Rail-mounted box-type power supply automatic transportation system and method

Abstract

The application provides a rail-mounted box power supply automatic transportation system for transporting box power supplies for electric ships, which comprises a power supply replacement station, a transportation vehicle for transporting the box power supplies, and a rail network on which the transportation vehicle travels; the rail network comprises: a main rail connected to the power supply replacement station, used for carrying a second transportation vehicle to leave the power supply replacement station and carrying a first transportation vehicle to enter the power supply replacement station; a plurality of branch rails, each of which is connected to a different parking berth; a shape rail connected between the main rail and each branch rail, used for providing the transportation vehicle with a plurality of travel routes between the main rail and each branch rail; and a cloud platform remotely connected to each electric ship and each transportation vehicle, used for scheduling the transportation vehicle to transport the box power supplies for the electric ships according to power supply replacement request information sent by the electric ships. The beneficial effects are that the transportation efficiency of the port for simultaneously transporting the box power supplies for a plurality of electric ships can be improved, and the cost can be saved.

Description

Technical Field

[0001] This invention relates to the field of port transportation technology, and in particular to a rail-mounted box-type automatic power supply transportation system and method. Background Technology

[0002] Electric ships are a new type of vessel that navigates by converting electricity into power. Generally, large containerized power supplies are used to power these ships. After the electric ship docks, fully charged containerized power supplies are transported to the ship using battery swapping technology. The technology for transporting containerized power supplies to electric ships has matured, and the current mainstream method involves using a crane to unload the depleted power supply container from the ship, replacing it with a fully charged containerized power supply, and then placing the replaced power supply on a transport vehicle for transport to a battery swapping station.

[0003] However, in actual transportation scenarios, a single port often contains multiple berths, with large ports sometimes having hundreds. Electric vessels returning to port are constantly arriving and docking at these berths. Once docked, the electric vessels open their hatches and wait for fully charged containers to be transported from shore. With a large number of electric vessels simultaneously swapping batteries in a port, and cranes being a scarce resource, their numbers are very limited. Relying solely on a small number of cranes for containerized power supply transport is inefficient. Furthermore, cranes are expensive, leading to excessively high battery swapping costs, and also require highly skilled operators, increasing labor costs. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a track-mounted automated transport system for containerized power supplies, used to transport containerized power supplies to electric vessels. The system includes a battery swapping station, transport vehicles for carrying the containerized power supplies, and a track network carrying the transport vehicles. The containerized power supplies include fully charged and depleted power supplies. The transport vehicles include a first transport vehicle for carrying the depleted power supplies out of the electric vessel and a second transport vehicle for transporting the fully charged power supplies to the electric vessel. The track network includes a main track connecting the battery swapping station, a track for carrying the second transport vehicle away from the battery swapping station, and a track for carrying the first transport vehicle away from the battery swapping station. The system includes: a main track leading to the battery swapping station; multiple branch tracks, each connected to a different berth, for carrying the second transport vehicle into the electric vessel located at the berth, and carrying the first transport vehicle away from the electric vessel; a circular track connecting the main track and the branch tracks, providing the transport vehicle with multiple routes to and from the main track and the branch tracks; and a cloud platform remotely connecting each electric vessel and each transport vehicle, for scheduling the transport vehicle to transport the box-type power supply to the electric vessel based on the battery swapping request information issued by each electric vessel.

[0005] Preferably, the track network further includes multiple waiting tracks that are respectively connected to the branch tracks. Each waiting track is set on one side of the corresponding branch track and is used to allow the second transport vehicle to temporarily stop when the transport paths of the first transport vehicle and the second transport vehicle conflict, so that the first transport vehicle can pass first.

[0006] Preferably, the electric vessel includes: a hatch for opening when the electric vessel is docked at the berth and closing after the containerized power supply has been transported; a first battery swapping area for temporarily storing the depleted power supply; a second battery swapping area for temporarily storing the fully charged power supply; and a connecting rail, the first end of which is connected to the first battery swapping area, the second end of which is connected to the second battery swapping area, and the third end of which connects to the branch rail after the hatch is opened, so that the containerized power supply carried by the transport vehicle passes through the hatch; the connecting rail is disposed below the first and second battery swapping areas, for carrying the first transport vehicle to the first battery swapping area to retrieve the depleted power supply, and carrying the second transport vehicle to the second battery swapping area to place the fully charged power supply; the connecting rail carries the transport vehicle away from the electric vessel after retrieving and placing the containerized power supply.

[0007] Preferably, the transport vehicle includes: an identification device disposed inside the transport vehicle for identifying the first battery swapping area and the second battery swapping area; a braking mechanism for braking when the identification device detects that the first transport vehicle has traveled to the first battery swapping area, and for braking when the identification device detects that the second transport vehicle has traveled to the second battery swapping area; a loading surface disposed on the top of the transport vehicle body for carrying the box-type power supply; a lifting mechanism disposed below the loading surface for raising the height of the loading surface to lift away the depleted power supply when the first transport vehicle stops at the first battery swapping area, and for lowering the height of the loading surface to place the fully charged power supply when the second transport vehicle stops at the second battery swapping area; and a detection mechanism connected to the braking mechanism and the lifting mechanism respectively, for sending a release signal to the braking mechanism when the lifting mechanism is detected to have risen to a first preset height, and for sending a release signal to the braking mechanism when the lifting mechanism is detected to have lowered to a second preset height.

[0008] Preferably, the lifting mechanism is a hydraulic lifting device; the transport vehicle also includes a fixing device, which is disposed on the loading surface of the transport vehicle, for continuously fixing the box-type power supply when the transport vehicle is in motion, fixing the depleted power supply when the hydraulic lifting device is at a third preset height, and releasing the fixing of the fully charged power supply.

[0009] Preferably, the track network includes at least two main tracks with different transport directions, and a conductive rail for supplying power to the transport vehicle is provided below each main track; the transport vehicle further includes: a guiding travel mechanism disposed at the bottom of the transport vehicle for matching the track network and directionally guiding the transport vehicle along the track network; and a power collection device disposed inside the transport vehicle for extending and contacting the conductive rail when the transport vehicle travels on the main track to charge the transport vehicle.

[0010] Preferably, the battery swapping station includes: a power storage rack for storing the box-type power supply; a chain drive mechanism connected to the power storage rack for transporting the box-type power supply within the battery swapping station; a first transport area connected to the chain drive mechanism for transporting the fully charged power supply obtained from the power storage rack to the second transport vehicle via the chain drive mechanism when the second transport vehicle is parked in the first transport area; a second transport area connected to the chain drive mechanism for transporting the depleted power supply to the power storage rack via the chain drive mechanism when the first transport vehicle is parked in the second transport area; and a main track connecting the first transport area and the second transport area.

[0011] Preferably, a data acquisition device is installed on the track network to collect transportation information of the transport vehicle; the cloud platform includes: a request receiving module for receiving battery swapping request information sent by the electric vessel via a wireless network; a signal receiving module for receiving the transportation information collected by the data acquisition device via a wireless network; a scheme generation module connected to the request receiving module and the signal receiving module respectively, for processing the battery swapping request information and the transportation information to obtain a scheduling scheme for scheduling the transport vehicle; and an instruction issuing module connected to the scheme generation module for scheduling the transport vehicle according to the scheduling scheme.

[0012] This invention provides an automated transport method for rail-mounted box-type power supplies, applied to a rail-mounted box-type power supply automated transport system. The automated transport method includes: Step S1, a cloud platform receives and processes a battery swapping request from an electric vessel, and, in conjunction with transport information sent by a data acquisition device located on the rail network, dispatches a first transport vehicle and a second transport vehicle to transport the box-type power supply to the electric vessel; the box-type power supply includes a fully charged power supply and a depleted power supply; Step S2, the first transport vehicle enters the interior of the electric vessel via the rail network and retrieves the depleted power supply; Step S3, the first transport vehicle leaves the electric vessel via the rail network; Step S4, the second transport vehicle enters the interior of the electric vessel via the rail network and lowers the fully charged power supply; Step S5, the second transport vehicle leaves the electric vessel via the rail network.

[0013] The following beneficial effects can be obtained by using the present invention: 1. By connecting multiple berths with multiple branch tracks and providing multiple travel routes with a circular track, the transport vehicle can simultaneously transport multiple electric vessels, improving the overall port's efficiency in transporting box-type power supplies to multiple electric vessels berthed at the same time.

[0014] 2. Transport vehicles are used to transport fully charged power supplies to electric vessels and remove depleted power supplies, eliminating the need for cranes and saving costs. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the rail-mounted electric ship automated transportation system of the present invention; Figure 2 This is a plan view of the transport vehicle carrying the box-type power supply in this invention; Figure 3 This is a schematic diagram of the structure of the cloud platform generating scheduling scheme in this invention; Figure 4 This is a schematic diagram of the automatic transportation method for rail-mounted electric ships in this invention; In the attached diagram: 1. Electric vessel; 11. Connecting track; 2. Box-type power supply; 3. Battery swapping station; 4. Transport vehicle; 41. Fixing device; 42. Hydraulic lifting device; 5. Track network; 51. Main track; 52. Branch track; 53. Circular track; 54. Waiting track; 6. Cloud platform; 61. Request receiving module; 62. Signal receiving module; 63. Scheme generation module; 64. Command issuing module. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0019] This invention provides a track-mounted, box-type automatic power supply transport system, such as... Figure 1 and Figure 2 As shown, the system for transporting box-type power supplies 2 to electric vessels 1 includes a battery swapping station 3, a transport vehicle 4 for transporting the box-type power supplies 2, and a track network 5 for carrying the transport vehicle 4. The box-type power supply 2 includes a fully charged power supply and a depleted power supply. The transport vehicle 4 includes a first transport vehicle for carrying the depleted power supply out of the electric vessel 1 and a second transport vehicle for transporting the fully charged power supply to the electric vessel 1. The track network 5 includes: a main track 51 connecting to the battery swapping station 3, for the transport vehicle 4 carrying the fully charged power supply to leave the battery swapping station 3, and for the transport vehicle 4 carrying the depleted power supply to enter the battery swapping station 3; multiple tracks... Branch tracks 52, each branch track 52 is connected to different berths, used to carry the second transport vehicle into the electric vessel 1 located at the berth, and to carry the first transport vehicle out of the electric vessel 1; a circular track 53, connected between the main track 51 and each branch track 52, is used to provide multiple travel routes for the transport vehicle 4 to travel between the main track 51 and each branch track 52; a cloud platform 6, remotely connected to each electric vessel 1 and each transport vehicle 4, is used to dispatch the transport vehicle 4 to swap batteries for the electric vessel 1 according to the battery swapping request information issued by the electric vessel.

[0020] Specifically, the electric ship 1 is a new energy ship that uses electricity as its energy source to drive the ship. The energy storage system of the electric ship 1 stores multiple sets of box-type power supplies 2 as power supply terminals. Multiple batteries in the box-type power supplies 2 are connected in series and release electrical energy. The electric ship 1's dedicated BMS (Power Management System) manages the charging and discharging of the box-type power supplies 2 and detects its temperature and voltage.

[0021] Specifically, a fully charged power supply is a fully charged box-type power supply 2, used to provide sufficient power for the electric vessel 1. A depleted power supply is a box-type power supply 2 that has run out of power. The BMS removes the depleted box-type power supply 2 from the energy storage system and temporarily places it in a designated location, waiting for the electric vessel 1 to dock at the port to open the hatch so that the transport vehicle 4 can drive in and remove the depleted power supply.

[0022] The battery swapping station 3 is the management center of the box-type power supply 2. It is used to store fully charged and depleted power supplies, charge depleted power supplies, and provide corresponding fully charged power supplies for battery swapping of the electric ship 1.

[0023] On one hand, cloud platform 6 receives battery swapping request information from electric vessel 1, parses the content of the battery swapping request information, and sends it to battery swapping station 3. Battery swapping station 3 provides a corresponding quantity and type of fully charged power supply according to the power demand mentioned in the battery swapping request information, which is then transported to electric vessel 1 by transport vehicle 4.

[0024] On the other hand, battery swapping station 3 receives depleted power supplies transported by transport vehicle 4 and moves them to the charging area of ​​station 3. The charging area is equipped with multiple charging devices. Station 3 employs an intelligent charging management system that automatically adjusts charging parameters based on the power level and characteristics of different depleted power supplies, achieving efficient and safe charging. Simultaneously, station 3 is also equipped with power detection equipment that continuously monitors depleted power supplies during charging to determine if any faults exist, such as excessively low charging power or excessively high real-time temperature. The detection results are sent to the intelligent charging management system in real time. If an anomaly is detected, the intelligent charging management system immediately stops the charging device from charging the depleted power supply, waiting for the device to return to normal operation.

[0025] The abnormal information will also be sent to cloud platform 6, and then sent to the staff's terminal device. The staff will then determine whether manual intervention is required based on the abnormal information.

[0026] The transport vehicle 4 is designed with a low and flat structure, making it suitable for directional travel along the tracks on the track network 5. At the same time, the transport vehicle 4 adopts a heavy-duty rigid frame structure, possessing high structural strength and load-bearing capacity, which can meet the heavy-duty transportation needs of the large-capacity box-type power supply 2.

[0027] The track network 5 extends to the pier connecting the ship and the shore, and is connected to the berth of the electric vessel 1 via the pier.

[0028] Furthermore, branch track 52 extends from circular track 53 to the berth, and an extendable extension track is housed inside the end of branch track 52 near the berth. When no electric vessel 1 is docked at the corresponding berth, the extension track is housed inside branch track 52. After electric vessel 1 has docked at the corresponding berth, cloud platform 6 receives the battery swapping request information from electric vessel 1 and sends an extension command to the extension device inside the corresponding branch track 52. The extension device controls the extension track to extend along the directional track connecting to the berth to a preset position on the berth, and uses a drive motor to retract the extension track and precisely dock it inside electric vessel 1, allowing transport vehicle 4 to drive into electric vessel 1. After electric vessel 1 departs, the drive motor is controlled to retract the extension track and house it inside branch track 52.

[0029] The technology of extending the track into the interior of the electric ship 1 is a mature technology in the prior art, and will not be elaborated on again.

[0030] Furthermore, when the port is expanded, the number of berths will increase accordingly. For the track network 5 in this application, it is only necessary to extend a corresponding number of branch tracks 52 from the circular track 53 and connect them to the berths, without having to rebuild a new battery swapping system, thus improving the scalability of the track-mounted box-type power automated transport system.

[0031] The transport vehicle 4 can travel on the circular track 53 along a suitable route.

[0032] Specifically, the connection points between the circular track 53 and each main track 51 and each branch track 52 are designated as turning ramps. When the transport vehicle 4 enters the circular track 53 from the main track, the cloud platform 6 sends a corresponding turning command to the ramp, causing the ramp at the connection point between the main track 51 and the circular track 53 to turn and connect to the corresponding main track 51 and the circular track 53. When the transport vehicle 4 is circling on the circular track, the cloud platform 6 sends a corresponding turning command to the ramp, turning the ramp at the connection point between the circular track 53 and the main track 51 and the branch track 52 and connecting it only within the circular track 53. When the transport vehicle 4 needs to drive to a certain branch track 52, the cloud platform 6 sends a corresponding turning command to the ramp, turning and connecting the ramp at the connection point between the branch track 52 and the corresponding circular track 53, so that when the transport vehicle 4 reaches this connection point, it can drive to the corresponding branch track 52 and enter the corresponding electric vessel 1.

[0033] The cloud platform 6 monitors the transportation status of transport vehicles 4 on the track network 5 in real time, and sends control commands to transport vehicles 4 on the main track 51 or branch track 52 that are about to enter the circular track 53 based on the transportation status. For example, when transport vehicle 4 needs to drive to the berth of the second electric ship 1 and is about to enter the circular track 53 from the main track 51, the cloud platform 6 detects that a transport vehicle 4 returning to the main track 51 is about to arrive on the left side of the circular track relative to that transport vehicle 4. Then the cloud platform 6 immediately sends a right turn control command to transport vehicle 4, causing transport vehicle 4 to drive along the right side of the circular track 53 to the branch track 52 connecting the berth of the second electric ship 1. If the cloud platform 6 detects that there is a blockage of transport vehicles 4 on the main track 51 or branch track 52, it sends a deceleration control command to the transport vehicles 4 on the circular track 53, causing them to temporarily drive along the circular track 53 without leaving the circular track 53. After the blockage is resolved, it sends the corresponding control command to the transport vehicles 4 on the circular track 53, causing them to drive to the originally designated electric ship 1 for transportation. The circular track 53 accommodates multiple transport vehicles 4 for flexible movement, ensuring the transportation efficiency of the transport box power supply 2 for the electric ship 1, thereby improving the battery swapping efficiency of the electric ship 1.

[0034] In a preferred embodiment of the present invention, similarly as Figure 1 As shown, the track network 5 also includes multiple waiting tracks 54 that are respectively connected to the branch tracks 52. Each waiting track 54 is set on one side of the corresponding branch track 52 and is used to allow the second transport vehicle to temporarily stop when the transport paths of the first transport vehicle and the second transport vehicle conflict, so that the first transport vehicle can pass first.

[0035] Specifically, each waiting track 54 is positioned on the branch track 52 near the berth, and the connection between the waiting track 54 and the branch track 52 is also a turnable ramp. When the transport paths of the first and second transport vehicles conflict, the cloud platform 6 sends a corresponding turning command to the ramp of the corresponding branch track 52, connecting the branch track 52 on the docking side to the waiting track 54, causing the second transport vehicle to turn and enter the waiting track 54. After the first transport vehicle has passed, the cloud platform 6 sends a corresponding turning command to the ramp, causing the ramp to turn and connect the waiting track 53 to the branch track 52 on the berth side.

[0036] When no conflict occurs, the ramp retracts without affecting the transport vehicle 4's movement on branch track 52.

[0037] Specifically, the track network 5 proposed in this application supports the simultaneous operation of multiple transport vehicles 4 to improve transportation efficiency. Each parking space is connected to a branch track 52, and only one transport vehicle 4 is allowed to travel on each branch track 52 at a time.

[0038] When the cloud platform 6 detects that the first transport vehicle 4 has entered the branch track 52 from the circular track 53, and the second transport vehicle 4 has entered the same branch track 52 from the electric ship 1, and the two transport vehicles 4 are about to meet on the same branch track 52, it sends a control command to the second transport vehicle 4 to wait at the side. The second transport vehicle 4 is then directed to move along the arc-shaped track towards the circular track 53 into the waiting track 54 and pause its movement, allowing the first transport vehicle to pass first. After the cloud platform 6 detects that the first transport vehicle has entered the branch track 52 and passed the waiting track 54, it sends a restart control command to the second transport vehicle in the waiting track 54, causing the transport vehicle 4 stopped on the waiting track 54 to restart and turn along the arc-shaped track towards the electric ship 1, entering the interior of the electric ship 1.

[0039] In a preferred embodiment of the present invention, similarly as Figure 2 As shown, the interior of the electric vessel 1 includes: a hatch for opening when the electric vessel is docked at a berth and for closing after the transport of the box-type power supply is completed; a first power swapping area for temporarily storing depleted power supplies; a second power swapping area for temporarily storing fully charged power supplies; a connecting track 11, the first end of which connects to the first power swapping area, the second end of which connects to the second power swapping area, and the third end of which connects to a branch track after the hatch is opened, so that the box-type power supply carried by the transport vehicle can pass through the hatch; the connecting track 11 is located below the first and second power swapping areas, for carrying the first transport vehicle to the first power swapping area to retrieve the depleted power supply, and for carrying the second transport vehicle to the second power swapping area to place the fully charged power supply; the connecting track 11 carries the transport vehicle away from the electric vessel after retrieving and placing the box-type power supply.

[0040] Specifically, the transport vehicle 4 includes a control system that precisely controls the transport status of the transport vehicle 4 after it enters the electric ship 1 by using data returned from image sensors installed on the transport vehicle 4.

[0041] Furthermore, a box of depleted power supplies is manually placed in the first power-swapping area. The sides of the depleted power supply are parallel to the connecting rail 11, and the bottom of the power supply is directly opposite the connecting rail 11. When the first transport vehicle stops below the first power-swapping area, it can be perfectly aligned and remove the depleted power supply. After the first transport vehicle removes the depleted power supply, the power-swapping workers on the electric vessel place the next depleted power supply in the same manner, until all the depleted power supplies that need to be replaced during this berth of the electric vessel 1 have been transported away.

[0042] After the fully charged power supply is placed in the second battery swapping area, it is taken away by the battery swapping worker. The fully charged power supply is then fixed to the charging area of ​​the electric vessel 1, and the cable of the charging area is connected to the fully charged power supply to charge the electric vessel 1.

[0043] Furthermore, after the electric vessel 1 has docked, the hatch is opened. Branch track 52 extends into an extension track, connecting it to connecting track 11. The first transport vehicle sequentially passes through branch track 52, the extension track, and connecting track 11, entering the first battery swapping area. After the image sensor detects that the first transport vehicle has reached the first battery swapping area, it sends data back to the control system. The control system then controls the first transport vehicle to decelerate and stop below the depleted power source. After removing the depleted power source, the control system controls the first transport vehicle to return along the original route and exit the electric vessel 1.

[0044] The second transport vehicle also passes through branch track 52, extension track, and connecting track 11 to enter the second battery swapping area. After the image sensor detects that the second transport vehicle has reached the second battery swapping area, it returns data to the control system, which then controls the second transport vehicle to decelerate. When the image sensor detects an empty space in the second battery swapping area where a fully charged power supply can be placed, the control system controls the second transport vehicle to move to that space, place the fully charged power supply, and then return along the original route, exiting the electric vessel 1.

[0045] The transport vehicle 4 includes: an identification device, installed inside the transport vehicle, for identifying a first battery swapping area and a second battery swapping area; a braking mechanism, for braking when the identification device detects that the first transport vehicle has traveled to the first battery swapping area, and for braking when the identification device detects that the second transport vehicle has traveled to the second battery swapping area; a carrying surface, installed on the top of the transport vehicle body, for carrying a box-type power supply; a lifting mechanism, installed below the carrying surface, for raising the height of the carrying surface to remove the depleted power supply when the first transport vehicle stops in the first battery swapping area, and for lowering the height of the carrying surface to accommodate a fully charged power supply when the second transport vehicle stops in the second battery swapping area; and a detection mechanism, connected to the braking mechanism and the lifting mechanism respectively, for sending a signal to the braking mechanism to release the brake when the lifting mechanism is detected to have risen to a first preset height, and for sending a signal to the braking mechanism to release the brake when the lifting mechanism is detected to have lowered to a second preset height.

[0046] In one embodiment, the recognition device is an image sensor.

[0047] Specifically, the first and second battery swapping areas are located on the plane of the box-type power supply storage compartment inside the ship's hull. Positioning plates are installed on both sides of the first and second battery swapping areas. The box-type power supply 2 is placed between the two positioning plates to determine its placement.

[0048] In one embodiment, the positioning plate is an L-shaped plate. The horizontal portion of each L-shaped plate is used to support one side of the box-type power supply 2.

[0049] A perforation is created between the positioning plates of the first and second battery swapping areas. The width of the perforation is greater than the width of the cargo surface of the transport vehicle 4, allowing the cargo surface to change height via a lifting mechanism and pass through the perforation. Starting from the perforation, a recessed channel is created below each of the first and second battery swapping areas. The two recessed channels converge in front of the hatch and then extend together to the hatch. The width of each recessed channel is less than the distance between the two positioning plates within the same battery swapping area, but greater than the width of the transport vehicle 4. A connecting rail 11 is positioned within the recessed channel. The first end of the connecting rail 11 is positioned in the recessed channel corresponding to the first battery swapping area and extends below it. The second end of the connecting rail 11 is positioned in the recessed channel corresponding to the second battery swapping area and extends below it. The third end of the connecting rail 11 is positioned in the converging recessed channel and extends to the hatch. When the electric vessel 1 is docked at its berth, the third end of the connecting rail 11 connects with the extended rail extending from the corresponding branch rail 52.

[0050] The transport vehicle 4 travels on the connecting track 11 within the groove channel. When the transport vehicle 4 enters the electric vessel 1 along the connecting track 11, the identification device identifies the first and second battery swapping areas and sends a braking signal to the control system of the transport vehicle 4. The control system then controls the braking mechanism to brake, causing the first transport vehicle to stop in the first battery swapping area and the second transport vehicle to stop in the second battery swapping area.

[0051] Furthermore, when the first transport vehicle travels along the grooved channel to the first battery swapping area, the lifting mechanism does not lift, ensuring the load surface remains within the grooved channel. After the image sensor detects the positioning mark within the grooved channel corresponding to the first battery swapping area, the control system receives the detection signal and sends a braking signal to the braking mechanism to brake the first transport vehicle. The first transport vehicle, positioned according to the positioning mark, is exactly below the open area of ​​the first battery swapping area, with its load surface directly facing the depleted power supply, which has been pre-placed between the positioning plates by the battery swapping workers. After the first transport vehicle stops below the depleted power supply, the control system sends a signal to control the lifting device to raise its height, lifting the depleted power supply away from the plane of the first battery swapping area. After the lifting device raises the load surface to a third preset height, the depleted power supply is fixed to the load surface. Once the fixing is confirmed, the control system controls the lifting mechanism to raise to the first preset height, then controls the braking mechanism to release the brake and drives the first transport vehicle away from the electric vessel 1 along the connecting track 11. When the image sensor detects that the vehicle has passed through the hatch and left the electric vessel 1, the lifting mechanism is lowered to a preset buffer height to ensure the first transport vehicle transports the depleted power supply more stably.

[0052] Specifically, the third preset height is the height of the plane where the first and second battery swapping areas are located.

[0053] After the lifting mechanism raises the load to the first preset height, the load surface is raised above the groove channel.

[0054] In one embodiment, the method for securing the power supply is as follows: the power supply is manually attached to the cargo surface of the first transport vehicle, and a prompt button on the first transport vehicle is pressed after the attachment is completed. The first transport vehicle confirms that the power supply has been secured after the prompt button is pressed.

[0055] As the second transport vehicle travels along the grooved channel to the second battery swapping area, the lifting mechanism is raised, positioning the load surface above the grooved channel. When the image sensor detects the positioning mark in the grooved channel corresponding to the second battery swapping area, the control system controls the braking mechanism to brake, stopping the second transport vehicle below the open area of ​​the second battery swapping area. After the second transport vehicle stops, the control system lowers the load surface of the lifting device to a third preset height. Based on the second transport vehicle being positioned at the location corresponding to the fixed mark, the fully charged power supply on the load surface can be precisely placed between the two positioning plates. The fully charged power supply is unloaded when the load surface is at the third preset height. After confirming that the fully charged power supply has been unloaded, the control system controls the lifting device to continue lowering to the second preset height, then controls the braking mechanism to release the brake, and the transport vehicle 4 drives away from the electric vessel 1 along the grooved channel.

[0056] After the lifting mechanism descends to the second preset height, the load surface is lowered into the recessed channel. Since the width of the box-type power supply 2 is greater than the width of the recessed channel, the fully charged power supply will not fall into the recessed channel after the lifting device descends into the recessed channel.

[0057] In one embodiment, the fully charged power supply is removed manually from the cargo surface, followed by pressing a notification button on the second transport vehicle. The second transport vehicle confirms that the fully charged power supply has been removed after the notification button is pressed.

[0058] Two transport vehicles work alternately to transport the box-type power supply 2 to the electric vessel 1.

[0059] In a preferred embodiment of the present invention, such as Figure 2 As shown, the transport vehicle 4 also includes a fixing device 41, which is installed on the cargo surface of the transport vehicle and is used to continuously fix the box-type power supply 2 when the transport vehicle is in motion; the lifting mechanism is a hydraulic lifting device 42; when the hydraulic lifting device 42 is at the third preset height, it fixes the power supply that is depleted and releases the fixation of the power supply that is fully charged.

[0060] Specifically, the fixing device 41 is an electromagnetic fixing device. When using an electromagnetic fixing device, there is no need to manually fix the power supply when it is low on power or to release the power supply when it is fully charged.

[0061] When the hydraulic lifting device 42 of the first transport vehicle is raised to the third preset height, the control system diverts the DC current generated by the battery inside the transport vehicle 4 and connects it to the coil in the electromagnetic fixing device. The magnetic field generated by the coil causes the iron cores on the fixing device 41 to attract each other and attach to the power supply, thus fixing the power supply. After fixing is completed, the control system controls the hydraulic lifting device 42 to continue raising to the first preset height.

[0062] When the hydraulic lifting device 42 of the second transport vehicle is lowered to the third preset height, the control system cuts off the DC current flowing to the coil and releases the connection to the fully charged power supply. The control system then controls the hydraulic lifting device 42 to lower to the second preset height.

[0063] In a preferred embodiment of the present invention, the track network 5 includes at least two main tracks 51 with different transport directions, and a conductive rail for supplying power to the transport vehicle 4 is provided below each main track 51; the transport vehicle 4 includes: a guiding travel mechanism disposed at the bottom of the transport vehicle 4 for matching the track network 5 and directionally driving the transport vehicle 4 along the track network 5; and a power collection device disposed inside the transport vehicle 4 for extending and connecting to the conductive rail when the transport vehicle 4 is traveling on the main track to charge the transport vehicle.

[0064] Specifically, the control system of transport vehicle 4 also includes an instruction receiving module, which receives scheduling instructions from cloud platform 6 and controls the guiding mechanism of transport vehicle 4 according to the control instructions, thereby controlling the driving route and transport route of transport vehicle 4. When transport vehicle 4 enters the main track 51, cloud platform 6 sends a charging instruction to transport vehicle 4, and the control system also receives the charging instruction sent by cloud platform 6 and controls the current collector to extend for charging.

[0065] Insulating material is laid between the conductive rail and the ground to insulate the conductive rail from the ground. Furthermore, the conductive rail is waterproof to prevent water accumulation from causing internal short circuits.

[0066] The conductive rail, along with the main track 51, connects to the battery swapping station 3. The main track 51 allows the transport vehicle 4 to enter the battery swapping station 3 for battery swapping, while the conductive rail connects to the power supply inside the battery swapping station 3 to continuously obtain power. Using the conductive rail allows the transport vehicle 4 to be automatically charged while it is in motion, eliminating the need for the transport vehicle 4 to leave the track network for charging due to insufficient power, thus improving overall battery swapping efficiency.

[0067] In one embodiment, the bottom of the transport vehicle 4 is provided with multiple drive motors and steering motors as a guiding driving mechanism, and each drive motor and steering motor is connected to one wheel of the transport vehicle 4.

[0068] The guide mechanism controls the travel route of the transport vehicle 4 to match the track network 5 and the connecting track 11 inside the electric ship 1. The drive motor drives the wheels of the transport vehicle 4 to make it travel in a straight line. The transport vehicle 4 can also travel flexibly along the track network 5 via the guide mechanism. For example, if the transport vehicle 4 on a branch track 52 malfunctions and stops, the cloud platform 6 sends a steering command to the transport vehicle 4 on the circular track 53. The control system of the transport vehicle 4 then controls the steering motor to change the direction of the wheels, preventing it from encountering the malfunctioning transport vehicle.

[0069] In one embodiment, the transport vehicle 4 is equipped with a telescopic current collector rod matched to the conductive rail and a drive motor for controlling the telescopic current collector rod, which together serve as a current collection device.

[0070] When transport vehicle 4 enters the main track 51, the cloud platform sends a charging command to transport vehicle 4. The control system receives the charging command and controls the drive motor to extend the telescopic current collector from the bottom of transport vehicle 4. The current collector's conductive contacts contact the conductive rail with a preset pressure, forming a charging circuit connecting the battery inside transport vehicle 4 and continuously charging the battery. When transport vehicle leaves the main track 51, the cloud platform 6 sends a stop charging command, and the control system retracts the telescopic current collector.

[0071] Specifically, the transport vehicle 4 is an electric vehicle, powered by a built-in battery. The battery is on a charging circuit, and once the charging circuit is active, the battery continuously draws power from the conductive rail. After leaving the main track 51, the transport vehicle 4 retracts its power collection device, and the battery continuously supplies power to the guiding mechanism using its internally stored energy.

[0072] In a preferred embodiment of the present invention, the battery swapping station 3 includes: a power storage rack for storing box-type power supplies 2; a chain drive mechanism connected to the power storage rack for transporting the box-type power supplies 2 within the battery swapping station 3; a first transport area connected to the chain drive mechanism for transporting fully charged power supplies obtained from the power storage rack to the second transport vehicle via the chain drive mechanism when the second transport vehicle is parked in the first transport area; a second transport area connected to the chain drive mechanism for transporting depleted power supplies to the power storage rack via the chain drive mechanism when the first transport vehicle is parked in the second transport area; and a main track 51 connecting the first transport area and the second transport area respectively.

[0073] Specifically, power storage racks are divided into fully charged power storage racks for storing fully charged power supplies and depleted power storage racks for storing depleted power supplies.

[0074] The transport vehicle 4 transports the depleted power supply to the second transport area inside the battery swapping station 3, and releases the fixing device 41 from the depleted power supply. The battery swapping workers inside the battery swapping station 3 move the depleted power supply onto the chain drive mechanism, which transports the depleted power supply to the power testing equipment. The depleted power supply that is found to be fault-free is then transported to the depleted power supply storage rack to await charging.

[0075] Power supplies in low-power storage racks are transported to the charging area via a transport channel according to their storage order. Once charging is complete, the fully charged power supply is transported to the fully charged power supply storage rack via the transport channel.

[0076] The intelligent charging management system controls the drive motor used to drive the chain drive mechanism, thereby controlling the transmission direction and speed of the chain drive mechanism.

[0077] After the transport vehicle 4 unloads the depleted power supply, it travels along the track inside the battery swapping station 3 to the first transport area. The chain drive mechanism then transfers the fully charged power supply to the first transport area. The battery swapping workers place the fully charged power supply on the first transport vehicle, and after securing it with the fixing device 41, the first transport vehicle leaves the battery swapping station 3.

[0078] Based on the intelligent charging management system, the box-type power supply 2 inside the battery swapping station 3 is managed through two types of power storage racks, which enables the classified management of fully charged power and depleted power, effectively improving the supply efficiency of fully charged power and the charging efficiency of depleted power.

[0079] In a preferred embodiment of the present invention, a data acquisition device is provided on the track network 5 for collecting transportation information of the transport vehicle 4; such as Figure 3 As shown, the cloud platform 6 includes: a request receiving module 61, used to receive battery swapping request information from the electric vessel 1 via a wireless network; a signal receiving module 62, used to receive transportation information collected by the acquisition device via a wireless network; a scheme generation module 63, connected to the request receiving module 61 and the signal receiving module 62 respectively, used to process the battery swapping request information and transportation information and obtain a scheduling scheme for scheduling the transport vehicle 4; and an instruction issuing module 64, connected to the scheme generation module 63, used to schedule the transport vehicle 4 according to the scheduling scheme.

[0080] Specifically, the data acquisition device includes at least a speed sensor and a displacement sensor. The transportation information collected by the acquisition device includes at least the number of transport vehicles 4 within the track network 5, the speed of each transport vehicle 4, and its location. The acquisition device periodically feeds back the transportation information to the cloud platform 6, which receives the transportation information through the signal receiving module 62.

[0081] When electric vessel 1 enters the berth to dock, it sends a battery swapping request to cloud platform 6, including the power demand, the number of depleted power supplies to be transported, and the vessel's serial number. Cloud platform 6 receives the battery swapping request through request receiving module 61.

[0082] The cloud platform 6 also remotely connects to the intelligent charging management system of the battery swapping station 3. The solution generation module 63 calculates the number of fully charged batteries that need to be provided to the electric vessel 1 based on the power demand and sends this information to the intelligent charging management system. Based on this information, the intelligent charging management system drives the transportation channel to transport the corresponding number of fully charged batteries from the fully charged battery storage rack to the designated location in the first transportation area.

[0083] Furthermore, the scheme generation module 63 pre-schedules the corresponding number of second and first transport vehicles based on the required quantity of fully charged power supplies to be transported and the quantity of depleted power supplies to be removed. The pre-scheduled transport vehicles 4 are ordered according to the interval between the first and second transport vehicles and tagged accordingly. The tags include the vessel number of the target electric vessel 1 in this battery swapping task and the sequence number of the transport vehicle 4. The tags also include the battery swapping task categorized by the type of transport vehicle 4: 1) The first transport vehicle needs to drive empty to the first battery swapping area of ​​the electric vessel 1 and retrieve the depleted power supplies. 2) The second transport vehicle needs to carry a box of fully charged power supplies to the second battery swapping area of ​​the electric vessel 1 and place it there. The scheme generation module 63 generates a scheduling scheme based on the order and tagging of the pre-scheduled transport vehicles 4 and sends it to the instruction issuing module 64.

[0084] In addition, the track network 5 has a preset maximum capacity limit for transport vehicles. The scheduling scheme generated by the scheme generation module 63 needs to be combined with the existing scheduling schemes of other electric ships 1 to determine whether the total number of transport vehicles 4 scheduled on the track network 5 at the same time exceeds the limit. If it does, the execution time of this scheduling scheme needs to be delayed until the total number of transport vehicles 4 on the track network 5 decreases to a level that allows the execution of the scheduling scheme before it is executed.

[0085] Of course, the priority of the dispatching vehicle 4 can be manually adjusted by combining the priorities of different electric ships 1.

[0086] Furthermore, the instruction issuing module 64 dispatches the transport vehicles 4 sequentially according to their serial numbers, issues initial control instructions to each transport vehicle 4 based on its tag, and dispatches it to the target electric vessel 1. After completing the transport task, it updates the control instructions, controls the transport vehicle 4, and then returns. The control instructions include whether the transport vehicle's direction of travel is towards the battery swapping station 3 or towards the electric vessel 1. The cloud platform 6 analyzes the real-time transport information collected by the acquisition device, including the travel routes and transport routes of each transport vehicle 4 on the track network 5. It predicts whether there are conflicts between the travel routes and transport routes of different transport vehicles 4 based on their current control instructions. When a conflict occurs, the instruction issuing module 64 issues control instructions to the transport vehicle 4 that is about to have a conflict, so as to control it to travel on the circular track 53 on a route that will not conflict with other transport vehicles 4, and determines whether it needs to be controlled to enter the waiting track 54 based on its tag.

[0087] In addition, the signal receiving module 62 also includes a fault analysis unit, which performs fault analysis on newly received transportation information based on all transportation information within a certain period. For abnormal data in the transportation information, such as a transport vehicle 4 on a certain track that should be traveling at a predetermined speed, but whose speed is detected as extremely low or fails to be detected in the newly received transportation information, the fault analysis unit determines that the transport vehicle 4 in that section has malfunctioned and may have stopped. Based on the determination, a temporary control command is generated and sent to the transport vehicle 4 currently traveling on the track network 5 via the command issuing module 64 to change the travel direction of the corresponding transport vehicle 4 or to stop it. The fault analysis unit feeds this information back to the prompting module of the cloud platform 6, alerting staff to conduct manual troubleshooting through display on an electronic screen or audible and visual alarms.

[0088] This invention provides an automated transport method for rail-mounted box-type power supplies, applicable to the aforementioned automated transport system for rail-mounted box-type power supplies; such as... Figure 4 As shown, the automatic battery swapping method for the track-mounted box-type power supply includes: Step S1, the cloud platform 6 receives and processes the battery swapping request information sent by the electric vessel 1, and, in conjunction with the transportation information sent by the acquisition device set on the track network 5, schedules the first and second transport vehicles to transport the box-type power supply 2 for the electric vessel 1; Step S2, the first transport vehicle enters the interior of the electric vessel 1 through the track network 5 and removes the depleted power supply; Step S3, the first transport vehicle leaves the electric vessel 1 through the track network 5; Step S4, the second transport vehicle enters the interior of the electric vessel 1 through the track network 5 and drops off the fully charged power supply; Step S5, the second transport vehicle leaves the electric vessel 1 through the track network 5.

[0089] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A rail-mounted automated transport system for box-type power supplies, used for transporting box-type power supplies to electric ships, characterized in that, The system includes a battery swapping station, a transport vehicle for transporting the box-type power supply, and a track network for the transport vehicle. The box-type power supply includes a fully charged power supply and a depleted power supply. The transport vehicle includes a first transport vehicle for carrying the depleted power supply out of the electric vessel and a second transport vehicle for transporting the fully charged power supply to the electric vessel. The track network includes: a main track connecting the battery swapping station, used for carrying the second transport vehicle out of the battery swapping station and carrying the first transport vehicle into the battery swapping station; multiple branch tracks, each branch track connecting to a different berth, used for carrying the second transport vehicle into the electric vessel located at the berth and carrying the first transport vehicle out of the electric vessel; a circular track connecting the main track and each branch track, used to provide the transport vehicle with multiple routes to and from the main track and each branch track; and a cloud platform, remotely connected to each electric vessel and each transport vehicle, used to schedule the transport vehicle to transport the box-type power supply to the electric vessel according to the battery swapping request information issued by each electric vessel.

2. The track-mounted box-type automatic power supply transport system according to claim 1, characterized in that, The track network also includes multiple waiting tracks that are respectively connected to the branch tracks. Each waiting track is set on one side of the corresponding branch track and is used to allow the second transport vehicle to temporarily stop when the transport paths of the first transport vehicle and the second transport vehicle conflict, so that the first transport vehicle can pass first.

3. The track-mounted box-type automatic power supply transport system according to claim 1, characterized in that, The electric vessel includes: a hatch for opening when the electric vessel is docked at the berth and closing after the containerized power supply has been transported; a first battery swapping area for temporarily storing the depleted power supply; a second battery swapping area for temporarily storing the fully charged power supply; and a connecting rail, the first end of which is connected to the first battery swapping area, the second end of which is connected to the second battery swapping area, and the third end of which connects to the branch rail after the hatch is opened, so that the containerized power supply carried by the transport vehicle passes through the hatch; the connecting rail is disposed below the first and second battery swapping areas, for carrying the first transport vehicle to the first battery swapping area to retrieve the depleted power supply, and carrying the second transport vehicle to the second battery swapping area to place the fully charged power supply; the connecting rail carries the transport vehicle away from the electric vessel after retrieving and placing the containerized power supply.

4. The track-mounted box-type automatic power supply transport system according to claim 3, characterized in that, The transport vehicle includes: an identification device disposed inside the transport vehicle for identifying the first battery swapping area and the second battery swapping area; a braking mechanism for braking when the identification device detects that the first transport vehicle has traveled to the first battery swapping area, and for braking when the identification device detects that the second transport vehicle has traveled to the second battery swapping area; a carrying surface disposed on the top of the transport vehicle body for carrying the box-type power supply; a lifting mechanism disposed below the carrying surface for raising the height of the carrying surface to lift away the depleted power supply when the first transport vehicle stops at the first battery swapping area, and for lowering the height of the carrying surface to place the fully charged power supply when the second transport vehicle stops at the second battery swapping area; and a detection mechanism connected to the braking mechanism and the lifting mechanism respectively, for sending a release signal to the braking mechanism when the lifting mechanism is detected to have risen to a first preset height, and for sending a release signal to the braking mechanism when the lifting mechanism is detected to have lowered to a second preset height.

5. The track-mounted box-type automatic power supply transport system according to claim 4, characterized in that, The lifting mechanism is a hydraulic lifting device; the transport vehicle also includes a fixing device, which is set on the loading surface of the transport vehicle, for continuously fixing the box-type power supply when the transport vehicle is in motion, fixing the depleted power supply when the hydraulic lifting device is at a third preset height, and releasing the fixing of the fully charged power supply.

6. The track-mounted box-type automatic power supply transport system according to claim 1, characterized in that, The track network includes at least two main tracks with different transport directions, and a conductive rail for supplying power to the transport vehicle is provided below each main track; the transport vehicle also includes: a guiding travel mechanism, which is located at the bottom of the transport vehicle and is used to match the track network and orient the transport vehicle along the track network; and a power collection device, located inside the transport vehicle, which extends and contacts the conductive rail when the transport vehicle is traveling on the main track to charge the transport vehicle.

7. The track-mounted box-type automatic power supply transportation system according to claim 1, characterized in that, The battery swapping station includes: a power storage rack for storing the box-type power supply; a chain drive mechanism connected to the power storage rack for transporting the box-type power supply within the battery swapping station; a first transport area connected to the chain drive mechanism for transporting the fully charged power supply obtained from the power storage rack to the second transport vehicle via the chain drive mechanism when the second transport vehicle is parked in the first transport area; a second transport area connected to the chain drive mechanism for transporting the depleted power supply to the power storage rack via the chain drive mechanism when the first transport vehicle is parked in the second transport area; and a main track connecting the first transport area and the second transport area.

8. The track-mounted box-type automatic power supply transport system according to claim 1, characterized in that, A data acquisition device is installed on the track network to collect transportation information of the transport vehicle; the cloud platform includes: a request receiving module for receiving battery swapping request information sent by the electric vessel via a wireless network; a signal receiving module for receiving the transportation information collected by the data acquisition device via a wireless network; a scheme generation module connected to the request receiving module and the signal receiving module respectively, for processing the battery swapping request information and the transportation information to obtain a scheduling scheme for scheduling the transport vehicle; and an instruction issuing module connected to the scheme generation module for scheduling the transport vehicle according to the scheduling scheme.

9. A track-mounted, box-type automatic transport method for power supplies, characterized in that, The system is applied to the automated transport system for box-type power supplies as described in any one of claims 1-8; the automated transport method for box-type power supplies includes: Step S1, a cloud platform receives and processes a battery swapping request sent by an electric vessel, and, in conjunction with transport information sent by a data acquisition device located on the track network, dispatches a first transport vehicle and a second transport vehicle to transport the box-type power supply to the electric vessel; the box-type power supply includes a fully charged power supply and a depleted power supply; Step S2, the first transport vehicle enters the interior of the electric vessel through the track network and retrieves the depleted power supply; Step S3, the first transport vehicle leaves the electric vessel through the track network; Step S4, the second transport vehicle enters the interior of the electric vessel through the track network and lowers the fully charged power supply; Step S5, the second transport vehicle leaves the electric vessel through the track network.

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