Offshore dynamic energy supplementing charging operation ship

Abstract

This invention discloses a dynamic offshore charging vessel capable of dynamic following, real-time compensation, and efficient charging while the vessel is in motion. The vessel includes an autonomous navigation hull, multiple thruster configurations, a wave compensation control system, a multi-degree-of-freedom compensation mechanism, a magnetic charging gun, an environmental perception system, and a dynamic matching algorithm module. Through data fusion from millimeter-wave radar and inertial measurement units, the future trajectory of the target vessel is predicted, and the thrusters and hydraulic actuators are coordinated for control, achieving horizontal ±5m, vertical ±5m, and yaw ±30° compensation capabilities at the charging interface under sea state 4. The magnetic connector provides an adjustable attraction force of 50–300N and features a rapid release function. The system docking preparation time is significantly reduced, and key components are made of corrosion-resistant materials. This solution overcomes the limitations of traditional static charging and possesses high reliability and feasibility.

Description

Technical Field

[0001] This invention relates to the field of ship charging technology, specifically to a marine charging vessel capable of dynamically charging a target ship while under navigation. Background Technology

[0002] With the global promotion of clean energy ships, the charging demand for electric and hybrid ships is growing rapidly. Traditional charging methods rely on fixed port charging stations, requiring ships to charge statically after berthing, which severely restricts the efficiency of maritime operations.

[0003] Existing charging devices utilize a gripper mechanism to charge ships. However, this approach has significant drawbacks: 1. Reliance on precise mooring: Requires the vessel to be completely stationary with a positioning error of <0.5 meters, making it unsuitable for dynamic maritime environments; 2. Fragile mechanical structure: The rigid contact between the gripper and the charging rod is easily damaged under wave impact; 3. Lack of active compensation: It can only cope with static deviations and cannot correct the relative motion of the ship in real time.

[0004] Other improvement solutions, such as the use of multi-arm mechanical guidance in mobile smart charging docks, still have the following problems: the chain drive mechanism has insufficient lifespan in seawater corrosion environment (usually <6 months); the charging plug relies on physical guide slots, resulting in low docking fault tolerance; and the lack of intelligent prediction algorithms and passive response compensation lead to poor connection stability.

[0005] In summary, existing ship charging technologies generally suffer from two major technical bottlenecks: 1. Conflict between docking accuracy and efficiency: High precision requirements lead to excessively long charging preparation time (average >15 minutes). 2. Insufficient adaptability to dynamic environments: The charging failure rate is ≥60% under sea conditions of level 4 or above (wave height > 1.5 meters).

[0006] Therefore, there is an urgent need for a charging vessel that can dynamically follow and compensate in real time while the ship is in motion and can withstand harsh sea conditions, so as to overcome the limitations of existing technology. Summary of the Invention

[0007] This invention provides a dynamic offshore charging vessel to solve the problems of insufficient charging docking accuracy and poor environmental adaptability of ships under navigation in the prior art.

[0008] To solve the above problems, the present invention adopts the following technical solution:

[0009] A dynamic offshore refueling and charging vessel includes:

[0010] The autonomous navigation hull (10) adopts a wide-bottom anti-roll design and is equipped with multiple thrusters (11). The multiple thrusters are arranged at the four corners of the hull in a vector thrust manner to achieve dynamic lateral and longitudinal following of the hull; The wave compensation control system (12) includes a roll compensation algorithm module and a pitch suppression module. The roll compensation algorithm module adjusts the center of gravity distribution of the ship based on the real-time roll angle, and the pitch suppression module generates an anti-pitch torque through the thrust difference of the multiple thrusters (11);

[0011] The dynamic docking device (20) includes: a base (21) installed on the ship's deck; a multi-degree-of-freedom compensation mechanism (22) driven by a hydraulic actuator (221), the compensation mechanism including an axial telescopic module (222), a lateral swing module (223) and a vertical lifting module (224); a charging gun head (23) with a magnetic connector (231) at the end, which generates an adjustable adsorption force of 50–300N after being powered on; a pressure sensing ring (232) distributed in a ring around the magnetic connector (231) for detecting and feeding back the contact pressure; and an emergency release button (233), which disconnects the adsorption force and activates the multi-degree-of-freedom compensation mechanism (22) to retract the charging gun head (23) after being manually triggered.

[0012] The environmental perception system (30) integrates a millimeter-wave radar (31) and an inertial measurement unit (32). The millimeter-wave radar is used to monitor the three-dimensional motion trajectory of the target ship with a ranging accuracy of ±0.1m. The inertial measurement unit has a sampling frequency of ≥100Hz and is used to detect the attitude changes of the ship in real time.

[0013] The dynamic matching algorithm module (40) integrates the ranging data of the millimeter-wave radar (31), the attitude data of the inertial measurement unit (32), and the wave disturbance parameters. Based on the target ship's speed, heading, and wave disturbance, it predicts the target ship's trajectory for the next 2–5 seconds and generates the heading / speed adjustment command of the multi-thruster (11) and the compensation drive parameters of the hydraulic actuator (221) to keep the charging gun head (23) dynamically aligned with the target ship's charging port.

[0014] Furthermore, the dynamic matching algorithm module (40) performs the following steps: (a) Fusion of ranging data from millimeter-wave radar (31) and attitude data from inertial measurement unit (32); (b) Based on the target vessel’s speed, heading and wave disturbance parameters, predict its trajectory for the next 2–5 seconds; (c) Generate heading / speed adjustment commands for the multi-thruster (11) and compensation drive parameters for the hydraulic actuator (221).

[0015] Furthermore, the operating modes of the electromagnetic adsorption unit (231) include: (a) Pre-docking stage: Generate 2–5Hz intermittent pulse magnetic force (50–100N) to guide the charging interface to approach the target charging port; (b) Stable charging phase: The magnetic force intensity is dynamically adjusted to 200–300N based on the feedback from the pressure sensing ring (232) to maintain a constant adsorption force; (c) Emergency detachment phase: When the horizontal spacing or vertical drop exceeds the limit or the emergency detachment button (233) is manually triggered, the magnetic force drops to ≤10N and triggers the compensation mechanism (22) to retract.

[0016] Furthermore, the wave compensation control system (12) includes: (a) Roll compensation algorithm module: Adjusts the ship's center of gravity distribution according to the real-time roll angle; (b) Roll suppression module: generates anti-roll torque through the thrust difference of multiple thrusters (11).

[0017] The technical solution of this invention has the following beneficial effects:

[0018] 1. Dynamic following and real-time compensation: Relying on the multi-thruster at the four corners of the hull and the wide bottom anti-roll design, it can achieve multi-directional vector thrust and follow the target ship in real time while sailing. The multi-degree-of-freedom compensation mechanism (axial extension, lateral swing, vertical lifting) works in coordination, and can complete real-time horizontal and vertical alignment compensation in sea state 4 (wave height ≈ 1.5 meters), completely breaking through the limitations of traditional static charging.

[0019] 2. The intelligent control system integrates multiple thrusters and hydraulic actuators through a dynamic matching algorithm module, resulting in a fast system response and strong coordination. The wave compensation control system incorporates roll and pitch suppression algorithms, which further enhance the overall stability of the vessel by adjusting the center of gravity distribution and thrust difference.

[0020] 3. Intelligent adsorption and safe release: The magnetic connector outputs a flexible guiding magnetic force (50–100N) during the pre-connection stage, which increases to 200–300N after connection to ensure a stable connection. After the emergency release button is triggered, the magnetic force drops sharply to ≤10N and the retraction procedure is initiated to ensure quick and safe disconnection in case of sudden deviation or emergency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 Here is a flowchart of the dynamic matching algorithm;

[0023] Figure 3This is a schematic diagram of the working mode of the electromagnetic adsorption unit. Detailed Implementation

[0024] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0025] Example 1: Dynamic charging during navigation (Sea State 4)

[0026] Initial state: The target vessel was sailing at a speed of 5 knots, and the charging operation vessel tracked its position using millimeter-wave radar (31) and maintained a following distance of 1.5 meters. The dynamic matching algorithm (40) predicts the trajectory of the target ship in the next 3 seconds and generates a heading adjustment command for the thruster (11).

[0027] Docking phase: The multi-degree-of-freedom compensation mechanism (22) is activated: The axial telescopic module (222) compensates for longitudinal displacement; Lateral oscillation module (223) compensates for horizontal offset; The pressure sensing ring (232) detects uneven contact pressure (high on the left and low on the right), and the dynamic matching algorithm (40) controls the hydraulic actuator (221) to adjust the lateral swing angle and restore pressure balance; Stable charging: The electromagnetic adsorption force is increased to 250N; the inertial measurement unit (32) monitors the hull roll angle in real time, and the hydraulic actuator (221) dynamically adjusts the compensation amount.

[0028] Disengagement phase: When the radar detects that the distance between the two ships is greater than 1.8 meters, the electromagnetic adsorption force drops sharply to 10N, and the compensation mechanism (22) retracts to a safe position. The thruster (11) starts to generate reverse thrust, and the charging ship retreats to avoid it.

[0029] Example 2: Emergency Scenario Handling (Target Ship Suddenly Turns)

[0030] Triggering condition: The target ship's course suddenly changes by more than 15° (lasting for 2 seconds);

[0031] Perform the following actions: (a) The dynamic matching algorithm (40) immediately terminates charging and generates an emergency braking command; (b) The propeller (11) reduces the speed of the boat from 5 knots to 0 knots in 8 seconds; (c) The compensation mechanism (22) locks the current position to prevent mechanical overload.

[0032] Those skilled in the art can make equivalent or modified versions of the above embodiments without departing from the scope of the claims of this invention, which are also within the scope of protection of this invention.

Claims

1. A marine dynamic energy replenishment and charging vessel, characterized in that... include: The autonomous navigation hull (10) adopts a wide bottom anti-roll design and is equipped with multiple thrusters (11). The multiple thrusters are arranged at the four corners of the hull in a vector thrust manner to achieve dynamic lateral and longitudinal following of the hull. The wave compensation control system (12) includes a roll compensation algorithm module and a pitch suppression module. The roll compensation algorithm module adjusts the ship's center of gravity distribution based on the real-time roll angle, and the pitch suppression module generates an anti-pitch torque through the thrust difference of the multiple thrusters (11). The dynamic docking device (20) includes: a base (21) installed on the ship's deck; The multi-degree-of-freedom compensation mechanism (22) is driven by a hydraulic actuator (221). The compensation mechanism includes an axial telescopic module (222), a lateral swing module (223), and a vertical lifting module (224). The charging gun head (23) is equipped with a magnetic connector (231) at the end, which generates an adjustable attraction force of 50–300N after being powered on. A pressure sensing ring (232) is distributed in a ring around the magnetic connector (231) to detect contact pressure and provide feedback. Emergency release button (233), when manually triggered, disconnects the adsorption force and activates the multi-degree-of-freedom compensation mechanism (22) to retract the charging gun head (23). The environmental perception system (30) integrates a millimeter-wave radar (31) and an inertial measurement unit (32). The millimeter-wave radar is used to monitor the three-dimensional motion trajectory of the target ship with a ranging accuracy of ±0.1m. The inertial measurement unit has a sampling frequency of ≥100Hz and is used to detect the attitude changes of the ship in real time. The dynamic matching algorithm module (40) integrates the ranging data of the millimeter-wave radar (31), the attitude data of the inertial measurement unit (32), and the wave disturbance parameters. Based on the target ship's speed, heading, and wave disturbance, it predicts the target ship's trajectory for the next 2–5 seconds and generates the heading / speed adjustment command of the multi-thruster (11) and the compensation drive parameters of the hydraulic actuator (221) to keep the charging gun head (23) dynamically aligned with the target ship's charging port.

2. The working vessel according to claim 1, characterized in that: The working modes of the magnetic connector (231) include: (a) Pre-docking stage: Generate intermittent pulsed magnetic force of 50–100N and frequency of 2–5Hz to flexibly guide the charging gun head (23) to approach the target charging port; (b) Stable charging phase: The magnetic force is dynamically increased to 200–300 N based on the feedback from the pressure sensing ring (232) to maintain a constant adsorption force; (c) Emergency detachment phase: When the horizontal spacing or vertical drop exceeds the limit or the emergency detachment button (233) is manually triggered, the magnetic force drops to ≤10N and triggers the retraction of the multi-degree-of-freedom compensation mechanism (22).

3. The working vessel according to claim 1, characterized in that: The dynamic matching algorithm module (40) achieves coordinated control of the multi-thruster (11) and the hydraulic actuator (221) through the following steps: (a) The ranging data of the millimeter-wave radar (31) is fused with the attitude data of the inertial measurement unit (32); (b) Based on the target vessel's speed, heading, and wave disturbance parameters, predict the target vessel's trajectory for the next 2–5 seconds; (c) Generate heading / speed adjustment commands for the multi-thruster (11) and compensation drive parameters for the hydraulic actuator (221).

4. The working vessel according to claim 1, characterized in that: The compensation capability of the charging gun head (23) includes: (a) Horizontal direction ±5m; (b) Vertical direction ±5m; (c) Yaw angle ±30°; Furthermore, the aforementioned compensation capability can still be maintained under sea state 4 (wave height ≈ 1.5m).

5. The working vessel according to claim 1, characterized in that: The magnetic connector (231) and the pressure sensing ring (232) work together to control the dynamic matching algorithm module (40) to adjust the docking posture of the hydraulic actuator (221) when uneven contact pressure is detected, so as to restore pressure balance.

6. The working vessel according to claim 1, characterized in that: After the emergency disengagement phase is completed, the multi-thruster (11) receives a retraction command and uses a preset counter-thrust to retract the hull to a safe distance.

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