Charging control method of port tire crane and charging robot

Abstract

The invention provides a charging control method of a port tire crane and a charging robot, the control method is applied to the charging robot to charge a to-be-transferred tire crane, and the method comprises the following steps: the charging robot receives transition information and battery information sent by the to-be-transferred tire crane; the charging robot determines whether the to-be-transferred tire crane needs to be charged or not based on the transfer information and the battery information; when it is determined that charging is needed, the charging robot determines the butt joint position of the charging robot and the to-be-transferred tire crane based on the transferring information and the battery information; the charging robot determines a docking operation path based on the port map, the docking position and the initial position of the charging robot; and the charging robot moves to the butt joint position along the butt joint operation path and is in butt joint with the to-be-transferred tire crane so as to charge the to-be-transferred tire crane while transferring along with the to-be-transferred tire crane. According to the method, the charging efficiency of the tire crane can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics, and in particular to a charging control method and a charging robot for a port tire crane. Background Art

[0002] During the transfer process of the electric tire crane, the tire crane will use its own power supply to drive and move to the target location. However, due to battery life issues, the tire crane needs to replace batteries multiple times or shut down and wait for fixed charging facilities to charge the batteries during continuous transfers. When replacing batteries or using fixed charging facilities to charge batteries, professional personnel are required to operate, which increases the complexity and workload of the operation. At the same time, since the fixed charging facilities need to shut down and wait for a long time when charging the tire crane, the work efficiency of the tire crane is greatly reduced. In addition, since the fixed charging facilities are fixed in position, when the tire crane needs to be charged, it will first go to the fixed charging facilities for charging before the transfer process, which leads to further reductions in the transfer efficiency and work efficiency of the tire crane. Summary of the invention

[0003] In view of this, the present invention provides a charging control method and a charging robot for a port tire crane, which can improve the transfer efficiency and work efficiency of the tire crane.

[0004] In order to solve at least one of the above technical problems, the present invention adopts the following technical solutions:

[0005] In a first aspect, the present invention provides a charging control method for a port tire crane, which is applied to a charging robot to charge a tire crane to be transferred, and the method comprises:

[0006] The charging robot receives the transfer information and battery information sent by the tire crane to be transferred. The transfer information includes the current position, target position and transfer path of the tire crane to be transferred.

[0007] The charging robot determines whether the tire crane to be transferred needs to be charged based on the transfer information and battery information;

[0008] When it is determined that charging is required, the charging robot determines the docking position with the tire crane to be transferred based on the transfer information and battery information;

[0009] The charging robot determines the docking operation path based on the port map, the docking location, and the initial location of the charging robot;

[0010] The charging robot moves to the docking position along the docking operation path, and docks with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring together with the tire crane to be transferred.

[0011] In one embodiment of the present invention, the charging robot determines whether the tire crane to be transferred needs to be charged based on the transfer information and the battery information, including:

[0012] The charging robot determines the movement distance of the tire crane to be transferred based on the transfer information;

[0013] The charging robot determines the remaining mileage of the tire crane to be transferred based on the battery information;

[0014] When the difference between the remaining mileage and the moving distance is below a first predetermined threshold, it is determined that the tire crane to be transferred needs to be charged.

[0015] In one embodiment of the present invention, the charging robot transfer information and battery information, the charging robot determines the docking position with the tire crane to be transferred includes:

[0016] The charging robot determines the position where the remaining mileage of the tire to be transferred is lower than a second predetermined threshold in the transfer path as the docking position, and the second predetermined threshold is greater than or equal to the first predetermined threshold.

[0017] In one embodiment of the present invention, the method further comprises:

[0018] The charging robot generates a port map based on the pre-scanned initial site information of the port.

[0019] In one embodiment of the present invention, the charging robot generates a port map based on the pre-scanned initial site information of the port, including:

[0020] The charging robot pre-scans each road in the port to obtain initial site information of the port, where the initial site information includes geometric information and topological information of each road, and first device position information of a fixed device on each road;

[0021] The charging robot performs 3D modeling based on initial site information to create a port map.

[0022] In one embodiment of the present invention, the charging robot determines the docking operation path based on the port map, the docking position, and the initial position of the charging robot, including:

[0023] The charging robot plans multiple candidate paths from the initial position to the docking position in the port map based on the docking position and the initial position, and each candidate path consists of at least one road;

[0024] The charging robot selects a candidate path as a path to be planned based on multiple candidate paths through a first planning rule;

[0025] The charging robot plans a docking operation path through a second planning rule based on the path to be planned and first device position information of fixed equipment set on each road in the path to be planned.

[0026] In one embodiment of the present invention, selecting a path to be selected as the path to be planned according to the first planning rule includes:

[0027] The charging robot sorts multiple candidate paths from high to low according to the path length, and selects the candidate path with the shortest path length as the path to be planned based on the sorting result.

[0028] In one embodiment of the present invention, planning the docking operation path by using the second planning rule includes:

[0029] The charging robot plans a docking operation path that can avoid the fixed equipment on each road in the path to be planned based on the first device position information of the fixed equipment on each road in the path to be planned.

[0030] In one embodiment of the present invention, the charging robot moves along the docking operation path to the docking position and docks with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring with the tire crane to be transferred, including:

[0031] When the charging robot moves along the docking operation path, it scans each road in the docking operation path in real time to obtain dynamic site information, and the dynamic site information includes second device position information of the fixed device set on each road in the docking operation path;

[0032] When the second device location information does not match the first device location information, the charging robot dynamically updates the docking operation path based on the second device location information through the third planning rule, and dynamically updates the port map based on the second device location information;

[0033] The charging robot moves to the tire crane to be transferred based on the updated docking operation path;

[0034] The charging robot docks with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring together with the tire crane to be transferred.

[0035] In one embodiment of the present invention, dynamically updating the docking operation path based on the second device location information by using a third planning rule includes:

[0036] Based on the second device position information of the fixed equipment on each road, the charging robot updates a new docking operation path that can avoid the fixed equipment set on each road.

[0037] In one embodiment of the present invention, the charging robot docks with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring together with the tire crane to be transferred, including:

[0038] The charging robot scans the charging port of the tire crane to be transferred, and after locating the charging port of the tire crane to be transferred, inserts the charging gun into the charging port of the tire crane to be transferred to charge the tire crane to be transferred;

[0039] The charging robot detects the movement information of the tire crane to be transferred in real time, and transfers together with the tire crane to be transferred based on the transfer path and movement information. The movement information includes speed information and movement direction information of the tire crane to be transferred.

[0040] In one embodiment of the present invention, the method further comprises:

[0041] When the charging robot moves along the updated docking operation path, it scans the moving obstacles in the docking operation path in real time and avoids them.

[0042] In one embodiment of the present invention, the method further comprises:

[0043] When the robot to be charged determines that the tire crane to be transferred is fully charged, the charging robot stops charging and separates from the tire crane to be transferred;

[0044] The charging robot returns to its initial position.

[0045] In a second aspect, the present invention further provides a charging robot for a port tire crane, the charging robot comprising:

[0046] A communication unit, the communication unit is used to receive the transfer information and battery information sent by the tire crane to be transferred, the transfer information includes the current position and target position of the tire crane to be transferred;

[0047] A charging management unit, which is used to determine whether the tire crane to be transferred needs to be charged based on the transfer information and battery information;

[0048] A map management unit, which is used for the charging robot to determine the docking position with the tire crane to be transferred based on the transfer information and battery information when it is determined that charging is required;

[0049] A path planning unit, which is used to determine the docking operation path based on the port map, the docking location, and the initial location of the charging robot;

[0050] The mobile unit is used to move to the docking position along the docking operation path and dock with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring with the tire crane to be transferred.

[0051] The above technical solution of the present invention has at least one of the following beneficial effects:

[0052] In the charging control method of the port tire crane of the present invention, the charging robot receives the transfer information and battery information sent by the tire crane to be transferred, and determines the docking position with the tire crane to be transferred when the tire crane to be transferred needs to be charged, and then moves to the docking position to dock with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring together with the tire crane to be transferred. The tire crane to be transferred does not need to replace the battery or move to a fixed charging facility for charging during the continuous transfer process, thereby effectively improving the transfer efficiency and work efficiency of the tire crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic diagram of an implementation environment provided for an embodiment of the present invention;

[0054] Figure 2 A flow chart of a charging control method for a port tire crane provided by an embodiment of the present invention;

[0055] Figure 3 A flowchart of step S220 in a charging control method for a port tire crane provided by an embodiment of the present invention;

[0056] Figure 4 A flowchart of step S240 in a charging control method for a port tire crane provided in one embodiment of the present invention;

[0057] Figure 5 A flowchart of step S2401 in a charging control method for a port tire crane provided in one embodiment of the present invention;

[0058] Figure 6 A flowchart of step S250 in a charging control method for a port tire crane provided in one embodiment of the present invention;

[0059] Figure 7 A flowchart of step S254 in a charging control method for a port tire crane provided by an embodiment of the present invention;

[0060] Figure 8 A flow chart of a charging robot charging a tire crane to be transferred in a charging control method for a port tire crane provided by an embodiment of the present invention;

[0061] Fig. 9 A schematic diagram of the structure of a charging robot provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0063] Firstly, a control method for a port tire crane transfer charging robot according to an embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0064] Figure 1 FIG. 1 is a schematic diagram of an implementation environment provided by an embodiment of the present invention. Figure 1 As shown, the implementation environment may include at least one charging robot 110 and a tire crane 120 to be transferred.

[0065] In the embodiment of the present invention, the charging robot 110 calculates the transition distance of the tire crane 120 to be transferred and whether the remaining mileage supported by the battery of the tire crane 120 to be transferred is greater than the transition distance based on the transition information and battery information sent by the tire crane 120 to be transferred. When the remaining mileage is less than the transition distance, it is determined that the tire crane 120 to be transferred needs to be charged. In this case, the charging robot 110 moves to the docking position and docks with the tire crane 120 to charge the tire crane 120 to be transferred while transferring with the tire crane 120. As a result, the tire crane 120 to be transferred does not need to replace the battery or move to a fixed charging facility for charging during the continuous transfer process, thereby effectively improving the transfer efficiency and work efficiency of the tire crane 120 to be transferred.

[0066] Here, it should be supplemented that one charging robot 110 can also correspond to multiple tire cranes 120 to be transferred. The charging robot 110 makes a comprehensive judgment based on the transfer information of the multiple tire cranes 120 to be transferred, determines the charging requirements of different tire cranes 120 to be transferred, and comprehensively determines the charging time and charging sequence of each tire crane 120 to be transferred according to the charging requirements, and then determines the docking position of each tire crane 120 to be transferred that needs to be charged in turn. When a tire crane 120 to be transferred is charged to the predetermined charging time, the charging robot 110 directly moves to the next docking position to dock and charge the next tire crane 120 to be transferred. And so on.

[0067] Of course, there may also be a case where there are multiple charging robots 110 and multiple tire cranes to be transferred 120. By setting up multiple charging robots 110, when one of the charging robots 110 has insufficient power to return to the base station for charging, other charging robots 110 can charge the tire cranes to be transferred 120.

[0068] In order to make the whole process simpler and clearer, the following first takes the charging robot 110 corresponding to a tire crane 120 to be transferred as an example for explanation, but it should be pointed out that the present invention is not limited to this.

[0069] Figure 2 A flowchart of a charging control method for a port tire crane provided by an embodiment of the present invention is shown. The method can be applied to Figure 1 The charging robot 110 can charge the tire crane 120 to be transferred in the port. Figure 2 As shown, the method may include the following steps:

[0070] S210, the charging robot receives the transfer information and battery information sent by the tire crane to be transferred, where the transfer information includes the current position, target position and transfer path of the tire crane to be transferred.

[0071] S220: The charging robot determines whether the tire crane to be transferred needs to be charged based on the transfer information and the battery information.

[0072] In this embodiment, when the difference between the remaining mileage and the movement distance is below a predetermined threshold, the charging robot 110 determines that the tire crane 120 to be transferred needs to be charged. Otherwise, the tire crane 120 to be transferred will transfer automatically.

[0073] In one possible embodiment, reference Figure 3 , the step S220 may include:

[0074] S221. The charging robot determines the movement distance of the tire crane to be transferred based on the transfer information.

[0075] In this embodiment, the transfer information may include the current position and target position of the tire crane 120 to be transferred, and the transfer path planned by the upper computer electrically connected to the tire crane 120 for the tire crane 120 to be transferred, wherein the current position and target position of the tire crane 120 to be transferred are both the storage yard. The charging robot 110 may calculate the movement distance between the current position and the target position of the tire crane 120 to be transferred based on the current position, target position and transfer path of the tire crane 120 to be transferred contained in the transfer information. Specifically, the movement distance may be a specific number such as 5 kilometers or 6 kilometers.

[0076] S222. The charging robot determines the remaining mileage of the tire crane to be transferred based on the battery information.

[0077] In this embodiment, the battery information sent by the tire crane 120 to be transferred may include information such as the battery health of the tire crane 120 to be transferred and the remaining mileage supported by the battery, wherein the remaining mileage refers to the remaining distance supported by the battery power of the tire crane 120 to be transferred at the current position, for example, it may be a specific number such as 3 kilometers or 5 kilometers. Thus, the charging robot 110 can determine whether the tire crane 120 to be transferred needs to be charged based on the remaining mileage and movement distance.

[0078] S223: When the difference between the remaining mileage and the moving distance is below a first predetermined threshold, the charging robot determines that the tire crane to be transferred needs to be charged.

[0079] In this embodiment, the first predetermined threshold value may be a specific value such as 1 km, 500 meters, 100 meters, 20 meters, etc. When the difference between the remaining mileage and the moving distance is less than the first predetermined threshold value, that is, the residual power of the tire crane 120 to be transferred is difficult to ensure that it can smoothly reach the target position (for example, the residual power is exhausted when waiting or taking a detour due to obstacles), the charging robot 110 determines that the tire crane 120 to be transferred needs to be charged. Therefore, the charging robot 110 can decide whether to dock and charge the tire crane 120 to be transferred according to the transfer information and battery information of the tire crane 120 to be transferred, so that the charging robot 110 can respond quickly and ensure that the tire crane 120 is charged when power support is required, thereby improving the transfer efficiency and work efficiency of the tire crane 120. If the power of the tire crane 120 is sufficient, the charging robot 110 does not need to dock and charge, thereby reducing unnecessary charging operations, extending the service life of the tire crane 120 and reducing energy consumption.

[0080] S230, when it is determined that charging is required, the charging robot determines the docking position with the tire crane to be transferred based on the transfer information and the battery information. Step S230 may include:

[0081] The charging robot 110 determines a position where the remaining mileage of the tire crane 120 to be transferred in the transfer path is lower than a second predetermined threshold as a docking position, and the second predetermined threshold is greater than or equal to the first predetermined threshold.

[0082] In this embodiment, the second predetermined threshold value may be a specific value such as 1.2 km, 1.3 km, 1.5 km, etc. Specifically, the charging robot 110 may calculate the remaining mileage of the tire crane 120 to be transferred at each position in the transfer path, and may use the position where the remaining mileage of the tire crane 120 to be transferred in the transfer path is less than the second predetermined threshold value as the docking position, and dock with the tire crane 120 to be transferred at this position to charge the tire crane 120 to be transferred.

[0083] S240, the charging robot determines a docking operation path based on the port map, the docking position, and the initial position of the charging robot.

[0084] In this embodiment, the charging robot 110 can plan a docking operation path with the shortest distance and avoiding fixed equipment on the path based on the port map generated by pre-scanning, the docking position and its own initial position, thereby improving charging efficiency and safety.

[0085] In one possible embodiment, reference Figure 4 , step S240 may include:

[0086] S241. The charging robot plans multiple candidate paths from the initial position to the docking position in the port map based on the docking position and the initial position, and each candidate path consists of at least one road.

[0087] In this embodiment, the charging robot 110 can plan all possible candidate paths from the initial position to the docking position, and each candidate path consists of continuous roads.

[0088] S242: The charging robot selects a candidate path as a path to be planned based on multiple candidate paths through a first planning rule.

[0089] In this embodiment, the first planning rule is to select the candidate path with the shortest path length as the path to be planned. Therefore, the charging robot 110 sorts the multiple candidate paths from high to low according to their lengths, and selects the candidate path with the shortest path length as the path to be planned based on the sorting result. In this way, time can be saved, energy consumption can be reduced, and the operating efficiency can be improved while increasing the battery life of the charging robot 110.

[0090] S243. The charging robot plans a docking operation path through a second planning rule based on the path to be planned and the first device location information of the fixed equipment set on each road in the path to be planned.

[0091] In this embodiment, the second planning rule is to avoid fixed equipment on each road in the path to be planned. Therefore, after selecting the selected path with the shortest path length as the path to be planned, the charging robot 110 plans a docking operation path that can avoid the fixed equipment on each road in the path to be planned based on the first device position information of the fixed equipment on each road in the path to be planned. In this way, the safety during operation can be improved.

[0092] In a possible embodiment, the method may further include:

[0093] S2401. The charging robot generates a port map based on the pre-scanned initial site information of the port.

[0094] That is, the method may further include the step S2401 of generating the port map in step S240. Figure 5 , step S2401 may include:

[0095] S24011. The charging robot pre-scans each road in the port to obtain the initial site information of the port. The initial site information includes geometric information and topological information of each road, and first device position information of fixed equipment on each road.

[0096] In this embodiment, the charging robot 110 can scan the roads in the port through the laser radar, visual sensor and other equipment it carries to obtain the initial site information. The initial site information includes the geometric information and topological information of each road, wherein the geometric information can be the length, width, curvature and other geometric parameters of each road in the port, and the topological information includes the connection relationship between the roads. Therefore, by obtaining the geometric information and topological information, it is convenient for the charging robot 110 to plan the shortest docking operation path. In addition, the fixed equipment can be the charging piles, traffic lights and other equipment on each road. By obtaining the first device position information of the fixed equipment, it is convenient for the charging robot 110 to avoid the fixed equipment on each road while planning the shortest docking operation path.

[0097] S24012. The charging robot performs three-dimensional modeling based on the initial site information to create a port map.

[0098] In this embodiment, the charging robot 110 can obtain point cloud data and image data of the surrounding environment based on the initial site information, and use the point cloud data and image data to construct a three-dimensional point cloud map. The point cloud map includes three-dimensional information of each road and fixed equipment on the road, so that the geometric shapes of each road and fixed equipment on the road can be intuitively displayed, effectively improving the walking efficiency and avoidance efficiency of the charging robot 110.

[0099] In some other embodiments of the present invention, a plurality of charging robots 110 are arranged in the port, and after one of the charging robots 110 obtains and creates a port map, the port map can be shared with other charging robots 110. Thus, other charging robots 110 do not need to repeatedly scan and model, which effectively improves the operation efficiency.

[0100] S250: The charging robot moves along the docking operation path to the docking position and docks with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring together with the tire crane to be transferred.

[0101] In this embodiment, after the charging robot 110 moves to the docking position along the docking operation path, it will wait for the transfer tire crane 120, and dock with the tire crane 120 to be transferred after the tire crane 120 to be transferred is in place, and then transfer together with the tire crane 120 to be transferred, and charge the tire crane 120 to be transferred during the transfer process. In this way, the tire crane 120 can be charged during the transfer interval, which effectively improves the working efficiency of the tire crane 120.

[0102] In one possible embodiment, reference Figure 6 , step S250 may include:

[0103] S251. When the charging robot moves along the docking operation path, it scans each road in the docking operation path in real time to obtain dynamic site information, where the dynamic site information includes second device position information of fixed equipment set on each road in the docking operation path.

[0104] In this embodiment, since the first position information of the fixed equipment on the road is obtained by pre-scanning by the charging robot 110, the fixed equipment may be added, removed or moved during the port operation. Therefore, when the charging robot 110 moves along the docking operation path, it is necessary to scan each road in the docking operation path in real time to obtain dynamic site information, so as to obtain the second equipment position information of the fixed equipment set on each road in the docking operation path.

[0105] S252: When the second device location information does not match the first device location information, the charging robot dynamically updates the docking operation path based on the second device location information through the third planning rule, and dynamically updates the port map based on the second device location information.

[0106] In this embodiment, when the second device location information does not match the first device location information, the charging robot 110 determines that a fixed device has been added, removed, or moved in the road. Therefore, when the charging robot 110 moves along the docking operation path, it will update a new docking operation path based on the second device location information that can avoid the fixed equipment set on each road. Therefore, by scanning each road in real time while moving along the docking operation path to obtain the second device information, the safety during operation can be effectively improved. In some other embodiments of the present invention, multiple charging robots 110 are set in the port. When one of the charging robots 110 updates the port map based on the second device information, the updated port map can be shared with other charging robots 110. As a result, other charging robots 110 do not need to repeat scanning and modeling, which effectively improves the operation efficiency.

[0107] S253. The charging robot moves to the tire crane to be transferred based on the updated docking operation path.

[0108] In a possible embodiment, step S253 may further include:

[0109] S2531. When the charging robot moves along the updated docking operation path, it scans the moving obstacles in the docking operation path in real time and avoids them.

[0110] In this embodiment, the charging robot 110 will scan the surrounding environment in real time through the laser radar, infrared sensor or camera it carries during its movement, and will avoid the moving obstacle when it detects that the moving path of the moving obstacle overlaps with itself, thereby further improving the safety during operation.

[0111] S254: The charging robot docks with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring together with the tire crane to be transferred.

[0112] In this embodiment, after the charging robot 110 moves to the tire crane 120 to be transferred, it can identify the battery interface of the tire crane 120 to be transferred, and dock with the battery of the tire crane 120 to be transferred after locating the battery interface. Then the charging robot 110 can charge the tire crane 120 to be transferred while transferring with the tire crane 120 to be transferred. As a result, the tire crane 120 to be transferred can still maintain a high power when transferring to the target location, so that the tire crane 120 to be transferred does not need to replace the battery or move to a fixed charging facility for charging during the continuous transfer process, thereby effectively improving the transfer efficiency and work efficiency of the tire crane 120.

[0113] In one possible embodiment, reference Figure 7 , step S254 may include:

[0114] S2541. The charging robot scans the charging port of the tire crane to be transferred, and after locating the charging port of the tire crane to be transferred, inserts the charging gun into the charging port of the tire crane to be transferred to charge the tire crane to be transferred.

[0115] In this embodiment, the charging robot 110 pre-stores characteristic information of the battery of the tire crane 120 to be transferred. The charging robot 110 can locate the charging port of the battery of the tire crane 120 to be transferred based on the characteristic information of the battery through a visual sensor or a laser radar and other equipment, and then insert the charging gun into the charging port to start charging the tire crane 120. In this way, automatic charging is achieved, manual intervention is reduced, and charging efficiency is improved.

[0116] S2542. The charging robot detects the movement information of the tire crane to be transferred in real time, and transfers together with the tire crane to be transferred based on the transfer path and the movement information. The movement information includes the speed information and the movement direction information of the tire crane to be transferred.

[0117] In this embodiment, the charging robot 110 can obtain the moving speed and direction of the tire crane 120 to be transferred in real time through a visual sensor or a laser radar and other equipment, so that the charging robot 110 can transfer together with the tire crane 120 to be transferred based on the transfer path, and dynamically adjust the relative distance between itself and the tire crane 120 to be transferred at any time according to the moving speed and direction of the tire crane 120 to be transferred. As a result, the flexibility and safety during the transfer are effectively improved.

[0118] In one possible embodiment, reference Figure 8 , the method may further include:

[0119] S260: When the robot to be charged determines that the tire crane to be transferred is fully charged, the charging robot stops charging and separates from the tire crane to be transferred.

[0120] In this embodiment, when the charging robot 110 charges the battery of the tire crane 120 to be transferred, it will detect the power level of the tire crane 120 to be transferred in real time, and can also provide overcharge protection, over-discharge protection and short circuit protection for the battery of the tire crane 120 to be transferred, and stop charging when the battery is abnormal, thereby effectively improving the safety during charging.

[0121] S270, the charging robot returns to the initial position.

[0122] Fig. 9 FIG. 4 shows the structure of a charging robot 300 provided by an embodiment of the present invention. Fig. 9 As shown, the charging robot 300 includes:

[0123] The communication unit 310 is used to receive the transfer information and battery information sent by the tire crane to be transferred, and the transfer information includes the current position and target position of the tire crane to be transferred;

[0124] A charging management unit 320, which is used to determine whether the tire crane to be transferred needs to be charged based on the transfer information and the battery information;

[0125] The map management unit 330 is used for, when it is determined that charging is required, the charging robot determines the docking position with the tire crane to be transferred based on the transfer information and the battery information;

[0126] A path planning unit 340, the path planning unit 340 is used to determine a docking operation path based on the port map, the docking position, and the initial position of the charging robot;

[0127] The mobile unit 350 is used to move to the docking position along the docking operation path and dock with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring with the tire crane to be transferred.

[0128] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0129] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A charging control method for a port tire crane, It is characterized in that Applied to a charging robot to charge a tire crane at a port to be transferred, the method comprises: The charging robot receives the transfer information and battery information sent by the tire crane to be transferred, wherein the transfer information includes the current position, target position and transfer path of the tire crane to be transferred; The charging robot determines whether the tire crane to be transferred needs to be charged based on the transfer information and the battery information; When it is determined that charging is required, the charging robot determines the docking position with the tire crane to be transferred based on the transfer information and the battery information; The charging robot determines a docking operation path based on a port map, the docking position, and an initial position of the charging robot; The charging robot moves to the docking position along the docking operation path, and docks with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring together with the tire crane to be transferred.

2. The method according to claim 1, It is characterized in that The charging robot determines whether the tire crane to be transferred needs to be charged based on the transfer information and the battery information, including: The charging robot determines the movement distance of the tire crane to be transferred based on the transfer information; The charging robot determines the remaining mileage of the tire crane to be transferred based on the battery information; When the difference between the remaining mileage and the movement distance is below a first predetermined threshold, the charging robot determines that the tire crane to be transferred needs to be charged.

3. The method according to claim 2, It is characterized in that The charging robot determines the docking position with the tire crane to be transferred based on the transfer information and the battery information, including: The charging robot determines the position of the tire crane to be transferred in the transfer path where the remaining mileage is lower than a second predetermined threshold as the docking position, and the second predetermined threshold is greater than or equal to the first predetermined threshold.

4. The method according to claim 1, It is characterized in that Also includes: The charging robot generates the port map based on pre-scanned initial site information of the port.

5. The method according to claim 4, It is characterized in that The charging robot generates the port map based on the pre-scanned initial site information of the port, including: The charging robot pre-scans each road in the port to obtain initial site information of the port, wherein the initial site information includes geometric information and topological information of each road, and first device position information of a fixed device on each road; The charging robot performs three-dimensional modeling based on the initial site information to create the port map.

6. The method according to claim 5, It is characterized in that The charging robot determines the docking operation path based on the port map, the docking position, and the initial position of the charging robot, including: The charging robot plans a plurality of candidate paths from the initial position to the docking position in the port map based on the docking position and the initial position, each of the candidate paths consisting of at least one of the roads; The charging robot selects one of the candidate paths as a path to be planned based on the multiple candidate paths according to a first planning rule; The charging robot plans the docking operation path through a second planning rule based on the path to be planned and first device position information of fixed equipment set on each of the roads in the path to be planned.

7. The method according to claim 6, It is characterized in that The selecting one of the candidate paths as the path to be planned by the first planning rule comprises: The charging robot sorts the multiple candidate paths from high to low according to the path length, and selects the candidate path with the shortest path length as the path to be planned based on the sorting result.

8. The method according to claim 7, It is characterized in that Planning the docking operation path by using the second planning rule includes: The charging robot plans the docking operation path that can avoid the fixed equipment on each road in the path to be planned based on the first device position information of the fixed equipment on each road in the path to be planned.

9. The method according to claim 8, It is characterized in that The charging robot moves along the docking operation path to the docking position and docks with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring together with the tire crane to be transferred, including: When the charging robot moves along the docking operation path, each road in the docking operation path is scanned in real time to obtain dynamic site information, wherein the dynamic site information includes second device position information of a fixed device arranged on each road in the docking operation path; When the second device location information does not match the first device location information, the charging robot dynamically updates the docking operation path based on the second device location information through a third planning rule, and dynamically updates the port map based on the second device location information; The charging robot moves to the tire crane to be transferred based on the updated docking operation path; The charging robot docks with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring together with the tire crane to be transferred.

10. The method according to claim 9, It is characterized in that The dynamically updating the docking operation path according to the third planning rule based on the second device location information includes: The charging robot updates the new docking operation path that can avoid the fixed equipment set on each road based on the second device position information of the fixed equipment on each road.

11. The method according to claim 9, It is characterized in that The charging robot docks with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring together with the tire crane to be transferred, including: The charging robot scans the charging port of the tire crane to be transferred, and after locating the charging port of the tire crane to be transferred, inserts the charging gun into the charging port of the tire crane to be transferred to charge the tire crane to be transferred; The charging robot detects the movement information of the tire crane to be transferred in real time, and transfers together with the tire crane to be transferred based on the transfer path and the movement information, wherein the movement information includes speed information and movement direction information of the tire crane to be transferred.

12. The method according to claim 9, It is characterized in that The method further comprises: When the charging robot moves along the updated docking operation path, it scans the moving obstacles in the docking operation path in real time and avoids them.

13. The method according to claim 1, It is characterized in that The method further comprises: When the charging robot determines that the tire crane to be transferred is fully charged, the charging robot stops charging and separates from the tire crane to be transferred; The charging robot returns to the initial position.

14. A charging robot for port tire cranes, It is characterized in that The charging robot comprises: A communication unit, the communication unit is used to receive the transfer information and battery information sent by the tire crane to be transferred, the transfer information includes the current position and the target position of the tire crane to be transferred; A charging management unit, the charging management unit is used to determine whether the tire crane to be transferred needs to be charged based on the transfer information and the battery information; A map management unit, wherein the map management unit is used for, when it is determined that charging is required, the charging robot determines a docking position with the tire crane to be transferred based on the transfer information and the battery information; A path planning unit, the path planning unit is used to determine a docking operation path based on a port map, the docking position, and an initial position of the charging robot; A mobile unit is used to move along the docking operation path to the docking position and dock with the tire crane to be transferred so as to charge the tire crane to be transferred while transferring together with the tire crane to be transferred.

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