A dynamic power balance and coordinated replenishment system between fleets

Abstract

The present invention provides a dynamic power balance and collaborative supply system between fleets, which relates to the field of shipping and transportation technology, including: an intelligent scheduling module for obtaining a data set containing power status, navigation parameters, sea condition impact, and task progress requirements for each ship based on the ship's motion state, real-time monitoring of ship equipment to obtain data and analyze environmental impact to derive adjustment parameters, and then calculate the total energy consumption contribution of a single ship, quantify the total loss of the fleet to integrate and derive the initial total energy consumption and correct it to obtain navigation efficiency, and then formulate a power output adjustment strategy for the main propulsion ship based on navigation efficiency and power balance targets, and finally plan a collaborative supply path with the ship with insufficient power as the core and combined with multi-party information. The present invention realizes efficient coordination of fleet deployment and supply in power management, improves transportation efficiency, reduces costs, and enhances navigation safety.

Description

Technical Field

[0001] The present invention relates to the field of shipping and transportation technology, and in particular to a dynamic power balance and coordinated supply system between fleets. Background Art

[0002] Traditional fleets use fixed power distribution, lacking intelligent power coordination mechanisms between main propulsion vessels and barges. For example, during dangerous goods transport, a barge's power demand suddenly surges due to equipment failure. Traditional fleets are unable to adjust power distribution in real time, potentially overloading the ship's power system and even triggering a cascading failure. Furthermore, when navigating complex waters, fixed power distribution strategies may fail to dynamically balance navigation resistance and energy consumption, causing some ships to run out of power and delay their voyage. Existing fleets rely heavily on port calls and tugboat assistance for power replenishment, lacking autonomous and coordinated mobile replenishment capabilities. In ocean-going bulk cargo transport, if a barge's battery runs out, it must wait for an external supply vessel to dock and manually connect the cables, which not only takes hours but also risks short circuits due to operational errors. Traditional technologies cannot achieve dynamic wireless charging and rapid battery replacement while underway, severely limiting the fleet's endurance and mission continuity.

[0003] In addition, most traditional fleet connection devices are mechanical lock-type designs, which are prone to failure in harsh sea conditions. For example, when sailing in the Arctic ice zone, frequent ice compression may cause the connection device to loosen, power transmission to be interrupted, and the barge to lose power and deviate from its route. In addition, traditional communication systems have weak anti-interference capabilities and a high data packet loss rate in high salt spray corrosion environments, making it difficult to achieve precise navigation and collision avoidance for multi-ship collaboration, and there are significant safety hazards. Traditional fleet management does not integrate energy and task scheduling, resulting in energy waste and task delays. In multi-type cargo intermodal transport scenarios, the main propulsion ship outputs power at a fixed power and cannot dynamically adjust the thrust distribution according to the real-time load of the barge. At the same time, manual coordination of the power status of each ship is still required during loading and unloading operations, resulting in longer port stays. Traditional technologies are limited by rigid structures, manual dependence and environmental fragility, and are difficult to meet the needs of modern shipping for dynamic balance, autonomous collaboration and adaptability to extreme scenarios. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a dynamic power balance and collaborative supply system between fleets, thereby improving the fleet's endurance and emergency response efficiency and reducing overall operating costs.

[0005] In order to solve the above technical problems, the technical solutions of the present invention are as follows:

[0006] In a first aspect, a fleet dynamic power balancing and coordinated replenishment system includes:

[0007] A power management module that monitors each vessel's battery capacity, power consumption rate, and mission requirements in real time, generating a power usage and mission-driven power demand matrix for each vessel;

[0008] The intelligent scheduling module is used to dynamically adjust the power output strategy of the main propulsion ship according to the power demand matrix and the ship's motion status to obtain a coordinated supply path;

[0009] The connection management module is used to control the opening and closing timing of the mechanical-hydraulic connection device according to the coordinated supply path and power adjustment plan, and synchronously establish the power transmission channel and communication tasks;

[0010] The mobile energy storage module is used to operate the mobile energy storage device on the auxiliary supply ship according to the power transmission and communication tasks, and implement fixed-point charging and battery replacement services for operation and maintenance ships with insufficient power.

[0011] Furthermore, the battery capacity, power consumption rate, and mission requirements of each ship are monitored in real time to generate a power usage and mission-driven power demand matrix for each ship, including:

[0012] The power monitoring equipment on each ship collects the real-time voltage and current data of the battery for monitoring, and obtains the real-time value of the battery capacity and power consumption rate;

[0013] Based on the real-time value of battery capacity and power consumption rate, each ship is equipped with a mission management terminal, and the mission information is input through the mission management terminal;

[0014] Based on the data from the power monitoring equipment and the mission details from the mission management terminal, the power usage and mission-driven power demand matrix of each ship are generated.

[0015] Furthermore, based on the ship's motion status, a data set containing power status, navigation parameters, sea condition impact, and mission progress requirements is obtained for each ship. Ship equipment is monitored in real time to obtain data and analyze environmental impacts to derive adjustment parameters. The total energy consumption contribution of each ship is then calculated, and the total loss of the fleet is quantified to integrate the initial total energy consumption and correct it to obtain navigation efficiency. A power output adjustment strategy is then formulated for the main propulsion ship based on navigation efficiency and power balance targets. Finally, a coordinated supply route is planned with the ship with insufficient power as the core, combining information from multiple parties, including:

[0016] Based on the ship's motion status, real-time position and speed information is obtained from the ship's positioning equipment and speed sensors to obtain a data set for each ship, including each ship's power status, navigation parameters, sea condition impact, and mission progress requirements;

[0017] Real-time monitoring of ships and equipment in the fleet to obtain power demand and efficiency changes and collect environmental data. Based on this, the impact of environmental factors on equipment energy consumption is analyzed to derive environmental impact adjustment parameters. The parameters are combined with real-time data to calculate the instantaneous effective energy consumption of the equipment, and the total energy consumption contribution of each ship is accumulated. The total energy loss of the fleet is identified and quantified. The instantaneous effective energy consumption is combined with the total loss to obtain the initial total energy consumption, and the instantaneous effective energy consumption is corrected to obtain the overall navigation efficiency of the fleet.

[0018] Based on the fleet's overall navigation efficiency and power balance targets, a power output adjustment strategy is developed for the main propulsion vessels. When some ships are running low on power and impacting the fleet's progress, the main propulsion vessels are instructed to reduce their power output. When low-power ships are nearing mission completion, the main propulsion vessels are instructed to increase their power output.

[0019] With the low-power ship in the fleet as the core, combined with the real-time location, mission progress and surrounding supply resources, a coordinated supply route is obtained.

[0020] Furthermore, the fleet's ships and equipment are monitored in real time to obtain power demand and efficiency changes and collect environmental data. Based on this, the impact of environmental factors on equipment energy consumption is analyzed to obtain environmental impact adjustment parameters. The parameters are combined with real-time data to calculate the instantaneous effective energy consumption of the equipment, and the total energy consumption contribution of each ship is accumulated. The total loss of the fleet's energy loss is identified and quantified. The instantaneous effective energy consumption and the total loss are integrated to obtain the initial total energy consumption. The instantaneous effective energy consumption is then corrected to obtain the overall navigation efficiency of the fleet, including:

[0021] Real-time monitoring of each vessel and equipment in the fleet to obtain real-time power demand and equipment efficiency changes. At the same time, environmental data is collected through weather stations and sea condition monitors.

[0022] Analyze the impact of environmental factors on equipment energy consumption based on environmental data. This includes determining downstream or upstream status based on the angle between the water flow and the ship's heading, quantifying navigation resistance based on wind speed and wave height, and evaluating the impact of temperature on equipment efficiency to derive environmental impact adjustment parameters.

[0023] The real-time power demand, equipment efficiency changes, and environmental impact adjustment parameters are normalized and combined to obtain the instantaneous effective energy consumption of the equipment during the mission time.

[0024] The instantaneous effective energy consumption of all equipment on each ship during their respective mission time periods is accumulated to obtain the total energy consumption contribution of a single ship during the entire mission period;

[0025] Identify and quantify the sources of energy loss during fleet operation to obtain the total loss;

[0026] The instantaneous effective energy consumption and the total loss are normalized and then integrated to obtain the initial total energy consumption required for the fleet to actually complete the task. The instantaneous effective energy consumption is then corrected to obtain the overall navigation efficiency of the fleet.

[0027] Furthermore, the sources of energy loss include transmission loss, conversion loss and storage loss.

[0028] Furthermore, according to the coordinated supply path and power adjustment plan, the opening and closing timing of the mechanical-hydraulic connection device is controlled, and the power transmission channel and communication tasks are established synchronously, including:

[0029] According to the coordinated supply path and power adjustment plan, send instructions to the connection management to determine the task type and match the corresponding connection device operation;

[0030] Following instructions, the robotic arm uses lidar to locate the connection port of the target vessel. The hydraulically driven guide device aligns the lock with the target groove and closes along the guide rail, achieving connection through elastic snaps. At the same time, sensors detect the sealing of the interface.

[0031] After connection, the power transmission interface establishes a circuit connection and transmits power from the ship with sufficient power to the ship with insufficient power according to the power adjustment plan; at the same time, the interface establishes a communication link and enables the ships to exchange navigation data, equipment status information and related mission data according to the preset communication protocol.

[0032] Furthermore, according to the power transmission and communication tasks, the mobile energy storage device on the auxiliary supply ship is operated to implement fixed-point charging and battery replacement services for the operation and maintenance ship with insufficient power, including:

[0033] Real-time monitoring of the battery power of the maintenance vessel. When the battery power falls below a preset safety threshold, the emergency response program of the mobile energy storage device is automatically triggered to lock onto the target vessel and plan a supply route.

[0034] Receive low-battery alerts and locked target vessel information, and generate a replenishment route based on the location of the maintenance vessel, current sea conditions, and mission priority factors;

[0035] When the supply route reaches the target location, it uses a connection device to connect to the operation and maintenance ship to implement fixed-point charging and battery replacement services.

[0036] Furthermore, based on environmental data, the impact of environmental factors on equipment energy consumption is analyzed. This includes determining downstream or upstream status based on the angle between the water flow direction and the ship's heading, quantifying navigation resistance based on wind speed and wave height, and evaluating the impact of equipment efficiency based on temperature. The resulting environmental impact adjustment parameters include:

[0037] Obtain the angle between the water flow direction and the ship's heading, and by quantifying the degree of fit between the angle and the ship's sailing direction, obtain a quantitative indicator of the effect of the water flow direction on energy consumption;

[0038] Collect wind speed and wave height data, and obtain quantitative indicators of wind speed and wave height on energy consumption based on the degree of wind speed and wind speed's impact on sailing resistance;

[0039] Monitor the current temperature in real time and compare it with the equipment's final operating temperature to assess the impact of temperature deviations from the final state on equipment efficiency, thereby obtaining a quantitative indicator of the effect of temperature on equipment efficiency.

[0040] By integrating water flow, wind speed, wave height and temperature, we can finally obtain the environmental impact parameters, including the overall impact of water flow, wind speed, wave height and temperature environmental factors on equipment energy consumption.

[0041] In a second aspect, a computing device includes:

[0042] one or more processors;

[0043] The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the system.

[0044] According to a third aspect, a computer-readable storage medium stores a program, which implements the system when executed by a processor.

[0045] The above solution of the present invention includes at least the following beneficial effects:

[0046] Dynamic power balancing and coordinated replenishment between fleets represents an innovation in the traditional shipping model. Through multi-faceted optimization and innovation, improvements have been made in transportation efficiency, operating costs, navigation safety, and environmental friendliness. This not only brings greater economic benefits to the shipping industry, but also enhances the industry's ability to cope with complex and changing transportation environments, effectively promoting the development of the shipping industry towards intelligent and green operations. Accurate power monitoring and task-driven power demand matrix analysis enable fleets to replenish power in a timely manner based on the actual needs of each ship, avoiding ship slowdowns or shutdowns due to power shortages and ensuring a stable sailing rhythm for the entire fleet. This enables power sharing and optimized allocation between fleets, avoiding energy waste caused by excessive power reserves on some ships, while also reducing the number of times ships need to dock to refuel due to power issues, thereby reducing port charges and additional energy consumption.

[0047] Continuous monitoring of battery capacity and power consumption can promptly identify potential power issues on board and issue warnings, allowing crew members to take preemptive action and prevent navigation accidents caused by power failures. In adverse sea conditions, coordinated replenishment can maintain a stable power supply among ships, ensuring the normal operation of navigation, communication, and safety equipment, enhancing ship stability and emergency response capabilities. Dynamically adjusting the fleet's power allocation based on mission requirements ensures optimal utilization of power resources, avoiding the idle or shortage resources often caused by irrational power allocation in traditional models. This ensures stable power support for all ships, regardless of the fleet's mission or the complex waters they navigate. When navigating shallows and narrow channels, ships can optimize power usage and flexibly adjust equipment power to ensure safe navigation. For different cargo transport missions, including refrigerated cargo transport, which requires a high level of continuous power supply, priority can be given to refrigerated equipment to ensure cargo quality and enhance the fleet's adaptability to diverse transport missions and complex environments. Optimized power distribution and coordinated replenishment reduce unnecessary energy consumption on board. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of a dynamic power balance and coordinated replenishment system between fleets provided by an embodiment of the present invention.

[0049] Figure 2 It is a flowchart that calculates the energy consumption of individual ships and fleets and corrects navigation efficiency based on real-time monitoring of ship motion status and environmental impact analysis, formulates power adjustment strategies based on power balance targets, and plans coordinated supply routes for ships with insufficient power. DETAILED DESCRIPTION

[0050] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0051] like Figure 1 As shown, an embodiment of the present invention provides a fleet dynamic power balancing and coordinated supply system, including:

[0052] Power management module 1, which is used to monitor the battery capacity, power consumption rate and mission requirements of each ship in real time, and generate the power usage and mission-driven power demand matrix of each ship;

[0053] Intelligent scheduling module 2 is used to dynamically adjust the power output strategy of the main propulsion ship according to the power demand matrix and the ship's motion status to obtain a coordinated supply path;

[0054] Connection management module 3, used to control the opening and closing timing of the mechanical-hydraulic connection device according to the coordinated supply path and power adjustment plan, and synchronously establish the power transmission channel and communication tasks;

[0055] The mobile energy storage module 4 is used to operate the mobile energy storage device on the auxiliary supply ship according to the power transmission and communication tasks, and implement fixed-point charging and battery replacement services for the operation and maintenance ship with insufficient power.

[0056] In this embodiment of the present invention, by real-time monitoring of each vessel's battery capacity and power consumption rate, accurate power data is provided to the fleet. Based on this data, captains and management can plan power usage in advance and schedule missions appropriately, avoiding mission interruptions or equipment damage due to power shortages. A task-driven power demand matrix is ​​generated based on mission requirements, closely matching power supply with actual missions. This ensures sufficient power for missions requiring high-energy-consuming equipment, while minimizing power waste and improving power efficiency for low-energy-consuming missions.

[0057] Dynamically adjust the main propulsion vessel's power output strategy based on the power demand matrix and vessel motion status, ensuring efficient power utilization while meeting the fleet's power needs. This avoids energy waste caused by irrational power output and reduces operating costs. By planning coordinated replenishment routes, time and energy consumption are reduced during the replenishment process. Ships can obtain required power more quickly, maintain a stable sailing speed, and improve the transportation efficiency of the entire fleet.

[0058] Precisely control the opening and closing timing of the mechanical-hydraulic connection device to ensure that the power transmission channel is established quickly and stably. This enables the efficient transfer of electricity within the fleet, meeting the power needs of each ship and improving the overall power supply stability of the fleet. Synchronous establishment of communication tasks ensures real-time data exchange between ships. Crew members can share navigation data, equipment status information and mission progress in a timely manner, achieving closer collaborative operations, improving navigation safety and mission execution efficiency. Convenient connection and disconnection: The quick connection and disconnection function of the mechanical-hydraulic connection device facilitates the combination and adjustment of the fleet at different mission stages. Whether it is for replenishment, changing ships, or responding to emergencies, the connection or disconnection operation can be completed, saving time and labor costs.

[0059] Mobile energy storage devices aboard auxiliary supply vessels provide fixed-point charging and battery replacement services for maintenance vessels experiencing low power levels, providing a flexible power replenishment method for the fleet. This ensures power supply to vessels even when far from ports or charging stations, preventing disruptions due to power outages. Timely replenishment and battery replacement reduces the burden on the vessel's own batteries, extending the life of batteries and other electrical equipment and reducing equipment maintenance and replacement costs.

[0060] In a preferred embodiment of the present invention, the battery capacity, power consumption rate, and mission requirements of each vessel are monitored in real time to generate a power usage and mission-driven power demand matrix for each vessel, which may include:

[0061] The power monitoring equipment on each ship collects the real-time voltage and current data of the battery for monitoring, and obtains the real-time value of the battery capacity and power consumption rate;

[0062] Based on the real-time value of battery capacity and power consumption rate, each ship is equipped with a mission management terminal, and the mission information is input through the mission management terminal;

[0063] Based on the data from the power monitoring equipment and the mission details from the mission management terminal, the power usage and mission-driven power demand matrix of each ship are generated.

[0064] In an embodiment of the present invention, high-precision power monitoring equipment, including smart meters, current sensors, and voltage sensors, is installed on each ship's battery. An appropriate data collection frequency is set based on the characteristics of the ship's power supply and actual needs. The collection frequency can be increased for periods of significant power fluctuations and reduced for more stable conditions. The power monitoring equipment transmits the collected voltage and current data to the ship's data processing unit via wired or wireless communication. This collected voltage and current data, combined with the battery's characteristic parameters, is used to determine the change in battery capacity per unit time, i.e., the power consumption rate.

[0065] Identify a mission management terminal suitable for the vessel's operating environment and install it in a location onboard that is easily accessible and observable, ensuring proper connectivity to the vessel's power and communication networks. Develop a dedicated mission information input interface on the mission management terminal. This interface should be concise and clear, allowing crew members to easily enter mission-related information, including mission type, duration, route, and expected stops. After entering mission information on the mission management terminal, crew members should verify the information to ensure its completeness and accuracy.

[0066] Integrate the real-time battery capacity values ​​and power consumption rate data collected by the power monitoring equipment with the task information stored in the task management terminal. Based on the integrated data, analyze the power usage of each ship at different mission stages, including the power consumption of each device and power distribution. Draw a power usage curve to intuitively display the changing trend of ship power consumption. Based on the power usage analysis results and combined with the task information, generate a task-driven power demand matrix for each ship. Assume that a ship has mission stages, each with power demand indicators, then the task-driven power demand matrix It can be expressed as The rows of the matrix represent different mission stages, and the columns represent different power demand indicators, including total power demand and power demand of each device. The elements in the matrix represent the power demand values ​​in the corresponding mission stage.

[0067] Consider a fleet of three ships carrying out a maritime cargo transport mission. Each ship is equipped with power monitoring equipment, collecting battery voltage and current data once per second. Ship 1's battery capacity is currently at 80%, with a power consumption rate of 2% per hour; Ship 2's battery capacity is currently at 75%, with a power consumption rate of 2.5% per hour; and Ship 3's battery capacity is currently at 85%, with a power consumption rate of 1.5% per hour. Each ship is equipped with a mission management terminal, where the crew enters information about the transport mission. The mission type is cargo transport, the mission duration is three days, and the route is from Port A to Port B, with one stop for cargo loading and unloading.

[0068] The data from the power monitoring equipment and the mission details from the mission management terminal were integrated and analyzed. During the first phase of the mission (departing from Port A to the intermediate stop), Ship 1's total power demand was estimated to be 3,000 kWh, with 2,000 kWh for propulsion, 500 kWh for cargo handling equipment, and 500 kWh for equipment. Ship 2's total power demand was estimated to be 2,800 kWh, with the demands of each equipment allocated proportionally. Ship 3's total power demand was estimated to be 3,200 kWh. A mission-driven power demand matrix was generated for each ship throughout the mission.

[0069] By monitoring battery capacity and power consumption rates in real time, the power status of each ship can be accurately understood. The power demand matrix generated based on mission information enables more refined power management, avoids waste and shortages of power resources, and improves power efficiency. The mission-driven power demand matrix provides an important basis for mission planning. Based on the power demand information in the matrix, crew members can rationally arrange mission progress, equipment usage, and replenishment plans to ensure the smooth completion of the mission. Promptly identifying abnormal battery capacity and excessive power consumption, and taking preemptive measures to address them, avoids safety incidents caused by power failures and improves the safety and reliability of the fleet. Optimizing the allocation and use of power resources reduces unnecessary power consumption and lowers energy costs. At the same time, rational mission planning and replenishment plans also reduce ship docking time and operating costs.

[0070] In a preferred embodiment of the present invention, a data set containing power status, navigation parameters, sea condition impact, and mission progress requirements is obtained for each ship based on the ship's motion status. Ship equipment is monitored in real time to obtain data and environmental impact is analyzed to derive adjustment parameters. The total energy consumption contribution of each ship is then calculated, and the total loss of the fleet is quantified to integrate the initial total energy consumption and correct it to obtain navigation efficiency. A power output adjustment strategy is then formulated for the main propulsion ship based on navigation efficiency and power balance targets. Finally, a coordinated supply route is planned with the power-deficient ship as the core, combining information from multiple sources. This may include:

[0071] Based on the ship's motion status, real-time position and speed information is obtained from the ship's positioning equipment and speed sensors to obtain a data set for each ship, including each ship's power status, navigation parameters, sea condition impact, and mission progress requirements;

[0072] Real-time monitoring of ships and equipment in the fleet to obtain power demand and efficiency changes and collect environmental data. Based on this, the impact of environmental factors on equipment energy consumption is analyzed to derive environmental impact adjustment parameters. The parameters are combined with real-time data to calculate the instantaneous effective energy consumption of the equipment, and the total energy consumption contribution of each ship is accumulated. The total energy loss of the fleet is identified and quantified. The instantaneous effective energy consumption is combined with the total loss to obtain the initial total energy consumption, and the instantaneous effective energy consumption is corrected to obtain the overall navigation efficiency of the fleet.

[0073] Based on the fleet's overall navigation efficiency and power balance targets, a power output adjustment strategy is developed for the main propulsion vessels. When some ships are running low on power and impacting the fleet's progress, the main propulsion vessels are instructed to reduce their power output. When low-power ships are nearing mission completion, the main propulsion vessels are instructed to increase their power output.

[0074] With the low-power ship in the fleet as the core, combined with the real-time location, mission progress and surrounding supply resources, a coordinated supply route is obtained.

[0075] In this embodiment of the present invention, the ship's positioning equipment continuously receives satellite signals, and the speed sensor measures the relative motion between the water and the ship to obtain the ship's navigation speed. This information is transmitted in real time to the ship's central control system. Simultaneously, power management data on each ship's battery capacity, power consumption rate, and power status are retrieved. Combined with sea condition data (wind speed, wave height, current speed and direction) acquired by meteorological monitoring equipment, and task progress information (completed tasks, remaining tasks, and estimated completion time) from task management, this data is integrated to form a detailed dataset for each ship, including power status, navigation parameters, sea condition impacts, and task progress requirements.

[0076] Based on each vessel's power status data, the system utilizes real-time battery capacity and power consumption rates, combined with the estimated remaining mission duration and the power factors of each device, to calculate the power required to complete the remaining mission under current power conditions. The fleet's overall sailing efficiency is assessed by combining the power requirements of all vessels to complete the remaining mission, taking into account the fleet's current speed and route parameters, and considering the impact of sea conditions on sailing speed and power consumption (headwinds and headwaters increase power consumption and reduce sailing speed). Based on the fleet's overall sailing efficiency assessment results and the established power balance targets, a power output adjustment strategy for the main propulsion vessels is formulated. If some vessels are detected to be running low on power and, according to calculations, maintaining their current speed and power output would prevent them from completing the remaining mission, thereby impacting the fleet's overall progress, the system issues a command to the main propulsion vessels to reduce power output. This power reduction will slow the overall fleet speed but reduce power consumption, allowing the underpowered vessels to remain operational until a suitable time for recharging.

[0077] When a low-power vessel approaches the mission completion point, the main propulsion vessel is instructed to increase power output to accelerate the fleet's speed, ensuring safety and enabling the low-power vessel to complete the mission before running out of power. The fleet uses the low-power vessel's positioning system to obtain its real-time position. Combined with mission progress information, the system determines the remaining distance and estimated time to the mission completion point. Simultaneously, the system utilizes communication systems to obtain information on nearby resupply resources, including the location of nearby auxiliary supply vessels and the distribution of offshore charging stations. Taking into account sea conditions, navigation safety, and time constraints, a coordinated resupply route is planned.

[0078] Consider a fleet of five ships tasked with transporting a shipment of cargo from Port A to Port B, a total distance of 500 nautical miles. The ships' positioning equipment and speed sensors collect real-time data. Ship 1 is currently located at 20°N, 110°E, sailing at 12 knots; Ship 2 is located at 20.1°N, 110.1°E, sailing at 11.5 knots. The power status of each ship indicates that Ship 3 has 30% remaining power and is depleting at a rate of 5% per hour; Ship 4 has 40% remaining power and is depleting at a rate of 4% per hour. Regarding sea conditions, the current wind speed is 10 knots from the northeast, with waves 2 meters high and a southeast current of 2 knots. The mission progress indicates that the fleet has completed 300 nautical miles and is expected to reach Port B in 20 hours. This information is integrated into a dataset for each ship.

[0079] Calculations indicate that Ship 3 will require approximately 400 kWh of power to complete the remaining 200 nautical miles, while Ship 4 will require approximately 350 kWh. Considering the impact of sea conditions on sailing speed and power consumption, the fleet's overall sailing efficiency is currently assessed as low. At current speeds and power consumption, Ships 3 and 4 may not maintain sufficient power before reaching the port. Because insufficient power for Ships 3 and 4 could hinder the fleet's progress, the main propulsion vessels were instructed to reduce power output, slowing the fleet's speed to 10 knots. As Ships 3 and 4 approached Port B, the main propulsion vessels increased power output, increasing the fleet's speed to 13 knots. Ship 3's power shortage was identified as being particularly severe, and a coordinated replenishment route was planned with Ship 3 as the core. An auxiliary supply vessel was located nearby, at 21°N, 111°E. A coordinated replenishment route was planned, allowing the auxiliary supply vessel to rendezvous with Ship 3 at 20.5°N, 110.5°E. This route avoided an area of ​​severe convective weather ahead, ensuring a safe and efficient replenishment process.

[0080] By adjusting the power output of the main propulsion vessels in real time, the fleet can maintain a relatively reasonable sailing speed under different circumstances, avoiding a significant drop in overall speed due to power problems on some ships, ensuring that the fleet completes its mission on time and reducing transportation time. Dynamically adjusting power output based on the power status of each ship prevents some ships from being unable to continue sailing due to power exhaustion, ensuring the power balance of the fleet, ensuring that each ship can successfully complete its mission, and improving the reliability of mission completion. With low-power ships as the core, combined with multi-faceted information, collaborative supply routes are planned to improve the timeliness and accuracy of supply, reduce unnecessary sailing distance and time, and reduce supply costs and risks. The system can flexibly adjust strategies based on a variety of complex factors such as ship motion status, power status, sea conditions, and mission progress, allowing the fleet to maintain a good operating state in different navigation environments and mission conditions, enhancing the overall adaptability of the fleet.

[0081] In a preferred embodiment of the present invention, real-time monitoring of ships and equipment in a fleet is performed to obtain power demand and efficiency changes, and environmental data is collected. Based on this data, the impact of environmental factors on equipment energy consumption is analyzed to obtain environmental impact adjustment parameters. The parameters are combined with real-time data to calculate the instantaneous effective energy consumption of the equipment, and the total energy consumption contribution of each ship is accumulated. The total energy loss of the fleet is identified and quantified, and the instantaneous effective energy consumption and the total energy loss are integrated to obtain an initial total energy consumption. The instantaneous effective energy consumption is then corrected to obtain the overall navigation efficiency of the fleet. This may include:

[0082] Real-time monitoring of each vessel and equipment in the fleet to obtain real-time power demand and equipment efficiency changes. At the same time, environmental data is collected through weather stations and sea condition monitors.

[0083] Based on environmental data, the impact of environmental factors on equipment energy consumption is analyzed. This includes determining downstream or upstream status based on the angle between the water flow direction and the ship's heading, quantifying navigation resistance based on wind speed and wave height, and evaluating the impact of equipment efficiency based on temperature. The environmental impact adjustment parameters are then derived, specifically:

[0084] Obtain the angle between the water flow direction and the ship's heading, and by quantifying the degree of fit between the angle and the ship's sailing direction, obtain a quantitative indicator of the effect of the water flow direction on energy consumption;

[0085] Collect wind speed and wave height data, and obtain quantitative indicators of wind speed and wave height on energy consumption based on the degree of wind speed and wind speed's impact on sailing resistance;

[0086] Monitor the current temperature in real time and compare it with the equipment's final operating temperature to assess the impact of temperature deviations from the final state on equipment efficiency, thereby obtaining a quantitative indicator of the effect of temperature on equipment efficiency.

[0087] Integrate water flow, wind speed, wave height, and temperature to ultimately obtain environmental impact parameters, including the overall impact of water flow, wind speed, wave height, and temperature on equipment energy consumption;

[0088] The real-time power demand, equipment efficiency changes, and environmental impact adjustment parameters are normalized and combined to obtain the instantaneous effective energy consumption of the equipment during the mission time.

[0089] The instantaneous effective energy consumption of all equipment on each ship during their respective mission time periods is accumulated to obtain the total energy consumption contribution of a single ship during the entire mission period;

[0090] Identify and quantify the sources of energy loss during fleet operation to obtain the total loss;

[0091] The instantaneous effective energy consumption and the total loss are normalized and then integrated to obtain the initial total energy consumption required for the fleet to actually complete the task. The instantaneous effective energy consumption is then corrected to obtain the overall navigation efficiency of the fleet.

[0092] In the embodiment of the present invention, the power sensor is used to measure the power of each ship. Real-time monitoring of each device (thruster, radar) to obtain the Instantaneous power consumption For example, when the thruster is accelerating =2000W, reduced to 500W during cruising. Equipment efficiency variation coefficient , calculated in real time by the efficiency monitoring module, reflecting the fluctuation of energy conversion efficiency caused by aging and load changes of the equipment (the motor efficiency coefficient is in the range of 0.85-0.95, the conversion efficiency of high-efficiency motor is 0.95, and the conversion efficiency of ordinary motor is around 0.85). Environmental data is collected through weather stations and sea condition monitors, and the angle between water flow and heading is , wind speed , high waves and temperature , and normalize the wind speed, wave height and temperature difference (convert them to [0, 1] interval values, recorded as 、 、 ). Convert environmental data in different units (m / s, m, °C) into dimensionless pure values ​​(0-1) to avoid calculation errors caused by dimension differences (such as the irrationality of directly adding wind speed "10 m / s" and wave height "2 m" in the formula). Calculate the absolute value of the cosine of the angle The larger the value (closer to 1), the more the water flow is in the same direction (downstream) or opposite direction (upstream) as the heading, and the smaller the value (closer to 0), the more vertical it is.

[0093] Substitute the first term into the formula: ,in The water flow impact weight is in the range of 0.2-0.4. It is used in waters where the water flow velocity varies greatly and the water flow affects the navigation of ships, including rivers and narrow straits. It can be close to 0.4; in the open sea, the water flow is relatively stable and has little impact on navigation. The possible value is close to 0.2. is the coefficient of influence of water flow on energy consumption, and its value range is 0.7-0.9. If the ship has good hydrodynamic performance and strong adaptability to water flow changes, The value can be relatively small, such as 0.7; on the contrary, for ships with average hydrodynamic performance, Can be close to 0.9. When it is close to 1, the value of this item is small (energy consumption is reduced); when the flow is reversed, the value of this item may increase.

[0094] Normalized wind speed squared Multiply by the wind speed influence coefficient ,Right now The value range is 0.5-0.7. Wind speed has a greater impact on the ship's sailing resistance. When sailing at high speed, The value can be 0.7; if the ship's sailing speed is low, the impact of wind speed is relatively small. The value can be 0.5. Normalized wave height multiplied by wave height influence coefficient ,Right now , The value range is 0.3-0.5. The impact of wave height on ship navigation is related to the ship's seakeeping performance. For ships with poor seakeeping performance, the impact of wave height on energy consumption is greater. is 0.5; for ships with good seakeeping performance, The value can be 0.3. Add the two and multiply by the magnification factor ,Right now , The value range is 0.5-0.7. When the ship's shape design is highly sensitive to wind and waves, The value can be 0.7; if the ship design can effectively reduce wind and wave resistance, The value can be 0.5. Add 1 and multiply by the weight , The value range is 0.4-0.6. In the marine environment, wind and waves are important factors affecting the energy consumption of ships, especially in ocean voyages and storm-prone areas. The value can be 0.6; in inland rivers or relatively calm seas, It can be reduced to 0.4. That is the second term of the formula: This formula reflects the characteristic that resistance increases linearly with the square of wind speed and wave height. The larger the value, the higher the additional energy consumption. Calculate the normalized temperature difference = ,in, Indicates the reference temperature or base temperature, Indicates the upper limit of temperature. Indicates the lower limit of temperature.

[0095] Substitute the third term into the formula: , is the temperature impact weight, The value range is 0.1-0.3. In areas with large temperature changes that have a significant impact on equipment performance, such as polar or tropical regions, can be 0.3; in temperate regions where the temperature is relatively stable, The acceptable value is 0.1. The coefficient of temperature on efficiency is in the range of 0.8-1.0. For devices that are more sensitive to temperature changes, such as batteries and electronic devices, The value can be 1.0; for equipment with good high or low temperature resistance, is 0.8. The greater the temperature difference, The larger it is, the smaller the value is (the lower the efficiency of the equipment is, and the energy consumption increases).

[0096] For any device and time Calculate the instantaneous effective energy consumption according to the product relationship in the formula ,in, is the environmental impact coefficient. If the propeller =1000W, =0.9 (90% efficiency) under countercurrent conditions =1.1, the instantaneous effective energy consumption is 990W, which represents the actual energy consumption intensity of the equipment under its own efficiency fluctuation and environmental influence. The task time period [0, ] (Propeller continuous operation =3600s), add up the instantaneous effective energy consumption, and get the total energy consumption of a single device . Divide the time into Small interval = 1s, at each time point Calculate instantaneous value and accumulate For example, if the device works for 10 seconds and 10 instantaneous values ​​are sampled, the total energy consumption is the sum of these 10 values ​​multiplied by 1 second. The total energy consumption of each equipment during the mission period is added up to get the total energy consumption contribution of each ship, and the process is repeated for all ships in the fleet to finally form the total energy consumption of the entire fleet equipment: If the fleet consists of 2 ships, each with 3 pieces of equipment, then =6, each device They may be different (device 1 works for 2 hours, device 2 works for 1 hour), and need to be integrated separately and then accumulated.

[0097] statistics The total loss of energy loss sources .

[0098] For example, hull resistance loss ( =1): Calculated based on water flow velocity and ship speed, assuming =50000J; battery charge and discharge loss ( =2): Based on the battery efficiency of 90%, the loss is 10% of the total energy consumption of the equipment, that is, =0.1×total energy consumption of all fleet equipment; heat dissipation loss ( =3): Through temperature sensor monitoring, it is estimated to be 5% of the equipment energy consumption, that is, =0.05×total energy consumption of all fleet equipment, total loss Deduct the total loss from the total energy consumption of the fleet equipment to obtain the theoretical net energy consumption required to complete the task: Theoretical net energy consumption This value represents the energy consumption of the equipment directly used to complete the task, excluding the additional loss of water flow resistance and heat dissipation. (Battery energy storage efficiency is 85%, motor conversion efficiency is 90%, after comprehensive =0.85×0.90=0.765), calculate the final effective power by the formula

[0099] , that is, the overall sailing efficiency of the fleet.

[0100] Calculating the fleet's actual energy consumption to complete missions gives managers a deep understanding of the energy consumption of each ship and each piece of equipment. This helps develop detailed energy management strategies, including rationally allocating energy, optimizing equipment operating hours, avoiding energy waste, and achieving efficient energy utilization. Accurate energy consumption data supports the fleet's mission planning. When planning mission routes and scheduling mission schedules, energy consumption factors can be fully considered to determine the most energy-efficient navigation plan, ensuring that missions are completed smoothly within the permitted energy supply range while improving transportation efficiency. By identifying and quantifying energy losses, targeted measures can be taken to reduce them. Real-time monitoring of the fleet's energy consumption helps to promptly identify potential energy issues. Improving the fleet's energy utilization efficiency and reducing energy consumption means reducing pollutant emissions from ships.

[0101] In another preferred embodiment of the present invention, the energy loss sources include transmission loss, conversion loss and storage loss, which may include:

[0102] Identify the lines and equipment involved in power transmission within the fleet, including cables, busbars, transformers, and switches. Consider power transmission lines between different vessels and between equipment within a vessel, including connecting cables between the main propulsion vessel and barge, and internal wiring from the power source to the various power-consuming devices. Use specialized instruments to measure the resistance, inductance, and capacitance of the transmission lines. Resistance can be measured with a resistance meter, while inductance and capacitance can be measured with appropriate inductance and capacitance meters. Also, note the length, cross-sectional area, and material of the lines, as these all affect power transmission losses.

[0103] Identify energy conversion equipment in the fleet, including generators, motors, inverters, and rectifiers.

[0104] Obtain the conversion efficiency of each energy conversion device under different operating conditions. Conversion efficiency varies with device load and operating temperature, so it is necessary to record the device's real-time operating parameters. Install power sensors at the input and output of the energy conversion device to measure input and output power. By integrating the power over time, the input and output energies are obtained.

[0105] Identify the energy storage devices used in the fleet, including battery packs and supercapacitors. Different types of energy storage devices have different storage characteristics and loss mechanisms. Utilize appropriate monitoring devices to monitor the energy storage device's power, voltage, current, and temperature parameters in real time. These parameters reflect the energy storage device's charge and discharge status and health. Consult the energy storage device's documentation to obtain parameters related to storage loss, including self-discharge rate and charge and discharge efficiency. The self-discharge rate indicates the rate at which the energy storage device naturally loses charge when not connected to a load, while the charge and discharge efficiency reflects the energy conversion losses during the charging and discharging process.

[0106] In a preferred embodiment of the present invention, based on the coordinated supply path and power adjustment scheme, controlling the opening and closing timing of the mechanical-hydraulic connection device and synchronously establishing the power transmission channel and communication tasks may include:

[0107] According to the coordinated supply path and power adjustment plan, send instructions to the connection management to determine the task type and match the corresponding connection device operation;

[0108] Following instructions, the robotic arm uses lidar to locate the connection port of the target vessel. The hydraulically driven guide device aligns the lock with the target groove and closes along the guide rail, achieving connection through elastic snaps. At the same time, sensors detect the sealing of the interface.

[0109] After connection, the power transmission interface establishes a circuit connection and transmits power from the ship with sufficient power to the ship with insufficient power according to the power adjustment plan; at the same time, the interface establishes a communication link and enables the ships to exchange navigation data, equipment status information and related mission data according to the preset communication protocol.

[0110] In this embodiment of the present invention, instructions are sent to the connection management system based on the planned coordinated replenishment route and power adjustment plan. Upon receiving the instructions, the connection management system analyzes key mission information, including the type of replenishment and the vessel numbers involved, to determine the mission type. The connection management system then matches the mission type with the corresponding connection device operation procedures within its built-in operation instruction library. This includes the action sequence, timing, and parameter settings for each component of the mechanical-hydraulic connection system, ensuring that the connection device operates precisely as required by the mission.

[0111] When the mechanical-hydraulic connection receives the execution command, the robotic arm mounted on the connection device activates. The laser radar (LIDAR) on the arm begins scanning and locating the target vessel's connection port. The LIDAR emits a laser beam and measures the distance to the target based on the time delay of the reflected light, thereby mapping the position and shape of the target vessel's connection port. Based on this information, the robotic arm adjusts its posture and moves the hydraulically driven guide device close to the target connection port. The locking catch on the guide device is hydraulically driven to align with the target groove. The locking catch then closes along the guide rail until it fully engages the target groove. At this point, the elastic snap engages, firmly locking the target groove and achieving a secure connection between the vessels. During the connection process, sensors installed at the connection interface continuously monitor the sealing of the interface. If any sealing anomalies are detected, feedback is provided, allowing for timely adjustments or reconnection.

[0112] Once the ships are successfully connected, the power transmission interface begins operating. The circuit connection mechanism within the power transmission interface, driven by control signals, automatically establishes a circuit connection from the fully charged ship to the insufficiently charged ship. Simultaneously, power transmission begins according to the power and time requirements specified in the power adjustment plan. Simultaneously, the communication interface establishes a communication link. Following the pre-set communication protocol, the communication interface exchanges navigation data, equipment status information, and relevant mission data, enabling information sharing and collaborative operations between ships.

[0113] Consider a fleet of three ships. Ship A has sufficient power, while ship B is low on power. The fleet has planned a coordinated resupply route, with ship A recharging ship B. Fleet control sends a command to the connection management system based on the coordinated resupply route and power adjustment plan. After parsing the command, the connection management system determines that the task type is power resupply and involves both ships A and B. It locates the corresponding mechanical-hydraulic connection device operation procedure in the operation instruction library and prepares to execute the connection operation. Ships A and B gradually approach each other along the planned route. The mechanical-hydraulic connection device's manipulator on ship A activates, and a lidar scan locates the connection port on ship B. Using lidar measurements, the manipulator moves the hydraulically driven guide device close to the connection port on ship B. The latch aligns with the target groove and closes along the guide rail, securing the elastic latch securely, connecting the two ships. During the connection process, sensors detect a good seal at the interface.

[0114] Once the two ships are connected, the power transmission interface automatically establishes a circuit connection and begins transmitting power from ship A to ship B according to the power setting scheme. Simultaneously, the communication interface establishes a communication link according to the pre-set communication protocol, and ships A and B begin exchanging navigation data, equipment status information, and mission data. Ship B transmits its battery level and equipment operating status to ship A, and ship A, in turn, shares its navigation parameters and mission progress information with ship B, enabling information sharing and facilitating collaborative operations between the two ships.

[0115] By precisely controlling the opening and closing timing of the mechanical-hydraulic connection device and synchronizing the power transmission channel with communication tasks, fast and stable connections between ships are achieved, as well as efficient resource replenishment and information sharing. This enables the fleet to adjust resource allocation according to actual conditions during mission execution, improving overall operational efficiency. Real-time communication between ships allows crews to keep up-to-date on each other's navigation data and equipment status, avoiding safety incidents such as collisions caused by information discontinuity. Furthermore, in emergency situations with insufficient power, power can be quickly replenished, ensuring the normal operation of critical equipment and ensuring safe navigation. Reasonable power adjustment and power transmission solutions prevent damage to ship equipment due to power shortages and overloads, extending its service life. Furthermore, during the connection process, the sealing of the interface is tested to ensure connection reliability and reduce the risk of equipment failure caused by unstable connections. The ability to match the connection device operation to different mission types (power replenishment, cargo transfer) provides the fleet with greater adaptability. Whether in routine transportation missions or emergency rescue operations, the system can quickly and accurately complete the connection between ships and exchange resources and information to meet complex and changing mission requirements.

[0116] In a preferred embodiment of the present invention, based on power transmission and communication tasks, the mobile energy storage device on the auxiliary supply ship is operated to provide fixed-point charging and battery replacement services for the operation and maintenance ship with insufficient power, which may include:

[0117] Real-time monitoring of the battery power of the maintenance vessel. When the battery power falls below a preset safety threshold, the emergency response program of the mobile energy storage device is automatically triggered to lock onto the target vessel and plan a supply route.

[0118] Receive low-battery alerts and locked target vessel information, and generate a replenishment route based on the location of the maintenance vessel, current sea conditions, and mission priority factors;

[0119] When the supply route reaches the target location, it uses a connection device to connect to the operation and maintenance ship to implement fixed-point charging and battery replacement services.

[0120] In an embodiment of the present invention, high-precision battery power monitoring sensors are installed on the operation and maintenance ship. These sensors will collect battery power data in real time and transmit the data to the monitoring of the auxiliary supply ship through wireless communication. The monitoring will continue to analyze and process these data, and a safe power threshold is preset in the monitoring of the auxiliary supply ship. When the received battery power data of the operation and maintenance ship is lower than the threshold, the emergency response program of the mobile energy storage device will be automatically triggered. The program will immediately start the target locking function and accurately lock the position of the operation and maintenance ship with insufficient power through the global positioning system. At the same time, preliminary planning of the supply route from the current position of the auxiliary supply ship to the target operation and maintenance ship position will begin.

[0121] The control of the auxiliary supply vessel receives low-battery alarms and targeted vessel information from the monitoring system. Simultaneously, the vessel's onboard weather monitoring equipment and sea condition sensors provide real-time information on current sea conditions, including wind speed, wave height, current speed, and direction. Furthermore, the priority of the maintenance vessel's mission is determined based on the fleet's mission management. The vessel's location, current sea conditions, and mission priority are factored into the route. Various factors are considered, such as avoiding areas with adverse sea conditions to ensure navigation safety and prioritizing maintenance vessels with high-priority missions. The initially planned supply route is optimized and adjusted to create a finalized route.

[0122] The auxiliary supply vessel follows the generated supply route to the target location. During the voyage, it continuously uses a positioning system for navigation and position updates to ensure accurate arrival at the target location. Once the auxiliary supply vessel reaches the target location, it connects to the operation vessel using an onboard connection device. This connection device can be a robotic arm or hydraulic docking station to ensure a secure and stable connection. During the connection process, a leak test and electrical connection test are performed to ensure safe charging and battery replacement services. Once connected, the mobile energy storage device begins charging the operation vessel at a fixed location based on the operation vessel's needs and battery status. During charging, charging current, voltage, and battery temperature are monitored in real time to ensure safe and efficient charging. If the operation vessel's battery is damaged or needs to be replaced, the auxiliary supply vessel's operator will use specialized tools to replace the battery, install the new battery on the operation vessel, and recycle the old battery.

[0123] Suppose an offshore wind farm is operating and maintaining a maintenance vessel responsible for inspecting and maintaining multiple wind turbines. An auxiliary supply vessel is on standby in nearby waters, monitoring the vessel's battery charge in real time. As the vessel performs its mission, its battery charge gradually decreases. When the battery monitoring sensor detects that the battery charge falls below a preset safety threshold, the data is transmitted to the auxiliary supply vessel's monitoring system. The monitoring system immediately triggers the mobile energy storage unit's emergency response program and uses navigation to locate the maintenance vessel, which is now located in the northeast corner of the offshore wind farm. The auxiliary supply vessel's control system receives the low-battery alert and the vessel's position. Simultaneously, weather monitoring equipment indicates moderate sea conditions with a wind speed of 15 knots, a wave height of 2 meters, and a southeasterly current. The mission management system indicates that the maintenance vessel's mission has a high priority because it is currently inspecting critical wind turbines. Based on this information, a replenishment route is generated, avoiding areas with high winds and waves and heading directly to the maintenance vessel's location.

[0124] The auxiliary supply vessel followed the supply route and eventually reached the operation and maintenance vessel. Operators used a robotic arm to connect the auxiliary supply vessel to the operation and maintenance vessel, performing a leak and electrical connection test. After confirming the connection was secure, the mobile energy storage device began charging the operation and maintenance vessel's batteries. During the charging process, it was discovered that one of the battery cells on the operation and maintenance vessel had failed. Operators used specialized tools to replace the damaged battery with a new one, ensuring the operation and maintenance vessel could continue its mission.

[0125] Through real-time monitoring and prompt emergency response, charging and battery replacement services can be provided when maintenance vessels run low on power, preventing interruptions to maintenance tasks due to power issues and ensuring the continuity and efficiency of offshore operations. Timely charging and battery replacement services ensure the normal operation of critical equipment on maintenance vessels, reducing equipment failures and safety incidents caused by low power. Furthermore, safety checks performed during the connection and charging processes enhance operational safety. Supply routes are generated based on sea conditions and mission priorities, enabling the rational routing of auxiliary supply vessels, avoiding unnecessary voyages and energy consumption, and improving resource utilization efficiency. Providing timely support to maintenance vessels experiencing low power enables better collaboration across the fleet, improving overall efficiency and emergency response capabilities.

[0126] An embodiment of the present invention further provides a computing device comprising: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, executes the system described above. All implementations in the above system embodiments are applicable to this embodiment and can achieve the same technical effects.

[0127] The embodiment of the present invention further provides a computer-readable storage medium storing instructions, which, when executed on a computer, causes the computer to execute the system described above. All implementations in the above system embodiments are applicable to this embodiment and can achieve the same technical effects.

[0128] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A fleet dynamic power balance and coordinated supply system, characterized by: include: A power management module that monitors each vessel's battery capacity, power consumption rate, and mission requirements in real time, generating a power usage and mission-driven power demand matrix for each vessel; The intelligent scheduling module is used to obtain a data set for each ship based on its motion status, including power status, navigation parameters, sea condition impact, and mission progress requirements. It monitors ship equipment in real time to obtain data and analyzes environmental impacts to derive environmental impact adjustment parameters. It then calculates the total energy consumption contribution of each ship and quantifies the total loss of the fleet to integrate the initial total energy consumption and correct it to obtain navigation efficiency. Based on navigation efficiency and power balance targets, it then formulates a power output adjustment strategy for the main propulsion ship. Finally, it plans a coordinated supply route based on information from multiple sources, focusing on ships with insufficient power. The connection management module is used to control the opening and closing timing of the mechanical-hydraulic connection device according to the coordinated supply path and power adjustment plan, and synchronously establish the power transmission channel and communication tasks; The mobile energy storage module is used to operate the mobile energy storage device on the auxiliary supply ship according to the power transmission and communication tasks, and implement fixed-point charging and battery replacement services for operation and maintenance ships with insufficient power.

2. The fleet dynamic power balance and coordinated supply system according to claim 1, characterized in that: Real-time monitoring of each vessel’s battery capacity, power consumption rate, and mission requirements generates a power usage and mission-driven power demand matrix for each vessel, including: The power monitoring equipment on each ship collects the real-time voltage and current data of the battery for monitoring, and obtains the real-time value of the battery capacity and power consumption rate; Based on the real-time value of battery capacity and power consumption rate, each ship is equipped with a mission management terminal, and the mission information is input through the mission management terminal; Based on the data from the power monitoring equipment and the mission details from the mission management terminal, the power usage and mission-driven power demand matrix of each ship are generated.

3. The fleet dynamic power balance and coordinated supply system according to claim 2, characterized in that: Based on the ship's motion status, a data set containing power status, navigation parameters, sea state impact, and mission progress requirements is obtained for each ship. Ship equipment is monitored in real time to obtain data and analyze environmental impacts to derive environmental impact adjustment parameters. The total energy consumption contribution of each ship is then calculated, and the total fleet loss is quantified to integrate the initial total energy consumption and correct it to obtain navigation efficiency. A power output adjustment strategy is then formulated for the main propulsion ship based on navigation efficiency and power balance targets. Finally, a coordinated supply route is planned with ships with insufficient power as the core, combining information from multiple sources. This includes: Based on the ship's motion status, real-time position and speed information is obtained from the ship's positioning equipment and speed sensors to obtain a data set for each ship, including each ship's power status, navigation parameters, sea condition impact, and mission progress requirements; Real-time monitoring of ships and equipment in the fleet to obtain power demand and efficiency changes and collect environmental data. Based on this, the impact of environmental factors on equipment energy consumption is analyzed to derive environmental impact adjustment parameters. The parameters are combined with real-time data to calculate the instantaneous effective energy consumption of the equipment, and the total energy consumption contribution of each ship is accumulated. The total energy loss of the fleet is identified and quantified. The instantaneous effective energy consumption is combined with the total loss to obtain the initial total energy consumption, and the instantaneous effective energy consumption is corrected to obtain the overall navigation efficiency of the fleet. Based on the fleet's overall navigation efficiency and power balance targets, a power output adjustment strategy is developed for the main propulsion vessels. When some ships are running low on power and impacting the fleet's progress, the main propulsion vessels are instructed to reduce their power output. When low-power ships are nearing mission completion, the main propulsion vessels are instructed to increase their power output. With the low-power ship in the fleet as the core, combined with the real-time location, mission progress and surrounding supply resources, a coordinated supply route is obtained.

4. The fleet dynamic power balance and coordinated supply system according to claim 3, characterized in that: Real-time monitoring of ships and equipment in the fleet to obtain power demand and efficiency changes and collect environmental data. Based on this, the impact of environmental factors on equipment energy consumption is analyzed to obtain environmental impact adjustment parameters. The parameters are combined with real-time data to calculate the instantaneous effective energy consumption of the equipment, and the total energy consumption contribution of each ship is accumulated. The total loss of the fleet energy loss is identified and quantified. The instantaneous effective energy consumption and total loss are integrated to obtain the initial total energy consumption. The instantaneous effective energy consumption is corrected to obtain the overall navigation efficiency of the fleet, including: Real-time monitoring of each vessel and equipment in the fleet to obtain real-time power demand and equipment efficiency changes. At the same time, environmental data is collected through weather stations and sea condition monitors. Analyze the impact of environmental factors on equipment energy consumption based on environmental data. This includes determining downstream or upstream status based on the angle between the water flow and the ship's heading, quantifying navigation resistance based on wind speed and wave height, and evaluating the impact of temperature on equipment efficiency to derive environmental impact adjustment parameters. The real-time power demand, equipment efficiency changes, and environmental impact adjustment parameters are normalized and combined to obtain the instantaneous effective energy consumption of the equipment during the mission time. The instantaneous effective energy consumption of all equipment on each ship during their respective mission time periods is accumulated to obtain the total energy consumption contribution of a single ship during the entire mission period; Identify and quantify the sources of energy loss during fleet operation to obtain the total loss; The instantaneous effective energy consumption and the total loss are normalized and then integrated to obtain the initial total energy consumption required for the fleet to actually complete the task. The instantaneous effective energy consumption is then corrected to obtain the overall navigation efficiency of the fleet.

5. The fleet dynamic power balance and coordinated supply system according to claim 4, characterized in that: The energy loss sources include transmission loss, conversion loss and storage loss.

6. The fleet dynamic power balance and coordinated supply system according to claim 5, characterized in that: According to the coordinated supply path and power adjustment plan, control the opening and closing timing of the mechanical-hydraulic connection device, and synchronously establish the power transmission channel and communication tasks, including: According to the coordinated supply path and power adjustment plan, send instructions to the connection management to determine the task type and match the corresponding connection device operation; Following instructions, the robotic arm uses lidar to locate the connection port of the target vessel. The hydraulically driven guide device aligns the lock with the target groove and closes along the guide rail, achieving connection through elastic snaps. At the same time, sensors detect the sealing of the interface. After connection, the power transmission interface establishes a circuit connection and transmits power from the ship with sufficient power to the ship with insufficient power according to the power adjustment plan; at the same time, the interface establishes a communication link and enables the ships to exchange navigation data, equipment status information and related mission data according to the preset communication protocol.

7. The fleet dynamic power balance and coordinated supply system according to claim 6, characterized in that: According to the power transmission and communication tasks, the mobile energy storage device on the auxiliary supply ship is operated to provide fixed-point charging and battery replacement services for operation and maintenance ships with insufficient power, including: Real-time monitoring of the battery power of the maintenance vessel. When the battery power falls below a preset safety threshold, the emergency response program of the mobile energy storage device is automatically triggered to lock onto the target vessel and plan a supply route. Receive low-battery alerts and locked target vessel information, and generate a replenishment route based on the location of the maintenance vessel, current sea conditions, and mission priority factors; When the supply route reaches the target location, it uses a connection device to connect to the operation and maintenance ship to implement fixed-point charging and battery replacement services.

8. The fleet dynamic power balance and coordinated supply system according to claim 4, characterized in that: Based on environmental data, the impact of environmental factors on equipment energy consumption is analyzed. This includes determining downstream or upstream status based on the angle between the water flow direction and the ship's heading, quantifying navigation resistance based on wind speed and wave height, and evaluating the impact of equipment efficiency based on temperature. The resulting environmental impact adjustment parameters include: Obtain the angle between the water flow direction and the ship's heading, and quantify the degree of fit between the angle and the ship's sailing direction to obtain a quantitative indicator of the effect of the water flow direction on energy consumption; Collect wind speed and wave height data, and obtain quantitative indicators of wind speed and wave height on energy consumption based on the degree of wind speed and wind speed's impact on sailing resistance; Monitor the current temperature in real time and compare it with the equipment's final operating temperature to assess the impact of temperature deviations from the final state on equipment efficiency, thereby obtaining a quantitative indicator of the effect of temperature on equipment efficiency. By integrating water flow, wind speed, wave height and temperature, we can finally obtain the environmental impact adjustment parameters, including the overall impact of water flow, wind speed, wave height and temperature environmental factors on equipment energy consumption.

9. A computing device, characterized in that include: one or more processors; A storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the system according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a program, which, when executed by a processor, implements the system according to any one of claims 1 to 8.

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