensuring the safety and reliability of the operation. Automation and intelligent technology play a key role in this process, enabling the unmanned boat to cope with different sea conditions and mission requirements.

[0132] The installation and deployment of unmanned boats to achieve autonomous refueling in unmanned mode must meet the needs and standards of the system or equipment, mainly including important parts such as hardware equipment, communication facilities, power supply, installation layout, etc. These requirements can vary depending on the specific project and mission.

[0133] The autonomous refueling of unmanned boats in unmanned mode has many advanced features and beneficial effects, which have far-reaching impacts on the fields of offshore energy supply, maritime rescue and military applications. The specific beneficial effects are as follows:

[0134] Autonomy and intelligence: The unmanned boat is equipped with an advanced autonomous navigation system and an intelligent decision-making system, which can autonomously plan routes, avoid obstacles, dock with fuel supply equipment, etc. according to environmental conditions and mission requirements. This autonomy enables the unmanned boat to perform tasks efficiently in complex marine environments without human intervention.

[0135] Remote operation and monitoring: The unmanned boat can be remotely operated and remotely monitored through satellite communications, and the operator can monitor the mission progress and data feedback in real time from the remote operation center. This capability is crucial for the safety and real-time response of offshore refueling missions.

[0136] Autonomous docking technology: Advanced unmanned boats can use autonomous docking technology to achieve automatic docking with fuel supply equipment without human intervention. This technology requires the unmanned boat to have precise position control and docking equipment, which improves the feasibility and safety of operation.

[0137] Multimodal perception: Unmanned boats are usually equipped with multiple sensors, including high-resolution radar, lidar, infrared sensors, and visual recognition systems, to obtain comprehensive environmental information. This multimodal perception helps to identify and avoid obstacles, detect other ships, monitor the oil transfer process, etc.

[0138] High reliability: Advanced unmanned boats use dual and multiple redundant systems to ensure high reliability of equipment and communications. This helps reduce potential failures and risks in operations and improves mission success rates.

[0139] Long-endurance capability: Advanced unmanned boats are usually equipped with high-capacity batteries or fuel cells, which can perform long-term missions at sea, reducing the need for resupply. This is very important for missions far from ports or long-distance voyages.

[0140] Data fusion and analysis: Advanced systems can fuse and analyze multi-source data, including marine environmental data, fuel supply equipment status, ship operation status, etc., to support more advanced decision-making. This helps optimize mission planning, improve efficiency and environmental protection.

[0141] Future development potential: The unmanned boat's autonomous refueling system at sea paves the way for the future development of autonomous and unmanned technologies, bringing more innovation and application opportunities to the maritime field.

[0142] In general, the autonomous refueling and receiving capabilities of unmanned boats at sea not only improve operational efficiency and safety, but also bring more opportunities to the maritime field and promote the further development of autonomous and intelligent technologies.

[0143] In a specific embodiment, in order to better understand the technical method of the present invention, it is described in detail below with reference to the accompanying drawings and specific embodiments:

[0144] The present invention can be flexibly integrated into the existing supply system by adopting a lateral supply method. It is suitable for supply ships of civilian ships or military ships at sea to supply and refuel unmanned boats at sea. Its working process is divided into four stages: launching guide ropes, setting up refueling channels, monitoring the refueling process, and releasing the refueling channels. The above includes:

[0145] The specific implementation steps of the unmanned boat autonomous refueling device proposed by S1 are as follows:

[0146] Refueling process in unmanned mode on unmanned boat:

[0147] In order to adapt to the unmanned operating environment of unmanned boats, the lateral liquid cargo supply process of manned ships needs to be adjusted. The adjusted process also includes stages such as launching, docking, refueling, and releasing the rope, namely launching the guide rope, setting up the refueling channel, the refueling process and monitoring, and releasing the refueling channel.

[0148] 1) Launch phase:

[0149] When preparing for replenishment operations, the supply ship issues a "prepare" command, and the supply ship maintains a low speed and a stable direction. The unmanned boat gradually approaches from behind, and the radar and visual measurement and guidance equipment on the unmanned boat work. The supply ship and the unmanned boat are about 55m apart, and the two ships maintain the same speed and fixed distance and run parallel; the supply ship issues commands to the unmanned boat, and the unmanned boat's remote control receiver receives the "launch" command; the radar and visual measurement and guidance equipment on the unmanned boat gives real-time distance and azimuth information from the supply ship; the launcher working cylinder and control cylinder are inflated; the aiming system adjusts the level of the launch platform, and the sea conditions, wind speed, speed, unmanned boat attitude and other parameters provided by the unmanned boat and the distance and azimuth information of the radar and visual measurement and guidance equipment are solved by the control system to adjust the launcher pitch angle and azimuth, triggering the launcher to launch the guide rope.

[0150] 2) Docking:

[0151] After the supply ship receives the guide rope, the staff connects the guide rope and the cross rope; the supply ship then issues a "cable retraction" command to the remote control receiver of the unmanned boat, the guide rope is retracted by the winch, and the cross rope locking mechanism automatically locks the cross rope; before the docking of the fuel supply probe and the fuel receiving head, the newly added launcher launches the fuel supply probe traction rope (8mm), which is connected by the staff (supply ship or shore-based) and the fuel supply probe, and the fuel supply probe is towed to the unmanned boat through the newly added winch, and finally docked with the fuel receiving head; the docking and separation of the fuel supply probe and the fuel receiving head are monitored by the visual recognition equipment, and then fed back to the signal light to indicate whether the docking is successful.

[0152] 3) Oil receiving stage:

[0153] The monitoring system monitors the refueling status, whether there is oil leakage, whether it is full, and abnormal status is given by the signal light. Start the refueling system: Once the connection is firm, the automated refueling system on the refueling ship starts and begins to transfer oil to the oil storage tank of the unmanned boat. Oil transfer: The oil is transferred to the unmanned boat through the connecting equipment and hoses, while the flow rate and flow are monitored to ensure the accuracy and safety of the transfer. Real-time monitoring: During the refueling process, the monitoring system is used to monitor the operation in real time to detect any leaks or abnormal conditions, and take timely measures to deal with them.

[0154] 4) Unlocking the rope:

[0155] After refueling is completed, the supply ship issues a "separation" command, separates the oil supply head and the oil receiving cone through the oil supply probe unlocking mechanism, and then controls the traction cable winch to release the cable, and the supply ship retracts the refueling pipe; the cross-cable locking mechanism releases the cross-cable, and the supply ship issues a "cable release" command to the remote control receiver of the unmanned boat, and the supply ship retracts the cross-cable and guide rope, and the supply ship staff separates the guide rope and cross-cable, and hangs the launcher back on the guide rope; the automatic winch controls the retraction of the guide rope. These stages constitute the complete process of autonomous offshore refueling. Throughout the process, the autonomous technology and intelligent system of the unmanned boat played a key role to ensure the success and safety of the operation. At the same time, the monitoring and control capabilities of the remote operation center are also essential to support real-time decision-making and respond to potential problems.

[0156] In a specific embodiment, in order to realize autonomous refueling of unmanned boats at sea, the support of instruments and equipment is indispensable. These devices work together to improve the efficiency, safety and reliability of refueling operations at sea.

[0157] Launcher (i.e., the first launch assembly 401): launch guide rope. It includes a launcher body, a buffer device, a 1.5L gas cylinder, an air control system, a projectile, etc. Buffer device: The buffer device is usually located between the launcher and the projectile, and is used to slow down the movement or impact of the projectile to ensure a safe launch and docking process. The functions of the buffer device include: reducing the impact and vibration of the projectile during the launch process. Protecting the structure of the projectile from damage. Providing a smooth launch process and facilitating precise docking. Air control system: The air control system is usually used in conjunction with the launcher and the buffer device to control the launch and docking of the projectile. The air control system uses compressed air or gas to achieve the following functions: Control the opening and closing of the launcher and the launch process. Control the air pressure of the buffer device to adjust the speed and movement of the projectile. Provide guidance and positioning control of the projectile. Projectile: In the refueling system, the projectile can be an oil conveying equipment (such as an oil pipe, a hose, etc.) or a connecting equipment (such as a docking joint). The function of the missile body is to transfer the oil from the fuel supply equipment to the oil storage tank of the unmanned boat, or to connect the unmanned boat with the fuel supply equipment. The design of the missile body needs to consider the requirements of fluid dynamics, safety and operation.

[0158] Aiming system (i.e. aiming device 203): keeps the launch platform level and adjusts the launcher angle. It includes the launcher pitch adjustment mechanism, stabilizing platform, azimuth adjustment mechanism, gyroscope, cable arrangement device, etc. Level measuring device (level or level): This is a common device used to measure the levelness of the platform. It can be a physical instrument, such as a bubble level, or an electronic device, such as a gyroscope. The level measuring device provides accurate information about the current horizontal position of the platform for correction. Gyro stabilization system: The gyro stabilization system uses a gyroscope to sense the rotation and tilt of the platform and maintain balance by automatically adjusting the control surface or nozzle. This system is commonly used in aircraft, missiles and rockets to ensure that the horizontal attitude is maintained during flight. Principle: The core is the gyroscope, which measures the rotation speed and direction. Based on the principles of rigid body mechanics and the law of conservation of angular momentum, the rotation, tilt and swing of the moving platform are sensed. Stability control: Use a gyroscope to measure the motion state of the platform, and control the stabilizing device on the platform based on the measurement results to offset the movement of the platform and keep it stable. This includes adjusting the control surface, ejector or other control device on the platform. Stable Platform Design: Ensures that the attached equipment remains stable. Real-time Feedback: Provides real-time feedback, and continuously adjusts the platform to maintain balance based on gyroscopic measurements and feedback from the control system. Motion Compensation: Used to offset various movements on the platform, including rotation, tilt, vibration, and bumps. This helps ensure that the equipment or payload mounted on the platform can remain stable and work properly. Navigation and Control: Helps position and precisely control the motion platform to achieve the intended mission objectives. Launch Platform Adjustment Device: For some weapon systems, the launch platform itself can be adjusted to remain level based on feedback data from gyroscopes or other sensors. This can involve adjusting the launcher's support legs, thruster nozzles, or other related components. Attitude Adjustment: The launch platform adjustment device allows the attitude of the launch platform to be adjusted and controlled, including tilt, rotation, and horizontal position. This is to ensure that the launcher or equipment is launched at the correct angle and direction. Position Control: Used to precisely control the position of the launch platform to ensure that the launcher is aligned with the target or track position. Stability and Vibration Control: During launch, vibrations and dynamic loads on the platform may affect the accuracy of the launcher. Adjustment devices can help reduce or offset these vibrations to ensure a smooth launch process. Remote Operation: Remote operation is performed by remote control or automated systems to improve the ease and safety of operation. Launch Sequence Control: Integration with the launch sequence control system ensures that the various stages of the launch process are carried out in the correct order and schedule. Real-time Feedback and Control Systems: Launch platforms are often equipped with real-time feedback and control systems that automatically adjust the platform's attitude based on horizontal measurements and sensor data. These systems can use computer control to quickly respond to any platform tilt or rotation. Pre-launch calibration: Pre-launch calibration is often performed before a critical launch.This includes checking and correcting the level of the platform before launch to ensure it is in optimal condition when aiming for launch. Stable Platform Design: When designing a launch platform, stability factors such as base design, support system, and balancing configuration can be considered to minimize the possibility of the platform tipping.

[0159] Measurement and guidance equipment (i.e., measurement and guidance device 201): measures relative position and posture based on vision and laser radar equipment. Including industrial cameras, lenses and laser radars, shore-based visual markers, etc. Target detection and tracking: Industrial cameras are used to detect and track refueling targets, oil supply ships or tankers. Capture images of target ships and identify signs, markers or ship structures. Laser radars are used to detect and track the position and movement of target ships to ensure that the unmanned boat can maintain an appropriate relative position with the target. Autonomous navigation and route planning: Industrial cameras and laser radars provide environmental perception and target position information to help unmanned boats navigate autonomously. Unmanned boats can use this data to plan the best route to ensure safe approach and docking with target ships. Docking and berthing: Cameras and laser radars are used to accurately measure the distance and posture between the target ship and the unmanned boat. Shore-based visual markers can be used as reference points to help the unmanned boat accurately locate and ensure accuracy and stability during docking. Real-time data transmission and monitoring: Cameras that communicate with shore-based visual markers transmit real-time images and videos for operators or autonomous control systems to monitor mission progress and target status. The distance and position data provided by the laser radar are also transmitted in real time for monitoring and control. Safety and emergency stop: If a problem occurs during docking or refueling, the system uses this data to implement emergency stop measures to ensure the safety of the operation. LiDAR detects any potential risk of collision and triggers safety measures. Automation and intelligent decision-making: Data from industrial cameras, LiDAR and shore-based visual identification is used to support automated control systems, enabling the unmanned boat to perform refueling tasks autonomously. Intelligent decision-making algorithms based on this data improve the success rate of docking and refueling.

[0160] Winch (i.e. winch device 205): Recover the guide rope and set up the oil-bearing channel. Including cable retracting and releasing device, cable arrangement mechanism, control box, etc. Preparation before cable arrangement: Safety check: Ensure the safety of the cable arrangement area, such as power off, shut down related equipment or machines to avoid accidental electric shock or other safety risks. Tools and equipment: Prepare the required tools and equipment, such as wire strippers, cable clamps, ropes, protective devices, etc. Cable identification: If there are multiple cables or wires, mark them for identification during subsequent installation. Cable arrangement steps: Disconnect the power supply: If the cable arrangement involves power cables, ensure that the power supply is disconnected before starting the operation to avoid the risk of electric shock. Cable unwinding: Find the starting point of the cable, usually where it is connected to the device or interface. Unwind the connection, and you may need to use appropriate tools, such as a screwdriver or wrench. Cable fixing: During the cable arrangement process, if necessary, ensure that the cable does not fall or hinder the operation. Use cable clamps or temporary fixing devices to fix the cable in the required position. Cable guidance: Guide the cable from the original location to the target location. This may require passing through pipes, channels or bypassing other obstacles. Ensure that the cable moves smoothly to avoid twisting or damage. Rope Assist: For long distances or complex cable management tasks, using a rope or rope pulley system can help guide and move the cable. Connect to Target Device: Reconnect the cable to the target device or interface, ensuring that the connection is secure and correct. Cable Testing: After reconnection, perform necessary tests to ensure that the cable or wire is functioning properly.

[0161] Cross-cable locking mechanism (i.e. locking device 404): maintains the oil receiving bearing channel. Including locking device, frame, etc. Oil supply probe unlocking mechanism: releases the connection between the oil supply probe and the oil receiving cone after oil receiving is completed. Including electric push rod, frame, etc.

[0162] Information processing board: Installed in the unmanned boat controller, the refueling control board selects 6U I7+PCIe motherboard 0V2602.

[0163] Fueling device software and control box: control algorithms during offshore refueling and real-time control of the fueling device, with the ability to interact with upper-level control systems. Including industrial computers, drivers, control cabinets, remote controls, etc.

[0164] Status detection feedback equipment: detects the status of the oil receiving process and sends out key information through signal lights. Including signal indicator lights, oil leakage detection sensors, oil level detection sensors, etc.

[0165] According to the needs of autonomous refueling of unmanned boats at sea, on the basis of completing the above-mentioned processes and equipment preparation, a series of requirements should be designed for the installation of equipment and the deployment of interfaces: Refueling device: The main body of the refueling device is installed on the deck and can withstand a 30-ton pull at a 5°-10° angle. Oil transmission pipeline: It includes a specially designed pipeline system for transporting oil from the oil supply equipment to the oil receiving equipment. It is made of corrosion-resistant materials to resist corrosion and damage from liquid oil. Connection device: The connection device between the oil supply ship and the oil receiving ship to ensure that the pipeline can be connected smoothly. It includes quick connectors, valves and seals to ensure safe and reliable connection. Pump station: One or more pump stations are provided to draw oil from the oil supply equipment and push it to the oil receiving equipment. These pump stations include high-pressure pumps to ensure that the liquid can be transmitted with sufficient pressure. Flowmeter and sensor: In order to ensure the accurate transmission of oil, flowmeter and sensor are equipped. Flowmeter is used to measure the flow rate and quantity of oil, and sensor is used to monitor parameters such as pressure, temperature and oil quality. Control system: A control system is integrated to monitor and manage the oil transmission process. These systems can control the operation of pumps, the opening and closing of valves, and the adjustment of flow rates as needed. Safety measures: Includes a variety of safety measures such as leak detection systems, emergency stop buttons, and fire protection equipment to deal with potential accidents and emergencies. Monitoring and remote control: Equipped with monitoring equipment and remote control systems so that operators can remotely monitor the transmission process to ensure that everything is running normally. Seawater corrosion-resistant design: Since the refueling device usually operates at sea, special design is required to prevent seawater corrosion and damage to the device by harsh marine environment. Oil level detection is installed in the tank sensor: The core part of the oil level detection device is the sensor, which is usually a contact or non-contact sensor. Contact sensors usually measure the oil level by immersing in the liquid, while non-contact sensors use technologies such as sound waves, lasers, or radar to measure the oil level remotely. It can sense the distance between the liquid surface and the sensor to measure the oil level height. Measurement method: float sensor, differential pressure sensor, ultrasonic sensor, and radar sensor. Data output: The oil level detection device outputs digital or analog signals to provide real-time oil level height information. These data are connected to a monitoring system, dashboard, recorder, or automatic control system to achieve remote monitoring and data recording. Accuracy and stability: The oil level detection device needs to have high accuracy and stability to ensure accurate measurement and reliability. It has automatic calibration and automatic compensation functions to cope with changes in environmental factors. Corrosion-resistant design: Since oil and liquids can be corrosive, the oil level detection device uses corrosion-resistant materials and designs to prevent corrosion and damage. Adaptability: Customized and adjusted according to different applications and liquid types. Able to adapt to different container shapes and sizes and meet the needs of specific applications. Oil leak detection is installed on the oil receiving box. Visual QR code (1m×1m) is installed on the shore-based fueling gantry or supply station.Electrical interface: three-phase three-wire AC380V power interface ≥7KW, waterproof, anti-corrosion, and anti-salt spray electrical connector.

[0166] Communication interface: Ethernet interface: 1. Refueling control board: 6U I7+PCIe motherboard 0V2602. Specific locations on the shore (such as supply gantry or supply station) are arranged with a QR code sign: 1m×1m. Mechanical interface: Dimensions: 3000mm×3000mm×2000mm (length×width×height). Mass: 650kg. The oil receiving pipe enters the oil tank nearby, and the inner diameter of the oil pipe is temporarily set at 175mm, which is determined by the existing supply device.

[0167] Although this specification includes many specific implementation details, these should not be interpreted as limiting the scope of any invention or the scope of protection claimed, but are mainly used to describe the features of the specific embodiments of specific inventions. Certain features described in multiple embodiments in this specification may also be implemented in combination in a single embodiment. On the other hand, the various features described in a single embodiment may also be implemented separately in multiple embodiments or in any suitable sub-combination. In addition, although the features may work as above in certain combinations and even initially claim protection, one or more features from the claimed combination may be removed from the combination in some cases, and the claimed combination may point to a sub-combination or a variation of a sub-combination.

[0168] Similarly, although operations are depicted in a particular order in the accompanying drawings, this should not be understood as requiring that these operations be performed in the particular order shown or performed sequentially, or requiring that all illustrated operations be performed to achieve the desired results. In some cases, multitasking and parallel processing may be advantageous. In addition, the separation of various system modules and components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product, or packaged into multiple software products.

[0169] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the particular order or sequential order shown to achieve the desired results. In some implementations, multitasking and parallel processing may be advantageous.

[0170] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0171] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A refueling method, characterized in that: Used in an unmanned boat refueling system, the refueling system includes an unmanned boat and a supply ship, the unmanned boat is provided with a first launch assembly and a refueling head, the supply ship includes an oil pipeline and a refueling probe connected to one end of the oil pipeline, and the refueling method includes: In response to the launch command of the supply ship, determining the relative position information between the unmanned boat and the supply ship; Collecting at least one environmental parameter and a motion parameter through a sensor; Determining a first launch parameter of a first launch component according to the environmental parameter, the motion parameter, and the relative position information; According to the first launch parameter, controlling the first launch assembly to launch a probe traction rope toward the supply ship, the probe traction rope being used to connect to the oil supply probe of the supply ship; In response to a first cable reeling instruction of the supply ship, retracting the probe traction cable to connect the oil supply probe with the oil receiving head; The oil in the supply ship is transported to the unmanned boat through the oil pipeline via the oil supply probe.

2. The refueling method according to claim 1, characterized in that: The unmanned boat is provided with a second launching assembly and a locking device, and before determining the first launching parameter of the first launching assembly according to the environmental parameter, the motion parameter and the relative position information, it also includes: Determining a second launch parameter of a second launch component according to the environmental parameter, the motion parameter, and the relative position information; According to the second launching parameter, controlling the second launching assembly to launch a guide rope toward the supply ship, the guide rope being used to connect a spanning rope of the supply ship; In response to the second cable-retracting instruction of the supply ship, the guide rope is retracted to fix part of the span rope to the unmanned boat through the locking device.

3. The refueling method according to claim 2, characterized in that: Determining the second launch parameter of the second launch component according to the environmental parameter, the motion parameter and the relative position information specifically includes: Determine, according to the motion parameter and the environmental parameter, the adjusted position information corresponding to the relative position information; Determine first motion information of the second transmitting component according to the motion parameter and the adjusted position information; Determine a second transmission parameter of the second transmission component according to the first motion information.

4. The refueling method according to claim 1, characterized in that: Before determining the relative position information between the unmanned boat and the supply ship in response to the launch instruction of the supply ship, the method further includes: Obtaining a preparation instruction for the supply ship; According to the preparation instruction, collecting the second movement information of the supply ship; According to the second motion information, controlling the unmanned boat to move until the supply ship is within the refueling range of the unmanned boat; Determine the relative position information between the unmanned boat and the supply ship.

5. The refueling method according to claim 1, characterized in that: The unmanned boat is provided with a signal light, and in response to the first cable retracting instruction of the supply ship, the probe traction rope is retracted to connect the oil supply probe with the oil receiving head, specifically including: In response to a first cable retracting instruction issued by the supply ship, the probe traction cable and the oil supply probe connected to the probe traction cable are controlled to be retracted until the oil supply probe is docked with the oil receiving head; Determine the docking status of the oil supply probe and the oil receiving head through a visual camera; When the docking state is a connected state, the signal light is controlled to display light information corresponding to the connected state.

6. The refueling method according to claim 1, characterized in that: The method of delivering the oil in the supply ship to the unmanned boat through the oil supply probe via the oil pipeline specifically includes: In response to the communication signal between the oil supply probe and the oil receiving head, the oil in the supply ship is transported to the oil tank of the unmanned boat through the oil pipeline; Determine the oil quantity information in the oil tank by using the oil level sensor in the oil tank; When the oil volume reaches the oil volume threshold, controlling the supply ship to stop oil delivery; Wherein, when the oil volume reaches the oil volume threshold, controlling the supply ship to stop oil delivery specifically includes: when the oil volume reaches the oil volume threshold, responding to a separation instruction issued by the supply ship, controlling the supply ship to stop oil delivery; controlling the oil supply probe to separate from the oil receiving head; An oil receiving box is provided at the bottom of the oil tank; the oil in the supply ship is transported to the unmanned boat through the oil supply probe through the oil pipeline, and also includes: determining the oil leakage information corresponding to the oil tank through the oil leakage sensor in the oil receiving box; and sending the oil leakage information to the control terminal corresponding to the unmanned boat.

7. A refueling device, characterized in that: Used for unmanned boats, the refueling device is used for the refueling system of unmanned boats, the refueling system includes an unmanned boat and a supply ship, the unmanned boat is provided with a first launching assembly and a refueling head, the supply ship includes an oil pipeline and an oil supply probe connected to one end of the oil pipeline, and the refueling device includes: A measurement and guidance device: used to determine the relative position information between the unmanned boat and the supply ship in response to the launch command of the supply ship; A collection device: used to collect at least one environmental parameter and a motion parameter through a sensor; Aiming device: used for determining the first launching parameter of the first launching component according to the environmental parameter, the motion parameter and the relative position information; Launching device: used for controlling the first launching assembly to launch a probe traction rope toward the supply ship according to the first launching parameter, wherein the probe traction rope is used to connect the oil supply probe of the supply ship; A winch device is used for responding to the first cable reeling instruction of the supply ship, retracting the probe traction cable to connect the oil supply probe with the oil receiving head; Receiving device: used to transport the oil in the supply ship to the unmanned boat through the oil supply probe via the oil pipeline. The refueling device implements the steps of the refueling method according to any one of claims 1 to 6.

8. An electronic device, characterized in that: The invention comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the refueling method according to any one of claims 1 to 6.

9. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by the processor, the steps of the refueling method according to any one of claims 1 to 6 are implemented.

10. A chip, characterized in that: The chip includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or an instruction to implement the steps of the refueling method according to any one of claims 1 to 6.

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