Port integrated mooring and charging device and method

Abstract

The invention discloses an integrated mooring charging device for a port. The integrated mooring charging device comprises a fixed platform, a butt joint adjusting device, a wireless charging power supply side and a vacuum adsorption device. A transverse shaft of the butt joint adjusting device is fixed to a fixed platform, a rotating plate sleeves the transverse shaft, a connecting frame is fixed to the rotating plate, a swing block is installed on the connecting frame through a vertical shaft, one end of a telescopic mechanism is fixedly connected with the swing block, and the other end of the telescopic mechanism is connected with a universal joint. The vertical adjusting mechanism is used for driving the telescopic mechanism to move in the vertical direction, and the horizontal adjusting mechanism is used for driving the telescopic mechanism to move in the horizontal direction; the wireless charging power supply side is mounted on the universal joint; and the adsorption disc is used for adsorbing the ship. The two-in-one design of wireless charging and vacuum mooring is adopted, the efficiency and safety of ship mooring and charging are remarkably improved, the telescopic mechanism, the vertical adjusting mechanism and the horizontal adjusting mechanism are all controlled by the control system, the precision of automatic butt joint and the charging efficiency are improved, and the service life of equipment is effectively prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of port wireless charging, and in particular to a port integrated mooring charging device and method. Background Art

[0002] After the ship docks at the pier, in order to effectively reduce the pollution emissions during the period of docking, the fuel-assisted generator power supply is stopped and the shipboard equipment is powered by shore-based power supply. In the past, when charging a ship, it was necessary to keep the device connected during use. The heavy wired charging cable limited the mobility of the device. After the ship was anchored, it was still affected by wind and waves and moved, which easily caused the charging cable to be damaged by friction. In order to solve the problem of wired charging, some wireless devices used in ships came into being, such as CN113459853A-a marine wireless charging system, CN114030380A-a follow-up device for wireless charging, CN114394005A-a swinging marine wireless charging device, etc. However, these wireless charging equipment generally have the following problems: during the charging process of the ship, it is easy to cause inaccurate docking or interrupted charging under the influence of waves or wind, which increases the complexity and maintenance cost of the system; in addition, the structure of these wireless charging equipment is relatively complex, the failure rate is high, and the degree of automation is not high. Summary of the invention

[0003] In view of the problems that the existing wireless charging devices are disturbed by wind and waves during the ship charging process, the docking is unstable, the degree of automation is low, and the structure is complex, the present invention provides a port integrated mooring charging device and method. The charging device combines the wireless charging technology with the vacuum mooring system, and realizes the swing of the telescopic mechanism in the up and down and left and right directions by designing a rotating plate that rotates along the horizontal axis and a swing block that rotates along the vertical axis. At the same time, with the telescopic function of the telescopic mechanism itself, the wireless charging power supply side can be docked with the charging interfaces of ships of different models; the adsorption plate is firmly adsorbed on the hull, which can effectively absorb the displacement caused by the shaking of the ship, realize the mooring of the ship at the port, and ensure the stability during the charging process.

[0004] The technical solution adopted by the present invention is:

[0005] A port integrated mooring charging device comprises a fixed platform, a docking adjustment device, a wireless charging power supply side and a vacuum adsorption device; a control system is arranged in the fixed platform; the docking adjustment device is integrally installed on the outside of the fixed platform, and comprises a transverse axis, a rotating plate, a connecting frame, a swing block, a telescopic mechanism, a universal joint, a vertical adjustment mechanism and a horizontal adjustment mechanism; the transverse axis is fixedly installed on the fixed platform, the rotating plate is sleeved on the transverse axis and can rotate along the transverse axis, the connecting frame is fixedly installed on the rotating plate, the swing block is installed on the connecting frame through a vertical axis and can rotate along the vertical axis, one end of the telescopic mechanism is fixedly connected to the swing block The telescopic mechanism is fixedly connected at one end, and the other end is connected to the universal joint; the vertical adjustment mechanism is installed below the telescopic mechanism to drive the telescopic mechanism to move in the vertical direction, and the horizontal adjustment mechanism is installed on the side of the telescopic mechanism to drive the telescopic mechanism to move in the horizontal direction; the telescopic mechanism, the vertical adjustment mechanism and the horizontal adjustment mechanism are respectively connected to the control system signal; the wireless charging power supply side is installed on the universal joint for docking with the charging interface of the ship; the vacuum adsorption device includes adsorption plates installed on both sides of the wireless charging power supply side, and the adsorption plates are used to adsorb the ship to prevent the wireless charging power supply side from being separated from the ship.

[0006] In the above scheme, a support frame is fixedly installed at the bottom end of the swing block, and the support frame extends to one side of the telescopic mechanism. The top end surface of the support frame is adaptably connected to the lower end surface of the telescopic mechanism, so that the support frame can drive the telescopic mechanism to move synchronously; the vertical adjustment mechanism is installed below the support frame to drive the support frame to move in the vertical direction; the horizontal adjustment mechanism is installed on the side of the support frame to drive the support frame to move in the horizontal direction.

[0007] In the above scheme, the charging device also includes a limiting device, which includes a U-shaped fixing frame and a push plate. Vertical limiting grooves are opened on the two opposite side walls of the U-shaped fixing frame. The two ends of the push plate are respectively adapted to be installed with the limiting grooves on both sides, and the push plate can move up and down along the limiting grooves; the support frame is placed on the push plate, the output end of the vertical adjustment mechanism is connected to the push plate, and the output end of the horizontal adjustment mechanism is connected to the support frame.

[0008] In the above scheme, the connecting frame includes connecting plates relatively fixed to the upper and lower sides of the rotating plate and a vertical axis connecting the two connecting plates, and the upper and lower ends of the vertical axis are respectively fixedly connected to the two connecting plates; the swing block is installed between the two connecting plates, and the vertical axis passes through the swing block, so that the swing block can rotate along the vertical axis.

[0009] In the above scheme, a displacement sensor and a camera are also installed on the fixed platform, and the displacement sensor and the camera are respectively connected to the control system signal; the displacement sensor is used to monitor the movement information of the ship and transmit it to the control system; the camera is used to collect ship image information and transmit it to the control system; the control system analyzes the distance change between the ship side and the shore side according to the ship movement information collected by the displacement sensor, calculates the speed change of the ship relative to the shore side, and ensures that the charging device completes the mooring and unmooring process within a reasonable speed and distance range; the control system identifies the ship and accurately locates the charging interface through an image processing algorithm based on the real-time ship displacement, speed change information and image information collected by the camera.

[0010] In the above scheme, during the docking and charging process, the control system accurately controls the vertical adjustment mechanism, horizontal adjustment mechanism and telescopic mechanism according to the real-time displacement and speed change information of the ship and the positioning information of the charging interface to ensure the accuracy of the charging equipment docking to the ship's charging interface.

[0011] In the above scheme, the vacuum adsorption device also includes a vacuum pump arranged inside the fixed platform, the exhaust port of the vacuum pump is connected to the vacuum pump pipe connector arranged at the bottom of the adsorption plate through a pipe, the vacuum pump is connected to the control system signal, and the suction flow of the vacuum pump is controlled by the control system; the vacuum adsorption device also includes a pressure sensor installed on the adsorption plate, the pressure sensor is connected to the control system signal, and the monitored contact pressure information of the adsorption plate is transmitted to the control system in real time; the control system adjusts the adsorption force of the adsorption plate in real time by controlling the suction flow of the vacuum pump according to the ship movement information monitored by the displacement sensor and the pressure information monitored by the pressure sensor, so as to ensure the stable docking between the wireless charging power supply side and the ship charging interface.

[0012] In the above solution, a power supply side power transmission cabinet is also integrated in the fixed platform, and the power supply side power transmission cabinet is connected to the wireless charging power supply side.

[0013] In the above scheme, the telescopic mechanism, the vertical adjustment mechanism and the horizontal adjustment mechanism adopt a telescopic cylinder or a hydraulic telescopic rod.

[0014] Correspondingly, the present invention also proposes a charging method for the above-mentioned port integrated mooring charging device. First, the displacement sensor measures the distance and displacement change between the ship and the fixed platform in real time to obtain the position and speed information of the ship; at the same time, the camera captures the image of the ship interface and generates the three-dimensional position information of the interface through binocular vision and image processing algorithm; based on these two information sources, the control system can monitor the approach status of the ship in real time and dynamically calculate the optimal docking path for the wireless charging power supply side to align with the ship interface; then, the control system controls the initial movement of the vertical adjustment mechanism and the horizontal adjustment mechanism to gradually make the wireless charging power supply side approach the ideal position of the ship interface, and at this time, the distance of the adsorption plate relative to the ship interface is controlled in the range of 30-50 cm; in this process, the control system further accurately identifies the interface position through the data of the camera, and fine-tunes the vertical adjustment mechanism and the horizontal adjustment mechanism in real time. Ensure that the power supply side and the interface are accurately aligned in height and horizontal directions; finally, the control system evaluates whether safe mooring can be carried out based on the ship's position and speed information collected by the displacement sensor. When the ship's position and speed changes are in the ideal range, the control system adjusts the telescopic mechanism to enable the wireless charging power supply side to achieve precise docking with the ship's charging interface. At the same time, the adsorption plate and the ship are fitted together. At this time, the vacuum pump is started through the control system to form a negative pressure between the adsorption plate and the hull to achieve stable mooring; during the charging process, the control system can adjust the telescopic mechanism, vertical adjustment mechanism and horizontal adjustment mechanism in real time according to the real-time data monitored by the displacement sensor and the camera to ensure stable docking between the wireless charging power supply side and the ship's interface; at the same time, the real-time feedback of the displacement sensor and the pressure sensor enables the control system to adjust the adsorption force according to the slight movement of the ship caused by wind and waves, ensuring the stability and continuity of the docking.

[0015] The beneficial effects produced by the present invention are:

[0016] The port integrated mooring charging device of the present invention realizes the swing of the telescopic mechanism in the up and down and left and right directions by designing a rotating plate rotating along the horizontal axis and a swinging block rotating along the vertical axis. At the same time, with the telescopic function of the telescopic mechanism itself, the wireless charging power supply side can be docked with the charging interface of ships of different models. When the charging device is docked with the ship, the vacuum pump is started to extract air, so that the adsorption disk generates negative pressure and is firmly adsorbed on the hull, which can effectively absorb the displacement caused by the shaking of the ship, realize the mooring of the ship at the port, and ensure the stability during the charging process. During the charging process, the ship will inevitably shake due to the influence of wind and waves or external forces. When the shaking amplitude is small, since the telescopic mechanism can swing freely in the up and down and left and right directions, it can shake synchronously with the ship. At the same time, with the universal joint at the end of the telescopic mechanism, the wireless charging power supply side can realize a small adaptive adjustment relative to the fixed platform, reducing damage to the charging device and extending the service life of the device. When the shaking amplitude is large, the length and angle can be adjusted adaptively through the telescopic mechanism, the vertical adjustment mechanism and the horizontal adjustment mechanism to ensure that the wireless charging power supply side and the ship charging interface are always stably docked during the charging process. At the same time, the real-time feedback from the displacement sensor and pressure sensor enables the control system to adjust the suction force according to the slight movement of the ship caused by wind and waves, ensuring the stability and continuity of docking. This two-in-one design of wireless charging and vacuum mooring significantly improves the efficiency and safety of ship mooring and charging.

[0017] The port integrated mooring charging device of the present invention has a simple structure, reduces the dependence on complex mechanical arm structures, and has relatively low production and maintenance costs. At the same time, the telescopic mechanism, vertical adjustment mechanism, horizontal adjustment mechanism and vacuum pump can be adjusted through feedback from the control system, which improves the accuracy of automatic docking and charging efficiency, and effectively extends the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of the port integrated mooring charging device of the present invention;

[0020] Figure 2 This is a schematic structural diagram of the port integrated mooring charging device of the present invention from another angle;

[0021] Figure 3 yes Figure 1The structural schematic diagram of the docking adjustment device of the port integrated mooring charging device shown;

[0022] Figure 4 yes Figure 1 An enlarged view of the local structure at location A of the port's integrated mooring charging device is shown.

[0023] In the figure: 10, fixed platform; 11, mounting slot;

[0024] 21. horizontal axis; 22. rotating plate; 23. connecting frame; 24. swing block; 241. supporting frame; 25. telescopic mechanism; 26. universal joint; 27. connecting plate; 28. vertical adjustment mechanism;

[0025] 30. Wireless charging power supply side;

[0026] 41. adsorption plate; 42. vacuum pump pipe connector; 43. vacuum pump exhaust port;

[0027] 51. Fixed frame; 52. Limiting groove; 53. Push plate. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] It should be noted that the illustrations provided in the embodiments of the present invention are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout type may also be more complicated.

[0030] In the present invention, it is also necessary to explain that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, if the terms "first" and "second" appear, they are only used for description and distinction purposes, and cannot be understood as indicating or implying relative importance.

[0031] like Figure 1-4As shown, this embodiment proposes a port integrated mooring charging device, including a fixed platform 10, a docking adjustment device, a wireless charging power supply side 30 and a vacuum adsorption device. The fixed platform 10 is used as the basic structure of the charging device, and a control system is arranged inside it, and a mounting groove 11 is opened on the front face. The docking adjustment device is integrally installed on the front face of the fixed platform 10, including a horizontal axis 21, a rotating plate 22, a connecting frame 23, a swing block 24, a telescopic mechanism 25, a universal joint 26, a connecting plate 27, a vertical adjustment mechanism 28 and a horizontal adjustment mechanism. Among them, the horizontal axis 21 is fixedly installed in the installation groove 11 on the front end surface of the fixed platform 10; the rotating plate 22 is mounted on the horizontal axis 21 and can rotate along the horizontal axis 21; the connecting frame 23 is fixedly installed at the front end of the rotating plate 22; the swing block 24 is installed on the connecting frame 23 through the vertical axis and can rotate along the vertical axis; the telescopic mechanism 25 is slightly tilted upward, one end of the telescopic mechanism 25 is fixedly connected to the swing block 24, and the other end is connected to the universal joint 26; the connecting plate 27 is fixedly installed on the universal joint 26, and is used to install the wireless charging power supply side 30. The vertical adjustment mechanism 28 is installed below the telescopic mechanism 25 to drive the telescopic mechanism 25 to move in the vertical direction, and the horizontal adjustment mechanism is installed on the side of the telescopic mechanism 25 to drive the telescopic mechanism 25 to move in the horizontal direction. The wireless charging power supply side 30 is installed on the universal joint 26, and is used to dock with the charging interface of the ship. A coil is arranged in the wireless charging power supply side 30, and electromagnetic wave energy is sent to the ship through the coil to realize wireless charging. The vacuum adsorption device includes adsorption plates 41 installed on both sides of the wireless charging power supply side 30. The adsorption plates 41 are used to adsorb the ship to prevent the wireless charging power supply side 30 from being separated from the ship.

[0032] The port integrated mooring charging device of the present invention realizes the swing of the telescopic mechanism 25 in the up-down and left-right directions by designing a rotating plate 22 rotating along the horizontal axis 21 and a swing block 24 rotating along the vertical axis. At the same time, with the telescopic function of the telescopic mechanism 25 itself, the wireless charging power supply side 30 can be docked with the charging interface of ships of different models. When the charging device is docked with the ship, the vacuum pump is started to extract air, so that the adsorption plate 41 generates negative pressure and is firmly adsorbed on the hull to complete the docking of the charging device. During the charging process, the ship will inevitably shake due to the influence of wind and waves or external forces. When the shaking amplitude is small, since the telescopic mechanism 25 can swing freely in the up-down and left-right directions, it can shake synchronously with the ship. At the same time, with the universal joint 26 at the end of the telescopic mechanism 25, the wireless charging power supply side 30 can achieve a small range of adaptive adjustment relative to the fixed platform 10, reducing damage to the charging device and extending the service life of the device. When the shaking amplitude is large, the telescopic mechanism 25, the vertical adjustment mechanism 28 and the horizontal adjustment mechanism can be used to adjust the length and angle to ensure that the wireless charging power supply side 30 is always stably docked with the ship charging interface during the charging process. It should be noted that the telescopic mechanism 25, the vertical adjustment mechanism 28 and the horizontal adjustment mechanism are respectively connected to the control system signal, and the operation of each mechanism is controlled by the control system to realize the telescopic and angle adjustment of the wireless charging power supply side 30, so as to realize the automatic control of docking. When external wind and waves or other external forces affect the hull, the adsorption force of the adsorption plate 41 can be adjusted in real time through the feedback mechanism to maintain the safety and stability of the ship.

[0033] Further optimization, a support frame 241 is fixedly installed at the bottom end of the swing block 24, and the support frame 241 extends to one side of the telescopic mechanism 25. The top surface of the support frame 241 is adapted to be connected with the lower end surface of the telescopic mechanism 25, so that the support frame 241 can drive the telescopic mechanism 25 to move synchronously. The vertical adjustment mechanism 28 is installed below the support frame 241 to drive the support frame 241 to move in the vertical direction. The horizontal adjustment mechanism is installed on the side of the support frame 241 to drive the support frame 241 to move in the horizontal direction.

[0034] Further optimization, the charging device also includes a limiting device, which includes a U-shaped fixing frame 51 and a push plate 53. The U-shaped fixing frame 51 is fixedly installed in front of the fixed platform 10. Vertical limiting grooves 52 are opened on the two opposite side walls of the U-shaped fixing frame 51. The two ends of the push plate 53 are respectively adapted to be installed with the limiting grooves 52 on both sides, and the push plate 53 can move up and down along the limiting grooves 52. The support frame 241 is placed on the push plate 53, and the output end of the vertical adjustment mechanism 28 is connected to the push plate 53. The vertical adjustment mechanism 28 can synchronously adjust the inclination angle of the telescopic mechanism 25 by adjusting the position of the push plate 53; the output end of the horizontal adjustment mechanism is connected to the support frame 241, and the horizontal adjustment mechanism can directly push the support frame 241 to move left and right relative to the push plate 53, thereby synchronously adjusting the horizontal position of the telescopic mechanism 25.

[0035] Further optimized, the connecting frame 23 includes connecting plates relatively fixed to the upper and lower sides of the rotating plate 22 and a vertical shaft connecting the two connecting plates, and the upper and lower ends of the vertical shaft are respectively fixedly connected to the two connecting plates. The swing block 24 is installed between the two connecting plates, and the vertical shaft passes through the swing block 24, so that the swing block 24 can rotate along the vertical axis.

[0036] For further optimization, displacement sensors and cameras are also installed on the fixed platform, which are connected to the control system signal respectively; the displacement sensor is used to monitor the ship's movement information and transmit it to the control system; the camera is used to collect ship image information and transmit it to the control system; the control system analyzes the distance change between the ship and the shore according to the ship's movement information collected by the displacement sensor, calculates the speed change of the ship relative to the shore, and ensures that the charging device completes the mooring and unmooring process within a reasonable speed and distance range; the control system identifies the ship and accurately locates the charging interface through image processing algorithms based on the real-time ship displacement, speed change information and image information collected by the camera. During the docking and charging process, the control system accurately controls the vertical adjustment mechanism, horizontal adjustment mechanism and telescopic mechanism according to the real-time displacement and speed change information of the ship and the positioning information of the charging interface to ensure the accuracy of the charging equipment docking to the ship's charging interface.

[0037] Further optimization, the vacuum adsorption device also includes a vacuum pump arranged inside the fixed platform 10, and the vacuum pump exhaust port 43 is connected to the vacuum pump pipe connector 42 arranged at the bottom of the adsorption plate 41 through a pipe. When in use, the vacuum pump draws air so that the adsorption plate 41 adsorbs the side wall of the ship to prevent the ship from detaching. The vacuum pump is connected to the control system signal, and the control system controls the suction flow of the vacuum pump to adjust the adsorption force of the adsorption plate 41 in real time. The vacuum adsorption device also includes a pressure sensor installed on the adsorption plate, and the pressure sensor is connected to the control system signal to transmit the monitored contact pressure information of the adsorption plate to the control system in real time. The control system adjusts the adsorption force of the adsorption plate in real time by controlling the suction flow of the vacuum pump according to the ship movement information monitored by the displacement sensor and the pressure information monitored by the pressure sensor, so as to ensure the stable docking between the wireless charging power supply side and the ship charging interface.

[0038] For further optimization, a power supply side power transmission cabinet is also integrated in the fixed platform 10 , and the power supply side power transmission cabinet is connected to the wireless charging power supply side 30 .

[0039] For further optimization, the telescopic mechanism 25, the vertical adjustment mechanism 28 and the horizontal adjustment mechanism adopt telescopic cylinders or hydraulic telescopic rods.

[0040] Correspondingly, the present invention also proposes a charging method for the above-mentioned port integrated mooring charging device:

[0041] First, the displacement sensor measures the distance and displacement changes between the ship and the fixed platform in real time to obtain the ship's position and speed information; at the same time, the camera captures the image of the ship's interface and generates the three-dimensional position information of the interface through binocular vision and image processing algorithms; based on these two information sources, the control system can monitor the approach status of the ship in real time and dynamically calculate the optimal docking path for the wireless charging power supply side to align with the ship's interface.

[0042] Then, the control system controls the initial movement of the vertical adjustment mechanism and the horizontal adjustment mechanism to make the wireless charging power supply side gradually approach the ideal position of the ship interface. At this time, the distance between the adsorption plate and the ship interface is controlled in the range of 30-50 cm; in this process, the control system further accurately identifies the interface position through the camera data, and fine-tunes the vertical adjustment mechanism and the horizontal adjustment mechanism in real time to ensure the precise alignment of the power supply side and the interface in height and horizontal directions.

[0043] Finally, the control system evaluates whether safe mooring is possible based on the ship's position and speed information collected by the displacement sensor. When the ship's position and speed changes are in the ideal range, the control system adjusts the telescopic mechanism to achieve precise docking between the wireless charging power supply side and the ship's charging interface. At the same time, the adsorption plate and the ship are fitted together. At this time, the vacuum pump is started through the control system to form negative pressure between the adsorption plate and the hull to achieve stable mooring.

[0044] During the charging process, the control system can adjust the telescopic mechanism, vertical adjustment mechanism and horizontal adjustment mechanism in real time according to the real-time data monitored by the displacement sensor and the camera to ensure the stable docking between the wireless charging power supply side and the ship interface. Specifically, when the shaking amplitude is small, since the telescopic mechanism 25 can swing freely in the up and down and left and right directions, it can shake synchronously with the ship. At the same time, the universal joint 26 at the end of the telescopic mechanism 25 enables the wireless charging power supply side 30 to achieve a small adaptive adjustment relative to the fixed platform 10, reducing damage to the charging device and extending the service life of the device. When the shaking amplitude is large, the telescopic mechanism 25, the vertical adjustment mechanism 28 and the horizontal adjustment mechanism can be used to adjust the length and angle to ensure that the wireless charging power supply side 30 is always stably docked with the ship charging interface during the charging process. At the same time, the real-time feedback of the displacement sensor and the pressure sensor enables the control system to adjust the adsorption force according to the slight movement of the ship caused by wind and waves, ensuring the stability and continuity of the docking.

[0045] This coordinated control logic enables the docking process to maintain high accuracy, stability and safety in complex environments.

[0046] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0047] The order of execution of each step in the above embodiment does not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0048] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A port integrated mooring charging device, characterized in that: It includes a fixed platform, a docking adjustment device, a wireless charging power supply side and a vacuum adsorption device; A control system is provided in the fixed platform; The docking adjustment device is installed as a whole on the outer side of the fixed platform, and includes a transverse axis, a rotating plate, a connecting frame, a swing block, a telescopic mechanism, a universal joint, a vertical adjustment mechanism and a horizontal adjustment mechanism; the transverse axis is fixedly installed on the fixed platform, the rotating plate is sleeved on the transverse axis and can rotate along the transverse axis, the connecting frame is fixedly installed on the rotating plate, the swing block is installed on the connecting frame through a vertical axis and can rotate along the vertical axis, one end of the telescopic mechanism is fixedly connected to the swing block, and the other end is connected to the universal joint; the vertical adjustment mechanism is installed below the telescopic mechanism to drive the telescopic mechanism to move in the vertical direction, and the horizontal adjustment mechanism is installed on the side of the telescopic mechanism to drive the telescopic mechanism to move in the horizontal direction; the telescopic mechanism, the vertical adjustment mechanism and the horizontal adjustment mechanism are respectively connected to the control system signal; The wireless charging power supply side is installed on the universal joint and is used to dock with the charging interface of the ship; The vacuum adsorption device comprises adsorption plates installed on both sides of the wireless charging power supply side, and the adsorption plates are used to adsorb the ship to prevent the wireless charging power supply side from being separated from the ship.

2. The port integrated mooring charging device according to claim 1, characterized in that: A support frame is fixedly installed at the bottom end of the swing block, and the support frame extends to one side of the telescopic mechanism. The top end surface of the support frame is adaptably connected to the lower end surface of the telescopic mechanism, so that the support frame can drive the telescopic mechanism to move synchronously; the vertical adjustment mechanism is installed below the support frame to drive the support frame to move in the vertical direction; the horizontal adjustment mechanism is installed on the side of the support frame to drive the support frame to move in the horizontal direction.

3. The port integrated mooring charging device according to claim 2, characterized in that: The charging device also includes a limiting device, which includes a U-shaped fixing frame and a push plate. Vertical limiting grooves are opened on two opposite side walls of the U-shaped fixing frame. The two ends of the push plate are respectively adapted to be installed in the limiting grooves on both sides, and the push plate can move up and down along the limiting grooves; the support frame is placed on the push plate, the output end of the vertical adjustment mechanism is connected to the push plate, and the output end of the horizontal adjustment mechanism is connected to the support frame.

4. The port integrated mooring charging device according to claim 1, characterized in that: The connecting frame includes connecting plates relatively fixed to the upper and lower sides of the rotating plate and a vertical axis connecting the two connecting plates, and the upper and lower ends of the vertical axis are respectively fixedly connected to the two connecting plates; the swing block is installed between the two connecting plates, and the vertical axis passes through the swing block, so that the swing block can rotate along the vertical axis.

5. The port integrated mooring charging device according to claim 1, characterized in that: A displacement sensor and a camera are also installed on the fixed platform, and the displacement sensor and the camera are respectively connected to the control system signal; the displacement sensor is used to monitor the movement information of the ship and transmit it to the control system; the camera is used to collect ship image information and transmit it to the control system; the control system analyzes the distance change between the ship side and the shore side according to the ship movement information collected by the displacement sensor, calculates the speed change of the ship relative to the shore side, and ensures that the charging device completes the mooring and unmooring process within a reasonable speed and distance range; the control system identifies the ship and accurately locates the charging interface through an image processing algorithm based on the real-time ship displacement, speed change information and image information collected by the camera.

6. The port integrated mooring charging device according to claim 5, characterized in that: During the docking and charging process, the control system accurately controls the vertical adjustment mechanism, horizontal adjustment mechanism and telescopic mechanism according to the real-time displacement and speed change information of the ship and the positioning information of the charging interface to ensure the accuracy of the charging equipment docking to the ship's charging interface.

7. The port integrated mooring charging device according to claim 5, characterized in that: The vacuum adsorption device also includes a vacuum pump arranged inside the fixed platform, and the vacuum pump exhaust port is connected to the vacuum pump pipe connector arranged at the bottom of the adsorption plate through a pipe. The vacuum pump is connected to the control system signal, and the suction flow of the vacuum pump is controlled by the control system; the vacuum adsorption device also includes a pressure sensor installed on the adsorption plate, and the pressure sensor is connected to the control system signal to transmit the monitored contact pressure information of the adsorption plate to the control system in real time; the control system adjusts the adsorption force of the adsorption plate in real time by controlling the suction flow of the vacuum pump according to the ship movement information monitored by the displacement sensor and the pressure information monitored by the pressure sensor, so as to ensure the stable docking between the wireless charging power supply side and the ship charging interface.

8. The port integrated mooring charging device according to claim 1, characterized in that: A power supply side power transmission cabinet is also integrated in the fixed platform, and the power supply side power transmission cabinet is connected to the wireless charging power supply side.

9. The port integrated mooring charging device according to claim 1, characterized in that: The telescopic mechanism, the vertical adjustment mechanism and the horizontal adjustment mechanism adopt a telescopic oil cylinder or a hydraulic telescopic rod.

10. The charging method of the port integrated mooring charging device according to any one of claims 1 to 9, characterized in that: First, the displacement sensor measures the distance and displacement changes between the ship and the fixed platform in real time to obtain the position and speed information of the ship. At the same time, the camera captures the image of the ship interface and generates the three-dimensional position information of the interface through binocular vision and image processing algorithm. Based on these two information sources, the control system can monitor the approach status of the ship in real time and dynamically calculate the optimal docking path for the wireless charging power supply side to align with the ship interface; Then, the control system controls the initial movement of the vertical adjustment mechanism and the horizontal adjustment mechanism, so that the wireless charging power supply side gradually approaches the ideal position of the ship interface, and at this time the distance between the adsorption plate and the ship interface is controlled in the range of 30-50 cm; During this process, the control system further accurately identifies the position of the interface through the data from the camera, and fine-tunes the vertical adjustment mechanism and the horizontal adjustment mechanism in real time to ensure that the power supply side and the interface are accurately aligned in height and horizontal directions; Finally, the control system evaluates whether safe mooring is possible based on the ship's position and speed information collected by the displacement sensor. When the ship's position and speed change are in the ideal range, the control system adjusts the telescopic mechanism to achieve precise docking between the wireless charging power supply side and the ship's charging interface. At the same time, the adsorption plate and the ship are fitted together. At this time, the control system starts the vacuum pump to form a negative pressure between the adsorption plate and the hull to achieve stable mooring. During the charging process, the control system can adjust the telescopic mechanism, vertical adjustment mechanism and horizontal adjustment mechanism in real time according to the real-time data monitored by the displacement sensor and camera to ensure the stable connection between the wireless charging power supply side and the ship interface; At the same time, real-time feedback from displacement sensors and pressure sensors enables the control system to adjust the adsorption force according to the slight movement of the ship caused by wind and waves, ensuring the stability and continuity of docking.

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