An Automatic Charging Method, System and Storage Medium for a Crane

Abstract

The present invention relates to the field of charging control technology, and more specifically to an automatic charging method, system, and storage medium for cranes. The method comprises: Step S1: obtaining the total charge amount of the crane's power supply and the charging efficiency of each sub-power supply; Step S2: correcting the charging efficiency curves corresponding to the sub-power supplies, and obtaining a target charging time period within each rechargeable time period based on the crane's operating schedule, the charging efficiency curves of each sub-power supply, the total charge amount, and the tiered electricity price, and adding the target charging time period to a first list; Step S3: charging the crane's power supply according to the first list and adjusting the output power of the second charging station; Step S4: determining whether to terminate charging within the target charging time period based on the crane's power level, the total charge amount, and the charging time. This invention addresses the issues of high crane power supply charging costs and poor safety, saving charging costs and improving charging safety.

Description

Technical Field

[0001] The present invention relates to the field of charging control technology, and more particularly 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 sensing, decision-making, and charging, it improves work efficiency and safety. As one of the most important types of construction machinery, cranes have also attracted widespread attention for their application of automatic charging technology. Regarding automatic charging technology, similar prior art includes Chinese patent publication number CN118386909A, which proposes an automatic charging system, method, and storage medium for electric vehicles. The system includes: a charging robot, including a plug connector for connecting to an electric vehicle; a charging pile, connected to the charging robot; a communication server, which establishes a communication connection between the charging robot, the electric vehicle, and the charging pile; and a cloud server, which establishes a communication connection with the communication server. The communication server receives a charging request from the electric vehicle and learns that the electric vehicle needs to charge. The communication server sends the charging request to the cloud server. Based on the charging request, the cloud server controls the charging robot to move to the coordinates of the electric vehicle. The charging robot then electrically connects the charging pile to the electric vehicle, thereby charging the electric vehicle through the charging pile, eliminating the need for manual search for the charging pile and increasing the convenience of electric vehicle charging. In addition, similar prior art includes U.S. Patent No. US20230406130A1, which proposes an automatic charging process for a motor vehicle. The method includes: 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; determining, by the computing unit, a charging strategy for charging the battery of the motor vehicle taking into account the battery status; moving the motor vehicle to a suitable charging position in the parking lot, and having a charging station assigned to the suitable charging position charge the battery of the motor vehicle at the suitable charging position according to the charging strategy. 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 a first remaining power level of a crane power supply in real time through a monitoring module. When the first remaining power level 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 charge level of the crane power supply and a 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 based on the crane's operating schedule, the charging efficiency curve of each sub-power source, and a tiered electricity price table; adding each target charging time period to a first list; obtaining a 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 target charging time period and the corresponding second charging station in the first list, 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;

[0007] Step S4: Within the target charging time period, determining whether to end charging according to the power level 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 supply begins to be charged at the first charging station, an initial remaining power of each sub-power supply in the crane power supply is obtained. After a preset time period, a second remaining power of the i-th sub-power supply is obtained. The difference between the second remaining power and the initial remaining power corresponding to the i-th sub-power supply is calculated. The ratio of the difference to the preset time period is used as the charging efficiency of the i-th sub-power supply, where i is a positive integer greater than or equal to 1.

[0010] Step S12: The sum of the corresponding power of each sub-power supply when the crane power supply is fully charged last time is used 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 sub-power source 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 an adjustment coefficient as an 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. 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 rechargeable 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 rechargeable 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 rechargeable time period, a first time period with the lowest electricity price in the tiered electricity price table is obtained within the j-th rechargeable time period, 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; a 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; a 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; when the total charging capacity is greater than or equal to the minimum charging capacity, and the electricity price of the second time period is the lowest electricity price in the tiered electricity price table, the second time period is used as the target charging time period in the j-th rechargeable time period; when the electricity price of the second time period is greater than the lowest electricity price in the tiered 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 rechargeable time period is less than the minimum charge amount, searching for a second time period within the j-th rechargeable time period whose electricity price is closest to that of the first time period, and using the second time period and the first time period as target charging time periods within the j-th rechargeable 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 obtained, 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 location of the second charging station corresponding to each target charging time from the first list, obtaining the distance between the current location of the crane and the location 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: The crane power supply is charged by the charging pile in the second charging station within the target charging time period. During the charging process, the minimum charging power of the sub-power supply is obtained, and the total charging power of the crane power supply is calculated based on the ratio of the minimum charging power to the charging power of the other sub-power supplies. The power difference between the total charging power and the actual charging power output by the charging pile in the second charging station is calculated. When the power difference is less than or equal to the set difference, the actual charging power does not need to be adjusted. When the power difference is greater than the set difference, the actual charging power is adjusted so that the power difference between the actual 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, 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: during the target charging time period, when the crane power supply is charged through the corresponding second charging station, if the power of the crane power supply is greater than or equal to the total charge 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 being used to implement the above method, characterized in that the system comprises:

[0025] a calculation unit, configured to monitor a first remaining power level of a crane power supply, and when the first remaining power level is less than or equal to a first threshold, search for a location of the crane closest to a first charging station, charge the crane at the first charging station, and obtain a total charge level of the crane power supply and a charging efficiency of each sub-power supply 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 a tiered electricity price table, add each target charging time period to a first list, obtain a second charging station closest to the crane before the target charging time period, and add the location of the second charging station to the first list;

[0028] a power adjustment unit, configured to charge the crane power supply according to each target charging time period in the first list and the corresponding second charging station, 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;

[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 a first remaining charge of the crane power supply. When the first remaining charge is less than a first threshold, the present invention measures the charging efficiency of each sub-power supply, obtains the total charge amount of the crane power supply, and corrects the charging efficiency curve of each sub-power supply based on the charging efficiency of each sub-power supply, thereby improving the accuracy of charging time calculation. A target charging time period within each chargeable time period is determined based on the crane's operating schedule, the charging efficiency curve of each sub-power supply, the total charge amount, and a tiered electricity price table. A first list is generated based on the target charging time period and the corresponding second charging station location. Charging the crane power supply using the first list not only minimizes charging costs but also adjusts the output power of the charging pile corresponding to the crane at the second charging station based on the relationship between the total charging power of the crane power supply and the actual charge amount during the charging process, thereby ensuring the safety of the charging process. The combined effect of the above technical solutions not only reduces the cost of automatic charging but also improves the safety of the charging process. 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 This 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 solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to 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 includes the following steps:

[0037] Step S1: monitoring a first remaining power level of a crane power supply within a set time period. When the first remaining power level 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 at the first charging station, and obtaining a total charge level of the crane power supply and a charging efficiency of each sub-power supply after a preset time period.

[0038] Specifically, the set time period is a time period after the end of work on the previous day. The first remaining power of the crane power supply is monitored by the monitoring module. When the first remaining power is less than a first threshold, that is, when the remaining power is small, the crane is charged by searching for the location of the nearest first charging station and facilitating the detection of the charging efficiency of the sub-power supply and the total amount of charge of the crane power supply. When the crane power supply is charged by the first charging station, the initial remaining power of each sub-power supply in the crane power supply is obtained, and after charging for a preset time period, the second remaining power of each sub-power supply is obtained, and the second remaining power and the initial remaining power of each sub-power supply are calculated. The difference in amount, wherein the second remaining amount and the initial remaining amount of the sub-power source are percentages of the amount in the sub-power source to the total amount that can be accommodated, that is, the charged amount of the sub-power source within the preset time period. The charged amount of the sub-power source per unit time, that is, the charging efficiency of the sub-power source, is obtained based on the ratio of the charged amount to the preset time period. The total charged amount of the crane power source is also calculated as the sum of the amounts of each sub-power source when the crane power source was fully charged the last time. Through the above technical solution, by obtaining the charging efficiency of each sub-power source and the total charged amount of the crane power source, it is convenient to calculate the target charging time of each sub-power source and the charging completion 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 based on the crane's operating schedule, the charging efficiency curve of each sub-power source, and a tiered electricity price table; adding each target charging time period to a first list; obtaining a 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 sub-power source, the accuracy of charging time calculation is improved. The work schedule can be used to obtain multiple working time periods and multiple idle time periods of the crane within a day. The power consumption of the crane in the working time periods after the j-th rechargeable time period is obtained in chronological order. The power consumption can be calculated based on the crane's operating power and operating duration. When the power consumption is less than or equal to the third remaining power, the power state of the crane power source may not be 100%. Therefore, the first time period within the j-th rechargeable time period, i.e., the one with the lowest electricity price in the tiered electricity price table, is used as the target charging time period. When the power consumption is greater than the third remaining power, the difference between the two is used as the minimum charge capacity. The second time period within the j-th rechargeable time period with the lowest electricity price is obtained. 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. The charge 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. The sum of the charge capacities of all sub-power sources is calculated. As the total charge amount, when the total charge amount is greater than or equal to the minimum charge amount, if the electricity price in the second time period is the lowest electricity price among the tiered electricity prices, in addition to meeting the minimum charge amount, the power state of the crane power supply may not be 100%. Due to the low electricity price, charging can continue at this time. The second time period is used as the target charging time period. Conversely, if the electricity price in the second time period is not the lowest electricity price among the tiered electricity prices, the third time period that just meets the minimum charge amount is used as the target charging time period. When the total charge amount is less than the minimum charge amount, the fourth time period is searched within the j-th rechargeable time period. The fourth time period is the time period with the lowest electricity price within the j-th rechargeable time period excluding the second time period, and the sum of the charge amounts of the second and fourth time periods is equal to the minimum charge amount. The second and fourth time periods are used as the target charging time periods. Each target charging time period and the corresponding second charging station location are added to the first list. Through the above technical solution, charging costs are further saved while meeting the minimum charge amount.

[0041] Step S3: charging the crane power supply according to each target charging time period and the corresponding second charging station in the first list, 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, the position of the second charging station corresponding to each target charging time in the first list is used to arrive at the position corresponding to the second charging station before the target charging time period. The charging power of each sub-power source stored in the storage unit is used to obtain the minimum charging power among the sub-power sources. The ratio of the charging power of the other sub-power sources to 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. The sum of the charging power of the other sub-power sources and the minimum charging power is used as the total charging power. The total charging power is also compared with the actual charging power. If the power difference between the total charging power and the actual charging power is less than or equal to a set difference, the actual charging power does not need to be adjusted. If the power difference between the actual charging power and the total charging power is greater than the set difference, the actual charging power is increased or decreased so that the power difference between the actual charging power and the total charging power is less than or equal to the set difference. Through the above 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 level of the crane, the total charging amount, and the charging time.

[0044] Specifically, when charging the crane power supply within the target charging time period, when the power level of the crane power supply is greater than or equal to the total charge amount, that is, when charging of the crane power supply is completed and the power level is 100%, charging of the crane power supply is stopped. 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, charging of the crane power supply should be stopped when either of the above two conditions is met. Through the above technical solution, charging of the crane power supply within the target charging time period can be completed in the most economical manner.

[0045] Furthermore, in 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 supply begins to be charged at the first charging station, an initial remaining power of each sub-power supply in the crane power supply is obtained. After a preset time period, a second remaining power of the i-th sub-power supply is obtained. The difference between the second remaining power and the initial remaining power corresponding to the i-th sub-power supply is calculated. The ratio of the difference to the preset time period is used as the charging efficiency of the i-th sub-power supply, where i is a positive integer greater than or equal to 1.

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

[0048] Specifically, when the crane power supply is charged at the first charging station, the amount of power in the crane power supply is relatively low. An initial remaining power level of each of the sub-power supplies in the crane power supply is obtained, and after charging for a preset time period, a second remaining power level of each of the sub-power supplies is obtained. The difference between the second remaining power level and the initial remaining power level of each sub-power supply is calculated. The second remaining power level and the initial remaining power level of each sub-power supply are percentages of the power level in the sub-power supply to the total power capacity, i.e., the amount of power charged by the sub-power supply during the preset time period. The amount of power charged per unit time, i.e., the charging efficiency of the sub-power supply, is obtained based on the ratio of the charged power level to the preset time period. The total amount of power charged by the crane power supply is calculated as the sum of the power levels of each sub-power supply when the crane power supply was last fully charged. Through the above technical solution, by obtaining the charging efficiency and total amount of power charged by each sub-power supply, a target charging time for each sub-power supply and a time to complete charging of the crane power supply are calculated.

[0049] Furthermore, the step S2 includes:

[0050] Step S21: Comparing the charging efficiency of each sub-power source with the corresponding first historical charging efficiency in the charging efficiency curve to obtain a comparison difference, multiplying the comparison difference by an adjustment coefficient as an 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. 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 will be different under different environmental or temperature conditions, the charging efficiency of the above-mentioned sub-power source is measured and 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 the foundation for obtaining an accurate target charging time.

[0052] Step S22: Based on the crane's operating schedule, multiple charging time periods and multiple 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, a first time period with the lowest electricity price in the tiered electricity price table is obtained within the j-th charging time period, 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 periods are the rechargeable time periods. The power consumption of the crane in the working time periods after the j-th rechargeable time period is obtained in chronological order. The power consumption can be calculated according to the working power and working time of the crane. When the power consumption is less than or equal to the third residual power, the power of the crane power supply is sufficient for 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 within the j-th rechargeable time period, that is, the 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; a 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; a 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; when the total charging capacity is greater than or equal to the minimum charging capacity, and the electricity price of the second time period is the lowest electricity price in the tiered electricity price table, the second time period is used as the target charging time period in the j-th rechargeable time period; when the electricity price of the second time period is greater than the lowest electricity price in the tiered 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 consumed power is greater than the third remaining power, the difference between the two is used as the minimum charge capacity. The second time period with the lowest electricity price within the j-th rechargeable time period is obtained. 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. The charge 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. The total charge capacity is calculated as the sum of the charge capacities of all sub-power sources. When the total charge capacity is greater than or equal to the minimum charge capacity, if the electricity price in the second time period is the lowest among the tiered electricity prices, the crane power source may not be at 100% charge despite meeting the minimum charge capacity. Due to the low electricity price, charging can continue at this time. The second time period is thus used as the target charging time period. Conversely, if the electricity price in the second time period is not the lowest among the tiered electricity prices, the third time period that just meets the minimum charge capacity is used as the target charging time period. This technical solution further reduces charging costs while meeting the minimum charge 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 within 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 charging time periods within 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 obtained, 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 charging amount is less than the minimum charging 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 charging amounts of the second time period and the fourth time period is equal to the minimum charging amount. The second time period and the fourth time period are used 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 above technical solution, an automatic charging plan with the lowest charging cost, i.e., the first list, can be obtained.

[0060] Furthermore, step S3 includes:

[0061] Step S31: Obtaining the location of the second charging station corresponding to each target charging time from the first list, obtaining the distance between the current location of the crane and the location 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, by using the location of the second charging station corresponding to each target charging time in the first list, and based on the distance between the current location of the crane and the location 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 location corresponding to the second charging station before the target charging time period, thereby ensuring smooth automatic charging.

[0063] Step S32: The crane power supply is charged by the charging pile in the second charging station within the target charging time period. During the charging process, the minimum charging power of the sub-power supply is obtained, and the total charging power of the crane power supply is calculated based on the ratio of the minimum charging power to the charging power of the other sub-power supplies. The power difference between the total charging power and the actual charging power output by the charging pile in the second charging station is calculated. When the power difference is less than or equal to the set difference, the actual charging power does not need to be adjusted. When the power difference is greater than the set difference, the actual charging power is adjusted so that the power difference between the actual 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 above-mentioned second charging station within the above-mentioned target charging time period, both charging safety and charging speed must be guaranteed. Therefore, the charging power of each of the above-mentioned sub-power sources stored in the storage unit is used to obtain the minimum charging power among the above-mentioned 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 exactly the same. Since the above-mentioned sub-power sources are arranged in parallel in the above-mentioned crane power supply, the above-mentioned sub-power sources have the same charging voltage during the charging process, but different charging currents and charging powers. By calculating the ratio between the charging power of the other above-mentioned sub-power sources and the above-mentioned minimum charging power, the charging power of the other sub-power sources is obtained based on the above-mentioned ratio and the above-mentioned minimum charging power, and the charging power of the other sub-power sources is calculated. The sum of the charging power of the above-mentioned sub-power source and the above-mentioned minimum charging power is taken as the above-mentioned total charging power, and the above-mentioned total charging power is also compared with the above-mentioned real charging power. When the power difference between the above-mentioned total charging power and the above-mentioned real charging power is less than or equal to the set difference, that is, the above-mentioned real charging power is relatively close to the above-mentioned total charging power, there is no need to adjust the above-mentioned real charging power at this time. When the power difference between the above-mentioned real charging power and the above-mentioned total charging power is greater than the above-mentioned set difference, the above-mentioned real charging power is increased or decreased so that the above-mentioned power difference between the above-mentioned real charging power and the above-mentioned total charging power is less than or equal to the above-mentioned set difference. Through the above-mentioned 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 is subtracted from the above-mentioned real charging power, 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 major 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] Furthermore, step S4 includes: during the target charging time period, when the crane power supply is charged through the corresponding second charging station, if 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 charging the crane power supply within the target charging time period, when the power level of the crane power supply is greater than or equal to the total charge amount, that is, when charging of the crane power supply is completed and the power level is 100%, charging of the crane power supply is stopped. 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, charging of the crane power supply should be stopped when either of the above two conditions is met. Through the above technical solution, charging of the crane power supply within the target charging time period can be completed in the most economical manner.

[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 includes:

[0071] a calculation unit, configured to monitor a first remaining power level of a crane power supply, and when the first remaining power level is less than or equal to a first threshold, search for a location of the crane closest to a first charging station, charge the crane at the first charging station, and obtain a total charge level of the crane power supply and a charging efficiency of each sub-power supply 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 a tiered electricity price table, add each target charging time period to a first list, obtain a second charging station closest to the crane before the target charging time period, and add the location of the second charging station to the first list;

[0074] a power adjustment unit, configured to charge the crane power supply according to each target charging time period and the corresponding second charging station 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 a first remaining charge of the crane power supply. When the first remaining charge is less than a first threshold, the present invention measures the charging efficiency of each sub-power supply, obtains the total charge amount of the crane power supply, and corrects the charging efficiency curve of each sub-power supply based on the charging efficiency of each sub-power supply, thereby improving the accuracy of charging time calculation. A target charging time period within each chargeable time period is determined based on the crane's operating schedule, the charging efficiency curve of each sub-power supply, the total charge amount, and a tiered electricity price table. A first list is generated based on the target charging time period and the corresponding second charging station location. Charging the crane power supply using the first list not only minimizes charging costs but also adjusts the output power of the charging pile corresponding to the crane at the second charging station based on the relationship between the total charging power of the crane power supply and the actual charge amount during the charging process, thereby ensuring the safety of the charging process. The combined effect of the above technical solutions not only reduces the cost of automatic charging but also improves the safety of the charging process.

[0078] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above 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 embodiments merely represent several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the scope of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be based on the appended 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 scope of protection of the present invention.

Claims

1. An automatic charging method for a crane, characterized in that: The method comprises: Step S1: monitoring a first remaining power level of a crane power supply in real time through a monitoring module. When the first remaining power level 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 charge level of the crane power supply and a 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 based on the crane's operating schedule, the charging efficiency curve of each sub-power source, and a tiered electricity price table; adding each target charging time period to a first list; obtaining a 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 target charging time period and the corresponding second charging station in the first list, 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; Step S4: Within the target charging time period, determining whether to end charging according to the power level of the crane, the total charging amount, and the charging time.

2. The method according to claim 1, characterized in that In step S1, obtaining the total charge amount of the crane power supply and the charging efficiency of each sub-power supply includes: Step S11: When the crane power supply begins to be charged at the first charging station, an initial remaining power of each sub-power supply in the crane power supply is obtained. After a preset time period, a second remaining power of the i-th sub-power supply is obtained. The difference between the second remaining power and the initial remaining power corresponding to the i-th sub-power supply is calculated. The ratio of the difference to the preset time period is used as the charging efficiency of the i-th sub-power supply, where i is a positive integer greater than or equal to 1. Step S12: The sum of the corresponding power of each sub-power supply when the crane power supply is fully charged last time is used 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 sub-power source 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 an adjustment coefficient as an 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. 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 rechargeable 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 rechargeable 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 rechargeable time period, a first time period with the lowest electricity price in the tiered electricity price table is obtained within the j-th rechargeable time period, 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 power consumption and the third remaining power is used as the minimum charging capacity; a 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; a 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; when the total charging capacity is greater than or equal to the minimum charging capacity, and the electricity price of the second time period is the lowest electricity price in the tiered electricity price table, the second time period is used as the target charging time period in the j-th rechargeable time period; when the electricity price of the second time period is greater than the lowest electricity price in the tiered 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 includes: When the charge amount of the first time period within the j-th rechargeable time period is less than the minimum charge amount, searching for a second time period within the j-th rechargeable time period whose electricity price is closest to that of the first time period, and using the second time period and the first time period as target charging time periods within the j-th rechargeable 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 obtained, 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, wherein The step S3 comprises: Step S31: Obtaining the location of the second charging station corresponding to each target charging time from the first list, obtaining the distance between the current location of the crane and the location 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: The crane power supply is charged by the charging pile in the second charging station within the target charging time period. During the charging process, the minimum charging power of the sub-power supply is obtained, and the total charging power of the crane power supply is calculated based on the ratio of the minimum charging power to the charging power of the other sub-power supplies. The power difference between the total charging power and the actual charging power output by the charging pile in the second charging station is calculated. When the power difference is less than or equal to the set difference, the actual charging power does not need to be adjusted. When the power difference is greater than the set difference, the actual charging power is adjusted so that the power difference between the actual 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 at the corresponding second charging station, if the amount of electricity of the crane power supply is greater than or equal to the total charge 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.

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 level of a crane power supply, and when the first remaining power level is less than or equal to a first threshold, search for a location of the crane closest to a first charging station, charge the crane at the first charging station, and obtain a total charge level of the crane power supply and a charging efficiency of each sub-power supply 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 a tiered electricity price table, add each target charging time period to a first list, obtain a second charging station closest to the crane before the target charging time period, and add the location of the second charging station to the first list; a power adjustment unit, configured to charge the crane power supply according to each target charging time period in the first list and the corresponding second charging station, 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; 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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