Automatic charging method and system for crane and storage medium

Abstract

The invention relates to the technical field of charging control, in particular to an automatic charging method and system for a crane and a storage medium. The method comprises the following steps: S1, acquiring the total charging amount of a crane power supply and the charging efficiency of each sub-power supply; s2, correcting the charging efficiency curve corresponding to the sub-power supply, acquiring a target charging time period in each chargeable time period according to the working schedule of the crane, the charging efficiency curve of each sub-power supply, the total charging amount and the tiered electricity price, and adding the target charging time period into a first list; s3, charging the crane power supply according to the first list, and adjusting the output power of the second charging station; and S4, in the target charging time period, whether charging is ended or not is judged according to the electric quantity, the total charging amount and the charging time of the crane. The problems that a crane power supply is high in charging cost and poor in safety are solved, the charging cost is saved, and the charging safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of charging control technology, and more specifically to an automatic charging method, system and storage medium for a crane. Background Art

[0002] With the continuous development of intelligent and automated technologies, automatic charging technology has also been significantly improved. Through autonomous perception, autonomous decision-making and autonomous charging, work efficiency and safety are improved. As one of the important engineering machinery equipment, the application of automatic charging technology of cranes has also received widespread attention. For automatic charging technology, similar prior art includes a Chinese patent with publication number CN118386909A, which proposes an automatic charging system, method and storage medium for electric vehicles, including: a charging robot, the charging robot includes a plug connector, the plug connector is used to connect the electric vehicle; a charging pile, the charging pile is connected to the charging robot; a communication server, the communication server charging robot, the electric vehicle and the charging pile establish a communication connection; a cloud server, the cloud server establishes a communication connection with the communication server, and receives the charging request of the electric vehicle from the communication server, and learns that the electric vehicle has a charging demand. The communication server sends the charging request of the electric vehicle to the cloud server. The cloud server controls the charging robot to move to the coordinates of the electric vehicle according to the charging request of the electric vehicle, and electrically connects the charging pile with the electric vehicle through the charging robot, so that the electric vehicle is charged through the charging pile, which saves the process of manually finding the charging pile and increases the convenience of charging the electric vehicle. In addition, similar prior art includes a US patent with publication number US20230406130A1, which proposes an automatic charging process for a motor vehicle, the method comprising: transmitting a charging request for a battery from a first data transmission unit to a second data transmission unit, the second data transmission unit being part of a charging management system and connected to a computing unit of the charging management system, the charging management system being assigned a motor vehicle parking lot including a plurality of parking spaces; determining the battery status of the battery; considering the battery status, determining by the computing unit a charging strategy for charging the battery of the motor vehicle; moving the motor vehicle to a suitable charging position in the parking lot, and charging the battery of the motor vehicle at a suitable charging position according to the charging strategy by a charging station assigned to the suitable charging position. Both of the above patents solve the problem of automatic charging, but do not consider the problem of saving charging costs and improving charging safety. Summary of the invention

[0003] In order to better solve the above problems, the present invention provides an automatic charging method for a crane, the method comprising:

[0004] Step S1: monitoring the first remaining power of the crane power supply in real time through the monitoring module, and when the first remaining power is less than or equal to a first threshold, searching for the location of the crane closest to the first charging station, charging through the first charging station, and obtaining the total charging amount of the crane power supply and the charging efficiency of each sub-power supply after a preset time period;

[0005] Step S2: Correcting the charging efficiency curve corresponding to the sub-power source based on the charging efficiency of the sub-power source, obtaining a target charging time period within each chargeable time period according to the working schedule of the crane, the charging efficiency curve of each sub-power source and the step electricity price table, adding each target charging time period to the first list, obtaining the second charging station closest to the crane before the target charging time period, and adding the location of the second charging station to the first list;

[0006] Step S3: charging the crane power supply according to each of the target charging time periods in the first list and the corresponding second charging stations, and also adjusting and obtaining the output power of the second charging station according to the charging power of each sub-power supply in the crane power supply and the actual charging power of the corresponding second charging station;

[0007] Step S4: within the target charging time period, determining whether to end charging according to the power of the crane, the total charging amount and the charging time.

[0008] As a preferred technical solution of the present invention, in step S1, obtaining the total charging amount of the crane power supply and the charging efficiency of each sub-power supply includes:

[0009] Step S11: when the crane power source starts to be charged through the first charging station, the initial remaining power of each of the sub-power sources in the crane power source is obtained, and after a preset time period, the second remaining power of the i-th sub-power source is obtained, and the difference between the second remaining power corresponding to the i-th sub-power source and the initial remaining power is calculated, and the ratio of the difference to the preset time period is used as the charging efficiency of the i-th sub-power source, wherein the value range of i is a positive integer greater than or equal to 1;

[0010] Step S12: The sum of the corresponding power of each sub-power source when the crane power source was fully charged last time is taken as the total charging amount.

[0011] As a preferred technical solution of the present invention, step S2 includes:

[0012] Step S21: comparing the charging efficiency of each of the sub-power sources with the corresponding historical charging efficiency in the charging efficiency curve to obtain a comparison difference, and taking the product of the comparison difference and the adjustment coefficient as the adjustment amount, and taking the sum of the historical charging efficiency corresponding to each charging stage of the sub-power source and the adjustment amount as the charging efficiency corresponding to each charging stage in the charging efficiency curve, wherein the adjustment coefficient is the ratio of the historical charging efficiency of the i-th charging stage to the historical charging efficiency of the first charging stage, and when the charging efficiency is greater than the historical charging efficiency, the adjustment amount is a positive value, and when the charging efficiency is less than the historical charging efficiency, the adjustment amount is a negative value;

[0013] Step S22: based on the working schedule of the crane, a plurality of charging time periods and a plurality of working time periods of the crane power supply are obtained, and the power consumption of the crane in the working time period after the j-th charging time period is obtained. When the power consumption is less than or equal to the third remaining power of the crane power supply at the start time of the j-th charging time period, the first time period with the lowest electricity price in the tiered electricity price table corresponding to the j-th charging time period is obtained, and the first time period is used as the target charging time period;

[0014] Step S23: when the power consumption is greater than the third remaining power, the difference between the consumption and the third remaining power is used as the minimum charging capacity; the second time period with the lowest electricity price in the j-th rechargeable time period is obtained, and the charging efficiency and charging capacity of each sub-power source in the second time period in the j-th rechargeable time period are calculated in sequence based on the remaining power of each sub-power source and the charging efficiency curve; the total charging capacity of the crane power source in the second time period is obtained based on the charging capacity of each sub-power source, and when the total charging capacity is greater than or equal to the minimum charging capacity, when the electricity price of the second time period is the lowest electricity price in the step electricity price table, the second time period is used as the target charging time period in the j-th rechargeable time period, and when the electricity price of the second time period is greater than the lowest electricity price in the step electricity price table, the third time period in the second time period is used as the target charging time period, wherein the total charging capacity in the third time period is equal to the minimum charging capacity, and the value of j is a positive integer greater than or equal to 2.

[0015] As a preferred technical solution of the present invention, step S2 further includes:

[0016] When the charge amount of the first time period within the j-th chargeable time period is less than the minimum charge amount, searching for a second time period with an electricity price closest to the first time period within the j-th chargeable time period, and using the second time period and the first time period as target charging time periods within the j-th chargeable time period;

[0017] According to the current position of the crane before the target charging time period, the second charging station closest to the current position of the crane is acquired, and the target charging time period within the j-th chargeable time period and the corresponding position of the second charging station are added to the first list.

[0018] As a preferred technical solution of the present invention, step S3 includes:

[0019] Step S31: obtaining the position of the second charging station corresponding to each target charging time from the first list, obtaining the distance between the current position of the crane and the position of the second charging station within a set time period before the target charging time, and adjusting the speed of the crane based on the distance and the target charging time, so that the crane arrives at the corresponding second charging station before the target charging time period;

[0020] Step S32: charging the crane power supply through the charging pile in the second charging station within the target charging time period, and during the charging process, obtaining the minimum charging power in the sub-power supply, calculating the total charging power of the crane power supply based on the charging power ratio between the minimum charging power and other sub-power supplies, and calculating the power difference between the total charging power and the real charging power output by the charging pile in the second charging station, when the power difference is less than or equal to the set difference, the real charging power does not need to be adjusted, and when the power difference is greater than the set difference, adjusting the real charging power so that the power difference between the real charging power and the total charging power is less than or equal to the set difference.

[0021] As a preferred technical solution of the present invention, step S3 also includes: when the difference between the remaining power and the full power of any one of the sub-power supplies is less than or equal to a second threshold value, the sub-power supply is used as a sub-power supply to be charged, and the difference between the actual charging power and the first power is used as the output power of the corresponding charging pile in the second charging station, wherein the first power is the charging power of the sub-power supply to be charged.

[0022] As a preferred technical solution of the present invention, step S4 includes: within the target charging time period, when the crane power supply is charged by the corresponding second charging station, when the power of the crane power supply is greater than or equal to the total charging amount or the charging time is greater than or equal to the duration of the target charging time period, stopping charging the crane power supply.

[0023] As a preferred technical solution of the present invention, the crane power supply includes a plurality of sub-power supplies, and the plurality of sub-power supplies are connected in parallel.

[0024] The present invention also provides an automatic charging system for a crane, the system is used to implement the above method, and is characterized in that the system comprises:

[0025] a calculation unit, configured to monitor a first remaining power of a crane power source, search for a location of the crane closest to a first charging station when the first remaining power is less than or equal to a first threshold, charge the crane through the first charging station, and obtain a total charge amount of the crane power source and a charging efficiency of each sub-power source after a preset time period;

[0026] a correction unit, configured to correct a charging efficiency curve corresponding to the sub-power source based on the charging efficiency of the sub-power source;

[0027] The generating unit is configured to: correct the charging efficiency curve corresponding to the sub-power source based on the charging efficiency of the sub-power source, obtain a target charging time period within each chargeable time period according to the working schedule of the crane, the charging efficiency curve of each sub-power source and the step electricity price table, add each target charging time period to the first list, obtain a second charging station closest to the crane before the target charging time period, and add the position of the second charging station to the first list;

[0028] a power adjustment unit, configured to charge the crane power supply according to each of the target charging time periods and the corresponding second charging stations in the first list, and to adjust and obtain the output power of the second charging station according to the charging power of each sub-power supply in the crane power supply and the actual charging power of the corresponding second charging station;

[0029] The judgment unit is used to judge whether to end charging according to the power of the crane, the total charging amount and the charging time within the target charging time period.

[0030] The present invention also provides a computer storage medium, wherein the storage medium stores program instructions, wherein when the program instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned method.

[0031] Compared with the prior art, the beneficial effects of the present invention are at least as follows:

[0032] The present invention monitors the first remaining power of the crane power supply, and when the first remaining power is less than the first threshold, measures the charging efficiency of each sub-power supply, obtains the total charging amount of the crane power supply, and corrects the charging efficiency curve of each sub-power supply according to the charging efficiency of each sub-power supply, thereby improving the calculation accuracy of the charging time, and obtains the target charging time period within each chargeable time period according to the crane's work schedule, the charging efficiency curve of each sub-power supply, the total charging amount and the ladder electricity price table, and generates the first list based on the target charging time period and the corresponding second charging station position. Charging the crane power supply through the first list can not only save the charging cost to the maximum extent, but also adjust the output power of the charging pile corresponding to the crane in the second charging station according to the size relationship between the total charging power of the crane power supply and the actual charging during the charging process, thereby ensuring the safety of the charging process. Through the mutual cooperation of the above technical solutions, not only the cost of automatic charging can be reduced, but also the safety of the charging process can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a flow chart of the automatic charging method for a crane according to the present invention;

[0034] Figure 2 The figure is a structural diagram of the automatic charging system for cranes according to the present invention. DETAILED DESCRIPTION

[0035] 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 intended to limit the present invention.

[0036] The present invention provides an automatic charging method for a crane, such as Figure 1 As shown, the method comprises the following steps:

[0037] Step S1: monitoring a first remaining power of a crane power source within a set time period, and when the first remaining power is less than or equal to a first threshold, searching for a location of the crane closest to a first charging station, charging the crane through the first charging station, and obtaining a total charging amount of the crane power source and a charging efficiency of each sub-power source after a preset time period;

[0038] Specifically, the set time section is a time period after the work of the previous day is finished, and the first remaining power of the crane power supply is monitored by the monitoring module. When the first remaining power is less than the first threshold, that is, the remaining power is small, the position of the crane closest to the first charging station is searched for charging, and the charging efficiency of the sub-power supply and the total charging amount of the crane power supply are detected. When the crane power supply is charged by the first charging station, the initial remaining power of each of the sub-power supplies in the crane power supply is obtained, and after charging for a preset time period, the second remaining power of each of the sub-power supplies is obtained, and the second remaining power and the initial remaining power of each of the sub-power supplies are calculated. The difference in amount, wherein the second remaining amount and the initial remaining amount of the sub-power source are the percentages of the amount in the sub-power source to the total amount that can be accommodated, that is, the charging amount of the sub-power source within the preset time period, and the charging amount of the sub-power source per unit time, that is, the charging efficiency of the sub-power source, is obtained according to the ratio of the charging amount to the preset time period, and the total charging amount of the crane power source is taken as the sum of the amounts of each of the sub-power sources when the crane power source was fully charged last time. Through the technical solution, by obtaining the charging efficiency of each of the sub-power sources and the total charging amount of the crane power source, it is convenient to calculate the target charging time of each sub-power source and the charging end time of the crane power source.

[0039] Step S2: Correcting the charging efficiency curve corresponding to the sub-power source based on the charging efficiency of the sub-power source, obtaining a target charging time period within each chargeable time period according to the working schedule of the crane, the charging efficiency curve of each sub-power source and the step electricity price table, adding each target charging time period to the first list, obtaining the second charging station closest to the crane before the target charging time period, and adding the location of the second charging station to the first list;

[0040] Specifically, by correcting the charging efficiency curve of each of the above-mentioned sub-power sources, the calculation accuracy of the charging time is improved. Through the above-mentioned work schedule, multiple working time periods and multiple idle time periods of the above-mentioned crane in a day can be obtained, and the power consumption of the above-mentioned crane in the above-mentioned working time period after the j-th rechargeable time period is obtained in time sequence. The above-mentioned power consumption can be calculated according to the working power and working time of the above-mentioned crane. When the above-mentioned power consumption is less than or equal to the above-mentioned third remaining power, at this time, the power state of the above-mentioned crane power supply may not be 100%. Therefore, the above-mentioned first time period with the lowest electricity price in the step electricity price table in the above-mentioned j-th rechargeable time period is taken as the above-mentioned target charging time period. When the above-mentioned power consumption is greater than the above-mentioned third remaining power, the difference between the two is taken as the above-mentioned minimum charging amount, and the above-mentioned second time period with the lowest electricity price in the above-mentioned j-th rechargeable time period is obtained, and the charging efficiency of each of the above-mentioned sub-power sources in the above-mentioned second time period is calculated based on the remaining power of each of the above-mentioned sub-power sources and the corresponding above-mentioned charging efficiency curve, and the above-mentioned charging amount of each sub-power source in the above-mentioned second time period is calculated based on the above-mentioned charging efficiency and the duration of the above-mentioned second time period, and the sum of the charging amounts of all the above-mentioned sub-power sources is calculated. As the above-mentioned total charging amount, when the above-mentioned total charging amount is greater than or equal to the above-mentioned minimum charging amount, if the electricity price of the second time period is the lowest electricity price in the above-mentioned ladder electricity price, in addition to meeting the above-mentioned minimum charging amount, the power state of the above-mentioned crane power supply may not be 100%. Due to the low electricity price, charging can still be continued at this time, that is, the above-mentioned second time period is taken as the above-mentioned target charging time period. Conversely, when the electricity price in the above-mentioned second time period is not the lowest electricity price in the above-mentioned ladder electricity price, the third time period that just meets the above-mentioned minimum charging amount is taken as the above-mentioned target charging time period. When the above-mentioned total charging amount is less than the above-mentioned minimum charging amount, by searching the above-mentioned fourth time period in the above-mentioned j-th rechargeable time period, wherein the above-mentioned fourth time period is the time period with the lowest electricity price in the above-mentioned j-th rechargeable time period except the above-mentioned second time period, and the sum of the charging amounts of the above-mentioned second time period and the above-mentioned fourth time period is equal to the above-mentioned minimum charging amount, the above-mentioned second time period and the above-mentioned fourth time period are taken as the above-mentioned target charging time period, and each of the above-mentioned target charging time period and the corresponding second charging station position are added to the above-mentioned first list. Through the above-mentioned technical solution, on the premise of meeting the minimum charging amount, the charging cost is further saved.

[0041] Step S3: charging the crane power supply according to each of the target charging time periods in the first list and the corresponding second charging stations, and adjusting the output power of the second charging station according to the charging power of each sub-power supply in the crane power supply and the actual charging power of the corresponding second charging station;

[0042] Specifically, according to the position of the second charging station corresponding to each of the target charging times in the first list, the position corresponding to the second charging station is reached before the target charging time period, the charging power of each of the sub-power sources stored in the storage unit is used to obtain the minimum charging power among the sub-power sources, the ratio between the charging power of other sub-power sources and the minimum charging power is calculated, the charging power of other sub-power sources is obtained based on the ratio and the minimum charging power, and the sum of the charging power of other sub-power sources and the minimum charging power is used as the total charging power, and the total charging power is compared with the real charging power. When the power difference between the total charging power and the real charging power is less than or equal to the set difference, the real charging power does not need to be adjusted. When the power difference between the real charging power and the total charging power is greater than the set difference, the real charging power is increased or decreased so that the power difference between the real charging power and the total charging power is less than or equal to the set difference. Through the technical solution, the charging speed is improved while ensuring charging safety.

[0043] Step S4: within the target charging time period, determining whether to end charging according to the power of the crane, the total charging amount and the charging time.

[0044] Specifically, when the crane power supply is charged within the target charging time period, when the power level of the crane power supply is greater than or equal to the total charging amount, that is, the crane power supply has completed charging and the power level is 100%, then the crane power supply is stopped from being charged. Furthermore, since the electricity price within the target charging time period is not necessarily the lowest electricity price in the tiered electricity price table, charging should also be stopped at the end of the target charging time period. In summary, when any one of the above two conditions is met, the crane power supply should be stopped from being charged. Through the above technical solution, the crane power supply can be charged within the target charging time period in the most economical way.

[0045] Furthermore, in the step S1, obtaining the charging efficiency of each sub-power supply in the crane power supply and the total charging amount of the crane power supply includes:

[0046] Step S11: when the crane power source starts to be charged through the first charging station, the initial remaining power of each of the sub-power sources in the crane power source is obtained, and after a preset time period, the second remaining power of the i-th sub-power source is obtained, and the difference between the second remaining power corresponding to the i-th sub-power source and the initial remaining power is calculated, and the ratio of the difference to the preset time period is used as the charging efficiency of the i-th sub-power source, wherein the value range of i is a positive integer greater than or equal to 1;

[0047] Step S12: The sum of the corresponding power of each sub-power source when the crane power source was fully charged last time is taken as the total charging amount.

[0048] Specifically, when the crane power supply is charged by the first charging station, the amount of electricity in the crane power supply is relatively small. The initial remaining electricity of each of the sub-power supplies in the crane power supply is obtained, and after charging for a preset time period, the second remaining electricity of each of the sub-power supplies is obtained, and the difference between the second remaining electricity and the initial remaining electricity of each of the sub-power supplies is calculated, wherein the second remaining electricity and the initial remaining electricity of the sub-power supply are the percentages of the electricity in the sub-power supply to the total electricity that can be accommodated, that is, the charging electricity of the sub-power supply in the preset time period. The charging electricity of the sub-power supply per unit time, that is, the charging efficiency of the sub-power supply, is obtained according to the ratio of the charging electricity and the preset time period. The sum of the electricity of each of the sub-power supplies when the crane power supply was fully charged last time is used as the total charging amount of the crane power supply. Through the technical solution, the charging efficiency of each of the sub-power supplies and the total charging amount of the crane power supply are obtained, thereby facilitating the calculation of the target charging time of each sub-power supply and the charging end time of the crane power supply.

[0049] Furthermore, the step S2 comprises:

[0050] Step S21: comparing the charging efficiency of each of the sub-power sources with the first historical charging efficiency corresponding to the charging efficiency curve to obtain a comparison difference, taking the product of the comparison difference and the adjustment coefficient as the adjustment amount, and taking the sum of the second historical charging efficiency corresponding to each charging stage of the sub-power source and the adjustment amount as the charging efficiency corresponding to each charging stage in the charging efficiency curve, wherein the adjustment coefficient is the ratio of the second historical charging efficiency corresponding to each charging stage to the first historical charging efficiency, and when the charging efficiency is greater than the historical charging efficiency, the adjustment amount is a positive value, and when the charging efficiency is less than the historical charging efficiency, the adjustment amount is a negative value;

[0051] Specifically, since the charging efficiency of the above-mentioned sub-power source may be different under different environments or temperature conditions, the charging efficiency of the above-mentioned sub-power source measured is compared with the corresponding historical charging efficiency in the charging efficiency curve of the above-mentioned sub-power source, wherein the remaining power of the above-mentioned sub-power source corresponding to the above-mentioned historical charging efficiency is consistent with the second remaining power corresponding to the measured charging efficiency, and a comparison difference is obtained, and the above-mentioned adjustment amount is obtained based on the above-mentioned comparison difference and the above-mentioned adjustment coefficient, and then the corrected charging efficiency curve of each of the above-mentioned sub-power source is obtained based on the above-mentioned adjustment amount and the above-mentioned second historical charging efficiency corresponding to each charging stage in the above-mentioned charging efficiency curve. Through the above-mentioned technical solution, the above-mentioned corrected charging efficiency curve of each sub-power source in the above-mentioned crane power source can be obtained, laying a foundation for obtaining an accurate target charging time.

[0052] Step S22: based on the working schedule of the crane, a plurality of charging time periods and a plurality of working time periods of the crane power supply are obtained, and the power consumption of the crane in the working time period after the j-th charging time period is obtained. When the power consumption is less than or equal to the third remaining power of the crane power supply at the start time of the j-th charging time period, the first time period with the lowest electricity price in the tiered electricity price table corresponding to the j-th charging time period is obtained, and the first time period is used as the target charging time period;

[0053] Specifically, the working schedule of the crane is a working schedule within a day. Through the working schedule, multiple working time periods and multiple idle time periods of the crane within a day can be obtained. The idle time period is the rechargeable time period. The power consumption of the crane in the working time period after the j-th rechargeable time period is obtained in chronological order. The power consumption can be calculated by the working power and working time of the crane. When the power consumption is less than or equal to the third remaining power, that is, the power of the crane power supply is sufficient for the consumption in the working time period. At this time, the power state of the crane power supply may not be 100%. Therefore, the first time period in the j-th rechargeable time period, that is, the first time period with the lowest electricity price in the tiered electricity price table, is used as the target charging time period. Through the above technical solution, while meeting the process operation requirements, the charging cost can be minimized.

[0054] Step S23: when the power consumption is greater than the third remaining power, the difference between the consumption and the third remaining power is used as the minimum charging capacity; the second time period with the lowest electricity price in the j-th rechargeable time period is obtained, and the charging efficiency and charging capacity of each sub-power source in the second time period in the j-th rechargeable time period are calculated in sequence based on the remaining power of each sub-power source and the corresponding charging efficiency curve; the total charging capacity of the crane power source in the second time period is obtained based on the charging capacity of each sub-power source, and when the total charging capacity is greater than or equal to the minimum charging capacity, when the electricity price of the second time period is the lowest electricity price in the step electricity price table, the second time period is used as the target charging time period in the j-th rechargeable time period, and when the electricity price of the second time period is greater than the lowest electricity price in the step electricity price table, the third time period in the second time period is used as the target charging time period, wherein the total charging capacity in the third time period is equal to the minimum charging capacity, and the value of j is a positive integer greater than or equal to 2.

[0055] Specifically, when the power consumption is greater than the third remaining power, the difference between the two is taken as the minimum charging capacity, the second time period with the lowest electricity price in the j-th rechargeable time period is obtained, and the charging efficiency of each sub-power source in the second time period is calculated based on the remaining power of each sub-power source and the corresponding charging efficiency curve, and the charging capacity of each sub-power source in the second time period is calculated based on the charging efficiency and the duration of the second time period, and the sum of the charging capacities of all the sub-power sources is taken as the total charging capacity. When the total charging capacity is greater than or equal to the minimum charging capacity, if the electricity price of the second time period is the lowest electricity price in the step electricity price, in addition to meeting the minimum charging capacity, the power state of the crane power source may not be 100%. Due to the low electricity price, charging can continue at this time, that is, the second time period is taken as the target charging time period. On the contrary, when the electricity price in the second time period is not the lowest electricity price in the step electricity price, the third time period that just meets the minimum charging capacity is taken as the target charging time period. Through the above technical solution, the charging cost is further saved on the premise of meeting the minimum charging capacity.

[0056] Furthermore, the step S2 further includes:

[0057] When the total charge amount is less than the minimum charge amount, searching for a fourth time period in the j-th chargeable time period whose electricity price is closest to that of the second time period, and using the fourth time period and the second time period as target charge time periods in the j-th chargeable time period, wherein the sum of the charge amounts of the crane power supply in the second time period and the fourth time period is equal to the minimum charge amount;

[0058] According to the current position of the crane before the target charging time period, the second charging station closest to the current position of the crane is acquired, and the target charging time period within the j-th chargeable time period and the corresponding position of the second charging station are added to the first list.

[0059] Specifically, when the total charge amount is less than the minimum charge amount, in order to save charging costs, the fourth time period is searched within the j-th rechargeable time period, wherein the fourth time period is the time period with the lowest electricity price within the j-th rechargeable time period except for the second time period, and the sum of the charge amounts of the second time period and the fourth time period is equal to the minimum charge amount. The second time period and the fourth time period are taken as the target charging time periods, and each of the target charging time periods and the corresponding second charging station location are added to the first list. Through the technical solution, an automatic charging plan with the lowest charging cost, i.e., the first list, can be obtained.

[0060] Furthermore, the step S3 comprises:

[0061] Step S31: obtaining the position of the second charging station corresponding to each target charging time from the first list, obtaining the distance between the current position of the crane and the position of the second charging station within a set time period before the target charging time, and adjusting the speed of the crane based on the distance and the target charging time, so that the crane arrives at the corresponding second charging station before the target charging time period;

[0062] Specifically, through the position of the second charging station corresponding to each of the target charging times in the first list, based on the distance between the current position of the crane and the position of the second charging station, and within a set time period before the target charging time, the speed of the crane is adjusted so that it reaches the position corresponding to the second charging station before the target charging time period, thereby ensuring smooth automatic charging.

[0063] Step S32: charging the crane power supply through the charging pile in the second charging station within the target charging time period, and during the charging process, obtaining the minimum charging power in the sub-power supply, calculating the total charging power of the crane power supply based on the charging power ratio between the minimum charging power and other sub-power supplies, and calculating the power difference between the total charging power and the real charging power output by the charging pile in the second charging station, when the power difference is less than or equal to the set difference, the real charging power does not need to be adjusted, and when the power difference is greater than the set difference, adjusting the real charging power so that the power difference between the real charging power and the total charging power is less than or equal to the set difference.

[0064] Specifically, when charging through the charging pile in the second charging station within the target charging time period, both charging safety and charging speed must be ensured. Therefore, the charging power of each of the sub-power sources stored in the storage unit is used to obtain the minimum charging power of the sub-power sources. Due to the difference in losses during the charging and discharging process of different sub-power sources, the charging powers are not completely the same. Since the sub-power sources are arranged in parallel in the crane power supply, the sub-power sources have the same charging voltage during the charging process, but different charging currents and charging powers. The ratio between the charging power of the other sub-power sources and the minimum charging power is calculated, and the charging power of the other sub-power sources is obtained based on the ratio and the minimum charging power, and the ratio is used to calculate the charging power of the other sub-power sources. The sum of the charging power of the sub-power source and the minimum charging power is taken as the total charging power, and the total charging power is compared with the real charging power. When the power difference between the total charging power and the real charging power is less than or equal to the set difference, that is, the real charging power is close to the total charging power, there is no need to adjust the real charging power. When the power difference between the real charging power and the total charging power is greater than the set difference, the real charging power is increased or decreased so that the power difference between the real charging power and the total charging power is less than or equal to the set difference. Through the technical solution, the charging speed is improved while ensuring charging safety.

[0065] Furthermore, step S3 also includes: when the difference between the remaining power and the full power of any one of the sub-power supplies is less than or equal to a second threshold, the sub-power supply is used as a sub-power supply to be charged, and the difference between the actual charging power and the first power is used as the output power of the corresponding charging pile in the second charging station, wherein the first power is the charging power of the sub-power supply to be charged.

[0066] Specifically, when the difference between the remaining power and the full power of any of the above-mentioned sub-power sources is less than or equal to the above-mentioned second threshold value, that is, when the above-mentioned sub-power source is about to be charged, in order to prevent the above-mentioned sub-power source from being charged, the charging power corresponding to the above-mentioned sub-power source will be distributed to other sub-power sources according to the charging power ratio of other sub-power sources, which may cause the risk of overcharging to other sub-power sources. Therefore, when the above-mentioned sub-power source is about to be charged, the first power corresponding to the above-mentioned sub-power source in the above-mentioned real charging power is subtracted, and the difference between the above-mentioned real charging power and the above-mentioned first power is used as the output power of the above-mentioned charging pile, and the above-mentioned crane power source is charged based on the above-mentioned output power. Since the process time is short, it will not have a significant impact on the charging process of the above-mentioned crane power source. Through the above-mentioned technical solution, the risk of overcharging of other sub-power sources when the charging of the above-mentioned sub-power source is about to be completed is avoided, and the safety of the charging process is ensured.

[0067] Further, the step S4 includes: within the target charging time period, when the crane power supply is charged by the corresponding second charging station, when the power of the crane power supply is greater than or equal to the total charging amount or the charging time is greater than or equal to the duration of the target charging time period, stopping charging the crane power supply.

[0068] Specifically, when the crane power supply is charged within the target charging time period, when the power level of the crane power supply is greater than or equal to the total charging amount, that is, the crane power supply has completed charging and the power level is 100%, then the crane power supply is stopped from being charged. Furthermore, since the electricity price within the target charging time period is not necessarily the lowest electricity price in the tiered electricity price table, charging should also be stopped at the end of the target charging time period. In summary, when any one of the above two conditions is met, the crane power supply should be stopped from being charged. Through the above technical solution, the crane power supply can be charged within the target charging time period in the most economical way.

[0069] Furthermore, the crane power supply includes a plurality of sub-power supplies, and the plurality of sub-power supplies are connected in parallel.

[0070] The present invention also provides an automatic charging system for a crane, the system is used to implement the above method, and is characterized in that: Figure 2 As shown, the system comprises:

[0071] a calculation unit, configured to monitor a first remaining power of a crane power source, search for a location of the crane closest to a first charging station when the first remaining power is less than or equal to a first threshold, charge the crane through the first charging station, and obtain a total charge amount of the crane power source and a charging efficiency of each sub-power source after a preset time period;

[0072] A correction unit, configured to correct a charging efficiency curve corresponding to the sub-power source based on the charging efficiency of the sub-power source;

[0073] The generating unit is configured to: correct the charging efficiency curve corresponding to the sub-power source based on the charging efficiency of the sub-power source, obtain a target charging time period within each chargeable time period according to the working schedule of the crane, the charging efficiency curve of each sub-power source and the step electricity price table, add each target charging time period to the first list, obtain a second charging station closest to the crane before the target charging time period, and add the position of the second charging station to the first list;

[0074] a power adjustment unit, configured to charge the crane power supply according to each of the target charging time periods and the corresponding second charging stations in the first list, and to adjust the output power of the second charging station according to the charging power of each sub-power supply in the crane power supply and the actual charging power of the corresponding second charging station;

[0075] The judgment unit is used to judge whether to end charging according to the power of the crane, the total charging amount and the charging time within the target charging time period.

[0076] The present invention also provides a computer storage medium, wherein the storage medium stores program instructions, wherein when the program instructions are executed, the device where the storage medium is located is controlled to execute the above method.

[0077] The present invention monitors the first remaining power of the crane power supply, and when the first remaining power is less than the first threshold, measures the charging efficiency of each sub-power supply, obtains the total charging amount of the crane power supply, and corrects the charging efficiency curve of each sub-power supply according to the charging efficiency of each sub-power supply, thereby improving the calculation accuracy of the charging time, and obtains the target charging time period within each chargeable time period according to the crane's work schedule, the charging efficiency curve of each sub-power supply, the total charging amount and the ladder electricity price table, and generates the first list based on the target charging time period and the corresponding second charging station position. Charging the crane power supply through the first list can not only save the charging cost to the maximum extent, but also adjust the output power of the charging pile corresponding to the crane in the second charging station according to the size relationship between the total charging power of the crane power supply and the actual charging during the charging process, thereby ensuring the safety of the charging process. Through the mutual cooperation of the above technical solutions, not only the cost of automatic charging can be reduced, but also the safety of the charging process can be improved.

[0078] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0080] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic charging method for a crane, characterized in that: The method comprises: Step S1: monitoring the first remaining power of the crane power supply in real time through the monitoring module, and when the first remaining power is less than or equal to a first threshold, searching for the location of the crane closest to the first charging station, charging through the first charging station, and obtaining the total charging amount of the crane power supply and the charging efficiency of each sub-power supply after a preset time period; Step S2: Correcting the charging efficiency curve corresponding to the sub-power source based on the charging efficiency of the sub-power source, obtaining a target charging time period within each chargeable time period according to the working schedule of the crane, the charging efficiency curve of each sub-power source and the step electricity price table, adding each target charging time period to the first list, obtaining the second charging station closest to the crane before the target charging time period, and adding the location of the second charging station to the first list; Step S3: charging the crane power supply according to each of the target charging time periods in the first list and the corresponding second charging stations, and also adjusting and obtaining the output power of the second charging station according to the charging power of each sub-power supply in the crane power supply and the actual charging power of the corresponding second charging station; Step S4: within the target charging time period, determining whether to end charging according to the power of the crane, the total charging amount and the charging time.

2. The method according to claim 1, characterized in that: In the step S1, the total charging amount of the crane power supply and the charging efficiency of each sub-power supply are obtained, including: Step S11: when the crane power source starts to be charged through the first charging station, the initial remaining power of each of the sub-power sources in the crane power source is obtained, and after a preset time period, the second remaining power of the i-th sub-power source is obtained, and the difference between the second remaining power corresponding to the i-th sub-power source and the initial remaining power is calculated, and the ratio of the difference to the preset time period is used as the charging efficiency of the i-th sub-power source, wherein the value range of i is a positive integer greater than or equal to 1; Step S12: The sum of the corresponding power of each sub-power source when the crane power source was fully charged last time is taken as the total charging amount.

3. The method according to claim 1, characterized in that The step S2 comprises: Step S21: comparing the charging efficiency of each of the sub-power sources with the corresponding historical charging efficiency in the charging efficiency curve to obtain a comparison difference, and taking the product of the comparison difference and the adjustment coefficient as the adjustment amount, and taking the sum of the historical charging efficiency corresponding to each charging stage of the sub-power source and the adjustment amount as the charging efficiency corresponding to each charging stage in the charging efficiency curve, wherein the adjustment coefficient is the ratio of the historical charging efficiency of the i-th charging stage to the historical charging efficiency of the first charging stage, and when the charging efficiency is greater than the historical charging efficiency, the adjustment amount is a positive value, and when the charging efficiency is less than the historical charging efficiency, the adjustment amount is a negative value; Step S22: based on the working schedule of the crane, a plurality of charging time periods and a plurality of working time periods of the crane power supply are obtained, and the power consumption of the crane in the working time period after the j-th charging time period is obtained. When the power consumption is less than or equal to the third remaining power of the crane power supply at the start time of the j-th charging time period, the first time period with the lowest electricity price in the tiered electricity price table corresponding to the j-th charging time period is obtained, and the first time period is used as the target charging time period; Step S23: when the power consumption is greater than the third remaining power, the difference between the consumption and the third remaining power is used as the minimum charging capacity; the second time period with the lowest electricity price in the j-th rechargeable time period is obtained, and the charging efficiency and charging capacity of each sub-power source in the second time period in the j-th rechargeable time period are calculated in sequence based on the remaining power of each sub-power source and the charging efficiency curve; the total charging capacity of the crane power source in the second time period is obtained based on the charging capacity of each sub-power source, and when the total charging capacity is greater than or equal to the minimum charging capacity, when the electricity price of the second time period is the lowest electricity price in the step electricity price table, the second time period is used as the target charging time period in the j-th rechargeable time period, and when the electricity price of the second time period is greater than the lowest electricity price in the step electricity price table, the third time period in the second time period is used as the target charging time period, wherein the total charging capacity in the third time period is equal to the minimum charging capacity, and the value of j is a positive integer greater than or equal to 2.

4. The method according to claim 3, characterized in that The step S2 further comprises: When the charge amount of the first time period within the j-th chargeable time period is less than the minimum charge amount, searching for a second time period with an electricity price closest to the first time period within the j-th chargeable time period, and using the second time period and the first time period as target charging time periods within the j-th chargeable time period; According to the current position of the crane before the target charging time period, the second charging station closest to the current position of the crane is acquired, and the target charging time period within the j-th chargeable time period and the corresponding position of the second charging station are added to the first list.

5. The method according to claim 1, characterized in that The step S3 comprises: Step S31: obtaining the position of the second charging station corresponding to each target charging time from the first list, obtaining the distance between the current position of the crane and the position of the second charging station within a set time period before the target charging time, and adjusting the speed of the crane based on the distance and the target charging time, so that the crane arrives at the corresponding second charging station before the target charging time period; Step S32: charging the crane power supply through the charging pile in the second charging station within the target charging time period, and during the charging process, obtaining the minimum charging power in the sub-power supply, calculating the total charging power of the crane power supply based on the charging power ratio between the minimum charging power and other sub-power supplies, and calculating the power difference between the total charging power and the real charging power output by the charging pile in the second charging station, when the power difference is less than or equal to the set difference, the real charging power does not need to be adjusted, and when the power difference is greater than the set difference, adjusting the real charging power so that the power difference between the real charging power and the total charging power is less than or equal to the set difference.

6. The method according to claim 1, characterized in that The step S3 also includes: when the difference between the remaining power and the full power of any one of the sub-power supplies is less than or equal to a second threshold, the sub-power supply is used as a sub-power supply to be charged, and the difference between the actual charging power and the first power is used as the output power of the corresponding charging pile in the second charging station, wherein the first power is the charging power of the sub-power supply to be charged.

7. The method according to claim 1, characterized in that The step S4 includes: during the target charging time period, when the crane power supply is charged by the corresponding second charging station, when the power of the crane power supply is greater than or equal to the total charging amount or the charging time is greater than or equal to the duration of the target charging time period, stopping the charging of the crane power supply.

8. The method according to claim 1, characterized in that The crane power supply includes a plurality of sub-power supplies, and the plurality of sub-power supplies are connected in parallel.

9. An automatic charging system for a crane, the system being used to implement the method according to any one of claims 1 to 8, characterized in that: The system comprises: a calculation unit, configured to monitor a first remaining power of a crane power source, search for a location of the crane closest to a first charging station when the first remaining power is less than or equal to a first threshold, charge the crane through the first charging station, and obtain a total charge amount of the crane power source and a charging efficiency of each sub-power source after a preset time period; a correction unit, configured to correct a charging efficiency curve corresponding to the sub-power source based on the charging efficiency of the sub-power source; The generating unit is configured to: correct the charging efficiency curve corresponding to the sub-power source based on the charging efficiency of the sub-power source, obtain a target charging time period within each chargeable time period according to the working schedule of the crane, the charging efficiency curve of each sub-power source and the step electricity price table, add each target charging time period to the first list, obtain a second charging station closest to the crane before the target charging time period, and add the position of the second charging station to the first list; a power adjustment unit, configured to charge the crane power supply according to each of the target charging time periods and the corresponding second charging stations in the first list, and to adjust and obtain the output power of the second charging station according to the charging power of each sub-power supply in the crane power supply and the actual charging power of the corresponding second charging station; The judgment unit is used to judge whether to end charging according to the power of the crane, the total charging amount and the charging time within the target charging time period.

10. A computer storage medium, characterized in that: The storage medium stores program instructions, wherein when the program instructions are executed, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 8.

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