A ship power swapping station scheduling and rapid docking control method

Abstract

The application relates to a ship battery replacement station scheduling and rapid docking control method, which comprises collecting the running state information, battery state information and channel environment information of a target ship; predicting the remaining endurance of the ship based on the information, and generating a battery replacement request when the remaining endurance is lower than a preset endurance threshold; a battery replacement scheduling platform allocates a battery replacement station and a battery replacement time period to the target ship according to the berth state of the battery replacement station, the battery inventory state and the occupation state of the battery replacement equipment; the target ship plans a path and automatically docks based on positioning data and environment sensing data; after entering the battery replacement station, a position deviation and attitude deviation model of the ship is established, and the ship is automatically docked; the preset docking accuracy condition is met to complete the hull locking, battery dismounting and mounting and high-voltage interface connection; and the electrical state and mechanical locking state are detected after the battery replacement is completed. The application has the effects of improving the battery replacement efficiency, docking accuracy and battery replacement safety of the ship.

Description

Technical Field

[0001] This application relates to the field of new energy and intelligent control for ships, and in particular to a method for scheduling and rapid docking control of ship battery swapping stations. Background Technology

[0002] With the development of new energy ship technology, pure electric ships, hybrid ships, and unmanned ships are increasingly widely used in inland waterway transportation, port logistics, passenger transport, and near-shore operations. Currently, new energy ships mainly use shore power charging for energy replenishment. However, traditional charging methods generally suffer from long charging times, extended dock occupancy periods, and low ship operating efficiency. This is especially true for high-frequency transport and port operation vessels, where prolonged berthing for charging severely impacts shipping turnaround efficiency. Furthermore, existing battery swapping technologies largely borrow from land-based vehicle battery swapping models, lacking dedicated scheduling and rapid docking control schemes tailored to the ship's aquatic operating environment. This makes it difficult to meet the stability and safety requirements of ship battery swapping operations in complex aquatic environments.

[0003] In existing ship battery swapping processes, ships are prone to lateral, longitudinal, and bow angle deviations due to factors such as water flow, waves, hull inertia, and dock disturbances. This makes it difficult for ships to accurately dock at the battery swapping station, affecting the precise docking of the battery swapping equipment with the ship's battery compartment. This results in low battery swapping efficiency, high risk of mechanical collisions, and unstable high-voltage interface connections. Furthermore, existing battery swapping stations typically lack intelligent scheduling mechanisms, failing to dynamically allocate resources based on the arrival times of multiple ships, remaining battery power, berth occupancy status, battery inventory status, and the operational status of the battery swapping equipment. This often leads to low utilization of battery swapping resources, long ship waiting times, and uneven load distribution at the swapping station.

[0004] On the other hand, existing technologies lack adequate high-voltage safety control measures for ship battery swapping. During battery installation and removal and high-voltage interface connection, safety hazards such as electric arcs, high-voltage misconnections, and insulation failures can easily occur, affecting the operational safety of ships and battery swapping stations. Furthermore, existing solutions lack a comprehensive assessment and hierarchical management mechanism for battery health status, failing to achieve optimized scheduling throughout the battery's lifecycle, resulting in low battery utilization efficiency and high maintenance costs.

[0005] In view of the above-mentioned technologies, the inventors believe that it is necessary to provide a method, system and device for scheduling and rapid docking of ship battery swapping stations, so as to solve the technical problems existing in the prior art, such as low scheduling efficiency of ship battery swapping, poor automatic docking accuracy, insufficient adaptability to complex water environment and low safety of battery swapping, thereby improving the efficiency and safety of ship battery swapping and the level of intelligent operation of new energy ships. Summary of the Invention

[0006] To address the technical challenges of improving the efficiency, safety, and intelligent operation of ship battery swapping stations, this application provides a method for scheduling and rapid docking control of ship battery swapping stations.

[0007] The technical solution adopted in this application for a ship battery swapping station scheduling and rapid docking control method is as follows: Firstly, a method for scheduling and rapid docking control of ship-based battery swapping stations includes the following steps: S1. Collect the target vessel's operational status information, battery status information, and waterway environment information, wherein the operational status information includes the vessel's position, speed, heading, and hull attitude information, and the battery status information includes the remaining power and battery health status information. S2. Based on the operating status information, battery status information and waterway environment information, predict the remaining range of the target vessel, and generate a battery swapping request when the prediction result is lower than the preset range threshold. S3. The battery swapping scheduling platform receives the battery swapping request and allocates battery swapping stations and battery swapping time slots to the target vessel based on the berth status of the battery swapping station, the battery inventory status, the occupancy status of the battery swapping equipment, and the estimated arrival time of the vessel. S4. Send the station entry navigation command to the target vessel. The target vessel plans the berthing path based on the positioning data and environmental perception data, and corrects the navigation trajectory in real time. S5. After the target vessel enters the preset area of ​​the battery swapping station, establish a model of the position deviation and attitude deviation of the vessel relative to the battery swapping station, and control the vessel's propulsion system and steering system according to the position deviation and attitude deviation to achieve automatic docking between the vessel and the battery swapping station. S6. After the target vessel meets the preset docking accuracy conditions, control the positioning and locking mechanism to fix the vessel, and control the battery swapping device to complete the removal of the battery to be replaced, the installation of the fully charged battery, and the connection of the high-voltage interface. S7. After the battery swap is completed, check the battery connection status, insulation status, temperature status and locking status, and control the ship to leave the station after the test results meet the safety conditions.

[0008] By adopting the above technical solutions, the remaining range of a vessel can be predicted in real time based on its operating status, battery status, and waterway environment information. Intelligent scheduling can be achieved by combining the status of the battery swapping station berths, battery inventory, and battery swapping equipment occupancy, thereby improving the utilization rate of battery swapping resources and reducing vessel waiting time. Simultaneously, through path planning, automatic berthing, and position deviation compensation control, precise and rapid docking of vessels with battery swapping stations in complex water environments can be achieved, improving the stability and docking accuracy of the battery swapping process. Furthermore, through positioning lock-in, automatic high-voltage interface connection, and post-battery swapping safety detection mechanisms, the risks of electric arcing, misconnection, and mechanical deviation during high-voltage battery swapping can be effectively reduced, improving battery swapping safety and automation levels, thereby shortening vessel berthing time and increasing the operational efficiency of new energy vessels.

[0009] Optionally, in step S2, the remaining range prediction includes establishing a ship energy consumption prediction model based on historical energy consumption data, current load status, water flow speed and route distance, and calculating the remaining range based on the predicted energy consumption results. The ship energy consumption prediction model adopts a Long Short-Term Memory (LSTM) network model trained based on historical navigation data. Its input features include historical energy consumption, SOC, ship load, water flow speed, ship speed, ambient temperature and route distance, and output the predicted energy consumption value for the future voyage. Calculate the remaining driving range based on predicted energy consumption:

[0010] Where Ep is the predicted total energy consumption output by the LSTM model.

[0011] By adopting the above technical solutions, the actual energy consumption of ships can be dynamically predicted by comprehensively considering historical energy consumption, ship load and waterway conditions, thereby improving the accuracy of remaining range calculation, enhancing the rationality of battery swapping request generation, avoiding insufficient range or premature battery swapping, and improving battery swapping scheduling efficiency.

[0012] Optionally, in step S3, the battery swapping scheduling platform establishes a set of ships, a set of battery swapping stations, and a set of battery resources. Based on the battery swapping requests of each ship, the number of remaining batteries at each battery swapping station, the berth occupancy status, and the expected queuing time, a multi-objective optimization scheduling model is established and solved using a genetic algorithm. The battery swapping scheduling platform employs a multi-objective scheduling algorithm based on deep reinforcement learning, wherein: The state space includes the ship's position, SOC, remaining range, inventory at each battery swapping station, berth occupancy rate, and queue time. The action is to select the target battery swapping station; The reward function is: R = -λ1T - λ2L - λ3Q + λ4S Where T is the waiting time, L is the travel distance, Q is the queue length, S is the battery swap success rate, and λ1~λ4 are the reward weights. The scheduling platform updates the policy network based on the reward value and outputs the optimal battery swapping station allocation result; In step S3, the allocation of the battery swapping station and battery swapping time slot is based on factors including ship priority, berth vacancy status, remaining battery inventory, battery swapping equipment vacancy status, and waterway congestion status.

[0013] By adopting the above technical solutions and using multi-objective optimization algorithms to achieve dynamic scheduling of battery swapping resources, it is possible to comprehensively consider ship priority, berth and equipment status, and waterway congestion, thereby improving the resource utilization rate and scheduling rationality of battery swapping stations, reducing waiting time and energy consumption losses, and enhancing the overall system operating efficiency and shipping continuity.

[0014] Optionally, in step S4, the positioning data includes at least one of RTK positioning data, inertial navigation data, and AIS ship positioning data, and the environmental perception data includes at least one of lidar data, visual recognition data, and millimeter-wave radar data.

[0015] By adopting the above technical solutions, and by integrating multi-source positioning data such as RTK, inertial navigation and AIS, and combining environmental perception information such as lidar, visual recognition and millimeter-wave radar, the accuracy and robustness of ship position and surrounding environment perception can be significantly improved, the anti-interference capability and target recognition reliability under complex water conditions can be enhanced, thereby improving navigation safety and system stability.

[0016] Optionally, in step S5, the position deviation includes lateral offset, longitudinal offset and heading angle error, and the automatic docking process also performs disturbance compensation control based on water flow velocity and wind speed data. In step S5, the docking accuracy between the ship and the battery swapping station is controlled to meet the following requirements: the lateral error is no more than 5cm and the heading angle error is no more than 1°.

[0017] By adopting the above technical solutions, and by performing detailed modeling of lateral offset, longitudinal offset, and heading angle errors, and by introducing water flow and wind speed disturbance compensation control, the impact of environmental disturbances on the docking process can be effectively suppressed, enabling high-precision automatic docking between the ship and the battery swapping station, meeting centimeter-level and angle-level control requirements, and significantly improving docking stability, safety, and battery swapping operation efficiency.

[0018] Optionally, in step S6, the battery swapping device includes one of a gantry crane-type battery swapping mechanism, a track-transfer-type battery swapping mechanism, or a telescopic robotic arm-type battery swapping mechanism. In step S6, before connecting the high-voltage interface, high-voltage power outage, voltage detection, and arc suppression control are performed, and high-voltage interlock detection is performed after the high-voltage interface connection is completed.

[0019] By adopting the above technical solutions, battery swapping devices with different structural forms can be adapted to the battery swapping needs of various types of ships, improving the flexibility and compatibility of battery swapping operations. Power failure detection, arc suppression, and interlock verification are set before and after high-voltage connection to effectively reduce the risk of high-voltage operation, avoid safety accidents caused by arcing and misconnection, and improve the safety and reliability of the battery swapping process.

[0020] Optionally, step S7 may also include assessing the battery health status of the battery to be replaced, and classifying and scheduling the battery according to the assessment results.

[0021] By adopting the above technical solutions, accurate judgment of battery life and performance can be achieved, the battery tiered utilization and allocation strategy can be optimized, the battery resource utilization efficiency can be improved, the operation and maintenance and replacement costs can be reduced, and the overall economic efficiency and reliability of the battery swapping system can be improved.

[0022] Secondly, a ship battery swapping station scheduling and rapid docking control system includes a status acquisition module, which is used to collect ship operating status information, battery status information and waterway environment information. It includes a range prediction module, which is used to predict the remaining range of the ship and generate a battery swapping request; It includes an intelligent scheduling module, which is used to allocate battery swapping stations and battery swapping time slots to target ships based on the operating status of the battery swapping stations; It includes a navigation control module, which is used to control the ship to perform station navigation, route planning and automatic berthing; It includes a precision docking control module, which is used to control the ship to complete automatic docking based on the ship's position deviation and attitude deviation; It includes a battery swapping execution module, which is used to control the positioning locking mechanism and the battery swapping device to complete the battery replacement; It includes a safety detection module, which is used to detect the electrical and mechanical locking status after the battery swap is completed.

[0023] By adopting the above technical solutions, a multi-module collaborative system is constructed, encompassing status acquisition, endurance prediction, intelligent scheduling, navigation control, precise docking, battery swapping execution, and safety detection. This system achieves digital and intelligent closed-loop management of the entire ship battery swapping process. The status acquisition module provides multi-source real-time data support for the system; the endurance prediction module enhances the foresight of battery swapping demand assessment; the intelligent scheduling module optimizes battery swapping resource allocation and timing, significantly improving the utilization efficiency of battery swapping stations; the navigation and precise docking control modules work together to achieve high-precision ship entry and automatic berthing, effectively reducing human error; the battery swapping execution module ensures efficient and reliable battery replacement; and the safety detection module performs multiple checks on electrical and mechanical conditions, improving the overall safety redundancy level. The inter-module linkage and cooperation enhance the operational efficiency, scheduling intelligence, and operational safety of the ship battery swapping system, achieving high reliability and engineering feasibility of the battery swapping process.

[0024] Optionally, the precise docking control module includes a position deviation calculation unit, a disturbance compensation unit, and a motion control unit. The position deviation calculation unit is used to calculate the lateral offset, longitudinal offset, and heading angle error of the ship relative to the battery swapping station. The disturbance compensation unit is used to generate compensation control quantities based on water flow velocity and wind speed data. The motion control unit is used to control the ship's propulsion system and steering system to complete automatic docking according to the position deviation and compensation control quantities.

[0025] By adopting the above technical solutions and setting up position deviation calculation, disturbance compensation and motion control units, the precise error perception and dynamic correction of the ship docking process can be realized. Combined with water flow and wind speed disturbance compensation control propulsion and steering systems, docking accuracy and stability can be improved, environmental interference can be reduced, and the reliability and safety of automatic docking can be enhanced.

[0026] Thirdly, a ship battery swapping quick docking device includes a guiding and positioning mechanism 50, which is used to guide the ship's position. It includes a locking and fixing mechanism, which is used to fix the hull after the ship has completed docking; Includes a battery swapping actuator, which is used to complete the removal and installation of ship batteries; Includes a high-voltage connection mechanism, which is used to automatically connect the high-voltage interface of the ship's battery; It includes a controller, which is used to control the coordinated operation of the guiding and positioning mechanism, the locking and fixing mechanism, the battery swapping actuator and the high-voltage connection mechanism according to the ship's position deviation and attitude deviation.

[0027] By adopting the above technical solution, the guiding and positioning mechanism, locking and fixing mechanism, battery swapping execution mechanism, and high-voltage connection mechanism are set up and uniformly controlled by the controller to realize the automation and integrated operation of the rapid docking process of ship battery swapping. The guiding and positioning mechanism can guide the ship's initial attitude and improve the positioning accuracy; the locking and fixing mechanism can stabilize the hull after docking and prevent displacement deviation; the battery swapping execution mechanism can automatically disassemble and install batteries, improving the efficiency of battery swapping operations; the high-voltage connection mechanism can automatically connect and disconnect high-voltage interfaces, reducing the risk of manual operation; the controller coordinates and controls each mechanism based on position and attitude deviations, so that each execution unit can work together in an orderly manner, improving the system response speed and docking accuracy, effectively shortening the battery swapping operation time, reducing the degree of human intervention, improving the safety, reliability and engineering adaptability of the battery swapping process, and realizing the intelligent and efficient operation of rapid docking of ship battery swapping.

[0028] In summary, this application includes at least one of the following beneficial technical effects: By constructing a full-process collaborative system encompassing multi-source sensing, endurance prediction, intelligent scheduling, and precise docking, closed-loop management of ship battery swapping is achieved from demand generation to execution completion, thereby improving the overall intelligence level and operational continuity of the system. By dynamically modeling ship energy consumption and waterway environment, high-precision prediction of remaining range is achieved, optimizing the timing of battery swapping request generation from the source, and improving scheduling rationality and resource utilization efficiency. The battery swapping resource scheduling method based on multi-objective optimization algorithm comprehensively considers factors such as berth, battery inventory and equipment occupancy, thereby improving the utilization rate of battery swapping stations and reducing ship waiting time. By integrating RTK, inertial navigation, AIS and multi-source environmental perception data, the accuracy of ship positioning and environmental identification can be improved, and the anti-interference capability and navigation safety under complex water conditions can be enhanced. By introducing disturbance compensation and high-precision position control mechanisms, centimeter-level and angle-level docking accuracy is achieved, effectively improving the stability and efficiency of automatic docking. By employing multiple safety mechanisms such as high-voltage power outage, arc suppression, and interlock detection, the risks of high-voltage power swapping are reduced, and the system's safety and reliability are improved. By combining battery health status assessment and hierarchical scheduling strategies, we can improve the utilization efficiency of batteries throughout their entire life cycle, reduce operation and maintenance costs, and enhance economic efficiency. Through the joint design of a multi-module collaborative control system and a rapid docking device, the battery swapping process is highly automated and engineering feasible, shortening the time for ship berthing and battery swapping. Attached Figure Description

[0029] Figure 1 This is a flowchart of the method in this application.

[0030] Figure 2 This is a system architecture framework diagram of this application.

[0031] Figure 3 This is a schematic diagram of the overall layout of the battery swapping stations in this application.

[0032] Figure 4 This is a schematic diagram of the ship battery swapping quick docking device for this application.

[0033] Explanation of reference numerals in the attached drawings: 10, locking and fixing mechanism; 20, battery swapping actuator; 30, high-voltage connection mechanism; 40, controller; 50, guiding and positioning mechanism; Detailed Implementation

[0034] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0035] This application discloses a method for scheduling and rapid docking control of ship battery swapping stations, including the following steps: S1. Collect the target vessel's operational status information, battery status information, and waterway environment information, wherein the operational status information includes the vessel's position, speed, heading, and hull attitude information, and the battery status information includes the remaining power and battery health status information. S2. Based on the operating status information, battery status information and waterway environment information, predict the remaining range of the target vessel, and generate a battery swapping request when the prediction result is lower than the preset range threshold. S3. The battery swapping scheduling platform receives the battery swapping request and allocates battery swapping stations and battery swapping time slots to the target vessel based on the berth status of the battery swapping station, the battery inventory status, the occupancy status of the battery swapping equipment, and the estimated arrival time of the vessel. S4. Send the station entry navigation command to the target vessel. The target vessel plans the berthing path based on the positioning data and environmental perception data, and corrects the navigation trajectory in real time. S5. After the target vessel enters the preset area of ​​the battery swapping station, establish a model of the position deviation and attitude deviation of the vessel relative to the battery swapping station, and control the vessel's propulsion system and steering system according to the position deviation and attitude deviation to achieve automatic docking between the vessel and the battery swapping station. S6. After the target vessel meets the preset docking accuracy conditions, control the positioning and locking mechanism to fix the vessel, and control the battery swapping device to complete the removal of the battery to be replaced, the installation of the fully charged battery, and the connection of the high-voltage interface. S7. After the battery swap is completed, check the battery connection status, insulation status, temperature status and locking status, and control the ship to leave the station after the test results meet the safety conditions.

[0036] The ship battery swapping station scheduling and rapid docking control method, system and device described in this embodiment are applicable to shore-based or floating battery swapping station scenarios for new energy electric ships, and are particularly suitable for inland waterway shipping, port operation vessels, short-distance passenger ships and unmanned ship operation systems.

[0037] In this implementation environment, the battery swapping system includes a shore-based battery swapping station, multiple berth workstations, a battery storage system, a battery swapping robotic arm system, and a high-voltage electrical connection system. It also includes a shipborne navigation and positioning system, an attitude measurement system, and a battery management system.

[0038] The system interacts with data through a shore-based and shipboard two-way communication network, with communication methods including 5G communication, dedicated wireless communication, or V2X communication links.

[0039] Reference Figure 1 In step S1, multi-source information is collected through various sensors deployed on the ship. Specifically: ship operational status information is collected by using an RTK high-precision positioning module to obtain the ship's real-time coordinates, using an inertial navigation system to obtain speed, heading, and attitude angles, using an AIS system to obtain navigation status and channel information, and battery status information is collected by using a battery management system (BMS) to obtain SOC, SOH, voltage, current, and temperature, and to perform real-time assessment of battery health. The waterway environment information collection process involves using lidar to scan surrounding obstacles in three dimensions, using visual cameras for target recognition and modeling of the ship's surrounding environment, using millimeter-wave radar to acquire information on water surface obstacles and dynamic targets, and using a meteorological module to acquire information on wind speed, wind direction, and water flow speed. The collected data is then processed by a data fusion module for unified timestamp alignment and filtering, and noise suppression is achieved using Kalman filtering or moving average algorithms. In step S2, a ship energy consumption prediction model is constructed to calculate the remaining range. The specific implementation method is as follows: Establish an energy consumption function model: E_total = f(V, Load, Wind, Current, Route) in: V represents the ship's speed; Load refers to the load; Wind affects wind resistance; Current is the water flow velocity; Route refers to the distance and curvature of the flight path.

[0040] Further calculate the energy consumption per unit distance, E_unit; The remaining driving range is calculated as follows: R = SOC × E_battery / E_unit When R < R_threshold, the system automatically triggers a battery swapping request. This step enables predictive management of the ship's endurance status, preventing critical power loss situations from occurring; In step S3, the battery swapping scheduling platform uses a multi-objective optimization algorithm for resource allocation. The optimization objectives include: minimizing waiting time, maximizing berth utilization, minimizing scheduling conflicts, and minimizing the impact of waterway congestion. The constraints include: berth availability, battery inventory quantity, equipment occupancy status, ship ETA time, and waterway congestion index. The algorithm implementation methods include: global search using a genetic algorithm, local optimization using a particle swarm optimization algorithm, and reinforcement learning for dynamic strategy adjustment. The output results include: optimal battery swapping station selection, optimal battery swapping time window, and navigation guidance suggested path. In step S4, after receiving the shore-based navigation command, the ship enters the autonomous navigation mode. The ship adopts multi-source fusion positioning, including RTK for high-precision absolute positioning, INS for short-term attitude estimation, AIS for trajectory correction, lidar for obstacle modeling, and vision system for dynamic target recognition. Path planning adopts dynamic algorithm or model predictive control (MPC) algorithm. During navigation, obstacle avoidance control, speed control, and route correction control are performed in real time to ensure that the ship safely enters the battery swapping station area. Step five is the implementation of automatic docking control. After the ship enters the battery swapping station area, a three-dimensional error model is established: Δx (lateral offset), Δy (longitudinal offset), and Δθ (bow angle error). The system calculates the disturbance compensation amount based on real-time water flow and wind speed data: U_comp = f(Wind, Current) The control algorithm employs PID control or Model Predictive Control (MPC): including propulsion system control, main thruster thrust adjustment, auxiliary thruster fine-tuning, steering system control, and dynamic rudder angle correction, ultimately enabling the ship to gradually approach the docking target. The docking accuracy control is as follows: lateral error ≤ 5cm, bow angle error ≤ 1°; Step S6 is the implementation method for locking and battery swapping. After docking is completed, the system executes the locking and battery swapping process, which specifically includes: locking stage, starting the locking and fixing mechanism 10, mechanically constraining the hull to prevent drifting and displacement, battery replacement stage, starting the battery swapping execution mechanism 20, completing the removal of the old battery, installing a fully charged battery, high-voltage connection stage, executing high-voltage power off, executing voltage detection, executing arc suppression control, completing the insertion of the high-voltage connection mechanism 30 and executing high-voltage interlock detection to ensure no arc, no incorrect connection, and no voltage residue.

[0041] Step S7 is the implementation method for safety detection and departure control. After the battery swap is completed, multi-dimensional safety detection is performed. The detection content includes: electrical connection status detection, insulation resistance detection, battery temperature detection and locking mechanism status detection. When all indicators meet the safety threshold, the locking mechanism is released and the ship is allowed to leave the station. Finally, the battery status database is updated. At the same time, a health assessment was conducted on the disassembled battery. The assessment adopted the following SOH classification: Grade A: Continue to use; Grade B: Tiered utilization; Grade C: Repair or scrap.

[0042] This embodiment provides a ship battery swapping station scheduling and rapid docking control system, including the following modules: a status acquisition module for real-time acquisition of ship operating status, battery status and waterway environment information, and for data cleaning and fusion processing; The range prediction module calculates the remaining range based on the energy consumption model and generates a battery swapping request signal; the intelligent scheduling module uses a multi-objective optimization algorithm to optimize berth allocation, time window allocation, and resource scheduling. The control module is used to generate the entry path and control the ship's automatic navigation; The precision docking control module includes a position deviation calculation unit, a disturbance compensation unit, and a motion control unit, enabling high-precision automatic docking control. The battery swapping execution module controls the locking mechanism and the battery swapping equipment to complete the battery replacement; the safety detection module performs safety verification on the battery swapping completion status to ensure the safe operation of the system.

[0043] This application details the implementation of the precise docking control module, with a position deviation calculation unit used for real-time calculation. Lateral deviation, longitudinal deviation, and bow angle error are calculated by the disturbance compensation unit based on environmental data, and the motion control unit outputs control commands to the propulsion system and steering gear system.

[0044] like Figure 4 As shown, this embodiment provides a ship battery swapping quick docking device, including: a guiding and positioning mechanism 50, a locking and fixing mechanism 10, a battery swapping execution mechanism 20, a high-voltage connection mechanism 30, and a controller 40. The controller 40 controls the coordinated operation of each mechanism according to the ship's position and attitude error. The workflow is as follows: the guiding and positioning mechanism guides the ship into the work station; the locking mechanism secures the hull; the battery swapping mechanism performs battery replacement; the high-voltage connection mechanism completes the electrical connection; and the controller coordinates and executes the entire process.

[0045] Through the above implementation methods, this application has at least the following effects: it realizes the full-process automated control of ship battery swapping, improves battery swapping scheduling efficiency and resource utilization, improves docking accuracy in complex water environments, significantly enhances battery swapping safety, reduces manual dependence and operational risks, improves battery life cycle management capabilities, realizes multi-system collaborative operation of battery swapping stations, shortens ship berthing and battery swapping time, and improves operational efficiency.

[0046] The implementation principle of the ship battery swapping station scheduling and rapid docking control method in this application embodiment is as follows: By constructing an integrated collaborative control link of "state perception - endurance prediction - intelligent scheduling - navigation control - precise docking - battery swapping execution - safety detection", the intelligent and automated operation of the entire battery swapping process of new energy ships is realized. First, shipborne sensors, RTK positioning system, AIS system and environmental perception equipment are used to collect ship operating status, battery status and waterway environment information in real time. Based on historical energy consumption data, current load status, water flow speed and route distance, a ship energy consumption prediction model is established to dynamically predict the ship's remaining endurance. When the prediction result is lower than the preset endurance threshold, a battery swapping request is automatically generated and sent to the battery swapping scheduling platform. The battery swapping scheduling platform combines berth status, battery inventory status, battery swapping equipment occupancy status and ship's estimated arrival time, and realizes dynamic allocation of battery swapping resources through multi-objective optimization algorithm to improve the resource utilization rate and scheduling efficiency of the battery swapping station. During the ship's entry into the station, the system performs fusion positioning and path planning based on RTK positioning data, inertial navigation data, AIS positioning data, and environmental perception data such as lidar, visual recognition, and millimeter-wave radar. It also corrects the navigation trajectory in real time to ensure the ship's safe entry into the battery swapping station area. Once the ship enters the preset docking area, the system establishes a model of the ship's position and attitude deviation relative to the battery swapping station. By calculating the lateral offset, longitudinal offset, and bow angle error, and combining water flow speed and wind speed data, it performs disturbance compensation control and controls the propulsion and steering systems to perform closed-loop adjustment, achieving high-precision automatic docking between the ship and the battery swapping station. After meeting the preset docking accuracy conditions, the system controls the positioning locking mechanism to fix the ship and starts the battery swapping actuator to complete the automatic battery removal and installation. At the same time, before the high-voltage interface is connected, high-voltage power-off, voltage detection, and arc suppression control are performed. After the connection is completed, high-voltage interlock detection is performed, thereby improving the safety and reliability of the high-voltage battery swapping process. After the battery swap is completed, the system further detects the battery connection status, insulation status, temperature status and lock-up status, and performs hierarchical management and scheduling of the battery based on the battery health status assessment results, and controls the ship to leave the station after the safety conditions are met. The system enables coordinated operation of ship battery swapping scheduling, automatic navigation, precise docking, and high-voltage battery swapping safety control in complex water environments. It can effectively reduce ship battery swapping waiting time and manual operation risks, and improve battery swapping efficiency, docking accuracy, and the level of intelligence in the operation of new energy ships.

[0047] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A method for scheduling and rapid docking control of ship-based battery swapping stations, characterized in that, Includes the following steps: S1. Collect the target vessel's operational status information, battery status information, and waterway environment information, wherein the operational status information includes the vessel's position, speed, heading, and hull attitude information, and the battery status information includes the remaining power and battery health status information. S2. Based on the operating status information, battery status information and waterway environment information, predict the remaining range of the target vessel, and generate a battery swapping request when the prediction result is lower than the preset range threshold. S3. The battery swapping scheduling platform receives the battery swapping request and allocates battery swapping stations and battery swapping time slots to the target vessel based on the berth status of the battery swapping station, the battery inventory status, the occupancy status of the battery swapping equipment, and the estimated arrival time of the vessel. S4. Send the station entry navigation command to the target vessel. The target vessel plans the berthing path based on the positioning data and environmental perception data, and corrects the navigation trajectory in real time. S5. After the target vessel enters the preset area of ​​the battery swapping station, establish a model of the position deviation and attitude deviation of the vessel relative to the battery swapping station, and control the vessel's propulsion system and steering system according to the position deviation and attitude deviation to achieve automatic docking between the vessel and the battery swapping station. S6. After the target vessel meets the preset docking accuracy conditions, control the positioning and locking mechanism to fix the vessel, and control the battery swapping device to complete the removal of the battery to be replaced, the installation of the fully charged battery, and the connection of the high-voltage interface. S7. After the battery swap is completed, check the battery connection status, insulation status, temperature status and locking status, and control the ship to leave the station after the test results meet the safety conditions.

2. The method for scheduling and rapid docking control of a ship battery swapping station according to claim 1, characterized in that: In step S2, the remaining range prediction includes establishing a ship energy consumption prediction model based on historical energy consumption data, current load status, water flow speed and route distance, and calculating the remaining range based on the predicted energy consumption results. The ship energy consumption prediction model adopts a Long Short-Term Memory (LSTM) network model trained based on historical navigation data. Its input features include historical energy consumption, SOC, ship load, water flow speed, ship speed, ambient temperature and route distance, and output the predicted energy consumption value for the future voyage. Calculate the remaining driving range based on predicted energy consumption: Where Ep is the predicted total energy consumption output by the LSTM model.

3. The method for scheduling and rapid docking control of a ship battery swapping station according to claim 1, characterized in that: In step S3, the battery swapping scheduling platform establishes a set of ships, a set of battery swapping stations, and a set of battery resources. Based on the battery swapping requests of each ship, the number of remaining batteries at each battery swapping station, the berth occupancy status, and the expected queuing time, a multi-objective optimization scheduling model is established and solved using a genetic algorithm. The battery swapping scheduling platform employs a multi-objective scheduling algorithm based on deep reinforcement learning, wherein: The state space includes the ship's position, SOC, remaining range, inventory at each battery swapping station, berth occupancy rate, and queue time. The action is to select the target battery swapping station; The reward function is: R = -λ1T - λ2L - λ3Q + λ4S Where T is the waiting time, L is the travel distance, Q is the queue length, S is the battery swap success rate, and λ1~λ4 are the reward weights. The scheduling platform updates the policy network based on the reward value and outputs the optimal battery swapping station allocation result; In step S3, the allocation of the battery swapping station and battery swapping time slot is based on factors including ship priority, berth vacancy status, remaining battery inventory, battery swapping equipment vacancy status, and waterway congestion status.

4. The method for scheduling and rapid docking control of a ship battery swapping station according to claim 1, characterized in that: In step S4, the positioning data includes at least one of RTK positioning data, inertial navigation data, and AIS ship positioning data, and the environmental perception data includes at least one of lidar data, visual recognition data, and millimeter-wave radar data.

5. The method for scheduling and rapid docking control of a ship battery swapping station according to claim 1, characterized in that: In step S5, the positional deviation includes lateral offset, longitudinal offset, and heading angle error. During the automatic docking process, disturbance compensation control is also performed based on water flow velocity and wind speed data. In step S5, the docking accuracy between the ship and the battery swapping station is controlled to meet the following requirements: the lateral error is no more than 5cm and the heading angle error is no more than 1°.

6. The method for scheduling and rapid docking control of a ship battery swapping station according to claim 1, characterized in that: In step S6, the battery swapping device includes one of the following: a gantry crane-type battery swapping mechanism, a track-transfer-type battery swapping mechanism, or a telescopic robotic arm-type battery swapping mechanism. In step S6, before connecting the high-voltage interface, high-voltage power outage, voltage detection, and arc suppression control are performed, and high-voltage interlock detection is performed after the high-voltage interface connection is completed.

7. The method for scheduling and rapid docking control of a ship battery swapping station according to claim 1, characterized in that: Step S7 also includes assessing the battery health status of the battery to be replaced, and classifying and scheduling the battery according to the assessment results.

8. A shipboard battery swapping station scheduling and rapid docking control system, characterized in that, It includes a status acquisition module, which is used to collect ship operating status information, battery status information and waterway environment information; It includes a range prediction module, which is used to predict the remaining range of the ship and generate a battery swapping request; It includes an intelligent scheduling module, which is used to allocate battery swapping stations and battery swapping time slots to target ships based on the operating status of the battery swapping stations; It includes a navigation control module, which is used to control the ship to perform station navigation, route planning and automatic berthing; It includes a precision docking control module, which is used to control the ship to complete automatic docking based on the ship's position deviation and attitude deviation; It includes a battery swapping execution module, which is used to control the positioning locking mechanism and the battery swapping device to complete the battery replacement; It includes a safety detection module, which is used to detect the electrical and mechanical locking status after the battery swap is completed.

9. A shipboard battery swapping station scheduling and rapid docking control system according to claim 8, characterized in that: The precise docking control module includes a position deviation calculation unit, a disturbance compensation unit, and a motion control unit. The position deviation calculation unit is used to calculate the lateral offset, longitudinal offset, and heading angle error of the ship relative to the battery swapping station. The disturbance compensation unit is used to generate compensation control quantities based on water flow velocity and wind speed data. The motion control unit is used to control the ship's propulsion system and steering system to complete automatic docking according to the position deviation and compensation control quantities.

10. A rapid docking device for ship battery swapping, characterized in that, Includes a guidance and positioning mechanism (50), which is used to guide the ship's position; It includes a locking and fixing mechanism (10), which is used to fix the hull after the ship has completed docking; Includes a battery swapping actuator (20), which is used to complete the removal and installation of ship batteries; It includes a high-voltage connection mechanism (30), which is used to realize the automatic plugging of the high-voltage interface of the ship battery; Includes a controller (40), which is used to control the coordinated operation of the guiding and positioning mechanism (50), the locking and fixing mechanism (10), the battery swapping actuator (20) and the high-voltage connection mechanism (30) according to the ship's position deviation and attitude deviation.

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