A method for coordinated charging of a berth and a vessel and a charging method

Abstract

The application discloses a kind of auxiliary charging methods and charging methods for berth, and is applied to the berth control device of ship autonomous charging system, after receiving the charging trigger instruction sent by ship, control adjustment steel fine adjustment ship position, send port preparation instruction to ship to make ship complete charging preparation and feedback charging start instruction, according to charging start instruction control positive charging end and negative charging end and two corresponding power receiving end magnetic suction connection fixed on ship charge, and stop charging and recover two positive and negative charging lines after receiving charging end instruction, simultaneously send port closing instruction to ship.The application adjusts the parking position of steel fine adjustment ship, to ensure that the power receiving end on the ship and the charging end can be precisely docked, realizes autonomous connection of charging, and improves the charging efficiency;Through magnetic suction fixed charging connection, the stability of unmanned ship autonomous charging process is improved, and the influence of ship charging by environment is reduced.

Description

Technical Field

[0001] The present invention relates to the field of berth and ship control, and in particular to a coordinated charging method and a charging method for berths and ships. Background Art

[0002] Unmanned boats consume a lot of energy during operations on the water and have high requirements for endurance. At present, unmanned boats usually have an endurance of 6-8 hours, which can only meet basic requirements. Subsequently, manual replacement of batteries or docking of charging equipment for unmanned boats is required. The whole process is time-consuming and labor-intensive, reducing work efficiency.

[0003] In the existing technology, autonomous charging of unmanned ships usually uses electromagnetic induction, electric field coupling or radio waves to achieve the connection between the charging end and the receiving end during autonomous charging. However, the electromagnetic induction and electric field coupling charging methods have short transmission distances and may cause unstable connections during the ship charging process; in contrast, the charging efficiency of radio waves is only 40%-50% of the above two methods. The low charging efficiency affects the working efficiency of the unmanned ship. Summary of the Invention

[0004] The present invention provides a collaborative charging method and charging method for berths and ships to achieve the technical effect of stabilizing the connection problem of the charging process and improving the charging efficiency.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a coordinated charging method for berths and ships, which is applied to a berth control device of a ship autonomous charging system;

[0006] The collaborative charging method includes:

[0007] The berth control device receives a charging trigger command from the ship, controls the adjustment steel bar in the berth to move to adjust the position of the ship, stops moving after the position adjustment is completed, and sends a port preparation command to the ship, so that the ship adjusts the positive receiving terminal, the negative receiving terminal and the detection equipment to the operating state and feeds back a charging start command;

[0008] The berth control device receives the charging start instruction and controls the movement of the positive charging line and the negative charging line. After the charging ends of the positive charging line and the negative charging line are respectively connected and fixed to the positive receiving end and the negative receiving end by magnetic attraction, the berth control device controls the power supply to energize the positive charging line and the negative charging line according to the detection signal to charge the ship.

[0009] When the berth control device receives the charging end instruction sent by the ship, it controls the power supply to stop energizing the positive charging line and the negative charging line, and recycles the positive charging line and the negative charging line. After recycling, it sends a port closing instruction to the ship so that the ship closes the positive receiving end and the negative receiving end.

[0010] The auxiliary charging method for berths provided by the present invention is that after receiving the charging trigger instruction, the berth auxiliary device of the first berth will adjust the position of the adjustment steel bar between the ship and the berth, thereby adjusting the position of the ship so that the power receiving end on the ship and the charging end of the charging cable on the berth can be accurately docked, and autonomous charging can be achieved without the need to manually or through an image detection device to determine whether the positions of the charging ends meet the docking conditions.

[0011] After the positive receiving end and the negative receiving end are opened, the berth control device starts to control the positive charging line and the negative charging line to start moving, and when the charging end at the upper end of the positive and negative charging lines moves near the receiving end, the positive charging end and the positive receiving end, as well as the negative charging end and the negative receiving end are connected and fixed by magnetic attraction, so as to avoid the situation where the receiving end and the charging end are disconnected due to up and down sliding when the height of the ship changes due to the shaking of wind and waves during charging. It can be seen that the present invention improves the stability of the autonomous unmanned charging process of the unmanned ship by fixing the connection between the charging end and the receiving end by magnetic attraction, and reduces the risk of disconnection between the charging end and the receiving end due to the influence of the external environment when no one is around.

[0012] In addition, the present invention divides the charging line into a positive charging line and a negative charging line, and also divides the receiving end into a positive receiving end and a negative receiving end, that is, the positive and negative poles of the charging port are separated and designed to be set in two different places. On the one hand, it reduces the probability of charging short circuit caused by water entering the ship, and on the other hand, it improves the stability of the ship's autonomous charging. At the same time, using two charging lines to connect the positive and negative poles respectively for charging also improves the charging efficiency of the ship.

[0013] As a preferred example, the adjustment steel bar in the control berth moves to adjust the position of the ship and stops moving after the position adjustment is completed, specifically:

[0014] In response to the charging trigger instruction, the slide in the berth is controlled to drive the adjustment steel bar to move, so that the ship is pushed by the adjustment steel bar to change its position;

[0015] monitoring the displacement value of the adjustment steel bar in real time, and comparing the displacement value with a preset displacement threshold;

[0016] When the comparison result shows that the displacement value is equal to the displacement threshold, it is determined that the position adjustment of the ship is completed, and the adjustment steel bar is controlled to stop moving.

[0017] To ensure perfect alignment between the ship's power receiving terminal and the charging terminal corresponding to the berth's charging line during charging, the present invention also provides a method for adjusting the ship's position by adjusting steel bars. In response to a charging trigger command, this method controls a slide above the berth to drive the adjustment steel bar located between the berth and the ship to begin moving along a preset path. The method monitors the steel bar's displacement as it moves, and determines whether the ship has been adjusted to a position aligned with the charging line based on a comparison of the steel bar's displacement value and a displacement threshold. This adjustment of the ship's parking position ensures that, after the ship's position is adjusted by the adjustment steel bar, the power receiving terminal on the ship can precisely align with the charging terminal above the berth.

[0018] As a preferred example, the control of the movement of the positive charging line and the negative charging line is specifically as follows:

[0019] Wherein, the positive charging line and the negative charging line are respectively connected to the winch through flexible cables;

[0020] In response to a charging start instruction, the cable length corresponding to the displacement value is obtained by matching the displacement value in a preset displacement table, and the winch is controlled to rotate to release a flexible cable of a length equal to the cable length, so that the positive charging line and the negative charging line move downward by a length equal to the cable length.

[0021] To further ensure precise docking between the charging and receiving ends, the present invention also provides a method for selecting the moving length of the charging cable. The displacement value of the adjusted steel bar obtained by the aforementioned adjustment method is filtered from a preset table of displacement value-to-length correspondences to determine the moving length corresponding to the ship's displacement value, i.e., the length of the flexible cable connected to the charging cable that is released. Once the flexible cable release length is determined, the capstan is controlled to rotate and release the corresponding length of the flexible cable, allowing both the positive and negative charging cables connected to the flexible cable to be released downward by the corresponding length. This allows the charging ends of the positive and negative charging cables to precisely dock with the positive and negative receiving terminals on the ship, respectively, achieving autonomous charging connection for the unmanned vessel.

[0022] As a preferred example, after the charging ends of the positive charging line and the negative charging line are respectively connected and fixed to the positive power receiving end and the negative power receiving end by magnetic attraction, the power supply is controlled to energize the positive charging line and the negative charging line according to the detection signal, specifically:

[0023] When the magnetic head corresponding to the charging end of the positive charging line is attracted to the magnetic head of the positive receiving end, so that the charging end of the positive charging line is connected and fixed to the positive receiving end, the detection device determines whether the fixation is completed;

[0024] When the magnetic head corresponding to the charging end of the negative charging line is attracted to the magnetic head of the negative receiving end, so that the charging end of the negative charging line is connected and fixed to the negative receiving end, the detection device determines whether the fixation is completed;

[0025] After determining that the fixation is completed, a detection signal sent by the detection device is received, and according to the detection signal, the power supply is controlled to energize the positive charging line and the negative charging line through the flexible cable to charge the ship.

[0026] In order to further fix the connection between the charging end and the receiving end, the present invention provides a method for fixing the charging port by magnetism. Since the charging end of the charging cable is surrounded by a magnet and the receiving end is also surrounded by a magnet, the charging end and the receiving end of the charging cable will be connected and fixed due to magnetic attraction when they are close to each other within a certain range. At the same time, the present invention also provides a method for determining whether the charging end and the receiving end are fixed by detecting equipment, so as to ensure that the charging end and the receiving end have completed the charging connection and completed the magnetic fixation before connecting for charging, avoiding the situation where the power supply starts to energize but the connection between the charging end and the receiving end is not fixed. The method of magnetically connecting the charging end and the receiving end provided by the present invention can further fix the charging port, avoiding the problem that the height of the ship changes drastically due to excessive wind and waves, which in turn causes the connection between the charging end and the receiving end to be disconnected, resulting in a malfunction in the ship's charging.

[0027] At the same time, the groove size of the charging end provided by the present invention is slightly larger than the size of the magnetic head, which reduces the difficulty of connecting the charging end and the receiving end, thereby reducing the difficulty of autonomous charging of the unmanned boat and further improving the efficiency of autonomous charging of the unmanned boat.

[0028] As a preferred example, before the berth control device receives a charging trigger instruction from a ship, the device further includes:

[0029] In response to the light energy trigger signal, the light energy data obtained through real-time detection is compared with the preset light energy threshold, and based on the comparison result, it is determined whether the light energy charging device needs to be turned on;

[0030] If the comparison result shows that the light energy data is greater than or equal to the light energy threshold, turning on the light energy charging device to charge the power supply of the first berth through solar energy;

[0031] If the comparison result shows that the light energy data is less than the light energy threshold, the light energy data is continuously detected until the light energy data is greater than or equal to the light energy threshold.

[0032] To improve the power retention of power supplies installed in outdoor berths, the present invention also provides a method for charging berth power supplies using solar energy. This charging method involves the berth control device responding to a light energy trigger signal and comparing real-time detected light energy data with a preset light energy threshold to determine whether the current sunlight intensity meets the conditions for activating the solar panel and performing solar charging.

[0033] If it is determined that the detected light energy data meets the conditions for enabling the solar panels, the light energy charging device, i.e., the solar panels, is turned on to charge the berth power supply, thereby solving the problem that the berth is located in the wild and is difficult to connect to the mains power and manual charging is difficult, which in turn leads to the weak power endurance of the autonomous charging berth. Through the above-mentioned light energy charging method, the power endurance of the berth is improved, the frequency of manual charging of the berth power supply is reduced, thereby reducing the work pressure of the berth charging personnel and improving the work efficiency of the staff. At the same time, since the berth needs to be closed for manual charging, the solar autonomous charging method also improves the work efficiency of the berth, and there is no need to close the berth for frequent charging, which indirectly improves the work efficiency of the ship.

[0034] Accordingly, the present invention also provides a charging method for a ship, which is applied to a ship control device of a ship autonomous charging system;

[0035] The charging method includes:

[0036] The ship control device sends a charge trigger instruction to the first berth in response to the power warning signal, so that the first berth adjusts the position of the ship by adjusting the steel bar and feeds back a port preparation instruction;

[0037] The ship control device receives the port preparation instruction, opens the power receiving window of the positive receiving end and the power receiving window of the negative receiving end, adjusts the detection device to the operating state, and sends a charging start instruction to the first berth after the adjustment;

[0038] The ship control device detects the remaining power of the battery in real time, compares the remaining power with a preset first power threshold, and sends a charging end instruction to the first berth to stop charging when the comparison result shows that the remaining power is greater than or equal to the first power threshold;

[0039] Simultaneously, receiving a port closing instruction sent by the first berth, and adjusting the power receiving window of the positive power receiving end, the power receiving window of the negative power receiving end, and the detection device to a closed state;

[0040] The port preparation instruction and the port closing instruction are generated by the first berth according to an auxiliary charging method for the berth.

[0041] To complement the aforementioned berth-assisted charging method, the present invention also provides a charging method for ships. This method, in response to a power warning signal, sends a charging trigger command to the berth, causing the berth to adjust the ship's position by adjusting a steel bar in accordance with the charging trigger command and then respond with a port preparation command. Upon receiving the port preparation command, the ship's control device opens the power windows on the positive and negative power receiving terminals, simultaneously activating detection equipment near both terminals before sending a charging start command to the berth. The power windows, covering the power receiving terminals, effectively protect the positive and negative terminals from water and dust, while also preventing the danger of water ingress and leakage. The detection equipment, located near both terminals, detects the connection between the power receiving terminal and the charging terminal. Upon confirming a connection, it sends a detection signal to the berth control device, causing it to initiate power flow from the power source to the charging cable. This prevents leakage caused by incomplete connection between the charging terminal and the power receiving terminal, thereby improving the safety and accuracy of coordinated charging between the ship and the berth.

[0042] During charging, the ship's control system also monitors the ship's remaining power in real time to determine whether charging is complete. If it determines that the ship's remaining power has reached or exceeded a preset power threshold, it sends a stop-charging command to the berth, causing it to stop charging. It also receives a port-close command from the berth, closing the power window. This precise control of the remaining power allows for precise control of charging time and remaining power, improving both the ship's charging efficiency and the energy efficiency of the berth.

[0043] As a preferred example, before responding to the power warning signal, the method further includes:

[0044] The remaining power of the battery is detected in real time, the remaining power is compared with a preset second power threshold, and the power warning signal is triggered when the comparison result shows that the remaining power is less than or equal to the second power threshold.

[0045] In order to avoid the situation where the remaining power of the ship is insufficient to support the ship to sail to the berth for charging, the present invention also provides a method for detecting the remaining power of the ship. Through real-time detection of the remaining power of the ship, it is ensured that the remaining power of the ship is sufficient to support the ship to sail to the berth for autonomous charging, effectively avoiding the situation where the ship is stranded in the wild, and further reducing the workload of the ship troubleshooting personnel and reducing the work pressure of the ship troubleshooting personnel.

[0046] Accordingly, the present invention also provides a ship autonomous charging system, the ship autonomous charging system comprising a berth control device and a ship control device;

[0047] Wherein, the berth control device and the ship control device are linked via background equipment data;

[0048] The berth control device can execute any one of the above-mentioned methods for coordinated charging of berths and ships;

[0049] The ship control device can execute any one of the above-mentioned charging methods for berths and ships.

[0050] As a preferred example, the berth control device includes a charging preparation module, a charging start module and a charging end module;

[0051] The charging preparation module is used to receive a charging trigger instruction from a ship, control the movement of the adjustment steel bar in the berth to adjust the position of the ship, stop moving after the position adjustment is completed, and send a port preparation instruction to the ship, so that the ship adjusts the positive receiving terminal, negative receiving terminal and detection equipment to the operating state and feeds back a charging start instruction;

[0052] The charging start module is configured to receive the charging start instruction and control the movement of the positive charging line and the negative charging line. After the charging ends of the positive charging line and the negative charging line are respectively connected and fixed to the positive power receiving end and the negative power receiving end by magnetic attraction, the power supply is controlled according to the detection signal to energize the positive charging line and the negative charging line to charge the ship.

[0053] The charging termination module is used to receive a charging termination instruction sent by the ship, control the power supply to stop energizing the positive charging line and the negative charging line, and recycle the positive charging line and the negative charging line. After recycling, a port closing instruction is sent to the ship so that the ship turns off the positive receiving end, the negative receiving end and the detection device.

[0054] As a preferred example, the ship control device includes a power monitoring module and a charging monitoring module;

[0055] The power monitoring module is configured to send a charge trigger instruction to the first berth in response to the power warning signal, so that the first berth adjusts the position of the ship by adjusting the steel bar and feeds back a port preparation instruction;

[0056] The charging monitoring module is used to receive the port preparation instruction, open the receiving window of the positive receiving end and the receiving window of the negative receiving end and adjust the detection device to the operating state, and after the adjustment, send a charging start instruction to the first berth, and detect the remaining power of the battery in real time, compare the remaining power with a preset first power threshold, and send a charging end instruction to the first berth to stop charging when the comparison result shows that the remaining power is greater than or equal to the first power threshold, and receive a port closing instruction sent by the first berth, adjust the receiving window of the positive receiving end and the receiving window of the negative receiving end and the detection device to the closed state; wherein, the port preparation instruction and the port closing instruction are generated by the first berth according to an auxiliary charging method for berths. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 : A schematic flow chart of an embodiment of an auxiliary charging method for a berth provided by the present invention;

[0058] Figure 2 : A schematic flow chart of an embodiment of a method for adjusting the position of a vessel by using an inflatable cushion provided by the present invention;

[0059] Figure 3 : A schematic flow chart of an embodiment of a method for charging a berth using light energy provided by the present invention;

[0060] Figure 4 : A schematic flow chart of an embodiment of a charging method for ships provided by the present invention;

[0061] Figure 5 : A structural diagram of an embodiment of the ship autonomous charging system provided by the present invention;

[0062] Figure 6 : A structural schematic diagram of an embodiment of a berth control device provided by the present invention;

[0063] Figure 7 : A structural schematic diagram of an embodiment of a ship control device provided by the present invention;

[0064] Figure 8 : A schematic structural diagram of an embodiment of a winch provided by the present invention. DETAILED DESCRIPTION

[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0066] Example 1

[0067] Please refer to Figure 1 , which is a flow chart of an embodiment of an auxiliary charging method for a berth provided by the present invention, including steps 101 to 103, each of which is specifically as follows:

[0068] Step 101: Receive a charging trigger command from a ship, control the movement of the adjustment steel bars in the berth to adjust the position of the ship, stop moving after completing the position adjustment, and send a port preparation command to the ship, so that the ship adjusts the positive receiving end, negative receiving end and detection equipment to the operating state and feeds back a charging start command.

[0069] In this embodiment, upon receiving a charging trigger command from a ship, the berth control device controls the movement of the adjustment bars between the berth and the ship, thereby pushing the ship and adjusting its parking position. After pushing the ship to the charging position, the adjustment bars stop moving and send a port preparation command to the ship, causing the ship to open the positive and negative power receiving terminals and feedback a charging start command, thereby ensuring that the ship is fully prepared for charging connection. This series of measures ensures that both the ship and the berth are fully prepared for autonomous charging, improving the efficiency of the ship's subsequent charging connection, thereby improving the ship's overall charging efficiency and indirectly improving the ship's operating efficiency.

[0070] For example, in this embodiment, the adjustment steel bar in the berth is controlled to move to adjust the position of the ship, and stops moving after the position adjustment is completed. The specific implementation method is:

[0071] In response to the charging trigger instruction, the slide in the berth is controlled to drive the adjustment steel bar to move, so that the ship is pushed by the adjustment steel bar to change its position;

[0072] monitoring the displacement value of the adjustment steel bar in real time, and comparing the displacement value with a preset displacement threshold;

[0073] When the comparison result shows that the displacement value is equal to the displacement threshold, it is determined that the position adjustment of the ship is completed, and the adjustment steel bar is controlled to stop moving.

[0074] To ensure perfect alignment between the ship's power receiving terminal and the charging terminal corresponding to the berth's charging line during charging, the present invention also provides a method for adjusting the ship's position by adjusting a steel bar. In response to a charging trigger command, this method controls a slide above the berth to drive the adjustment steel bar located between the berth and the ship to begin moving along a preset path. The method monitors the steel bar's displacement as it moves, and determines whether the ship has been adjusted to a position aligned with the charging line based on a comparison between the steel bar's displacement value and a displacement threshold. This adjustment of the ship's parking position ensures that, after the ship's position is adjusted by the adjustment bar, the power receiving terminal on the ship can precisely dock with the charging terminal above the berth, eliminating the need for manual or image detection devices to determine whether the charging terminals meet docking conditions, thereby achieving autonomous charging.

[0075] Step 102: Receive the charging start instruction and control the movement of the positive charging line and the negative charging line. After the charging ends of the positive charging line and the negative charging line are respectively connected and fixed to the positive receiving end and the negative receiving end through magnetic attraction, control the power supply to energize the positive charging line and the negative charging line according to the detection signal to charge the ship.

[0076] In this embodiment, after the positive receiving end and the negative receiving end are opened, the berth control device starts to control the positive charging line and the negative charging line to start moving, and when the charging end at the upper end of the positive and negative charging lines moves near the receiving end, the positive charging end and the positive receiving end, as well as the negative charging end and the negative receiving end are connected and fixed by magnetic attraction, so as to avoid the situation where the receiving end and the charging end are disconnected due to up and down sliding when the height of the ship changes due to the shaking of wind and waves during charging. It can be seen that the present invention improves the stability of the autonomous unmanned charging process of the unmanned ship by magnetically fixing the connection between the charging end and the receiving end, and reduces the risk of disconnection between the charging end and the receiving end due to the influence of the external environment when no one is around.

[0077] In addition, the present invention divides the charging line into a positive charging line and a negative charging line, and also divides the receiving end into a positive receiving end and a negative receiving end, that is, the positive and negative poles of the charging port are separated and designed to be set in two different places. On the one hand, it reduces the probability of charging short circuit caused by water entering the ship, and on the other hand, it improves the stability of the ship's autonomous charging. At the same time, using two charging lines to connect the positive and negative poles respectively for charging also improves the charging efficiency of the ship.

[0078] At the same time, the control of the movement of the positive charging line and the negative charging line in step 102 of this embodiment is specifically implemented as follows:

[0079] In response to a charge start instruction, the cable length corresponding to the displacement value is obtained by matching the displacement value in a preset displacement table, and the capstan is controlled to rotate and release a flexible cable equal to the cable length, so that the positive charging cable and the negative charging cable move downward by a length equal to the cable length. In this embodiment, the positive charging cable and the negative charging cable are respectively connected to the capstan via flexible cables.

[0080] In this embodiment, to further ensure precise docking between the charging and receiving ends, the present invention also provides a method for selecting the moving length of the charging cable. The displacement value of the adjusted steel bar obtained through the aforementioned adjustment method is used to filter the moving length corresponding to the vessel's weight from a preset table of displacement-value-corresponding lengths, thereby determining the length of the flexible cable connected to the charging cable. Once the flexible cable release length is determined, the capstan is controlled to rotate and release the corresponding length of the flexible cable, allowing both the positive and negative charging cables connected to the flexible cables to be lowered by the corresponding lengths. This allows the charging ends of the positive and negative charging cables to precisely dock with the positive and negative receiving terminals on the vessel, respectively, achieving autonomous charging connection for the unmanned vessel.

[0081] In addition, in step 102 of this embodiment, after the charging ends of the positive charging line and the negative charging line are respectively connected and fixed to the positive power receiving end and the negative power receiving end by magnetic attraction, the power supply is controlled to energize the positive charging line and the negative charging line according to the detection signal. The specific implementation method is as follows:

[0082] When the magnetic head corresponding to the charging end of the positive charging line is attracted to the magnetic head of the positive receiving end, so that the charging end of the positive charging line is connected and fixed to the positive receiving end, the detection device determines whether the fixation is completed;

[0083] When the magnetic head corresponding to the charging end of the negative charging line is attracted to the magnetic head of the negative receiving end, so that the charging end of the negative charging line is connected and fixed to the negative receiving end, the detection device determines whether the fixation is completed;

[0084] After determining that the fixation is completed, a detection signal sent by the detection device is received, and according to the detection signal, the power supply is controlled to energize the positive charging line and the negative charging line through the flexible cable to charge the ship.

[0085] It can be seen that in order to further fix the connection between the charging end and the receiving end, an embodiment of the present invention provides a method for fixing the charging port by magnetism. Since the charging end of the charging cable is surrounded by a magnet and the receiving end is also surrounded by a magnet, the charging end and the receiving end of the charging cable will be connected and fixed due to magnetic attraction when they are close to each other within a certain range. At the same time, the present invention also provides a method for determining whether the charging end and the receiving end are fixed by detecting equipment, so as to ensure that the charging end and the receiving end have completed the charging connection and completed the magnetic fixation before connecting for charging, avoiding the situation where the power supply starts to energize but the connection between the charging end and the receiving end is not fixed. The method of magnetically connecting the charging end and the receiving end provided by the embodiment of the present invention can further fix the charging port, avoiding the problem that the height of the ship changes drastically due to excessive wind and waves, which in turn causes the connection between the charging end and the receiving end to be disconnected, resulting in a malfunction in the ship's charging.

[0086] At the same time, the groove size of the charging end provided by the embodiment of the present invention is slightly larger than the size of the magnetic head, which reduces the difficulty of connecting the charging end and the receiving end, thereby reducing the difficulty of autonomous charging of the unmanned boat and further improving the efficiency of autonomous charging of the unmanned boat.

[0087] Step 103: Upon receiving a charge end instruction sent by the ship, the power supply is controlled to stop energizing the positive charging line and the negative charging line, and the positive charging line and the negative charging line are recovered. After recovery, a port closing instruction is sent to the ship so that the ship turns off the positive receiving end, the negative receiving end and the detection device.

[0088] After receiving the charging end instruction sent by the ship, the berth control device will control the cutting off of the power to the positive and negative charging lines, so that the positive and negative charging ends are disconnected from the positive and negative receiving ends, and recycle the positive and negative charging lines while sending a port closing instruction to the ship, so that the positive and negative receiving ends and the detection equipment are adjusted to the closed state, thereby completing the entire charging process.

[0089] As another example of this embodiment, see Figure 2 , Figure 2 A flow chart of an embodiment of a method for adjusting the position of a ship by using an inflatable cushion provided by the present invention includes steps 201 to 203, each of which is specifically as follows:

[0090] Step 201: In response to the charging trigger instruction, adjust the inflatable cushion to an inflated state and inflate the inflatable cushion.

[0091] In this example, the berth control device only begins adjusting the state of the inflatable cushion after receiving a charge trigger command. This avoids the problem of triggering the charge trigger command before the vessel is securely parked in the berth, resulting in the vessel being hit by the inflating cushion and capsizing. Therefore, the charge trigger command provided in this embodiment of the present invention is sent by the vessel. Only after the vessel determines that it is stably parked will the charge trigger command be sent to the berth. The berth then adjusts the state of the inflatable cushion in response to the charge trigger command and inflates the cushion.

[0092] Step 202: The length and width of the ship are detected by the inflatable cushion, and an inflation threshold corresponding to the ship size is obtained by matching the ship size obtained by the detection in a preset first size table.

[0093] In order to ensure that the power receiving end of the ship and the charging end corresponding to the charging line of the berth are perfectly matched and accurately docked after adjusting the inflatable cushion, this example step also provides an inflation threshold selection method for the inflatable cushion. In response to the inflation trigger instruction, the selection method adjusts the inflatable cushion to the inflated state to inflate the inflatable cushion, and at the same time measures the length and width of the ship through the inflatable cushions installed around the berth and the distance measuring equipment installed on the inflatable cushion. The size of the ship is detected by the distance measuring equipment on the inflatable cushion in order to subsequently determine the specific volume of gas that needs to be filled into the inflatable cushion based on the size obtained by the measurement. By controlling the volume of the gas filled, it is ensured that after the position of the ship is adjusted by the inflatable cushion, the power receiving end on the ship can be accurately docked with the charging end above the berth.

[0094] Step 203: Detecting the inflation progress of the inflatable cushion in real time, and adjusting the inflatable cushion to a stopped state when detecting that the inflatable cushion reaches the inflation threshold.

[0095] Then, according to the ship size obtained by detection, the inflation threshold corresponding to the ship size is matched in the system's preset size table. After determination, the volume of the inflatable cushion's inflation gas is controlled according to the inflation threshold, and the inflatable cushion is stopped from being inflated after the inflation gas reaches the threshold.

[0096] As another example of this embodiment, see Figure 3 , Figure 3 A flow chart of an embodiment of a method for charging a berth using light energy provided by the present invention includes steps 301 to 303, each of which is specifically as follows:

[0097] Step 301: In response to a light energy trigger signal, light energy data obtained through real-time detection is compared with a preset light energy threshold, and it is determined whether a light energy charging device needs to be turned on based on the comparison result.

[0098] To improve the endurance of power supplies at berths located outdoors, this embodiment also provides a solar charging method for berths located outdoors where connection to mains electricity is inconvenient. By covering the berth's walls with solar panels, the berth's power supply can be autonomously charged by converting sunlight into electricity through the solar panels, even without a mains connection. Furthermore, to cover the solar panels, the berth is fully enclosed on all sides. This design not only protects the unmanned boats charging within the berth from damage in harsh outdoor weather conditions, but also protects the remaining facilities within the berth from erosion caused by wind, waves, and various natural weather conditions. This improves the endurance of the berth's facilities, reduces the frequency of berth maintenance, and consequently, reduces the workload of berth maintenance personnel.

[0099] To improve the power retention of power supplies installed in outdoor berths, embodiments of the present invention provide a method for charging berth power supplies using solar energy. This charging method involves the berth control device responding to a light energy trigger signal and comparing real-time detected light energy data with a preset light energy threshold to determine whether the current sunlight intensity meets the conditions for activating the solar panel and performing solar charging.

[0100] Step 302: If the comparison result shows that the light energy data is greater than or equal to the light energy threshold, the light energy charging device is turned on to charge the power supply of the first berth via solar energy.

[0101] If it is determined that the detected light energy data meets the conditions for enabling the solar panels, the light energy charging device, i.e., the solar panels, is turned on to charge the berth power supply, thereby solving the problem that the berth is located in the wild and is difficult to connect to the mains power and manual charging is difficult, which in turn leads to the weak power endurance of the autonomous charging berth. Through the above-mentioned light energy charging method, the power endurance of the berth is improved, the frequency of manual charging of the berth power supply is reduced, thereby reducing the work pressure of the berth charging personnel and improving the work efficiency of the staff. At the same time, since the berth needs to be closed for manual charging, the solar autonomous charging method also improves the work efficiency of the berth, and there is no need to close the berth for frequent charging, which indirectly improves the work efficiency of the ship.

[0102] Step 303: If the comparison result shows that the light energy data is less than the light energy threshold, continue detecting the light energy data until the light energy data is greater than or equal to the light energy threshold.

[0103] If the detected light energy data is insufficient to meet the condition for enabling the solar panel, the solar panel is not enabled but the light energy data is continuously detected until the detected light energy data is greater than or equal to the light energy threshold.

[0104] Example 2

[0105] Accordingly, see Figure 4 , Figure 4 This is a flow chart of an embodiment of a charging method for ships provided by the present invention. In this embodiment, the port preparation instruction and port closing instruction received by the ship control device are both generated and sent by the berth control device in embodiment 1 through an auxiliary charging method for berths. Figure 4 As shown, it includes steps 401 to 403, and each step is specifically as follows:

[0106] Step 401: In response to a power warning signal, a charging trigger instruction is sent to a first berth, so that the first berth adjusts the position of the ship by adjusting the steel bar and feeds back a port preparation instruction.

[0107] Before determining that a charging trigger instruction needs to be sent to the first berth, the ship control device must first respond to the power warning signal and then send a charging trigger instruction to the berth. Only when it is determined that the ship's power is insufficient to support the ship's continued operation, will the power warning signal be triggered and the charging trigger instruction be sent to the berth to start the entire charging process.

[0108] In step 401 of this embodiment, in response to the power warning signal, the specific triggering method of the power warning signal is as follows:

[0109] The remaining power of the battery is detected in real time, the remaining power is compared with a preset second power threshold, and the power warning signal is triggered when the comparison result shows that the remaining power is less than or equal to the second power threshold.

[0110] In order to avoid the situation where the remaining power of the ship is insufficient to support the ship to sail to the berth for charging, the present invention also provides a method for detecting the remaining power of the ship. Through real-time detection of the remaining power of the ship, it is ensured that the remaining power of the ship is sufficient to support the ship to sail to the berth for autonomous charging, effectively avoiding the situation where the ship is stranded in the wild, and further reducing the workload of the ship troubleshooting personnel and reducing the work pressure of the ship troubleshooting personnel.

[0111] In addition, in this embodiment, after the ship responds to the power warning signal and before sending the charging trigger instruction to the berth, the ship control device also needs to drive the ship into the first berth and control the ship to stay stably in the berth, so as to ensure that after the berth responds to the charging trigger instruction, when the berth control adjustment steel bar adjusts the parking position of the ship, there will be no problem with the parking of the ship, which will cause the adjustment steel bar to be unable to adjust the parking position of the ship, or a collision with the ship during movement.

[0112] Step 402: Receive the port preparation instruction, open the power receiving window of the positive receiving end and the power receiving window of the negative receiving end, adjust the detection equipment to the operating state, and send a charging start instruction to the first berth after the adjustment.

[0113] To improve the aforementioned berth-based auxiliary charging method, embodiments of the present invention provide a ship-based charging method. This method, in response to a power warning signal, sends a charging trigger command to the berth, causing the berth to adjust the state of its inflatable cushions and provide a port preparation command. Upon receiving the port preparation command, the ship's control device opens the power windows on the positive and negative power receiving terminals and then sends a charging start command to the berth. The power windows, covering the power receiving terminals, effectively protect the positive and negative terminals from water and dust, while also preventing the danger of water ingress and leakage. The detection device, located near the two power receiving terminals, detects the connection between the power receiving terminal and the charging terminal. Upon confirming a connection, it sends a detection signal to the berth control device, causing it to initiate power flow from the power source to the charging cable. This prevents leakage caused by an incomplete connection between the charging terminal and the power receiving terminal, thereby improving the safety and accuracy of coordinated charging between the ship and the berth.

[0114] Step 403: Detect the remaining power of the battery in real time, compare the remaining power with a preset first power threshold, and send a charging end instruction to the first berth to stop charging when the comparison result shows that the remaining power is greater than or equal to the first power threshold. At the same time, receive a port closing instruction sent by the first berth, and adjust the power receiving window of the positive receiving end, the power receiving window of the negative receiving end, and the detection device to a closed state.

[0115] During charging, the ship's control system also monitors the ship's remaining power in real time to determine whether charging is complete. If it determines that the ship's remaining power has reached or exceeded a preset power threshold, it sends a stop-charging command to the berth, causing it to stop charging. It also receives a port-close command from the berth, closing the power window. This precise control of the remaining power allows for precise control of charging time and remaining power, improving both the ship's charging efficiency and the energy efficiency of the berth.

[0116] In order to better illustrate the working principle and step flow of the auxiliary charging method and charging method for berths of the present invention, reference may be made to, but not limited to, the relevant records above.

[0117] Accordingly, see Figure 5 , Figure 5 This is a structural diagram of an embodiment of the ship autonomous charging system provided by the present invention. Figure 5As shown, the ship autonomous charging system includes a berth control device 501 and a ship control device 502, wherein the berth control device 501 and the ship control device 502 are linked by data through a background device 503, that is, all instructions and data sent by the berth control device 501 are transmitted to the ship control device 502 by the background device 503.

[0118] The berth control device 501 can execute any one of the above-mentioned auxiliary charging methods for berths; the ship control device 502 can execute any one of the above-mentioned charging methods for ships.

[0119] The berth control device 501 includes a charging preparation module 601 , a charging start module 602 and a charging end module 603 .

[0120] The charging preparation module 601 is used to receive a charging trigger instruction from a ship, control the movement of the adjustment steel bar in the berth to adjust the position of the ship, stop moving after completing the position adjustment, and send a port preparation instruction to the ship, so that the ship adjusts the positive receiving end, negative receiving end and detection equipment to the operating state and feeds back a charging start instruction.

[0121] Exemplarily, the charging preparation module 601 is further configured to:

[0122] In response to the light energy trigger signal, the light energy data obtained through real-time detection is compared with the preset light energy threshold, and based on the comparison result, it is determined whether the light energy charging device needs to be turned on;

[0123] If the comparison result shows that the light energy data is greater than or equal to the light energy threshold, turning on the light energy charging device to charge the power supply of the first berth through solar energy;

[0124] If the comparison result shows that the light energy data is less than the light energy threshold, the light energy data is continuously detected until the light energy data is greater than or equal to the light energy threshold.

[0125] Exemplarily, the charging preparation module 601 adjusts the inflatable cushion of the first berth to an inflated state until the inflatable cushion reaches a preset inflation threshold, specifically:

[0126] In response to the charging trigger instruction, the slide in the berth is controlled to drive the adjustment steel bar to move, so that the ship is pushed by the adjustment steel bar to change its position;

[0127] monitoring the displacement value of the adjustment steel bar in real time, and comparing the displacement value with a preset displacement threshold;

[0128] When the comparison result shows that the displacement value is equal to the displacement threshold, it is determined that the position adjustment of the ship is completed, and the adjustment steel bar is controlled to stop moving.

[0129] The charging start module 602 is used to receive the charging start instruction and control the movement of the positive charging line and the negative charging line. After the charging ends of the positive charging line and the negative charging line are respectively connected and fixed to the positive receiving end and the negative receiving end through magnetic attraction, the power supply is controlled to energize the positive charging line and the negative charging line according to the detection signal to charge the ship.

[0130] Exemplarily, the charging start module 602 controls the movement of the positive charging line and the negative charging line, specifically:

[0131] In response to a charge start instruction, the cable length corresponding to the displacement value is obtained by matching the displacement value in a preset displacement table, and the capstan is controlled to rotate and release a flexible cable equal to the cable length, so that the positive charging cable and the negative charging cable move downward by a length equal to the cable length. The positive charging cable and the negative charging cable are respectively connected to the capstan via flexible cables; the positive charging cable and the negative charging cable are respectively connected to the capstan via flexible cables.

[0132] Accordingly, see Figure 8 , Figure 8 A structural diagram of an embodiment of the winch provided by the present invention is shown in FIG. Figure 8 As shown, Figure 8 This is a structural diagram of an embodiment of the winch provided by the present invention. Figure 8 As shown, the winch includes a metal disc, charging contacts, a stepper motor 57, a cable, a charging magnet, a slide, a proximity switch, and a stepper motor 42. The metal disc and cable are connected to each other, and the stepper motor 57 is used to control the rotation of the metal disc to lower or retract the cable. The charging magnet at the bottom of the cable wraps around the charging terminal. Since the charging terminal provided by the present invention includes a positive charging terminal and a negative charging terminal, two cables are also included.

[0133] Each cable also has a corresponding proximity switch, which detects whether the cable has been fully recovered, effectively checking its retraction position. When the 57-stepper motor controls the metal disc to retract the cable, the proximity switch monitors the cable's charging magnet in real time. Upon detecting that the magnet has reached the designated position, it sends a signal to the berth control device confirming the cable's complete recovery. Two charging contacts next to the discs are used to charge the two cables: one for the positive charging line, corresponding to a charging voltage of 48V; the other for the negative charging line, corresponding to a charging voltage of 0V.

[0134] In addition, Figure 8 The 42 stepper motors are connected to the slide, which in turn is connected to the adjustment bars. Therefore, the berth control device controls the movement of the slide via the 42 stepper motors, thereby indirectly controlling the adjustment bars. In this embodiment, there are two 42 stepper motors, corresponding to two slides and two adjustment bars. These two adjustment bars allow for better adjustment of the vessel's parking position.

[0135] Exemplarily, the charging start module 602 controls the power supply to energize the positive charging line and the negative charging line according to the detection signal after the charging ends of the positive charging line and the negative charging line are respectively connected and fixed to the positive power receiving end and the negative power receiving end by magnetic attraction. Specifically,

[0136] When the magnetic head corresponding to the charging end of the positive charging line is attracted to the magnetic head of the positive receiving end, so that the charging end of the positive charging line is connected and fixed to the positive receiving end, the detection device determines whether the fixation is completed;

[0137] When the magnetic head corresponding to the charging end of the negative charging line is attracted to the magnetic head of the negative receiving end, so that the charging end of the negative charging line is connected and fixed to the negative receiving end, the detection device determines whether the fixation is completed;

[0138] After determining that the fixation is completed, a detection signal sent by the detection device is received, and according to the detection signal, the power supply is controlled to energize the positive charging line and the negative charging line through the flexible cable to charge the ship.

[0139] The charging end module 603 is used to receive a charging end instruction sent by the ship, control the power supply to stop energizing the positive charging line and the negative charging line, and recycle the positive charging line and the negative charging line. After recycling, a port closing instruction is sent to the ship so that the ship turns off the positive receiving end, the negative receiving end and the detection equipment.

[0140] The ship control device includes a power monitoring module 701 and a charging monitoring module 702;

[0141] The power monitoring module 701 is configured to send a charging trigger instruction to the first berth in response to the power warning signal, so that the first berth adjusts the position of the ship by adjusting the steel bars and feeds back a port preparation instruction.

[0142] Exemplarily, the power monitoring module 701 is further configured to:

[0143] The remaining power of the battery is detected in real time, the remaining power is compared with a preset second power threshold, and the power warning signal is triggered when the comparison result shows that the remaining power is less than or equal to the second power threshold.

[0144] The charging monitoring module 702 is used to receive the port preparation instruction, open the receiving window of the positive receiving end and the receiving window of the negative receiving end and adjust the detection device to the operating state, and after the adjustment, send a charging start instruction to the first berth, and detect the remaining power of the battery in real time, compare the remaining power with a preset first power threshold, and send a charging end instruction to the first berth to stop charging when the comparison result shows that the remaining power is greater than or equal to the first power threshold, and receive a port closing instruction sent by the first berth, adjust the receiving window of the positive receiving end and the receiving window of the negative receiving end and the detection device to the closed state; wherein, the port preparation instruction and the port closing instruction are generated by the first berth according to an auxiliary charging method for berths.

[0145] In summary, the embodiments of the present invention provide an auxiliary charging method and a charging method for berths, which are applied to the berth control device of the ship's autonomous charging system. After receiving the charging trigger instruction sent by the ship, the device controls and adjusts the steel bars to fine-tune the ship's position, sends a port preparation instruction to the ship so that the ship completes the pre-charging preparation and feeds back the charging start instruction. According to the charging start instruction, the positive charging terminal and the negative charging terminal are controlled to be magnetically connected and fixed with the two corresponding receiving terminals on the ship for charging, and after receiving the charging end instruction, the charging is stopped and the two positive and negative charging lines are recovered. At the same time, a port closing instruction is sent to the ship to end charging of the ship. The present invention fine-tunes the parking position of the ship by adjusting the steel bars, thereby ensuring that the receiving terminal and the charging terminal on the ship are accurately docked, realizing autonomous charging connection, and improving charging efficiency. The magnetic fixed charging connection improves the stability of the autonomous charging process of the unmanned ship and reduces the impact of the environment when the ship is charging.

[0146] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A collaborative charging method for berths and ships, characterized in that: Berth control devices and ship control devices used in ship autonomous charging systems; The collaborative charging method includes: The ship control device sends a charge trigger instruction to the first berth in response to the power warning signal, so that the first berth adjusts the position of the ship by adjusting the steel bar and feeds back a port preparation instruction; The berth control device receives the charging trigger instruction from the ship, controls the adjustment steel bar in the berth to move to adjust the position of the ship, and stops moving after the position adjustment is completed. Specifically, in response to the charging trigger instruction, controls the slide in the berth to drive the adjustment steel bar to move, so that the ship is pushed by the adjustment steel bar to change its position; monitors the displacement value of the adjustment steel bar in real time, and compares the displacement value with a preset displacement threshold; when the comparison result shows that the displacement value is equal to the displacement threshold, determines that the position adjustment of the ship is completed, controls the adjustment steel bar to stop moving; and sends a port preparation instruction to the ship, so that the ship adjusts the positive receiving terminal, the negative receiving terminal and the detection equipment to the operating state and feeds back a charging start instruction; The ship control device receives the port preparation instruction, opens the power receiving window of the positive receiving end and the power receiving window of the negative receiving end, adjusts the detection device to the operating state, and sends a charging start instruction to the first berth after the adjustment; The berth control device receives the charging start instruction and controls the movement of the positive charging line and the negative charging line, specifically: in response to the charging start instruction, according to the displacement value, matches the cable length corresponding to the displacement value in a preset displacement table, and controls the winch to rotate and release a flexible cable of a length equal to the cable length, so that the positive charging line and the negative charging line move downward by a length equal to the cable length, so that the charging ends of the positive charging line and the negative charging line are accurately docked with the positive receiving end and the negative receiving end on the ship, respectively. After the charging ends of the positive charging line and the negative charging line are respectively fixed to the positive receiving end and the negative receiving end by magnetic attraction, the power supply is controlled according to the detection signal to energize the positive charging line and the negative charging line to charge the ship; wherein, the positive charging line and the negative charging line are respectively connected to the winch via flexible cables; The ship control device detects the remaining power of the battery in real time, compares the remaining power with a preset first power threshold, and sends a charging end instruction to the first berth to stop charging when the comparison result shows that the remaining power is greater than or equal to the first power threshold; The berth control device receives a charging end instruction sent by the ship, controls the power supply to stop energizing the positive charging line and the negative charging line, recycles the positive charging line and the negative charging line, and after recycles, sends a port closing instruction to the ship so that the ship turns off the positive power receiving terminal, the negative power receiving terminal and the detection device; The ship control device receives the port closing instruction sent by the first berth, and adjusts the power receiving window of the positive power receiving end, the power receiving window of the negative power receiving end and the detection device to a closed state.

2. A collaborative charging method for berths and ships according to claim 1, characterized in that: After the charging ends of the positive charging line and the negative charging line are respectively connected and fixed to the positive power receiving end and the negative power receiving end by magnetic attraction, controlling the power supply to energize the positive charging line and the negative charging line according to the detection signal is specifically as follows: When the magnetic head corresponding to the charging end of the positive charging line is attracted to the magnetic head of the positive receiving end, so that the charging end of the positive charging line is connected and fixed to the positive receiving end, the detection device determines whether the fixation is completed; When the magnetic head corresponding to the charging end of the negative charging line is attracted to the magnetic head of the negative receiving end, so that the charging end of the negative charging line is connected and fixed to the negative receiving end, the detection device determines whether the fixation is completed; After determining that the fixation is completed, a detection signal sent by the detection device is received, and according to the detection signal, the power supply is controlled to energize the positive charging line and the negative charging line through the flexible cable to charge the ship.

3. The coordinated charging method for berths and ships according to claim 1, characterized in that: Before the berth control device receives the charging trigger instruction from the ship, the method further includes: In response to the light energy trigger signal, the light energy data obtained through real-time detection is compared with the preset light energy threshold, and based on the comparison result, it is determined whether the light energy charging device needs to be turned on; If the comparison result shows that the light energy data is greater than or equal to the light energy threshold, turning on the light energy charging device to charge the power supply of the first berth through solar energy; If the comparison result shows that the light energy data is less than the light energy threshold, the light energy data is continuously detected until the light energy data is greater than or equal to the light energy threshold.

4. A charging method for berths and ships according to claim 1, characterized in that: Before responding to the power warning signal, the method further includes: The remaining power of the battery is detected in real time, the remaining power is compared with a preset second power threshold, and the power warning signal is triggered when the comparison result shows that the remaining power is less than or equal to the second power threshold.

5. A ship autonomous charging system, characterized in that: The ship autonomous charging system includes a berth control device and a ship control device; Wherein, the berth control device and the ship control device are linked via background equipment data; The ship autonomous charging system can execute a collaborative charging method for berths and ships as described in any one of claims 1 to 4.

6. A ship autonomous charging system according to claim 5, characterized in that: The berth control device includes a charging preparation module, a charging start module and a charging end module; The charging preparation module is used to receive a charging trigger instruction from a ship, control the movement of the adjustment steel bar in the berth to adjust the position of the ship, stop moving after the position adjustment is completed, and send a port preparation instruction to the ship, so that the ship adjusts the positive receiving terminal, negative receiving terminal and detection equipment to the operating state and feeds back a charging start instruction; The charging start module is configured to receive the charging start instruction and control the movement of the positive charging line and the negative charging line. After the charging ends of the positive charging line and the negative charging line are respectively connected and fixed to the positive power receiving end and the negative power receiving end by magnetic attraction, the power supply is controlled according to the detection signal to energize the positive charging line and the negative charging line to charge the ship. The charging end instruction is used to receive the charging end instruction sent by the ship, and then control the power supply to stop energizing the positive charging line and the negative charging line, and recycle the positive charging line and the negative charging line. After recycling, a port closing instruction is sent to the ship so that the ship turns off the positive receiving end, the negative receiving end and the detection equipment.

7. The ship autonomous charging system according to claim 5, characterized in that: The ship control device includes a power monitoring module and a charging monitoring module; The power monitoring module is configured to send a charge trigger instruction to the first berth in response to the power warning signal, so that the first berth adjusts the position of the ship by adjusting the steel bar and feeds back a port preparation instruction; The charging monitoring module is used to receive the port preparation instruction, open the receiving window of the positive receiving end and the receiving window of the negative receiving end and adjust the detection device to the operating state, and after the adjustment, send a charging start instruction to the first berth, and detect the remaining power of the battery in real time, compare the remaining power with a preset first power threshold, and send a charging end instruction to the first berth to stop charging when the comparison result shows that the remaining power is greater than or equal to the first power threshold, and receive a port closing instruction sent by the first berth, adjust the receiving window of the positive receiving end and the receiving window of the negative receiving end and the detection device to the closed state; wherein, the port preparation instruction and the port closing instruction are generated by the first berth according to an auxiliary charging method for berths.

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