CN114363848A - Unmanned ship fuel supply method and system - Google Patents

Abstract

The application provides a fuel supply method for an unmanned ship, which applies a fuel supply system for the unmanned ship, the system comprises the unmanned ship, a supply station and a fuel supply ship, the unmanned ship comprises a first communication device, the supply station comprises a second communication device, and the first communication device and the second communication device communicate through a satellite system, the method comprises the following steps: the unmanned ship sends a fuel supply request to a supply station through a first communication device; after the refueling station receives the fuel refueling request through the second communication device, the refueling station sends a first control instruction to the fuel refueling ship; the fuel supply ship goes to the area where the unmanned ship is located according to the first control instruction; when the fuel supply ship reaches the area where the unmanned ship is located, the fuel supply ship refuels the unmanned ship. The method provided by the embodiment of the application solves the problem that the unmanned ship cannot realize continuous cruising and improves the working efficiency of the unmanned ship.

Description

Unmanned ship fuel supply method and system

Technical Field

The application belongs to the technical field of intelligent ships, and particularly relates to a method and a system for supplying fuel to an unmanned ship.

Background

With the progress of artificial intelligence technology, the development of the field of unmanned ships is also changing day by day, and unmanned ships can play an important role in future water surface operation and can be used for important or dangerous tasks such as hydrological meteorological monitoring, cargo transportation, submarine topography survey and the like. Because unmanned ship's size is less, the fuel of carrying can receive certain restriction, when carrying out the task of long distance navigation or long-term surveying, often can appear the not enough problem of fuel, if the unmanned ship that is carrying out the task is midway fuel supply not enough, not only can lead to unable completion current task, can be absorbed in the predicament that can't return voyage moreover, thereby bring huge loss for the user, consequently unmanned ship duration can become the difficult problem that awaits the solution urgently, how to realize fast refueling by the scientific research personnel and also regard.

The existing unmanned ship refueling mode is that the unmanned ship needs to be anchored or berthed at a wharf to wait for fuel supply to refuel the ship, or berths at a refueling wharf, the unmanned ship and the fuel supply ship are bound manually, and then workers on the supply ship carry a refueling gun to refuel an oil pump on the unmanned ship, so that the traditional refueling mode brings unnecessary troubles to navigation tasks and crews.

Disclosure of Invention

The application provides a fuel supply method for an unmanned ship, which solves the problem that the unmanned ship cannot be rapidly refueled and improves the working efficiency of the unmanned ship.

In a first aspect, a method for unmanned ship fuel replenishment is provided, the method employs an unmanned ship fuel replenishment system, the system includes an unmanned ship, a replenishment station and a fuel replenishment ship, the unmanned ship includes a first communication device, the replenishment station includes a second communication device, the first communication device and the second communication device communicate through a satellite system, and the method includes: the unmanned ship sends a fuel supply request to a supply station through a first communication device; after the refueling station receives the fuel refueling request through the second communication device, the refueling station sends a first control instruction to the fuel refueling ship; the fuel supply ship goes to the area where the unmanned ship is located according to the first control instruction; when the fuel supply ship reaches the area where the unmanned ship is located, the fuel supply ship refuels the unmanned ship.

The first aspect provides a method whereby the unmanned ship may send a refueling request to a refueling station via a first communication device installed while performing a mission. After the refueling station receives a fuel refueling request through the installed second communication device, the refueling station sends a first control instruction to the fuel refueling ship, and the fuel refueling ship goes to the area where the unmanned ship is located according to the received first control instruction. After the fuel oil ship reaches the area where the unmanned ship is located, the fuel oil supply ship supplies fuel oil to the unmanned ship, personnel field operation is not needed in the whole process, the unmanned ship can be guaranteed to supply fuel oil in real time when continuous uninterrupted operation is carried out, the unmanned ship can be guaranteed to operate continuously, and the working efficiency of the unmanned ship is improved.

Optionally, the unmanned ship further comprises: the fuel quantity sensor sends the fuel supply request to the supply station through a first communication device, and comprises: detecting whether the oil quantity value of the unmanned ship is smaller than or equal to a preset first threshold value or not by using an oil quantity sensor; when the fuel quantity value is smaller than or equal to a preset first threshold value, the first communication device sends a fuel supply request to the supply station. In the implementation mode, the oil quantity sensor on the unmanned ship can be used for monitoring the oil quantity on the unmanned ship in real time, and when the oil quantity is smaller than the preset oil quantity, a fuel oil supply request is automatically sent to the supply station.

Optionally, the fuel supply vessel comprises: third communication device, fuel supply ship goes to the region at unmanned ship place according to first control command, includes: the unmanned ship sends the real-time position of the unmanned ship to a third communication device through a satellite system by utilizing a first communication device; and the fuel supply ship drives to the area where the unmanned ship is located according to the real-time position of the unmanned ship. In the implementation mode, the third communication device on the fuel supply ship can receive the real-time position sent by the first communication device on the unmanned ship, the position of the unmanned ship can be accurately found according to the real-time position, and the refueling efficiency is improved.

Optionally, the fuel supply vessel comprises: the nozzle, install the arm on the nozzle, the fuel supply ship refuels to unmanned ship, includes: the fuel supply ship enables the oil gun to be connected with the unmanned ship through the adjusting mechanical arm, and the oil gun is used for filling oil to the unmanned ship. In this kind of implementation, can utilize the arm of installation on the nozzle and the accurate connection of unmanned ship, further utilize the nozzle to refuel to unmanned ship.

Optionally, still include on the nozzle: the oil product switching device and the method also comprise: and switching the oil products by using an oil product switching device. In this kind of implementation, the switching of multiple oil can be realized according to unmanned ship's demand to the oil switching device who utilizes setting up on the nozzle.

Optionally, detecting whether the oil quantity value of the unmanned ship is greater than or equal to a preset second threshold value by using an oil quantity sensor; when the oil quantity value is larger than or equal to a preset second threshold value, the unmanned ship sends a second control instruction to the supply ship; and the fuel supply ship controls the refueling gun to stop refueling according to the second control instruction. In the implementation mode, in the process that the unmanned ship is refueled by the fuel supply ship, the flow sensor can be used for detecting the fuel quantity value of the unmanned ship, when the fuel quantity value is larger than or equal to a preset second threshold value, the unmanned ship sends a second control instruction to the fuel supply ship, and the fuel supply ship controls the refueling gun to stop refueling according to the second control instruction.

Optionally, in the process of refueling the fuel supply ship by the unmanned ship, the relative positions of the unmanned ship and the fuel supply ship are unchanged.

In a second aspect, there is provided an unmanned ship fuel replenishment system, comprising: the unmanned ship comprises a first communication device, the refueling station comprises a second communication device, and the first communication device and the second communication device are communicated through a satellite system which comprises a unit for executing each step in the possible implementation modes of the first aspect or any one of the first aspects.

Optionally, the fuel supply vessel comprises: the nozzle is provided with a mechanical arm.

Optionally, an oil product switching device is further installed on the oil gun.

In a third aspect, a computer program product is provided, the computer program product comprising a computer program for performing the steps of the first aspect or any possible implementation form of the first aspect when executed by a processor.

In a fourth aspect, a computer-readable storage medium is provided, having stored thereon a computer program for performing the steps of the first aspect or any possible implementation manner of the first aspect, when the computer program is executed.

In a fifth aspect, there is provided a chip or an integrated circuit, the chip or the integrated circuit comprising: a processor configured to call and run the computer program from the memory, so that the device on which the chip or the integrated circuit is installed performs the steps of the first aspect or any possible implementation manner of the first aspect.

It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.

Compared with the prior art, the embodiment of the application has the advantages that:

according to the method, the unmanned ship can send a fuel supply request to the supply station through the first communication device when the unmanned ship executes a task. After the refueling station receives a fuel refueling request through the installed second communication device, the refueling station sends a first control instruction to the fuel refueling ship, and the fuel refueling ship goes to the area where the unmanned ship is located according to the received first control instruction. After the fuel oil ship reaches the area where the unmanned ship is located, the fuel oil supply ship supplies fuel oil to the unmanned ship, personnel field operation is not needed in the whole process, the unmanned ship can be guaranteed to supply fuel oil in real time when continuous uninterrupted operation is carried out, the unmanned ship can be guaranteed to operate continuously, and the working efficiency of the unmanned ship is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic diagram of an example unmanned ship fuel replenishment system suitable for use with embodiments of the present application;

FIG. 2 is a schematic view of another example of an unmanned ship fuel replenishment system suitable for use with embodiments of the present application;

FIG. 3 is a schematic flow chart of an exemplary unmanned ship fuel replenishment method provided in an embodiment of the present application;

FIG. 4 is a diagram illustrating an example of a scenario for an unmanned ship fuel replenishment method according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a fuel nozzle provided in an embodiment of the present application.

11. An unmanned ship; 12. a fuel supply vessel; 13. a supply station; 14. a first communication device; 15. an oil filler; 16. a fuel gun; 17. a third communication device; 18. a satellite system; 181. a muzzle; 182. a six-joint mechanical arm; 183. 1, oil product; 184. 2, oil product; 185. oil switching device.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

First, before describing the methods and systems provided herein, some of the terms that will be referred to immediately below will need to be described. When the present application refers to the terms "first" or "second" etc. ordinal, it should be understood that they are used for distinguishing purposes only, unless they do express an order in accordance with the context.

The terms "exemplary" or "such as" are used herein to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

Unless otherwise indicated, "/" herein generally indicates that the former and latter associated objects are in an "or" relationship, e.g., a/B may represent a or B. The term "and/or" is merely an associative relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the present application, "a plurality" means two or more.

In order to illustrate the technical solutions described in the present application, the following description is given by way of specific examples.

FIG. 1 is a schematic diagram illustrating an example of an unmanned ship fuel replenishment system suitable for use with embodiments of the present application. As shown in fig. 1, the system 10 includes: unmanned vessel 100, tender station 200, and fuel tender 300. The unmanned ship 100 includes: a first communication device 110. The replenishment station 200 includes: a second communication device 210.

Note that the unmanned ship 100 and the replenishment station 200 can transmit and receive signals via the first communication device 110 and the second communication device 210.

It is understood that the first communication device 110 and the second communication device 210 may communicate via a satellite system.

Of course, the first communication device 110 and the second communication device 210 can also communicate through a public network, such as communication modes provided by three operators, namely mobile, universal and telecommunication. The first communication device 110 and the second communication device 210 may also communicate through a private network of unmanned boats and restocks. Here, the embodiment of the present application does not limit the communication method between the first communication device 110 and the second communication device 210.

Optionally, as a possible implementation manner, the present application further provides another unmanned ship fuel supply system, and fig. 2 shows a schematic diagram of another unmanned ship fuel supply system suitable for the present application, as shown in fig. 2, where the system 20 includes: unmanned vessel 100, tender station 200, and fuel tender 300. The unmanned ship 100 includes: the first communication device 110, the replenishment station 200 comprising: a second communication device 210.

Optionally, the unmanned ship 100 further comprises a fuel level sensor 120 for monitoring the amount of fuel on the unmanned ship.

Optionally, the unmanned ship 100 further includes a processor 130, which is configured to determine whether the oil amount value on the unmanned ship meets a refueling condition or meets a condition of stopping refueling according to the oil amount value monitored by the oil amount sensor and a preset oil amount threshold.

Optionally, the refueling vessel 300 includes a third communication device 310, and the third communication device 310 is used for receiving and transmitting signals with the first communication device 110 on the unmanned ship 100.

It will be appreciated that the third communication device 310 and the first communication device 110 on the unmanned ship communicate via a satellite system.

Of course, the third communication device 310 and the first communication device 110 can also communicate through a public network, such as communication modes provided by three operators, namely mobile, universal and telecommunication. The third communication device 310 and the first communication device 110 may also communicate through a private network of the unmanned ship and the fuel supply ship. Here, the embodiment of the present application does not limit the communication method between the third communication device 310 and the second communication device 110.

Optionally, as a possible implementation manner, the fuel supply ship 300 further includes a refueling gun 320, a mechanical arm is installed on the refueling gun 320, the refueling ship 300 refuels the unmanned ship 100 by using the refueling gun 320, and the mechanical arm on the refueling gun 320 can realize accurate control of a three-dimensional space through adjustment of each joint, so that the refueling gun 320 is smoothly connected with a refueling port of the unmanned ship 100.

It should be noted that the number of each joint on the robot arm may be set according to specific situations, and the embodiment of the present application is not limited.

It should also be noted that each joint on the mechanical arm may be connected in a rotating manner, and each joint may extend, retract and rotate.

Optionally, as a possible implementation manner, the oil gun 320 includes an oil switching device 3201, and the oil switching device 3201 is configured to drive the oil valve to switch between different oil outlets through the electric pushing bar, so as to achieve the purpose of oil switching.

The method of using the unmanned ship fuel replenishment system described in connection with fig. 1 and 2 is described in detail below. Fig. 3 is a schematic flow chart of an exemplary unmanned ship fuel refilling method provided in the present application. Fig. 4 is a scene diagram illustrating an example of an application of the fuel supply method for the unmanned ship according to the embodiment of the present application.

With reference to fig. 3 and 4, the method includes: s310 to S350.

And S310, judging whether the unmanned ship needs to be supplemented with fuel oil.

In the present embodiment, before the unmanned ship 11 sends a replenishment request to the replenishment station 13, it is first necessary to detect the fuel amount value of the unmanned ship 11. When the fuel quantity value of the unmanned ship 11 is smaller than or equal to the preset first threshold value, it indicates that the unmanned ship 11 needs to be replenished with fuel.

Optionally, as a possible implementation manner, the fuel amount value of the unmanned ship may be monitored in real time by using a fuel amount sensor on the unmanned ship 11.

Further, a processor on the unmanned ship 11 is used for judging whether the oil quantity value monitored by the oil quantity sensor on the unmanned ship 11 is smaller than or equal to a preset first threshold value, and when the oil quantity value of the unmanned ship 11 is smaller than or equal to the preset first threshold value, it indicates that the unmanned ship 11 needs to be supplemented with fuel oil.

It should be noted that the preset first threshold may be set according to specific situations, and the embodiment of the present application is not limited.

And S320, the unmanned ship sends a fuel supply request to the supply station through the first communication device.

When the monitored fuel quantity value of the unmanned ship 11 in the step S310 is less than or equal to the preset first threshold, it indicates that the unmanned ship 11 needs to add fuel.

In the present embodiment, when the unmanned ship 11 needs to add fuel, the unmanned ship 11 may send a fuel replenishment request to the replenishment station 13 through the first communication device 14.

And S330, after the refueling station receives the fuel refueling request through the second communication device, the refueling station sends a first control instruction to the fuel refueling ship.

In the embodiment of the present application, the refueling station 13 may receive the refueling request sent by the first communication device 11 on the unmanned ship 11 through the second communication device, and the refueling ship 12 may be dispatched to refuel the unmanned ship 11 after the refueling station 13 receives the refueling request.

The first communication device 11 sends a fuel replenishment request to the second communication device via the satellite system 18.

Specifically, the replenishment station 13 may send a first control instruction for controlling the fuel supply ship 12 to travel to the area where the unmanned ship 11 is located, to the fuel supply ship 12 through the second communication means.

And S340, the fuel supply ship goes to the area where the unmanned ship is located according to the first control instruction.

In the embodiment of the present application, after the fuel supply ship 12 receives the first control instruction sent by the supply station 13, the fuel supply ship 12 goes to the area where the unmanned ship 11 is located according to the first control instruction.

Further, the unmanned ship 11 may transmit the real-time position of the unmanned ship 11 to the third communication device 17 on the fuel supply ship 12 according to the first communication device 14, and the fuel supply ship 12 may drive to the area where the unmanned ship 11 is located according to the real-time position of the unmanned ship 11.

It should be noted that the first communication device 14 may transmit the real-time position of the unmanned ship 11 to the third communication device 17 through the satellite system 18.

In the embodiment of the application, the third communication device on the fuel supply ship can receive the real-time position sent by the first communication device on the unmanned ship, so that the fuel supply ship can accurately find the position of the unmanned ship according to the real-time position, and the refueling efficiency is improved.

And S350, when the fuel supply ship reaches the area where the unmanned ship is located, the fuel supply ship refuels the unmanned ship.

In the present embodiment, when the refueling ship 12 arrives at the area where the unmanned ship 11 is located according to the real-time position transmitted from the unmanned ship 11, the refueling ship 12 starts refueling the unmanned ship 11.

Optionally, in the embodiment of the present application, in order to improve the refueling efficiency, during refueling of the fuel supply vessel 12 by the unmanned vessel 11, the relative positions of the unmanned vessel 11 and the fuel supply vessel 12 are not changed, so as to ensure that the unmanned vessel 11 and the fuel supply vessel 12 are in a relatively stationary state.

In one possible implementation, the coordinates of a first position of the unmanned ship 11 may be determined using the first communication device 14; the coordinates of the second position of the tanker 12 can be determined by means of the third communication means 17; controlling whether the relative coordinates of the first position and the coordinates of the second position are within a preset range or not through a preset coordinate range; when the coordinates of the first position or the coordinates of the second position exceed the predicted range, the coordinates of the first position and the coordinates of the second position may be within a preset coordinate range by adjusting the first position of the unmanned ship 11 or adjusting the second position of the refueling ship 12.

It should be noted that the preset coordinate range may be set according to specific situations, and the embodiment of the present application is not limited.

In another possible implementation, the tender vessel 12 and the unmanned vessel 11 are enabled in a cooperative mode such that the vessels are relatively stationary.

Specifically, a refueling gun 16 is installed on the refueling ship 12, fig. 5 shows a schematic structural diagram of the refueling gun 16 provided by an embodiment of the present application, as shown in fig. 5, a muzzle 181 and a six-joint mechanical arm 182 are installed on the refueling gun 16, and the refueling ship 12 enables the muzzle 181 connected to the mechanical arm to be smoothly connected with the refueling port 15 on the unmanned ship 11 through adjustment of each joint on the mechanical arm, so as to achieve precise control of a three-dimensional space.

Optionally, as a possible embodiment, as shown in fig. 5, an oil switching device 185 is further installed on the fuel nozzle 16, and the oil switching device 185 can realize switching between the oil 183 and the oil 184, it being understood that the oil 183 and the oil 184 are different in variety.

It should be noted that, as an example, the oil 183 and the oil 184 are taken as an example in the embodiment of the present application, and of course, the oil switching device 185 may also implement switching of multiple oils, and the embodiment of the present application is not limited thereto.

Specifically, the nozzle 16 can drive the oil valve to switch different oil delivery ports through the electric push rod according to actual requirements, so as to achieve the purpose of oil product switching.

Finally, whether the fuel quantity value of the unmanned ship 11 is larger than or equal to a preset second threshold value or not can be detected by using a fuel quantity sensor on the unmanned ship 11, when the fuel quantity value on the unmanned ship 11 is larger than or equal to the preset second threshold value, the refueling task of the fuel supply ship 12 is completed, at this moment, the unmanned ship 11 sends a second control instruction to the fuel supply ship 12, and the fuel supply ship 12 controls the refueling gun 16 to stop refueling according to the second control instruction.

It should be noted that the preset second threshold may be set according to specific situations, and the embodiment of the present application is not limited.

According to the unmanned ship fuel supply method provided by the embodiment of the application, the unmanned ship can send a fuel supply request to the supply station through the first communication device when the unmanned ship executes a task. After the refueling station receives a fuel refueling request through the installed second communication device, the refueling station sends a first control instruction to the fuel refueling ship, and the fuel refueling ship goes to the area where the unmanned ship is located according to the received first control instruction. After the fuel oil ship reaches the area where the unmanned ship is located, the fuel oil supply ship supplies fuel oil to the unmanned ship, personnel field operation is not needed in the whole process, the unmanned ship can be guaranteed to supply fuel oil in real time when continuous uninterrupted operation is carried out, the unmanned ship can be guaranteed to operate continuously, and the working efficiency of the unmanned ship is improved.

The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded or executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more collections of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a Solid State Drive (SSD).

Embodiments of the present application also provide a computer readable medium for storing a computer program code, where the computer program code can execute the steps executed in any one of the systems provided in the embodiments of the present application when the computer program code runs in the system. The readable medium may be a read-only memory (ROM) or a Random Access Memory (RAM), which is not limited in this embodiment of the present application.

The present application also provides a computer program product comprising instructions which, when executed, cause the system to perform operations corresponding to the methods described above, respectively.

An embodiment of the present application further provides a system chip, where the system chip includes: a processing unit, which may be, for example, a processor, and a communication unit, which may be, for example, an input/output interface, a pin or a circuit, etc. The processing unit can execute computer instructions to cause the unmanned ship fuel supply system to execute the steps of any one of the unmanned ship fuel supply methods provided by the embodiments of the application.

Optionally, the computer instructions are stored in a storage unit.

Alternatively, the storage unit is a storage unit in the chip, such as a register, a cache, and the like, and the storage unit may also be a storage unit located outside the chip in the terminal, such as a ROM or another type of static storage device that can store static information and instructions, a random access memory, and the like. The processor mentioned in any of the above may be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for executing programs for controlling the transmission method of the feedback information. The processing unit and the storage unit may be decoupled, and are respectively disposed on different physical devices, and are connected in a wired or wireless manner to implement respective functions of the processing unit and the storage unit, so as to support the system chip to implement various functions in the foregoing embodiments. Alternatively, the processing unit and the memory may be coupled to the same device.

The computer-readable storage medium, the computer program product, or the chip provided in this embodiment are all used for executing the corresponding methods provided above, and therefore, the beneficial effects that can be achieved by the computer-readable storage medium, the computer program product, or the chip can refer to the beneficial effects in the corresponding methods provided above, and are not described herein again.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A method of unmanned ship fuel replenishment employing an unmanned ship fuel replenishment system, the system comprising an unmanned ship, a replenishment station and a fuel replenishment ship, the unmanned ship comprising a first communication device, the replenishment station comprising a second communication device, the first and second communication devices communicating via a satellite system, the method comprising:

the unmanned ship sends a fuel supply request to the supply station through the first communication device;

when the refueling station receives the fuel refueling request through the second communication device, the refueling station sends a first control instruction to the fuel refueling ship;

the fuel supply ship goes to the area where the unmanned ship is located according to the first control instruction;

when the fuel supply ship reaches the area where the unmanned ship is located, the fuel supply ship refuels the unmanned ship.

2. The method of claim 1, wherein the unmanned ship further comprises a fuel level sensor, the unmanned ship sending a fuel replenishment request to the replenishment station via the first communication device, comprising:

detecting whether the oil quantity value of the unmanned ship is smaller than or equal to a preset first threshold value or not by using the oil quantity sensor;

when the fuel amount value is smaller than or equal to the preset first threshold value, the first communication device sends a fuel replenishment request to the replenishment station.

3. The method of claim 1, wherein the fuel tender vessel includes a third communication device, and wherein the fuel tender vessel heading for the area in which the unmanned vessel is located according to the first control command comprises:

the unmanned ship transmits the real-time position of the unmanned ship to the third communication device through the satellite system by using the first communication device;

and the fuel supply ship drives to the area where the unmanned ship is located according to the real-time position of the unmanned ship.

4. The method of claim 2, wherein the fuel tender vessel comprises: the nozzle, install the arm on the nozzle, fuel supply ship to unmanned ship refuels, include:

the fuel supply ship enables the refueling gun to be connected with the unmanned ship by adjusting the mechanical arm;

and refueling the unmanned ship by using the refueling gun.

5. The method of claim 4, further comprising, on the fuel nozzle: oil switching device, the method still includes:

and switching the oil products by using the oil product switching device.

6. The method of claim 5, further comprising:

detecting whether the oil quantity value of the unmanned ship is larger than or equal to a preset second threshold value or not by using the oil quantity sensor;

when the oil quantity value is larger than or equal to the preset second threshold value, the unmanned ship sends a second control instruction to the supply ship;

and the fuel supply ship controls the refueling gun to stop refueling according to the second control instruction.

7. The method of any one of claims 1-6, wherein the relative positions of the unmanned vessel and the refueling vessel are unchanged during refueling of the refueling vessel.

8. An unmanned marine fuel replenishment system, the system comprising: an unmanned ship comprising first communication means, a depot comprising second communication means, the first and second communication means communicating via a satellite system, the system being arranged to perform the method of any one of claims 1 to 7.

9. The system of claim 8, wherein the fuel tender vessel comprises: the oil gun is provided with a mechanical arm.

10. The system of claim 9, wherein an oil change-over device is further mounted on the fuel nozzle.

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