Automatic docking charging pile for ship docking and charging method

Abstract

The invention discloses an automatic docking charging pile for ship docking and a charging method, and relates to the technical field of ship charging, and the charging pile is composed of a base unit, a floating docking device, a visual positioning module and a charging control cabinet. A plurality of charging induction areas are arranged at a ship entrance port, charging bases are connected to the two sides of the charging induction areas, each charging base is registered in a base unit in a grid mode to construct a corresponding base unit grid, a floating butt joint object group is constructed, recognition and pairing are conducted through a butt joint rule predefined by the floating butt joint object group, and butt joint preparation is made. The method comprises the following steps: performing visual positioning on a target object which is prepared for docking, determining a position calibration area after a ship arrives at a port, executing area approaching guidance in the position calibration area, controlling the ship to enter a target charging area, finally charging the ship in the target charging area, and supervising the charging process. And efficient, accurate and safe ship charging is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship charging, in particular to a ship automatic docking charging pile and a charging method. BACKGROUND

[0002] The ship charging technology is a key link of the electric ship energy supply system, and its automation level directly affects the port operation efficiency and ship energy efficiency management. At present, the common ship charging method still mainly relies on manual docking or semi-automatic mechanical guidance, which has obvious limitations such as low docking accuracy, poor adaptability, and large environmental interference.

[0003] There are several automation attempts in the prior art, such as using proximity sensors or wireless communication for rough positioning, but it still cannot achieve high-precision real-time pose closed-loop control of multiple degrees of freedom. Some schemes introduce guide rails or hydraulic adjustment mechanisms, but lack the management capability of system-level resource scheduling and operating state, making it difficult to cope with the multi-interface concurrent charging scene.

[0004] In addition, the existing charging system generally does not establish a digital model of the charging base and a dynamic registration mechanism, which cannot realize real-time monitoring and optimal allocation of base resources. Therefore, it is necessary to provide an automatic docking charging system that can realize high-precision visual positioning, intelligent object pairing and safety control to meet the urgent needs of modern ports for efficient, reliable and intelligent charging operations. SUMMARY

[0005] The purpose of the present application is to provide a ship automatic docking charging pile and a charging method to solve the problems in the background art.

[0006] In order to achieve the above purpose, the present application provides the following technical scheme: a ship automatic docking charging pile, the charging pile comprising: a base unit for setting a plurality of charging induction zones at the port entrance of the ship, both sides of each charging induction zone being used to connect a charging base, and all the charging bases being registered in a grid in the base unit to build a corresponding base cell; a floating docking device for building a floating docking object group, the floating docking object group comprising a base lock object and a ship key object, and the base lock object and the ship key object being identified and prepared for docking through a predefined docking rule of the floating docking object group; a visual positioning module for visually positioning the target object prepared for docking after identification, and determining a position calibration area of the ship after docking, and performing area approach guidance in the position calibration area to control the ship to enter a target charging area; a charging control cabinet for charging the ship in the target charging area and supervising the charging process.

[0007] Furthermore, several charging induction zones are set up at the port of entry for the ship, and the process of connecting the charging base on both sides of each charging induction zone includes: Several charging sensing zones with equal sensing areas are set at equal intervals at the port of entry of ships; Several charging induction zones are located at the edge of the shoreline where the ship enters the port, and each charging induction zone has a charging base on each side of the zone boundary; Based on its sensing results of the moored vessel, the charging sensing area decides whether to call up the charging bases set on both sides. The charging bases are set with different base states: idle, busy, and faulty. When all the charging bases in the charging sensing area are busy or faulty, a mobile charging base is dispatched from the set dynamic deployment area to the current charging sensing area to replace the charging base whose base state does not meet the requirements and perform charging-related work.

[0008] Furthermore, the process of registering all charging bases within the base unit to construct the corresponding base cell includes: The base unit is composed of several charging bases; Each charging base under the base unit creates its own grid node based on its base ID and base coordinates. The base unit is connected to the deployment database. Each charging base initiates a registration application to the database based on its own grid node. After the database approves the application, a database entry is allocated as the registration entry for the corresponding grid node. Repeatedly register each charging base within the base unit with a grid to obtain each grid node registered in the database corresponding to the base unit. Merge all registered grid nodes to construct the base cell.

[0009] Furthermore, the process of constructing a floating docking object group, identifying and matching base lock objects and ship key objects based on predefined docking rules within the floating docking object group, and preparing for docking includes: Each floating docking object group includes a base lock object and a ship key object; The base lock object is created based on the charging base corresponding to each grid node in the base cell, and the ship key object is created based on several charging interfaces on the ship that is docked to the port. Set the lock information for the base lock object and set the key information for the ship key object. The lock and key information of the completed floating docking object group are used as the content for message broadcasting. Each ship key object and base lock object receives and parses the content of the message broadcast. The docking rules include filtering rules and selection rules; the filtering rules are executed to complete the initial screening between the ship key object and the base lock object; the selection rules are executed to complete the final identification and pairing between the ship key object and the base lock object. The charging base represented by the identified and paired base lock object will be prepared for docking with the charging interface represented by the ship key object through a floating docking device.

[0010] Furthermore, the process of creating the base lock object and the ship key object is as follows: Each charging base corresponds to a grid node registered in the base cell as a base lock object. The lock information set in the base lock object includes identity status information, service capability information, location information, and additional information. Identity status information is used to represent the charging base with a unique identity ID and the base status of the charging base; service capability information is used to represent the maximum output power, interface type and power supply duration of each charging base; location information is used to represent the location coordinates of each charging base; additional information includes the waiting queue length and estimated waiting time of each charging base. The ship is equipped with several charging ports. Each charging port is treated as a ship key object. The key information set in the ship key object includes key location, demand information, and interface information. The key point is used to indicate the location coordinates of each charging interface on the ship's hull. The demand information is used to indicate the ship's required power, the requested maximum charging power, and the expected completion time. The interface information is used to indicate the interface type of the charging interface at each location coordinate on the hull.

[0011] Furthermore, the process of visually locating the target object after identification and pairing to prepare for docking, and then determining the location marking area after the ship berths, includes: Each successfully identified and paired charging interface and charging base serves as a target object for docking preparation. High-frequency pose calculations are performed on the ship to obtain the real-time degrees of freedom pose of each charging interface on the ship. Real-time degrees of freedom pose includes translational degrees of freedom pose and rotational degrees of freedom pose. Translational degrees of freedom pose includes... , and Rotational degrees of freedom pose includes , and ; The ship's engine control terminal is used to compare the pose of each real-time degree of freedom with its preset ideal pose. If the comparison result does not meet expectations, the ship's engine control terminal will adjust the real-time degree of freedom pose that does not meet expectations. When the pose of each real-time degree of freedom is within the allowable deviation range of its ideal degree of freedom pose, the ideal docking space area between each charging interface and the identified paired charging base after the ship docks is determined. The ideal docking space area is used as the position calibration area of ​​the target object after the ship docks, and regional approach guidance is carried out in the position calibration area.

[0012] Furthermore, the process of performing area approach guidance within the location marking area and controlling the vessel to enter the target charging area includes: When the vessel is in the position marking area, the subsequent berthing process is divided into a coarse alignment stage, a fine alignment stage, and an approach stage. During the coarse alignment stage, the pose of the translational degrees of freedom is corrected. , and rotational degrees of freedom pose To control the ship's lateral movement in all directions and to adjust the direction of the bow; When the ship's translational degrees of freedom pose , and rotational degrees of freedom pose When all are within the error allowable range set during the fine alignment stage, adjust the real-time pose of all the ship's degrees of freedom until all the values ​​of the real-time pose are 0, then complete the parallelism and alignment between the charging interface and the charging base, and the ship enters the target charging area. During the approach phase, within the target charging area, the ship completes the final docking between each charging port and the corresponding charging base at a preset docking speed. The final docking includes mechanical locking and electrical connection.

[0013] Furthermore, the process of charging the vessel within the target charging area and monitoring the charging process includes: Each charging interface that has completed mechanical locking and electrical connection and the charging base is treated as a charging control object. The charging control cabinet synchronously charges each charging control object and monitors each charging control object. When the charging power of a certain charging control object decreases, the charging control cabinet will compensate the corresponding charging control object for power; otherwise, no operation will be performed. When a certain charging control object exhibits abnormal charging behavior, the charging of the corresponding charging control object will be stopped immediately. When the input power of a certain charging control object reaches the required power, it enters trickle charging. After the trickle charging exceeds the preset trickle charging time, the charging control cabinet disconnects the monitoring of the corresponding charging control object. When the input power of all charging control objects reaches their respective required power, the ships currently docked in port reach the required power as a whole, and the ship charging is completed.

[0014] Furthermore, a method for automatic docking and charging of ships at berth includes the following steps: Step S1: Set up several charging induction zones at the ship's port of entry. Each charging induction zone is connected to a charging base on both sides. All the charging bases are registered in the base unit grid to construct the corresponding base cell. Step S2: Construct a floating docking object group, which includes a base lock object and a ship key object. Using the predefined docking rules of the floating docking object group, identify and pair the base lock object and the ship key object, and prepare for docking. Step S3: Visually locate the target object that has been identified and paired and is ready to dock, thereby determining the position marking area after the ship docks. Within the position marking area, perform area approach guidance to control the ship to enter the target charging area. Step S4: Charge the vessel within the target charging area and monitor the charging process.

[0015] The technical effects and advantages provided by the present invention in the above technical solution are as follows: 1. This invention sets up several charging induction zones at the port of entry of ships, with charging bases connected to both sides of each charging induction zone. The charging induction zone calls the charging bases according to the sensing results. When it is busy or in a fault state, it dispatches mobile charging bases in the dynamic deployment area, which ensures the continuity and reliability of charging services. By registering all charging bases in the base unit grid and building base cells, digital management of charging bases is realized, providing a data foundation for base status monitoring and intelligent scheduling, and improving collaboration capabilities and management efficiency.

[0016] 2. This invention constructs a floating docking object group and identifies the pairing base lock object and ship key object based on predefined docking rules, realizing intelligent matching and docking preparation between the charging interface and the charging base. This improves the accuracy and efficiency of pairing. After identification and pairing, the target object is visually positioned to determine the position marking area after the ship docks. Within the position marking area, area approach guidance is performed to control the ship to enter the target charging area. This achieves high-precision adjustment of the ship's posture and docking guidance, improving adaptability to complex berthing environments and docking success rate.

[0017] 3. By charging the ship within the target charging area and monitoring the charging process, the charging control cabinet can monitor the charging status in real time, compensate for power attenuation, and handle abnormal charging behavior in a timely manner, ensuring the safety and stability of the charging process and improving the reliability of the system and the lifespan of the equipment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is a system block diagram of the present invention.

[0020] Figure 2 This is a flowchart of the method of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see Figure 1 As shown, an automatic docking charging station for ships at berth includes: The base unit is used to set up several charging induction areas at the port of entry of the ship. Each charging induction area is connected to the charging base on both sides. All the charging bases are registered in the grid within the base unit to construct the corresponding base cell. The floating docking device is used to construct a floating docking object group, which includes a base lock object and a ship key object. Through the docking rules predefined in the floating docking object group, the device identifies and pairs the base lock object and the ship key object, and prepares for docking. The visual positioning module is used to visually locate the target object that has been identified and paired and is ready to dock, thereby determining the position marking area after the ship docks, and performing area approach guidance within the position marking area to control the ship to enter the target charging area. The charging control cabinet is used to charge the ship within the target charging area and to monitor the charging process.

[0023] It should be further explained that, in the specific implementation process, several charging induction zones are set up at the port of entry for ships. The process of connecting the charging base on both sides of each charging induction zone includes: Several charging induction zones with equal induction areas are set at equal intervals at the port of entry of ships, and the several charging induction zones are labeled and denoted as i. Then i = 1, 2, 3, ..., n, where n is a natural number greater than 0. The positions of the several charging induction zones are set at the edge of the shoreline where the ship enters the port. When the ship enters the port, the hull gradually moors closer to the edge of the shoreline. Each charging induction zone has a charging base on each side of the area boundary. The charging sensing area determines whether to activate the charging bases on both sides based on its sensing results of the moored vessel. The specific sensing and activation process is as follows: When a target object with a charging need is detected in a certain charging sensing area, the relative distance between the corresponding charging bases on both sides of the charging sensing area and the target object is obtained simultaneously. The charging base with the closer relative distance is called as the execution end, and the base status of the execution end is judged. The base status includes idle, busy, and fault. If the execution terminal is idle, it will be responsible for the charging-related work of the corresponding target object. If the execution terminal is busy or malfunctioning, another charging base in the charging induction area will be called as the execution terminal, and the base status will be determined. If the base status meets the requirements, the execution terminal after the call will be responsible for the charging-related work; otherwise, the mobile charging base will be dispatched to the current charging induction area within the set dynamic deployment area to replace the charging base whose status does not meet the requirements to perform the charging-related work. The dynamic deployment area is located at a distance of one support range radius from the charging sensing area. The dynamic deployment area contains several mobile charging bases, which are mobile charging bases with the same function as ordinary charging bases. The support range radius is the maximum radius that the charging sensing area can initiate a call operation. When none of the charging bases in the charging sensing area meet the requirements, the charging sensing area initiates a call request to the dynamic deployment area within the support range radius, and then arranges for the mobile charging bases to replace the charging bases in the charging sensing area that initiated the call request.

[0024] It should be noted that the charging sensing area is jointly implemented based on a primary identification system consisting of AIS automatic identification technology, port area WIFI network and RFID technology, and a secondary identification system consisting of geomagnetic sensors and millimeter-wave radar. The primary identification system is used to sense ships about to enter the port area, that is, to know "a ship is coming" and "who the ship is", thus achieving pre-sensing. After pre-sensing, the charging sensing areas enter a ready state. The secondary identification system is used to further identify the ships after pre-sensing, so that the different charging areas of the ships after berthing in the port can enter their respective suitable charging berths. That is, several charging sensing areas are used to connect with different charging interfaces on the ship to provide subsequent power supply to their respective areas. The working process of the AIS automatic identification technology is as follows: When a ship enters the port, the AIS transceiver deployed on it will continuously broadcast its static information (MMSI identification code, ship name, size, etc.) and dynamic information (position, speed, heading). When the port base station receives these signals, it can identify the ship's identity and general intentions from a distance (up to tens of nautical miles), thus achieving "pre-sensing". The port area WIFI network is used to maintain the port base station receiving all information generated by AIS automatic identification; The RFID technology involves setting up RFID readers at the port of entry and installing RFID tags on ships. When a ship enters the port, the RFID reader reads the RFID tags to quickly verify the identity of the ship. The geomagnetic sensor is buried underwater or installed at the bottom of a predetermined charging induction zone on the shore. The ship's hull is made of a large amount of steel. When the ship enters the charging induction zone, the geomagnetic sensor can detect significant changes in the geomagnetic field and determine that a target has entered the current area, thereby realizing the sensing operation. The millimeter-wave radar is deployed within the charging sensing area. It emits millimeter waves, which are reflected by the ship and the echo information is received. By analyzing the echo information, the relative distance, relative bearing, and relative speed between the ship and different charging sensing areas are measured. Each charging sensing area is equipped with a virtual electronic fence. When the millimeter-wave radar determines that the ship has entered a certain virtual electronic fence, it triggers the radar signal of the corresponding charging sensing area, so that the ship enters the appropriate charging berth for each location where it needs to be charged.

[0025] It should be noted that there is one primary identification system, which is used by several charging sensing areas and is mainly for pre-sensing. There are several secondary identification systems, the number of which is equal to the number of charging sensing areas. They are deployed in each charging sensing area for specific area sensing in each charging sensing area.

[0026] It should be further explained that, in the specific implementation process, the process of registering all charging bases within the base unit and then constructing the corresponding base cell includes: The base unit is composed of several charging bases; Each charging base under the base unit is assigned a corresponding grid node based on its base ID and base coordinates. The base ID serves as a unique identification identifier for each charging base, the base coordinates are used to determine the location of each charging base, and the grid node serves as the data storage carrier for the corresponding charging base. The base unit is connected to the database. After the connection is completed, each charging base initiates a registration application to the database based on its own grid node. After the database approves the grid node, it divides a database entry in the database and uses the divided database entry as the registration entry of the corresponding grid node. The specific content of the grid node's review is as follows: The registration application initiated by the grid node includes the application IP and historical operation logs. If the application IP is not in the preset IP list, or if there are abnormal operation behaviors in the historical operation logs, the database will not approve the current grid node; otherwise, the review will be approved. The IP form includes several application IPs that are allowed to register in the grid. If the application IP that initiated the registration application is tampered with, the application IP will not be included in the IP form. If the object of the registration application may have behavior that adversely affects the database, the registration application will be prohibited to protect the secure operation of the database. The abnormal operation behaviors recorded in the operation log specifically include virus code injection, external interference, and self-operational crash. The registration applications made by objects with abnormal operation behaviors will also affect the secure operation of the database. The registration entry is used to obtain the real-time operating data of the charging base corresponding to the grid node, and then register the grid node in the database of the base unit. The base ID and base coordinates of each charging base are combined as the entry ID of the registration entry, and the entry ID serves as the unique identifier of the registration entry. Repeatedly register each charging base in the base unit with a grid to obtain each grid node registered in the database corresponding to the base unit. Merge all registered grid nodes to construct the base cell. It should be noted that by registering the grid, the real-time operating data of each charging base in the physical entity is registered in the database of the base unit, realizing the digitization of the charging base. After the registration is completed, the charging base of each physical entity is transformed from a cold piece of hardware into an intelligent entity that can be sensed, monitored and scheduled.

[0027] It should be further explained that, in the specific implementation process, the process of constructing a floating docking object group, identifying and matching base lock objects and ship key objects through predefined docking rules of the floating docking object group, and preparing for docking includes: Each floating docking object group includes a base lock object and a ship key object; The base lock object is created based on the charging base corresponding to each grid node in the base cell, and the ship key object is created based on several charging interfaces on the ship docked at the port. The content of establishing the base lock object is as follows: each charging base corresponds to a grid node registered in the base cell as a base lock object, and the lock information corresponding to the base lock object is set. The lock information includes identity status information, service capability information, location information and additional information. The identity status information is used to represent the charging base with a unique identity ID and the base status of the charging base, which includes idle, busy, and faulty. The service capability information is used to represent the maximum output power, interface type, and power supply duration of each charging base; it provides some key information when the charging base supplies power to the ship, so as to match the charging interfaces at different locations on the ship as a reference element. The location information is used to represent the coordinates of the location of each charging base; The additional information includes the waiting queue length and the estimated waiting time for each charging base. The waiting queue length is the number of target objects that are currently being powered or waiting to be powered under the current charging base, and the estimated waiting time is the time required for the current charging base to power the current number of target objects. The content of establishing a ship key object is as follows: The ship is equipped with several charging interfaces. Each charging interface is treated as a ship key object. Corresponding key information is set for the ship key object. The key information includes key location, requirement information, and interface information. The key point is used to indicate the position coordinates of each charging interface on the ship's hull. The demand information is used to indicate the ship's required power, requested maximum charging power, and expected completion time. The interface information is used to indicate the interface type corresponding to the charging interface at each position coordinate on the hull. The lock and key information corresponding to the completed floating docking object group are used as the content of the message broadcast. Each ship key object and base lock object receives the message broadcast content and parses it. Based on the predefined docking rules, the identification and pairing between several ship key objects and base lock objects is completed. The docking rules include filtering rules and selection rules; Filtering rules include interface compatibility rules, power matching rules, and geographic range rules; The purpose of the interface compatibility rule is to filter out all base lock objects in the base cell whose interface types do not match for each ship key object. If the interface type of the charging interface is different from the interface type of the charging base, then the two interface types do not match; if they are the same, then they match. The function of the power matching rule is to filter out all base lock objects whose maximum output power is lower than the requested maximum charging power for each ship key object. For example, a charging base with a maximum output power of 100kw will not be assigned to a charging interface with a requested maximum charging power of 500kw. The geographical range rule is used to calculate the interval distance between each ship key object and the base lock object, set the filter radius, and filter out all base lock objects whose interval distance is greater than or equal to the filter radius for any ship key object. The selection rules include the shortest distance rule, the highest power rule, and the minimum waiting time rule; The shortest distance rule is applied to the charging interface represented by each ship key object, selecting the charging base represented by the nearest base lock object whose interval distance meets the requirements; The maximum power rule is executed, which is used to select a charging base for each charging port that is close to its maximum requested charging power. The minimum waiting time rule is executed as follows: for any charging interface, if all charging bases that meet the shortest distance rule or the highest power rule are busy, the estimated waiting time of each charging base is obtained, and the charging base with the shortest estimated waiting time is selected for the charging interface. The charging base represented by the identified and paired base lock object and the charging interface represented by the ship key object will prepare for docking through a floating docking device. The charging base and the charging interface in the docking preparation will establish a preliminary guidance path. The location of the ship key object will be the starting point of the preliminary guidance path, and the location of the base lock object will be the ending point of the preliminary guidance path.

[0028] It should be further explained that, in the specific implementation process, the visual positioning of the target object that has been identified and paired and is preparing for docking is performed to determine the position marking area after the ship docks. Within the position marking area, the process of performing area approach guidance and controlling the ship to enter the target charging area includes: After successful pairing, several charging interfaces and several charging bases are identified. Each identified and paired charging interface and charging base serves as a target object for docking preparation. High-frequency pose calculation is performed on the ship to obtain the real-time degree of freedom pose of each charging interface on the ship. The high-frequency pose calculation is performed by a vision operation device (binocular camera, lidar) continuously capturing several frames of images during the ship's berthing process at a preset high frequency. Each frame of image is used to represent the real-time degrees of freedom pose of the ship's charging interface relative to the charging base at a certain moment. Real-time degrees of freedom pose includes translational degrees of freedom pose and rotational degrees of freedom pose, with each of the translational and rotational degrees of freedom pose having 3 poses; The ship's engine control terminal is used to compare the real-time pose of each degree of freedom with its preset ideal pose. If the comparison result does not meet expectations, the ship's engine control terminal will adjust the real-time pose that does not meet expectations. When each real-time pose is within the pose deviation range of its ideal pose, the ship's engine control terminal will adjust the real-time pose that does not meet expectations. The ideal docking space area between each charging interface and the identified paired charging base is determined after the ship docks. Within the ideal docking space area, the charging interface and the identified paired charging base are within a spatial distance range where the distance error meets the expectation. Among them, the translational degrees of freedom pose includes , and ; Forward and backward degrees of freedom represent the distance deviation along the direction of the ship's length (bow-stern direction). In ship docking, this manifests as follows: if the ship stops too far forward or too far back, the ship's engine control terminal controls the main propellers on the ship to move forward or backward at a slight speed. The left and right degrees of freedom represent the distance deviation along the direction of the ship's width (port-starboard direction). In ship docking, this manifests as the ship stopping too far to the left or right and not directly facing the charging base. At this time, the ship engine control terminal controls the ship's steering gear to generate lateral movement force. The vertical degree of freedom represents the height deviation in the vertical direction (draft direction). In ship docking, this manifests as a mismatch between the height of the ship's charging interface and the height of the charging base, preventing them from docking. Among them, rotational degrees of freedom pose includes , and ; The roll degree of freedom represents the rotation angle around the ship's length axis (X-axis). In ship docking, this manifests as the ship tilting to the port or starboard side. At this time, the ship's engine control terminal controls the ballast water system on the ship to adjust the ship's roll, or the floating docking device in the charging base performs adaptive angle rotation compensation. The pitch degree of freedom represents the rotation angle around the ship's beam axis (Y-axis). In ship docking, this manifests as the bow sinking or rising (the stern sitting down or rising). At this time, the ship's trim is adjusted through the ballast water system. Yaw is the degree of freedom, representing the rotation angle around the vertical axis (Z-axis). In ship docking, it means that the bow is deviating from its direction and is not parallel to the shoreline or directly facing the charging base. In this case, the bow direction is adjusted by the rudder. It should be noted that the translational degree of freedom pose , and Used to describe the distance by which the charging interface and charging base on a ship are offset in three mutually perpendicular directions; rotational degree of freedom pose. , and The value used to describe how much the interface plane of the ship rotates relative to the interface plane of the charging pile is crucial to ensuring that the two can fit in parallel rather than collide at an angle. When the pose values ​​of all 6 real-time degrees of freedom are 0, it means that the interface of the charging port and the interface of the charging base have reached a completely concentric and parallel ideal docking state in the space region, so as to carry out the final mechanical locking and electrical connection.

[0029] The ideal docking space area is used as the position marking area of ​​the target object after the ship docks. In the position marking area, the area approach guidance continues. The content of the area approach guidance is as follows: when the ship is in the position marking area, the subsequent docking process of the ship is divided into the coarse alignment stage, the fine alignment stage and the approach stage. During the coarse alignment stage, the pose of the translational degrees of freedom is corrected. , and rotational degrees of freedom pose To control the ship's lateral movement in all directions and to adjust the direction of the bow; When the ship's translational degrees of freedom pose , and rotational degrees of freedom pose When all are within the error allowable range set under the fine alignment stage, the corresponding operation of the fine alignment stage is performed. Specifically, the pose of all real-time degrees of freedom of the ship is adjusted until the values ​​of all real-time degrees of freedom pose are 0, and the parallelism and alignment between the charging interface and the charging base are completed. At this time, the ship enters the target charging area. Finally, in the approach phase, within the target charging area, the ship completes the final docking between each charging port and the corresponding charging base at a preset docking speed. The final docking includes mechanical locking and electrical connection.

[0030] It should be further explained that, in the specific implementation process, the process of charging ships within the target charging area and monitoring the charging process includes: After the vessel enters the target area, all charging interfaces on the vessel are finally connected to their respective identified and paired charging bases. The mechanical locking is performed by a hydraulic lock deployed at the charging control cabinet, and the electrical connection is performed by an electromagnetic lock. The hydraulic lock and electromagnetic lock are collectively referred to as the docking structure of the charging pile. When the sensor in the hydraulic lock detects that the mechanical locking between the charging interface and the charging base is completed, it sends a "mechanical locking in place" message signal to the charging control cabinet. Similarly, when the sensor in the electromagnetic lock detects that the electrical connection between the charging interface and the charging base is completed, it sends a "electrical connection completed" message signal to the charging control cabinet. Each charging interface that has completed mechanical locking and electrical connection and the charging base is treated as a charging control object. The charging control cabinet synchronously charges each charging control object and monitors each charging control object. When the charging power of a certain charging control object decreases, the charging control cabinet will compensate the corresponding charging control object for power; otherwise, no operation will be performed. When a charging control object exhibits abnormal charging behavior, the charging of the corresponding charging control object shall be stopped immediately; abnormal charging behavior includes mechanical connection failures and abnormal electrical parameters. The mechanical connection failure indicates that after the charging interface and the charging base are docked, the interface is mismatched due to changes in ship displacement or other external forces, resulting in a fault phenomenon of "mechanical locking not in place" or "electrical connection not plugged in". The abnormal electrical parameters include abnormal voltage, abnormal current, and abnormal temperature; Voltage anomalies specifically include the voltage output by the charging control cabinet exceeding the maximum allowable voltage set by the BMS or falling below the minimum allowable voltage set by the BMS. They also include an excessive difference between the voltage at the charging pile output and the current battery voltage, which will generate a huge inrush current when the circuit is closed, causing voltage anomalies. Abnormal current includes overcurrent, which means that the actual charging current continuously exceeds a certain proportion or duration of the current value requested by the BMS, and also includes abnormal current fluctuation, which means that the fluctuation range of the current value exceeds the set safety range. Abnormal temperatures include excessively high temperatures at the charging pile end and excessively high temperatures at the ship end; If abnormal charging behavior is detected, stopping charging immediately can effectively protect the charging base and charging interface from damage. When the input power of a certain charging control object reaches the required power, it enters trickle charging. After the trickle charging exceeds the preset trickle charging time, the charging control cabinet disconnects the monitoring of the corresponding charging control object. When the input power of all charging control objects reaches their respective required power, the ships currently docked in port reach the required power as a whole, and the ship charging is completed.

[0031] Please see Figure 2 As shown, the present invention also provides an automatic docking and charging method for ships at berth, comprising the following steps: Step S1: Set up several charging induction zones at the ship's port of entry. Each charging induction zone is connected to a charging base on both sides. All the charging bases are registered in the base unit grid to construct the corresponding base cell. Step S2: Construct a floating docking object group, which includes a base lock object and a ship key object. Using the predefined docking rules of the floating docking object group, identify and pair the base lock object and the ship key object, and prepare for docking. Step S3: Visually locate the target object that has been identified and paired and is ready to dock, thereby determining the position marking area after the ship docks. Within the position marking area, perform area approach guidance to control the ship to enter the target charging area. Step S4: Charge the vessel within the target charging area and monitor the charging process.

[0032] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic docking charging pile for ships at berth, characterized in that, The charging station includes: The base unit is used to set up several charging induction areas at the port of entry of the ship. Each charging induction area is connected to the charging base on both sides. All the charging bases are registered in the grid within the base unit to construct the corresponding base cell. The floating docking device is used to construct a floating docking object group, which includes a base lock object and a ship key object. Through the docking rules predefined in the floating docking object group, the device identifies and pairs the base lock object and the ship key object, and prepares for docking. The visual positioning module is used to visually locate the target object that has been identified and paired and is ready to dock, thereby determining the position marking area after the ship docks, and performing area approach guidance within the position marking area to control the ship to enter the target charging area. The charging control cabinet is used to charge the ship within the target charging area and to monitor the charging process.

2. The automatic docking charging pile for ships at berth according to claim 1, characterized in that, The process of setting up several charging induction zones at the port of entry for ships, with the two sides of each charging induction zone used to connect to the charging base, includes: Several charging sensing zones with equal sensing areas are set at equal intervals at the port of entry of ships; Several charging induction zones are located at the edge of the shoreline where the ship enters the port, and each charging induction zone has a charging base on each side of the zone boundary; Based on its sensing results of the moored vessel, the charging sensing area decides whether to call up the charging bases set on both sides. The charging bases are set with different base states: idle, busy, and faulty. When all the charging bases in the charging sensing area are busy or faulty, a mobile charging base is dispatched from the set dynamic deployment area to the current charging sensing area to replace the charging base whose base state does not meet the requirements and perform charging-related work.

3. The automatic docking charging pile for ships at berth according to claim 2, characterized in that, The process of registering all charging bases within the base unit and then constructing the corresponding base cell includes: The base unit is composed of several charging bases; Each charging base under the base unit creates its own grid node based on its base ID and base coordinates. The base unit is connected to the deployment database. Each charging base initiates a registration application to the database based on its own grid node. After the database approves the application, a database entry is allocated as the registration entry for the corresponding grid node. Repeatedly register each charging base within the base unit with a grid to obtain each grid node registered in the database corresponding to the base unit. Merge all registered grid nodes to construct the base cell.

4. The automatic docking charging pile for ships at berth according to claim 3, characterized in that, The process of constructing a floating docking object group, identifying and matching base lock objects and ship key objects based on predefined docking rules of the floating docking object group, and preparing for docking includes: Each floating docking object group includes a base lock object and a ship key object; The base lock object is created based on the charging base corresponding to each grid node in the base cell, and the ship key object is created based on several charging interfaces on the ship that is docked to the port. Set the lock information for the base lock object and set the key information for the ship key object. The lock and key information of the completed floating docking object group are used as the content for message broadcasting. Each ship key object and base lock object receives and parses the content of the message broadcast. The docking rules include filtering rules and selection rules; the filtering rules are executed to complete the initial screening between the ship key object and the base lock object; the selection rules are executed to complete the final identification and pairing between the ship key object and the base lock object. The charging base represented by the identified and paired base lock object will be prepared for docking with the charging interface represented by the ship key object through a floating docking device.

5. The automatic docking charging pile for ships at berth according to claim 4, characterized in that, The process of creating the base lock object and the ship key object is as follows: Each charging base corresponds to a grid node registered in the base cell as a base lock object. The lock information set in the base lock object includes identity status information, service capability information, location information, and additional information. Identity status information is used to represent the charging base with a unique identity ID and the base status of the charging base; service capability information is used to represent the maximum output power, interface type and power supply duration of each charging base. Location information is used to indicate the coordinates of the location of each charging station; additional information includes the waiting queue length and estimated waiting time for each charging station. The ship is equipped with several charging ports. Each charging port is treated as a ship key object. The key information set in the ship key object includes key location, demand information, and interface information. The key point is used to indicate the location coordinates of each charging interface on the ship's hull. The demand information is used to indicate the ship's required power, the requested maximum charging power, and the expected completion time. The interface information is used to indicate the interface type of the charging interface at each location coordinate on the hull.

6. The automatic docking charging pile for ships at berth according to claim 5, characterized in that, The process of visually locating the target object after identification and pairing to prepare for docking, and then determining the position marking area after the ship berths, includes: Each successfully identified and paired charging interface and charging base serves as a target object for docking preparation. High-frequency pose calculations are performed on the ship to obtain the real-time degrees of freedom pose of each charging interface on the ship. Real-time degrees of freedom pose includes translational degrees of freedom pose and rotational degrees of freedom pose. Translational degrees of freedom pose includes... , and Rotational degrees of freedom pose includes , and ; The ship's engine control terminal is used to compare the pose of each real-time degree of freedom with its preset ideal pose. If the comparison result does not meet expectations, the ship's engine control terminal will adjust the real-time degree of freedom pose that does not meet expectations. When the pose of each real-time degree of freedom is within the allowable deviation range of its ideal degree of freedom pose, the ideal docking space area between each charging interface and the identified paired charging base after the ship docks is determined. The ideal docking space area is used as the position calibration area of ​​the target object after the ship docks, and regional approach guidance is carried out in the position calibration area.

7. The automatic docking charging pile for ships at berth according to claim 6, characterized in that, The process of performing area approach guidance within the designated location area to control the vessel into the target charging area includes: When the vessel is in the position marking area, the subsequent berthing process is divided into a coarse alignment stage, a fine alignment stage, and an approach stage. During the coarse alignment stage, the pose of the translational degrees of freedom is corrected. , and rotational degrees of freedom pose To control the ship's lateral movement in all directions and to adjust the direction of the bow; When the ship's translational degrees of freedom pose , and rotational degrees of freedom pose When all are within the error allowable range set during the fine alignment stage, adjust the real-time pose of all the ship's degrees of freedom until all the values ​​of the real-time pose are 0, then complete the parallelism and alignment between the charging interface and the charging base, and the ship enters the target charging area. During the approach phase, within the target charging area, the ship completes the final docking between each charging port and the corresponding charging base at a preset docking speed. The final docking includes mechanical locking and electrical connection.

8. The automatic docking charging pile for ships at berth according to claim 7, characterized in that, The process of charging ships within the target charging area and monitoring the charging process includes: Each charging interface that has completed mechanical locking and electrical connection and the charging base is treated as a charging control object. The charging control cabinet synchronously charges each charging control object and monitors each charging control object. When the charging power of a certain charging control object decreases, the charging control cabinet will compensate the corresponding charging control object for power; otherwise, no operation will be performed. When a certain charging control object exhibits abnormal charging behavior, the charging of the corresponding charging control object will be stopped immediately. When the input power of a certain charging control object reaches the required power, it enters trickle charging. After the trickle charging exceeds the preset trickle charging time, the charging control cabinet disconnects the monitoring of the corresponding charging control object. When the input power of all charging control objects reaches their respective required power, the ships currently docked in port reach the required power as a whole, and the ship charging is completed.

9. A method for automatic docking and charging of ships at berth, applied to the automatic docking and charging pile for ships at berth as described in any one of claims 1 to 8, characterized in that, Includes the following steps: Step S1: Set up several charging induction zones at the ship's port of entry. Each charging induction zone is connected to a charging base on both sides. All the charging bases are registered in the base unit grid to construct the corresponding base cell. Step S2: Construct a floating docking object group, which includes a base lock object and a ship key object. Using the predefined docking rules of the floating docking object group, identify and pair the base lock object and the ship key object, and prepare for docking. Step S3: Visually locate the target object that has been identified and paired and is ready to dock, thereby determining the position marking area after the ship docks. Within the position marking area, perform area approach guidance to control the ship to enter the target charging area. Step S4: Charge the vessel within the target charging area and monitor the charging process.

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