Unmanned ship solar energy management optimization method, system, equipment and medium

Abstract

The invention discloses an unmanned ship solar energy management optimization method, system, equipment and medium, and relates to the technical field of unmanned ship energy management optimization, and the method comprises the steps: obtaining the real-time power generation data of a solar panel and the energy consumption data of an unmanned ship, and calculating a dynamic power distribution strategy based on the illumination intensity and the power demand. And according to the sailing task demand and the battery state, solar charging and discharging management is adjusted, and the time sequence of energy storage and release is controlled. The inclination angle of the solar panel is dynamically adjusted in combination with environment change and a navigation path optimization scheme, and the energy acquisition efficiency is improved. The method has the remarkable advantages in the aspects of improving the power generation efficiency, optimizing power distribution, protecting an energy system, reducing the environmental adaptation risk and the like, is particularly suitable for application scenes of the unmanned ship under the conditions of ocean monitoring, long-endurance cruising and critical energy operation, and solves the problem that energy efficiency and task safety cannot be considered at the same time in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of energy management optimization for unmanned boats, and specifically to a method, system, device, and medium for optimizing solar energy management of unmanned boats. Background Art

[0002] With the wide application of unmanned boats in fields such as ocean mapping, environmental monitoring, and military reconnaissance, their long-term autonomous operation ability has become one of the key technologies. In recent years, solar energy supply systems have gradually been integrated into the structure of unmanned boats to extend the endurance and improve energy independence. To achieve stable power supply, most solutions use fixed-angle solar panels, supplemented by simple energy control strategies, to achieve energy distribution for task modules such as navigation, communication, and data collection. However, in the face of complex sea conditions and constantly changing environmental conditions, it is difficult to achieve optimal energy scheduling and panel control of the system while taking into account navigation safety and energy efficiency only relying on static configuration and empirical threshold scheduling. This makes solar energy management optimization a key breakthrough point for enhancing the autonomous ability of unmanned boats.

[0003] Existing unmanned boat solar energy management technologies mostly rely on fixed solar panels and preset power distribution logics, lacking the ability of accurate prediction and adaptive control of light changes. In most solutions, the angle of the solar panel remains unchanged, without considering the attitude changes of the boat body caused by waves, wind speed, etc. during navigation, which directly affects the light incident efficiency and causes power generation losses. At the same time, existing technologies usually adopt static charge and discharge rules and cannot dynamically judge whether to charge or discharge according to future power supply and demand, resulting in overcharging of the battery or energy waste from time to time. In addition, existing power distribution methods are mostly based on simple logical conditions and are difficult to perform multi-objective joint optimization by combining light prediction, battery status, and task execution strategies, lacking accurate guarantee for high-priority tasks and reasonable utilization of surplus energy. More importantly, in complex sea conditions, some technologies fail to consider the safety management of solar panels in high-wind and high-wave environments, lacking a dynamic folding mechanism and emergency contraction strategy, and there is a risk of structural damage and unstable navigation. In contrast, the present invention provides a systematic integrated optimization solution in terms of panel angle control, energy prediction and distribution, charge and discharge rhythm management, and dynamic folding response, which is a comprehensive ability not yet possessed by existing technologies and can significantly improve the energy efficiency management level and operation safety of unmanned boats in uncertain marine environments. Summary of the Invention

[0004] In view of the above existing problems, the present invention is proposed.

[0005] Therefore, the technical problem to be solved by the present invention is that the existing solar energy management method for unmanned boats has a large impact on power generation capacity by attitude disturbance, the power distribution strategy cannot adapt to task changes, the battery charge and discharge control lacks a dynamic judgment mechanism, and how to realize the angle optimization of solar panels and energy collaborative scheduling jointly driven by navigation tasks and environmental perception.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: An unmanned boat solar energy management optimization method includes obtaining real-time power generation data of solar panels and energy consumption data of the unmanned boat, and calculating a dynamic power distribution strategy based on light intensity and power demand. According to the navigation task requirements and battery status, adjust the solar energy charge and discharge management to control the timing of energy storage and release. Combine the environmental changes and the navigation path optimization scheme to dynamically adjust the inclination angle of the solar panels to improve the energy acquisition efficiency. Combining the environmental changes and the navigation path optimization scheme includes continuously collecting the roll angle and pitch angle of the unmanned boat during navigation, and combining the real-time position information provided by the positioning device to judge the current attitude and geographical orientation. Obtain the altitude angle and azimuth angle of the sun at the corresponding moment of the real-time position through environmental perception means as the basis for angle optimization. Convert the angle between the sun altitude angle and the boat body attitude into an inclination correction target value, and perform angle compensation according to the attitude parameters obtained by inertial measurement to form a two-dimensional angle correction vector.

[0007] As a preferred solution of the unmanned boat solar energy management optimization method described in the present invention, wherein: the obtaining of the real-time power generation data of the solar panels and the energy consumption data of the unmanned boat includes periodically collecting the current light parameters through a light intensity sensor and synchronously obtaining the voltage, current and output power data of the solar panels.

[0008] As a preferred solution of the unmanned boat solar energy management optimization method described in the present invention, wherein: the calculating of the dynamic power distribution strategy based on light intensity and power demand includes using a long short-term memory neural network model, and the input parameters include time points, geographical locations, historical light intensity sequences and meteorological change trends, and the output is the prediction result of the light intensity in the future time period. According to the first operation cycle, estimate the power requirements of each module in the future. Construct an objective function, perform weighted summation of the difference between the light prediction value and the power demand value, and use the change amount of the battery state as another optimization factor, and determine the power distribution plan for each time period through a multi-objective optimization algorithm.

[0009] As a preferred solution of the unmanned boat solar energy management optimization method described in the present invention, wherein: the adjustment of solar energy charge and discharge management includes, after implementing the dynamic power distribution strategy, deciding the charging or discharging behavior of the battery according to the actual power allocation result and the trend of power surplus or shortage in the future time period. If there is remaining energy available for storage after power distribution and the current state of charge of the battery does not reach the upper limit threshold, the main charging path is connected to the lithium battery pack for charging, and the voltage, current and temperature are monitored in real time through the battery management system to ensure the stability of the charging process. If it is predicted that the power supply in the next scheduling cycle will be less than the demand and the state of charge of the battery is higher than the minimum operating threshold, switch to the discharging mode, and the battery supplies power to the current core task.

[0010] As a preferred solution of the unmanned boat solar energy management optimization method described in the present invention, wherein: the control of the timing of energy storage and release includes constructing a unified multi-source energy scheduling mechanism, taking the predicted value of future sunlight, the change trend of the remaining battery power, the task power budget and the wave energy supply status as input conditions. When it is predicted that the sunlight will continue to be lower than the set threshold for a period of time in the future, the current solar power generation is directly allocated to high-priority tasks for use, and at the same time, the charging of the main battery is stopped, and the existing energy storage of the battery is reserved for backup. In the state of sufficient sunlight but low load, the surplus energy is automatically scheduled to perform preprocessing tasks with high power consumption and perform self-check operations.

[0011] As a preferred solution of the unmanned boat solar energy management optimization method described in the present invention, wherein: the combination of environmental changes and navigation path optimization scheme includes continuously collecting the roll angle and pitch angle of the unmanned boat during navigation through an inertial measurement device, and combining the real-time position information provided by the positioning device to judge the current attitude and geographical orientation. The altitude angle and azimuth angle of the sun at the corresponding moment at this position are obtained through environmental perception means as the basis for angle optimization. The included angle between the sun altitude angle and the hull attitude is converted into an inclination correction target value, and angle compensation is performed according to the attitude parameters obtained by inertial measurement. According to the offset value that appears in the current roll direction, the angle change amount in the pitch direction is superimposed in real time to form a two-dimensional angle correction vector, which guides the mechanical execution component to adjust the inclination angle and deflection angle of the solar panel in the biaxial direction. During the execution process, the angle change amount in the previous adjustment cycle is used as a reference value to judge whether a new adjustment operation is to be performed in this cycle. When the angle deviation exceeds the set minimum adjustment threshold, or the environmental light change rate is greater than the set threshold, a next adjustment instruction is triggered, otherwise the current angle state of the unmanned boat is maintained and position locking is performed.

[0012] As a preferred embodiment of the unmanned boat solar energy management optimization method of the present invention, the dynamic adjustment of the inclination angle of the solar panel includes real-time monitoring of wave height and wind speed data. When the wind speed is higher than the preset threshold and the wave height exceeds the specified range, the solar panel folding mechanism is automatically triggered, and the two-side slide rail motors are controlled to retract part of the solar panel into the boat body to reduce attitude disturbance and navigation resistance. If the system is operating at night or enters a very low illuminance area, part of the solar panel is turned off according to the main control command, and only the middle high-efficiency battery cells are retained to continue working. At the same time, the angle adjustment system of the solar panel is turned off and the system enters the standby state.

[0013] Another object of the present invention is to provide an unmanned boat solar energy management optimization system, which can dynamically adjust the inclination angle of the solar panel by combining environmental changes and navigation path optimization schemes, improve the energy acquisition efficiency, and solve the problem of large fluctuations in the power generation efficiency of the solar panel of the unmanned boat in a dynamic marine environment. Through attitude-sunshine fusion modeling and two-axis linkage adjustment, the present invention can compensate for the panel offset caused by sea surface undulation in real time, so as to maintain a high stability of the incident angle.

[0014] As a preferred embodiment of the unmanned boat solar energy management optimization system of the present invention, it includes a power acquisition and distribution module, an adjustment module, and an optimization module.

[0015] The power acquisition and distribution module is used to obtain the real-time power generation data of the solar panel and the energy consumption data of the unmanned boat, and calculate the dynamic power distribution strategy based on the light intensity and power demand.

[0016] The adjustment module is used to adjust the solar charging and discharging management according to the navigation task requirements and the battery state, and control the timing of energy storage and release.

[0017] The optimization module is used to dynamically adjust the inclination angle of the solar panel by combining environmental changes and navigation path optimization schemes to improve the energy acquisition efficiency.

[0018] A computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the unmanned boat solar energy management optimization method.

[0019] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the unmanned boat solar energy management optimization method are implemented.

[0020] Advantages of the present invention: The unmanned boat solar energy management optimization method provided by the present invention obtains real-time power generation data of solar panels and energy consumption data of the unmanned boat, and calculates a dynamic power distribution strategy based on light intensity and power demand. By linking the variability of the supply side with the dynamic tasks of the load side and through precise sensing and prediction means, it not only ensures that high-priority functional units obtain continuous power supply, but also effectively avoids energy waste and power supply redundancy. Compared with the traditional energy consumption management method based on static parameter configuration, the present invention realizes predictive power scheduling driven by real-time data, improves the accuracy of system energy efficiency allocation, and provides a highly reliable data basis for subsequent charge and discharge management and panel control. Ultimately, this step lays a foundation for the unmanned boat to maintain long-term autonomous operation in complex environments.

[0021] According to the navigation task requirements and battery status, adjust the solar energy charge and discharge management to control the timing of energy storage and release. Realize the timing adaptive management of the battery charge and discharge strategy. Different from the traditional fixed threshold control logic, the present invention introduces a mechanism for predicting future power profit and loss and task-driven energy allocation, deeply coupling the charge and discharge control with the importance of tasks and the health status of the battery, further improving the flexibility of system scheduling and the operating stability. In addition, by setting specific upper and lower threshold values of the state of charge and environmental temperature conditions, the risks of overcharging, over-discharging, and low-temperature charging of lithium batteries are effectively avoided. Ultimately, this step realizes the dual optimization of task execution continuity and battery life on the premise of ensuring energy security.

[0022] Combined with environmental changes and the navigation path optimization scheme, dynamically adjust the inclination angle of the solar panels to improve the energy acquisition efficiency. Solve the problem of large fluctuations in the power generation efficiency of the solar panels of the unmanned boat in a dynamic marine environment. Through attitude-sunshine fusion modeling and two-axis linkage adjustment, the present invention can compensate in real time for the panel offset caused by sea surface undulation, thus maintaining a relatively high stability of the incident angle. At the same time, by introducing an angle difference threshold and a light rate change threshold, a dynamic differential mechanism for judging whether to adjust the angle is realized, avoiding energy consumption waste caused by frequent actions. In extreme weather, the panel is retracted into the interior of the boat body through a folding structure to ensure the stability of the navigation attitude and prevent hardware damage. Ultimately, this step realizes the dual guarantee of light utilization efficiency and navigation structure safety, which is a composite control strategy that cannot be achieved by the traditional fixed panel scheme. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for description in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0024] Figure 1The overall flowchart of an optimization method for unmanned boat solar energy management provided by the first embodiment of the present invention. Detailed implementation manners

[0025] To make the above objects, features and advantages of the present invention more obvious and understandable, the following will describe in detail the specific implementation manners of the present invention with reference to the accompanying drawings of the specification. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] Example 1, referring to Figure 1 , an embodiment of the present invention provides an optimization method for unmanned boat solar energy management, including:

[0027] S1: Obtain the real-time power generation data of the solar panels and the energy consumption data of the unmanned boat, and calculate the dynamic power distribution strategy based on the light intensity and power demand.

[0028] Periodically collect the current light parameters through a light intensity sensor, and synchronously obtain the voltage, current and output power data of the solar panels.

[0029] It should be noted that a preferred solution for collecting the current light parameters specifically includes that the unmanned boat is equipped with a set of environmental perception and power generation monitoring components for obtaining the light intensity and power generation parameters. A digital light intensity sensor installed on the top of the boat body is set to collect the current illuminance value (unit: W / m2) every 10 seconds. The collection result is timestamped and bound to the current global positioning information for constructing a spatio-temporal light data sequence. A voltage and current sensor is connected to the output end of the solar panel to record the output voltage (V) and current (A) of the solar panel every second. The power generation power value per unit time (unit: W) is obtained through multiplication calculation. Connect to the offshore weather prediction platform to extract the historical weather data of the current location in the past 7 days as one of the input features of the neural network.

[0030] Use a long short-term memory neural network model, the input parameters include time point, geographical location, historical light intensity sequence and meteorological change trend, and output the prediction result of the light intensity in the future time period.

[0031] It should be noted that a preferred solution of the long short-term memory neural network model specifically includes constructing a light prediction model using a single-layer long short-term memory (LSTM) network. The internal units of the LSTM include an input gate, a forget gate, and an output gate. It effectively learns the light change trend through the time series dependence relationship and outputs the light intensity value in the short term in the future. The input dimension is [number of samples × number of time steps × number of features], and the output dimension is [number of samples × number of prediction steps]. The input features include the time stamp of the current time step, the geographical location corresponding to the time step, the historical light intensity of the past n time steps, and meteorological parameters, and the predicted value of the light intensity at the k-th time step in the future is output, with the unit of W / m 2 , and by default, it predicts for 1 hour, with each 10 minutes as a group, and a total of 6 prediction points are output.

[0032] According to the first operation cycle, estimate the power requirements of each module in the future. Construct an objective function, perform a weighted sum of the differences between the light prediction value and the power requirement value, and take the change amount of the battery state as another optimization factor. Through a multi-objective optimization algorithm, determine the power distribution plan for each time period.

[0033] It should be noted that a preferred solution for estimating the power requirements of each module in the future according to the first operation cycle specifically includes setting the first operation cycle of the present invention to 30 minutes. The navigation module has a relatively high real-time requirement for course control. Setting it too long may cause path drift, and setting it too short will result in frequent switching and energy waste. 30 minutes can balance the control accuracy and energy consumption efficiency when the sea conditions are stable. Estimating the power requirements of each module in the future includes, when performing power requirement estimation, first analyzing the historical operation records of each functional unit (navigation, communication, data processing, propulsion), extracting the actual operation duration of each unit in the past multiple cycles, and combining the current task plan to judge whether it will be scheduled to execute in the next time period. If a certain functional unit is expected to run continuously, its running time is calculated according to the entire cycle. If it is only triggered within a specific time period, it is converted according to the trigger duration. Subsequently, calculate the average power consumption value of the functional unit in different working states, and combine the running duration to calculate the total power consumption within the cycle. After the power consumption of all functional units is combined, it constitutes the overall power requirement prediction value within the current scheduling cycle, providing a basic basis for the subsequent power distribution strategy.

[0034] Furthermore, a preferred solution for constructing the objective function specifically includes establishing a multi-objective power scheduling optimization objective function to minimize two objectives, including the deviation between the power generation capacity and the required power and the deviation between the current battery state and the ideal state:

[0035]

[0036] Among them, T represents the number of time points within the current scheduling cycle. For example, once every 10 minutes, a total of T = 3. represents the predicted solar radiation intensity at the t-th moment (unit: W / m 2 ). A represents the effective area of the solar panel (unit: m 2 ), which is set to 0.8 in the present invention. η represents the photoelectric conversion efficiency of the solar panel, and the default value is 0.20. P d (t) represents the total power demand value estimated according to each module at the t-th moment (unit: W). SoC(t) represents the state of charge of the battery at the t-th moment, ranging from 0 to 1. SoC target represents the ideal state of charge of the battery set as the target (set to 0.6 in the present invention). w1 represents the weight factor of the prediction deviation, and w2 represents the weight factor of the battery state deviation.

[0037] It should be noted that S1 combines real-time power generation data with short-term light prediction results to realize the early perception of the future power supply and demand situation of the unmanned boat, so as to formulate a more reasonable power distribution strategy. The neural network prediction model can effectively capture the temporal characteristics of light changes in the marine environment, avoiding the imbalance of energy scheduling caused by sudden weather or periodic shading. At the same time, by estimating the operating power requirements of each functional unit, the scheduling result is more in line with the actual task, improving the accuracy and efficiency of energy distribution. This design can give priority to ensuring the operation of key tasks under limited energy, improving the endurance and autonomous operation stability of the unmanned boat.

[0038] S2: Adjust the solar charge and discharge management according to the navigation task requirements and the battery state, and control the timing of energy storage and release.

[0039] After implementing the dynamic power distribution strategy, determine the charging or discharging behavior of the battery according to the actual power allocation result and the trend of power surplus or shortage in the future time period. If there is remaining energy available for storage after power distribution, and the current state of charge of the battery has not reached the upper threshold, the main charging path is connected to the lithium battery pack for charging, and the voltage, current and temperature are monitored in real time through the battery management system to ensure the stability of the charging process. If it is predicted that the power supply in the next scheduling cycle will be less than the demand, and the state of charge of the battery is higher than the minimum operating threshold, switch to the discharge mode, and the battery supplies power to the current core task. Build a unified multi-source energy scheduling mechanism, taking the future light prediction value, the change trend of the remaining battery power, the task power budget and the wave energy supply status as input conditions. When it is predicted that the light will continue to be lower than the set threshold for a period of time in the future, directly allocate the current solar power generation to high-priority tasks, and at the same time stop charging the main battery, and reserve the existing battery energy storage for backup. In the state of sufficient light but low load, automatically schedule the surplus energy for high-power preprocessing tasks and self-check operations.

[0040] It should be noted that a preferred solution for adjusting solar charge and discharge management specifically includes, based on the completed power distribution strategy, judging whether to perform charging or discharging operations according to the current power scheduling result and the future power generation prediction trend. At the beginning of each scheduling cycle, it is statistically determined whether there is redundant generated power after power distribution in the previous cycle, that is, whether the predicted power generation capacity is greater than the total power demand of all tasks. At the same time, the change trend of the light intensity in the future prediction cycle is analyzed to judge whether the power generation capacity will be less than the power demand, and then it is decided whether to enable the discharging behavior.

[0041] The charging start conditions include that the current predicted generated power is greater than the current task power demand, the current state of charge of the battery is lower than the set upper threshold, and the current ambient temperature is within the charging range allowed by the battery (0°C to 45°C). In the present invention, the upper threshold of the state of charge of the battery is set to 0.85, aiming to prevent the lithium battery from being fully charged for a long time, thereby extending the battery life and reserving a safety buffer to accommodate subsequent wave energy power generation.

[0042] The discharging start conditions include that the total power required for the current power distribution is greater than the predicted power generation capacity, the current state of charge of the battery is higher than the minimum operating threshold, and there are critical tasks to be executed within the current scheduling cycle. In the present invention, the minimum discharging threshold of the state of charge of the battery is set to 0.25. Based on the balance between task continuity and battery protection, it is ensured that core tasks such as navigation and communication can still operate uninterruptedly when the power is insufficient.

[0043] If it is judged to enter the discharging mode, the battery supplies energy to each operating unit through the power distribution path, and the task priority determines the discharging order to ensure that high-priority tasks such as navigation and control units obtain power support first.

[0044] In the case where solar energy and wave energy can supply energy simultaneously, the present invention adopts a unified scheduling framework to perform coordinated control on the two types of energy. The input conditions include the predicted light value within the next 60 minutes, the current battery power and its change trend, the task power budget for the current and the next cycle, and the output state of the wave energy power generation unit (real-time reading of voltage and current). When it is judged that the light intensity will continue to be lower than the set threshold, the energy saving mode is started: in the present invention, the light intensity threshold is set to 300W / m 2 . When it is below this value, most solar panels will enter an inefficient state. After the judgment is established, the solar output will be directly allocated to high-priority tasks, the battery stops charging, and only the remaining energy storage is reserved for possible emergencies.

[0045] When the light intensity is higher than 700W / m 2When the current load is low and there is surplus power generation from solar energy, to avoid waste, this part of the energy is scheduled to perform the following non-critical but necessary tasks, including triggering the device self-check process, detecting whether the rudder surface, battery status, and sensor data are normal, and performing high-power data preprocessing tasks such as initial image screening, data compression, and scheduling the communication unit to upload some cached data in advance to reduce the pressure of subsequent peak tasks.

[0046] It should be noted that S2 dynamically controls the charging and discharging behavior of solar energy by combining the power distribution result with the power generation prediction trend, realizing efficient energy scheduling of the unmanned boat under different task loads and lighting conditions. By setting reasonable charging and discharging thresholds, overcharging or over-discharging of lithium batteries is effectively avoided, the energy storage utilization efficiency is improved, and the battery life is extended. A multi-source energy collaborative control mechanism is introduced, enabling solar energy and wave energy to be flexibly switched according to the actual supply and demand status to ensure continuous power supply for critical tasks. At the same time, the surplus power in the stage of high light and low load is used to perform preprocessing and self-check tasks, improving the energy usage rate and enhancing the stability and autonomous adaptability of the unmanned boat during long-term operations.

[0047] S3: Dynamically adjust the tilt angle of the solar panel in combination with the environmental changes and the navigation path optimization plan to improve the energy acquisition efficiency.

[0048] The roll angle and pitch angle of the unmanned boat during navigation are continuously collected through an inertial measurement device, and in combination with the real-time position information provided by the positioning device, the current attitude and geographical orientation are judged.

[0049] It should be noted that during navigation, the inertial measurement device (including a three-axis accelerometer and a three-axis gyroscope) installed on the central axis of the unmanned boat collects the roll angle and pitch angle at a frequency of 10 times per second. The roll angle represents the inclination degree of the boat body around the front and rear axis, and the pitch angle represents the up and down inclination angle of the boat body around the left and right axis. At the same time, the positioning device obtains the geographical location (longitude, latitude) and heading angle (the angle between the boat head direction and due north) of the unmanned boat in real time through GNSS technology. The roll angle, pitch angle (attitude information) at the current moment and the current longitude, latitude and heading angle (geographical location and direction information) are obtained.

[0050] The altitude angle and azimuth angle of the sun at that position at the corresponding moment are obtained through environmental perception means as the basis for angle optimization.

[0051] It should be noted that in combination with geographical location, time information, and date parameters, the solar position calculation algorithm (NREL SPA model) is used to determine the current altitude angle and azimuth angle of the sun in the sky. The altitude angle represents the angle between the sun and the horizon, and the azimuth angle represents the angle between the projection direction of the sun on the ground plane and due north. These two angles constitute the three-dimensional distribution of the solar incident direction in the ground coordinate system and are used as the reference basis for adjusting the direction of the solar panel.

[0052] Convert the angle between the solar altitude angle and the hull attitude into an inclination correction target value, perform angle compensation according to the attitude parameters obtained by inertial measurement, and in real time superimpose the angle change amount in the pitch direction according to the offset value that appears in the current roll direction to form a two-dimensional angle correction vector, guiding the mechanical execution component to adjust the inclination angle and the deviation angle of the solar panel in the biaxial direction.

[0053] It should be noted that a preferred solution for performing angle compensation specifically includes comparing the solar incident direction with the current orientation of the solar panel to generate an adjustment vector in order to achieve the maximum incident light angle.

[0054] Project the solar incident direction onto the hull reference coordinate system, calculate the angle difference between the illumination vector and the current normal vector of the panel surface. The offset angle in the roll direction is defined as the angle difference between the solar azimuth angle and the current course. The offset angle in the pitch direction is defined as the difference between the solar altitude angle and the current pitch angle of the hull. The pitch direction and the roll direction are combined into a two-dimensional angle correction vector:

[0055] Adjustment vector = [Δ 横滚 , Δ 俯仰

[0056] Δ 横滚 = A s - Course - α

[0057] Δ 俯仰 = H s - β

[0058] Wherein, A s represents the solar azimuth angle (the angle of the sun in the horizontal plane direction). H s represents the solar altitude angle (the elevation angle of the sun relative to the horizontal plane). Course represents the angle of the bow relative to the due north direction. α represents the roll angle, the left - right tilt angle of the hull. β represents the pitch angle, the front - rear tilt angle of the hull.

[0059] The obtained adjustment vector is the adjustment instruction that needs to be applied to the biaxial mechanical execution component, which is respectively used to adjust the left - right inclination angle and the up - down pitch angle of the solar panel, so as to achieve the maximum alignment with the rising sun.

[0060] During the execution process, use the angle change amount in the previous adjustment cycle as a reference value to judge whether to perform a new adjustment operation in this cycle.

[0061] It should be noted that each time the scheduling cycle is entered, the angle adjustment instructions and the actual change values in the previous cycle are recorded. If the change amplitude of the currently calculated adjustment vector is less than the set reference difference (i.e., the adjustment difference threshold) compared with the previous cycle, and the light change trend is stable, no new adjustment operation is performed. In the present invention, the set reference difference is set to 3°, and the criterion for judging the stable light change trend is whether the current light intensity change rate is less than 10 W / m 2 ·min. If both conditions are met, the current angle is maintained and the locking state is entered.

[0062] When the angle deviation exceeds the set 3°, or the light intensity change rate is greater than 10 W / m 2 ·min, the next adjustment instruction is triggered, triggering the solar panel folding mechanism, and controlling the two-side slide rail motors to retract part of the solar panel into the hull interior to reduce attitude disturbance and navigation resistance. If the system is operating at night or enters a very low illuminance area, part of the solar panel is turned off according to the main control instruction, and only the middle high-efficiency solar cells continue to work. At the same time, the angle adjustment system of the solar panel is turned off and the standby state is entered.

[0063] It should be noted that a preferred scheme for triggering the solar panel folding mechanism specifically includes that when the real-time wind speed is higher than 12 m / s and the real-time wave height exceeds 1.8 meters, the solar panel folding mechanism is automatically triggered. According to the marine navigation safety standard, when the wind speed exceeds 10 m / s and the wave height exceeds 1.5 m, the hull attitude changes significantly and the stability decreases. Appropriately increasing the thresholds to 12 m / s and 1.8 m ensures that the system only retracts the solar panel in relatively bad weather to balance energy acquisition and safety. The automatic trigger operation process includes that when the detection results of 3 consecutive times meet the conditions that the real-time wind speed is higher than 12 m / s and the real-time wave height exceeds 1.8 meters, a folding action flag is written into the control logic, and the two-side slide rail drive motors are controlled to perform the inwards retraction action within the limit, sliding part of the solar panel into the reserved slot of the hull. At the same time, the power supply of the tilt control component is disconnected and the current structure is locked.

[0064] It should be noted that in S3, by fusing attitude information, geographical location, and the solar spatial position, the dynamic angle adjustment of the solar panel is realized, enabling it to always face the optimal incident direction, significantly improving the energy acquisition efficiency. In the invention, a two-dimensional angle correction vector and a differential judgment mechanism are introduced to avoid invalid adjustments in the case of frequent attitude disturbances at sea and reduce energy consumption. By setting double thresholds of angle and light change to determine the trigger timing, it is ensured that the adjustment action is only executed when needed, improving the system stability. At the same time, the trigger conditions of wind speed and wave height are set to intelligently retract the solar panel to ensure navigation safety in bad weather. The overall design takes into account energy efficiency, adaptability, and steady-state control, enhancing the operation reliability and endurance of the unmanned boat in complex sea conditions.

[0065] Embodiment 2, an embodiment of the present invention, provides an optimization method for unmanned boat solar energy management. In order to verify the beneficial effects of the present invention, scientific demonstrations are carried out through economic benefit calculations and simulation experiments.

[0066] An unmanned boat system adopting the existing fixed solar panel control scheme and an unmanned boat system adopting the dynamic inclination adjustment and multi-source energy scheduling scheme of the present invention are selected for a comparative experiment under the same route and similar sea conditions. The test area is selected as the mid-latitude coastal area, and the time span is within a week with obvious spring sunshine fluctuations. The focus is on the power generation efficiency, task completion rate of different schemes under typical medium and high light intensities, and the panel response performance under harsh environments.

[0067] Before the test, the sensing devices of the two groups of unmanned boats are calibrated respectively, including light intensity sensors, power generation monitoring units, inertial measurement devices and task progress statistical modules. The set navigation tasks include fixed-point cruising, intermittent data uploading and multi-functional perception. All tasks are automatically triggered and executed at fixed intervals to ensure comparable operating behaviors. For the solution of the present invention, start the dynamic solar panel angle control process, collect the roll angle and pitch angle in real time, and correct the angle according to the sun's azimuth. At the same time, introduce differential judgment logic to avoid excessive actions. In terms of charge and discharge scheduling, the system dynamically judges whether to execute battery charging and discharging according to the predicted power gap, and adjusts the task power weight in real time to ensure that high-priority tasks are completed first.

[0068] To simulate different environmental conditions, during the test process, record the power generation, power utilization rate and task completion rate per unit time under the sunlight intensities of 450W / m 2 、700W / m 2 and 900W / m 2 , and monitor the stable response of the solar panel under the artificially created wave height environment. All data is continuously collected and synchronously uploaded to the analysis terminal. The experimental data is shown in Table 1.

[0069] Table 1 Experimental data table

[0070]

[0071] It can be seen from the data in Table 1 that the dynamic solar energy management optimization method proposed by the present invention is superior to the existing technical solutions in all core indicators, and the advantages are more significant as the environmental complexity increases.

[0072] In terms of power generation per unit time, although the two types of systems are under the same sunlight intensity, the power generation of the system of the present invention increases by 27.8%, 28.6% and 21.9% respectively under the three levels of light. This increase is due to the dual-axis angle adaptive adjustment mechanism introduced by the present invention, which effectively reduces the angle deviation between the sun's incidence and the panel normal direction, thus greatly improving the actual light energy conversion efficiency.

[0073] In terms of the power utilization rate index, the existing technology system is limited by the fixed panel structure and the single power scheduling method, and there are fluctuations in its energy usage distribution. However, through the introduction of power prediction scheduling and differential adjustment strategies, the present invention achieves precise matching in energy supply planning and task adaptability, increasing the power utilization rate per unit time by more than 10%, up to 85.2% at most, showing significant advantages in system integration optimization.

[0074] In terms of the task completion rate, the system of the present invention still maintains a task completion rate of more than 92% under low illumination conditions, reflecting its stronger response ability in power scheduling and priority management. It can prioritize ensuring the continuous operation of the core module during energy fluctuations, enhancing the function coverage under the steady state of the system.

[0075] In the performance of the panel stability in the wave height environment, relying on the set environmental monitoring and panel folding strategies, the present invention can initiate structural contraction measures in a timely manner when the wind speed and wave height exceed the thresholds, effectively protecting the photovoltaic modules and ensuring the stable navigation. The recorded number of stable states in the experiment is more than 100% higher than that of the traditional scheme, indicating its higher structural response and fault tolerance capabilities in extreme environments.

[0076] The present invention not only improves the energy acquisition and distribution efficiency, but also solves the defects such as task interruption, power waste and structural damage caused by attitude disturbance, power scheduling lag and lack of safety protection mechanism in the existing fixed solar energy systems. It demonstrates high intelligence, flexibility and system safety in complex dynamic environments, and has significant innovation and engineering application prospects.

[0077] Embodiment 3, which is an embodiment of the present invention, provides an unmanned boat solar energy management optimization system, including a power acquisition and distribution module 100, an adjustment module 200, and an optimization module 300.

[0078] The power acquisition and distribution module 100 is used to obtain the real-time power generation data of the solar panels and the energy consumption data of the unmanned boat, and calculate the dynamic power distribution strategy based on the light intensity and power demand.

[0079] The adjustment module 200 is used to adjust the solar energy charge and discharge management according to the navigation task requirements and the battery status, and control the timing of energy storage and release.

[0080] The optimization module 300 is used to dynamically adjust the inclination angle of the solar panels in combination with the environmental changes and the navigation path optimization scheme, so as to improve the energy acquisition efficiency.

[0081] If a function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0082] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in combination with an instruction execution system, apparatus, or device.

[0083] More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connection parts with one or more wirings (electronic devices), portable computer disk cartridges (magnetic devices), random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memories), optical fiber devices, and portable compact disc read-only memories (CDROM). Additionally, a computer-readable medium can even be paper or other suitable media on which a program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, then editing, interpreting, or otherwise processing it as appropriate, and then storing it in a computer memory.

[0084] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like. It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. An optimization method for unmanned boat solar energy management, characterized in that, Including: Obtain the real-time power generation data of the solar panel and the energy consumption data of the unmanned boat, and calculate the dynamic power distribution strategy based on the light intensity and power demand; Adjust the solar charging and discharging management according to the navigation task requirements and the battery status, and control the timing of energy storage and release; Combine the environmental changes and the navigation path optimization plan to dynamically adjust the inclination angle of the solar panel and improve the energy acquisition efficiency; The combination of environmental changes and the navigation path optimization plan includes continuously collecting the roll angle and pitch angle of the unmanned boat during navigation, and combining the real-time position information provided by the positioning device to judge the current attitude and geographical orientation; Obtain the altitude angle and azimuth angle of the sun at the corresponding moment of the real-time position through environmental perception means as the basis for angle optimization; convert the included angle between the sun altitude angle and the hull attitude into the inclination angle correction target value, and perform angle compensation according to the attitude parameters obtained by inertial measurement to form a two-dimensional angle correction vector.

2. The method for optimizing the solar energy management of an unmanned boat according to claim 1, wherein: The obtaining of the real-time power generation data of the solar panel and the energy consumption data of the unmanned boat includes Periodically collect the current light parameters through a light intensity sensor, and synchronously obtain the voltage, current and output power data of the solar panel.

3. The unmanned boat solar energy management optimization method according to claim 1 or 2, characterized in that: The calculating of the dynamic power distribution strategy based on the light intensity and power demand includes Use a long short-term memory neural network model. The input parameters include time points, geographical locations, historical light intensity sequences and meteorological change trends, and the output is the predicted result of the light intensity in the future time period; Estimate the power demand of each module in the future according to the first operation cycle; Construct an objective function, perform weighted summation of the difference between the light prediction value and the power demand value, and use the change amount of the battery status as another optimization factor. Through a multi-objective optimization algorithm, determine the power distribution plan for each time period.

4. The unmanned boat solar energy management optimization method according to claim 3, characterized in that: The adjusting of the solar charging and discharging management includes After implementing the dynamic power distribution strategy, decide the charging or discharging behavior of the battery according to the actual power allocation result and the trend of power surplus or shortage in the future time period; If there is remaining energy available for storage after power distribution and the current state of charge of the battery does not reach the upper threshold, connect the main charging path to the lithium battery pack for charging, and monitor the voltage, current and temperature in real time through the battery management system to ensure the stability of the charging process; If it is predicted that the power supply in the next scheduling cycle will be less than the demand and the state of charge of the battery is higher than the minimum operating threshold, switch to the discharging mode, and the battery supplies power to the current core task.

5. The method for optimizing the solar energy management of an unmanned boat according to any one of claims 1, 2 or 4, characterized in that: The controlling of the timing of energy storage and release includes Construct a unified multi-source energy scheduling mechanism with the predicted future light value, the change trend of the remaining battery power, the task power budget and the wave energy supply status as input conditions; When it is predicted that the light will continue to be lower than the set threshold in the future for a period of time, directly allocate the current solar power generation to high-priority tasks, and at the same time stop charging the main battery, and reserve the existing energy storage of the battery for backup; In the state of sufficient light but low load, automatically schedule the surplus energy for high-power preprocessing tasks and self-check operations.

6. The method for optimizing the solar energy management of an unmanned boat according to claim 5, characterized in that: The combination of environmental changes and the navigation path optimization plan includes Continuously collect the roll angle and pitch angle of the unmanned boat during navigation through an inertial measurement device, and combine the real-time position information provided by the positioning device to judge the current attitude and geographical orientation; Obtain the altitude angle and azimuth angle of the sun at the corresponding moment at this position through environmental perception means as the basis for angle optimization; Convert the included angle between the sun altitude angle and the boat body attitude into an inclination correction target value, and perform angle compensation according to the attitude parameters obtained by inertial measurement. According to the offset value that appears in the current roll direction, the angle change amount in the pitch direction is superimposed in real time to form a two-dimensional angle correction vector, which guides the mechanical execution component to adjust the inclination angle and deflection angle of the solar panel in the biaxial direction; during the execution process, use the angle change amount in the previous adjustment cycle as a reference value to judge whether to perform a new adjustment operation in this cycle; When the angle deviation exceeds the set minimum adjustment threshold, or the environmental light change rate is greater than the set threshold, trigger the next adjustment instruction, otherwise keep the current angle state of the unmanned boat and perform position locking.

7. The method for optimizing the solar energy management of an unmanned boat according to any one of claims 1, 2, 4 or 6, characterized in that: The dynamic adjustment of the solar panel inclination angle includes, Real-time monitor the wave height and wind speed data. When the wind speed is higher than the preset threshold and the wave height exceeds the specified range, automatically trigger the solar panel folding mechanism, and control the two-side slide rail motors to retract part of the solar panel into the boat body to reduce attitude disturbance and navigation resistance; If the system is operating at night or enters a very low illuminance area, then close some of the solar panels according to the main control instruction, only keep the middle high-efficiency battery cells working, and at the same time turn off the angle adjustment system of the solar panel and enter the standby state.

8. A system for an optimized method of unmanned boat solar energy management, characterized in that: It includes a power collection and distribution module (100), an adjustment module (200), and an optimization module (300); The power collection and distribution module (100) is used to obtain the real-time power generation data of the solar panel and the energy consumption data of the unmanned boat, and calculate the dynamic power distribution strategy based on the light intensity and power demand; The adjustment module (200) is used to adjust the solar charge and discharge management according to the navigation task requirements and the battery state, and control the timing of energy storage and release; The optimization module (300) is used to dynamically adjust the inclination angle of the solar panel in combination with the environmental changes and the navigation path optimization scheme to improve the energy acquisition efficiency.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the unmanned boat solar energy management optimization method described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the unmanned boat solar energy management optimization method described in any one of claims 1 to 7.

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