Plug in place positioning method and positioning device

Abstract

The present invention relates to a plug-in positioning method and a positioning device, and relates to the field of ship charging technology, which includes: obtaining a weight detection value detected by a weight detection device preset at a charging position point and a charging port; retrieving ship specification information and charging equipment specification information based on the charging position point; determining a weight reference value corresponding to the charging equipment specification information according to the correspondence between the charging equipment specification information and the preset weight reference value; calculating the difference between the weight detection value and the weight reference value and using it as a weight deviation value; determining a weight deviation reference interval corresponding to the ship specification information according to the correspondence between the ship specification information and the preset weight deviation reference interval; determining charging control information according to the falling situation between the weight deviation value and the weight deviation reference interval, and outputting the charging control information to the charging device. The present invention has the effect of preventing the charging head and the charging port from being easily damaged during charging.

Description

Technical Field

[0001] The present invention relates to the technical field of ship charging, and in particular to a method and a device for positioning a plug in place. Background Art

[0002] In order to reduce the dependence of ships on fossil fuels and reduce environmental pollution, electric ships or hybrid ships are generally used at present, and electric ships or hybrid ships are provided with power supply to improve energy utilization efficiency and the overall operational economy of the ship.

[0003] When charging a ship, it is currently generally done by docking the ship at the port and recharging the ship with electricity through the charging equipment on the shore. The charging equipment includes a charging head for charging and a lifting machine for driving the charging head to move. When recharging electricity, the operator controls the lifting machine to drive the charging head to move until the charging head completely enters the charging port. When the operator observes that the charging cable that drives the charging head to move and is connected is loose, the operator turns on the charging switch on the charging equipment to power on, thereby starting to charge the ship.

[0004] When supplying electricity to a ship, the operator needs to check the tightness of the charging cable to determine whether the charging head is in close contact with the charging port. When the charging head and the charging port are not in close contact, the charging cable will also become loose to a certain extent, which may easily cause the operator to misjudge and turn on the charging switch on the charging device, thereby easily causing damage to the charging head and the charging port. Summary of the invention

[0005] In order to prevent a charging head and a charging port from being damaged during charging, the present invention provides a plug-in positioning method and a positioning device.

[0006] In a first aspect, the present invention provides a method for positioning a plug in place, which adopts the following technical solution:

[0007] A plug-in positioning method, comprising:

[0008] Obtaining the weight detection value detected by the charging position point and the weight detection device preset at the charging port;

[0009] Retrieve ship specification information and charging equipment specification information based on the charging location point;

[0010] According to the correspondence between the charging equipment specification information and the preset weight reference value, the weight reference value corresponding to the charging equipment specification information is determined;

[0011] Calculate the difference between the weight detection value and the weight reference value and use it as the weight deviation value;

[0012] According to the correspondence between the ship specification information and the preset weight deviation reference interval, the weight deviation reference interval corresponding to the ship specification information is determined;

[0013] It is determined whether the weight deviation value falls within the weight deviation reference interval to determine the charging control information, and the charging control information is output to the charging device.

[0014] Optionally, the method for determining the charging control information includes:

[0015] Obtaining a distance detection value detected by a distance detection device preset at the charging port;

[0016] Calculate the difference between the distance detection value and the preset distance reference value and use it as the distance deviation value;

[0017] Determine distance adjustment control information based on distance deviation value analysis;

[0018] Determine whether the weight deviation value falls within the weight deviation reference range;

[0019] If yes, the distance adjustment control information is used as charging control information;

[0020] If not, the difference between the weight deviation value and the weight deviation reference interval is calculated and used as the weight abnormal deviation value;

[0021] The abnormal weight warning information is determined based on the analysis of the distance deviation value and the abnormal weight deviation value, and the abnormal weight warning information is output to the terminal held by the manager.

[0022] Optionally, the method for determining the distance adjustment control information includes:

[0023] Retrieve the distance deviation position point based on the distance deviation value;

[0024] According to the correspondence between the ship specification information and the preset charging connection relative position vector value, the charging connection relative position vector value corresponding to the ship specification information is determined;

[0025] Determine the charging connection location point based on the charging location point and the charging connection relative location vector value calculation;

[0026] Calculate the distance between the charging connection position point and the distance deviation position point and use it as the deviation position connection distance value;

[0027] According to the correspondence between the deviation position connection distance value and the preset connection distance influence value, the connection distance influence value corresponding to the deviation position connection distance value is determined;

[0028] The distance deviation adjustment information is determined based on the connection distance impact value and the distance deviation position point analysis, and the distance deviation adjustment information is used as the distance adjustment control information.

[0029] Optionally, a method for determining distance deviation adjustment information includes:

[0030] Retrieve the deviation position value based on the distance deviation position point;

[0031] Selecting symmetrical deviation position points based on the distance deviation position points and the charging position points;

[0032] According to the correspondence between the symmetrical deviation position point and the preset symmetrical position adjustment information, the symmetrical position adjustment information corresponding to the symmetrical deviation position point is determined;

[0033] Determine whether the value of the deviation position is an even number;

[0034] If yes, the symmetrical position adjustment information is used as the distance deviation adjustment information;

[0035] If not, a separate deviation position point is selected based on the distance deviation position point and the symmetric deviation position point, and the connection distance influence value corresponding to the separate deviation position point is used as the separate deviation position influence value;

[0036] Determine the deviation cause information based on individual deviation location point analysis;

[0037] According to the correspondence between the deviation cause information, the individual deviation position impact value and the preset deviation cause adjustment information, the deviation cause adjustment information corresponding to the deviation cause information and the individual deviation position impact value is determined, and the deviation cause adjustment information is combined with the symmetrical position adjustment information as the distance deviation adjustment information.

[0038] Optionally, a method for determining the deviation cause information includes:

[0039] Retrieve the historical deviation position points of the charging port based on the ship specification information;

[0040] Calculate the distance between the historical deviation position point of the charging port and the individual deviation position point and use it as the deviation distance value of the charging port;

[0041] Retrieve the historical deviation position points of the charging head based on the specification information of the charging equipment;

[0042] Calculate the distance between the historical deviation position point of the charging head and the individual deviation position point and use it as the deviation distance value of the charging head;

[0043] Determine whether the charging port deviation distance value is smaller than the charging head deviation distance value;

[0044] If yes, then determining the charging port reason information corresponding to the charging port deviation distance value according to the correspondence between the charging port deviation distance value and the preset charging port reason information, and using the charging port reason information as the deviation reason information;

[0045] If not, the charging head reason information corresponding to the charging head deviation distance value is determined according to the correspondence between the charging head deviation distance value and the preset charging head reason information, and the charging head reason information is used as the deviation reason information.

[0046] Optionally, a method for determining abnormal weight warning information includes:

[0047] According to the correspondence between the distance deviation value and the preset weight distance influence reference value, the weight distance influence reference value corresponding to the distance deviation value is determined;

[0048] Determine whether the weight abnormal deviation value is consistent with the weight distance impact benchmark value;

[0049] If yes, then according to the correspondence between the distance deviation value and the preset distance deviation warning information, the distance deviation warning information corresponding to the distance deviation value is determined, and the distance deviation warning information is used as the weight abnormality warning information;

[0050] If not, the difference between the weight abnormal deviation value and the weight distance influence reference value is calculated and used as the other influence weight deviation value;

[0051] Retrieve the historical deviation information of the charging head based on the specification information of the charging equipment;

[0052] Determine the historical weight deviation value based on the historical deviation information of the charging head;

[0053] Other impact warning information is determined based on the analysis of other impact weight deviation values ​​and historical weight deviation values, and other impact warning information is used as weight abnormality warning information.

[0054] Optionally, the method for determining the historical weight deviation value includes:

[0055] Based on the historical deviation information of the charging head, retrieve the historical deviation time point and the deviation time weight deviation value;

[0056] Based on the historical deviation time points, the deviation time weight deviation value is curve-formed to form a weight deviation change curve;

[0057] Analyze the difference between the weight deviation change curve and the preset weight deviation reference curve and use it as the curve deviation value;

[0058] The estimated deviation value is determined based on the curve deviation value analysis, and the estimated deviation value is used as the historical weight deviation value.

[0059] Optionally, a method for determining the deviation estimate includes:

[0060] Based on the preset deviation estimation calculation formula, the curve deviation value is analyzed and calculated to obtain the deviation estimation value, wherein the deviation estimation calculation formula is: , is the estimated deviation at time t+1, is the preset smoothing constant, is the curve deviation value, is the estimated deviation at time t.

[0061] Optionally, other methods for determining the impact warning information include:

[0062] Determine whether other weight deviation values ​​that affect the weight are consistent with historical weight deviation values;

[0063] If yes, then determine the historical deviation warning information corresponding to the historical weight deviation value according to the correspondence between the historical weight deviation value and the preset historical deviation warning information, and use the historical deviation warning information as other impact warning information;

[0064] If not, the difference between the other impact weight deviation value and the historical weight deviation value is calculated and used as the environmental impact deviation value;

[0065] Retrieve the rainfall amount based on the charging location point;

[0066] According to the corresponding relationship between the rainfall amount at the location and the preset rainfall impact estimated value, the rainfall impact estimated value corresponding to the rainfall amount at the location is determined;

[0067] The environmental impact warning information is determined based on the analysis of the rainwater impact estimate and the environmental impact deviation value, and is used as other impact warning information.

[0068] In a second aspect, the present invention provides a plug-in positioning device, which adopts the following technical solution:

[0069] A plug-in-place positioning device comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the plug-in-place positioning method described in the first aspect.

[0070] In summary, the present invention includes at least one of the following beneficial technical effects:

[0071] 1. By acquiring the charging position point and weight detection value and retrieving the ship specification information and charging equipment specification information, the weight reference value is determined and the weight deviation value is calculated by querying the charging equipment specification information, and the weight deviation reference interval is determined by querying the ship specification information. Then, the falling situation between the weight deviation value and the weight deviation reference interval is analyzed to determine the charging control information and output it to the charging equipment, so that charging can be started after the charging head is in place, thereby preventing the charging head and the charging port from being damaged during charging;

[0072] 2. Obtain the distance detection value and calculate the distance deviation value, then determine the distance adjustment control information through the distance deviation value analysis, and judge whether the weight deviation value falls within the weight deviation reference interval. If it does, use the distance adjustment control information as the charging control information, thereby improving the accuracy of the acquired charging control information. If it does not fall within the range, calculate the weight abnormality deviation value, and determine the weight abnormality warning information through the analysis of the distance deviation value and the weight abnormality deviation value and output it to the terminal held by the manager, so as to timely warn of the abnormal weight deviation;

[0073] 3. The distance deviation position point is retrieved through the distance deviation value, the charging connection relative position vector value is determined through the ship specification information query, and then the charging connection position point and the deviation position connection distance value are calculated and determined, and the connection distance impact value is determined through the deviation position connection distance value query, and the distance deviation adjustment information is determined through the connection distance impact value and the distance deviation position point analysis and used as the distance adjustment control information, thereby improving the accuracy of the acquired distance adjustment control information. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 is a flow chart of a method for positioning a plug in place according to an embodiment of the present application;

[0075] Figure 2 is a flow chart of a method for determining charging control information in an embodiment of the present application;

[0076] Figure 3 is a flow chart of a method for determining distance adjustment control information according to an embodiment of the present application;

[0077] Figure 4 is a flow chart of a method for determining distance deviation adjustment information according to an embodiment of the present application;

[0078] Figure 5 is a flow chart of a method for determining deviation cause information in an embodiment of the present application;

[0079] Figure 6 is a flow chart of a method for determining abnormal weight warning information according to an embodiment of the present application;

[0080] Figure 7is a flow chart of a method for determining a historical weight deviation value in an embodiment of the present application;

[0081] Figure 8 This is a flow chart of a method for determining other impact warning information according to an embodiment of the present application. DETAILED DESCRIPTION

[0082] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0083] A plug-in positioning method obtains the charging position point and weight detection value to analyze the weight and distance of a charging head, thereby determining charging control information based on the weight and distance conditions and outputting it to a charging device, so that charging can be started after the charging head is in place, thereby preventing the charging head and the charging port from being easily damaged during charging.

[0084] The embodiment of the present invention discloses a method for positioning a plug in place. Figure 1 , a plug-in positioning method includes:

[0085] Step S100: Obtain the weight detection value detected by the charging position point and the weight detection device preset at the charging port.

[0086] The charging position point refers to the position point where the ship is charging, and the charging position point is detected and obtained by a position detection device preset on the ship, and the position detection device can be a GPS. The weight detection device refers to a device for detecting the weight of the charging head placed at the charging port, and the weight detection value refers to the weight value detected by the weight detection device for the weight of the charging head placed at the charging port.

[0087] Step S200: Retrieve ship specification information and charging equipment specification information based on the charging location point.

[0088] Among them, the ship specification information refers to the specification information corresponding to the number of the ship located at the charging position, and the charging equipment specification information refers to the specification information corresponding to the number of the charging equipment that charges the ship at the charging position. The ship number and the number of the nearby charging equipment are retrieved through the charging position, and then the ship specification information and the charging equipment specification information are retrieved for subsequent use.

[0089] Step S300: determining a weight reference value corresponding to the charging device specification information according to a correspondence between the charging device specification information and a preset weight reference value.

[0090] The weight reference value refers to the reference value of the weight of the charging head of the charging device under this specification. The weight reference value is obtained by querying from a database storing the corresponding relationship between the charging device specification information and the weight reference value. The database is obtained after the operator pre-enters. The weight reference value is determined by querying the charging device specification information to facilitate subsequent use.

[0091] Step S400: Calculate the difference between the weight detection value and the weight reference value and use it as the weight deviation value.

[0092] Among them, the weight deviation value refers to the deviation value when there is a deviation in the weight of the charging head. The difference between the weight detection value and the weight reference value is calculated and used as the weight deviation value for convenience in subsequent use.

[0093] Step S500: According to the correspondence between the ship specification information and the preset weight deviation reference interval, the weight deviation reference interval corresponding to the ship specification information is determined.

[0094] The weight deviation reference interval refers to the reference interval within which the charging port can allow the weight deviation of the charging head. The weight deviation reference interval is obtained by querying from a database storing the correspondence between ship specification information and weight deviation reference interval, and the database is obtained after pre-input by the operator. The weight deviation reference interval is determined by querying the ship specification information to facilitate subsequent use.

[0095] Step S600: Determine whether the weight deviation value falls within the weight deviation reference interval to determine charging control information, and output the charging control information to the charging device.

[0096] Among them, charging control information refers to control information used to control the movement or on and off of the charging head for charging. By analyzing the fall between the weight deviation value and the weight deviation reference interval, the charging control information is determined and output to the charging device, so that charging can be started after the charging head is in place, thereby preventing the charging head and the charging port from being damaged easily during charging.

[0097] exist Figure 1 In step S600, in order to further ensure the rationality of the charging control information, it is necessary to further analyze and calculate the charging control information. Figure 2 The steps shown are explained in detail.

[0098] Reference Figure 2 , the method for determining the charging control information comprises the following steps:

[0099] Step S610: Obtaining a distance detection value detected by a distance detection device preset at the charging port.

[0100] The distance detection device refers to a device for detecting the distance between the charging head and the charging port, and the distance detection value refers to the detection value of the distance between the charging head and the charging port.

[0101] Step S620: Calculate the difference between the distance detection value and the preset distance reference value and use it as the distance deviation value.

[0102] Among them, the distance reference value refers to the maximum distance value that can be tolerated between the charging head and the charging port when charging is required, and the distance deviation value refers to the deviation value when there is a distance deviation. The difference between the distance detection value and the preset distance reference value is calculated and used as the distance deviation value for convenience in subsequent use.

[0103] Step S630: Determine distance adjustment control information according to the distance deviation value analysis.

[0104] The distance adjustment control information refers to adjustment information adjusted according to the distance deviation. The distance adjustment control information is determined by analyzing the distance deviation value, which is convenient for subsequent use.

[0105] Step S640: Determine whether the weight deviation value falls within the weight deviation reference interval. If yes, execute step S650; if no, execute step S660.

[0106] Among them, whether the weight deviation value falls within the weight deviation reference interval is judged, so as to determine whether a weight deviation warning is needed.

[0107] Step S650: using the distance adjustment control information as charging control information.

[0108] Among them, when the weight deviation value falls within the weight deviation reference interval, it means that there is no weight deviation at this time, so the distance adjustment control information is used as the charging control information, thereby improving the accuracy of the acquired charging control information.

[0109] Step S660: Calculate the difference between the weight deviation value and the weight deviation reference interval and use it as the weight abnormality deviation value.

[0110] Among them, the abnormal weight deviation value refers to the deviation value when there is an abnormal deviation in the weight. When the weight deviation value does not fall within the weight deviation reference interval, it means that there is an abnormal deviation in the weight at this time. Therefore, the difference between the weight deviation value and the weight deviation reference interval is calculated and used as the abnormal weight deviation value for convenience of subsequent use.

[0111] Step S670: Determine the abnormal weight warning information based on the distance deviation value and the abnormal weight deviation value, and output the abnormal weight warning information to the terminal held by the manager.

[0112] Among them, the abnormal weight warning information refers to the warning information based on the abnormal weight deviation. By analyzing the distance deviation value and the abnormal weight deviation value, the abnormal weight warning information is determined and output to the terminal held by the manager, so that the manager can understand the abnormal weight deviation in time.

[0113] exist Figure 2 In step S630, in order to further ensure the rationality of the distance adjustment control information, it is necessary to further analyze and calculate the distance adjustment control information. Figure 3 The steps shown are explained in detail.

[0114] Reference Figure 3 , the method for determining the distance adjustment control information comprises the following steps:

[0115] Step S631: Retrieve the distance deviation position point based on the distance deviation value.

[0116] The distance deviation position point refers to the position point on the charging port when there is a distance deviation. The distance deviation position point is retrieved through the distance deviation value to facilitate subsequent use.

[0117] Step S632: Determine the charging connection relative position vector value corresponding to the ship specification information according to the correspondence between the ship specification information and the preset charging connection relative position vector value.

[0118] The charging connection relative position vector value refers to the vector value corresponding to the relative position between the position of the charging port for charging connection and the position of the ship. The charging connection relative position vector value is obtained by querying from a database storing the corresponding relationship between the ship specification information and the charging connection relative position vector value. The database is obtained after pre-input by the operator. The charging connection relative position vector value is determined by querying the ship specification information to facilitate subsequent use.

[0119] Step S633: Determine the charging connection location point by calculation based on the charging location point and the charging connection relative location vector value.

[0120] Among them, the charging connection position point refers to the actual position point of the charging port for charging connection. By analyzing and calculating the charging position point and the charging connection relative position vector value, the position point corresponding to the charging position point after moving according to the charging connection relative position vector value is used as the charging connection position point, which is convenient for subsequent use.

[0121] Step S634: Calculate the distance between the charging connection position point and the distance deviation position point and use it as the deviation position connection distance value.

[0122] Among them, the deviation position connection distance value refers to the distance value between the position where the distance deviation exists and the charging connection position. By calculating the distance between the charging connection position point and the distance deviation position point and using it as the deviation position connection distance value, it is convenient for subsequent use.

[0123] Step S635: determining the connection distance influence value corresponding to the deviation position connection distance value according to the correspondence between the deviation position connection distance value and the preset connection distance influence value.

[0124] The connection distance impact value refers to the impact degree value when the distance between the position where the distance is deviated and the position where the charging connection is made has an impact. The connection distance impact value is obtained by querying from a database storing the corresponding relationship between the connection distance value of the deviation position and the connection distance impact value. The database is obtained after the operator pre-enters. The connection distance impact value is determined by querying the connection distance value of the deviation position, which is convenient for subsequent use.

[0125] Step S636: Determine distance deviation adjustment information according to the connection distance influence value and the distance deviation position point analysis, and use the distance deviation adjustment information as distance adjustment control information.

[0126] Among them, the distance deviation adjustment information refers to the adjustment information for deviation adjustment based on the connection distance influence value. By analyzing the connection distance influence value and the distance deviation position point, the distance deviation adjustment information is determined and used as the distance adjustment control information to improve the accuracy of the obtained distance adjustment control information.

[0127] exist Figure 3 In step S636, in order to further ensure the rationality of the distance deviation adjustment information, it is necessary to further analyze and calculate the distance deviation adjustment information. Figure 4 The steps shown are explained in detail.

[0128] Reference Figure 4 , the method for determining the distance deviation adjustment information comprises the following steps:

[0129] Step S6361: Retrieve the deviation position value based on the distance deviation position point.

[0130] The deviation position numerical value refers to the numerical value corresponding to the distance deviation position point. The deviation position numerical value is obtained by retrieving and counting the distance deviation position points, which is convenient for subsequent use.

[0131] Step S6362: Selecting symmetrical deviation position points based on the distance deviation position points and the charging position points.

[0132] Among them, the symmetrical deviation position point refers to the distance deviation position point symmetrically located on both sides of the charging position point. By analyzing the distance deviation position point and the charging position point, the symmetrical deviation position point is selected according to the distance and direction, which is convenient for subsequent use.

[0133] Step S6363: Determine the symmetric position adjustment information corresponding to the symmetric deviation position point according to the correspondence between the symmetric deviation position point and the preset symmetric position adjustment information.

[0134] The symmetrical position adjustment information refers to the adjustment information adjusted according to the symmetrical position, and the symmetrical position adjustment information is obtained by querying from a database storing the corresponding relationship between the symmetrical deviation position point and the symmetrical position adjustment information, and the database is obtained and stored through experiments. The symmetrical position adjustment information is determined by querying the symmetrical deviation position point, which is convenient for subsequent use.

[0135] Step S6364: Determine whether the value of the deviation position is an even number. If yes, execute step S6365; if no, execute step S6366.

[0136] Among them, by judging whether the value of the deviation position is an even number, it is judged that the deviation positions are all symmetrical deviation positions.

[0137] Step S6365: Use the symmetrical position adjustment information as the distance deviation adjustment information.

[0138] Among them, when the value of the deviation position is an even number, it means that the deviation positions are all symmetrical deviation positions at this time, so the symmetrical position adjustment information is used as the distance deviation adjustment information to improve the accuracy of the obtained distance deviation adjustment information.

[0139] Step S6366: Select a separate deviation position point based on the distance deviation position point and the symmetric deviation position point, and use the connection distance influence value corresponding to the separate deviation position point as the separate deviation position influence value.

[0140] Among them, a single deviation position point refers to a distance deviation position point located on one side of the charging position point. When the value of the deviation position is not an even number, it means that the deviation position is not a symmetrical deviation position. Therefore, by analyzing the distance deviation position point and the symmetrical deviation position point, a single deviation position point is selected based on the distance and direction, and the influence value of the single deviation position is defined for subsequent use.

[0141] Step S6367: Determine the deviation cause information based on the analysis of individual deviation position points.

[0142] The deviation cause information refers to the cause information corresponding to the individual deviation position point. The deviation cause information is determined by analyzing the individual deviation position point, which is convenient for subsequent use.

[0143] Step S6368: Determine the deviation cause adjustment information corresponding to the deviation cause information and the individual deviation position influence value according to the correspondence between the deviation cause information, the individual deviation position influence value and the preset deviation cause adjustment information, and combine the deviation cause adjustment information with the symmetrical position adjustment information as the distance deviation adjustment information.

[0144] The deviation cause adjustment information refers to the adjustment information adjusted according to the deviation cause, and the deviation cause adjustment information is obtained by querying from a database storing the correspondence between the deviation cause information, the individual deviation position influence value and the deviation cause adjustment information, and the database is obtained after being pre-input by the operator. The deviation cause adjustment information is determined by querying the deviation cause information and the individual deviation position influence value, and the deviation cause adjustment information is combined with the symmetrical position adjustment information as the distance deviation adjustment information, thereby improving the accuracy of the obtained distance deviation adjustment information.

[0145] exist Figure 4 In step S6367, in order to further ensure the rationality of the deviation reason information, it is necessary to further analyze and calculate the deviation reason information separately, specifically by Figure 5 The steps shown are explained in detail.

[0146] Reference Figure 5 , the method for determining the deviation cause information includes the following steps:

[0147] Step S63671: Retrieve the historical deviation position points of the charging port based on the ship specification information.

[0148] Among them, the historical deviation position point of the charging port refers to the position point of the charging port when there is a deviation in the historical time. The historical deviation position point of the charging port is retrieved through the number corresponding to the ship specification information to facilitate subsequent use.

[0149] Step S63672: Calculate the distance between the charging port historical deviation position point and the individual deviation position point and use it as the charging port deviation distance value.

[0150] Among them, the charging port deviation distance value refers to the distance value between the position of the charging port when there is a deviation in historical time and the position where there is a separate deviation. By calculating the distance between the historical deviation position point of the charging port and the separate deviation position point and using it as the charging port deviation distance value, it is convenient for subsequent use.

[0151] Step S63673: Retrieve the historical deviation position points of the charging head based on the charging device specification information.

[0152] Among them, the historical deviation position point of the charging head refers to the position point of the charging head when there is a deviation in the historical time. The historical deviation position point of the charging head is retrieved by the number corresponding to the charging device specification information to facilitate subsequent use.

[0153] Step S63674: Calculate the distance between the historical deviation position point of the charging head and the individual deviation position point and use it as the deviation distance value of the charging head.

[0154] Among them, the deviation distance value of the charging head refers to the distance value between the position of the charging head when there is a deviation in the historical time and the position where there is a separate deviation. By calculating the distance between the historical deviation position point of the charging head and the separate deviation position point and using it as the deviation distance value of the charging head, it is convenient for subsequent use.

[0155] Step S63675: Determine whether the charging port deviation distance value is less than the charging head deviation distance value. If yes, execute step S63676; if no, execute step S63677.

[0156] Among them, by judging whether the deviation distance value of the charging port is smaller than the deviation distance value of the charging head, it is judged whether the single deviation is caused by the charging port.

[0157] Step S63676: Determine the charging port reason information corresponding to the charging port deviation distance value according to the correspondence between the charging port deviation distance value and the preset charging port reason information, and use the charging port reason information as the deviation reason information.

[0158] Among them, the charging port reason information refers to the reason information used to indicate that the individual deviation is caused by the charging port. The charging port reason information is obtained by querying from a database storing the corresponding relationship between the charging port deviation distance value and the charging port reason information. The database is obtained and stored through experiments. When the charging port deviation distance value is less than the charging head deviation distance value, it means that the individual deviation is caused by the charging port at this time. Therefore, the charging port reason information is determined by querying the charging port deviation distance value and used as the deviation reason information, thereby improving the accuracy of the obtained deviation reason information.

[0159] Step S63677: Determine the charging head reason information corresponding to the charging head deviation distance value according to the correspondence between the charging head deviation distance value and the preset charging head reason information, and use the charging head reason information as the deviation reason information.

[0160] Among them, the charging head cause information refers to the cause information used to indicate that the individual deviation is caused by the charging head. The charging head cause information is obtained by querying from a database storing the corresponding relationship between the charging head deviation distance value and the charging head cause information. The database is obtained and stored through experiments. When the charging port deviation distance value is not less than the charging head deviation distance value, it means that the individual deviation is caused by the charging head at this time. Therefore, the charging head cause information is determined by querying the charging head deviation distance value and used as the deviation cause information, thereby improving the accuracy of the obtained deviation cause information.

[0161] exist Figure 2 In step S670, in order to further ensure the rationality of the abnormal weight warning information, it is necessary to further analyze and calculate the abnormal weight warning information. Figure 6 The steps shown are explained in detail.

[0162] Reference Figure 6 , the method for determining the abnormal weight warning information includes the following steps:

[0163] Step S671: Determine the weight distance influence reference value corresponding to the distance deviation value according to the correspondence between the distance deviation value and the preset weight distance influence reference value.

[0164] The weight distance influence reference value refers to the reference value when the distance deviation affects the weight deviation. The weight distance influence reference value is obtained by querying from a database storing the correspondence between the distance deviation value and the weight distance influence reference value. The database is obtained and stored through experiments. The weight distance influence reference value is determined by querying the distance deviation value to facilitate subsequent use.

[0165] Step S672: Determine whether the weight abnormal deviation value is consistent with the weight distance influence reference value. If yes, execute step S673; if no, execute step S674.

[0166] Among them, by judging whether the abnormal weight deviation value is consistent with the weight distance influence reference value, it is judged whether the weight deviation is caused by the distance deviation.

[0167] Step S673: According to the correspondence between the distance deviation value and the preset distance deviation warning information, the distance deviation warning information corresponding to the distance deviation value is determined, and the distance deviation warning information is used as the weight abnormality warning information.

[0168] Among them, the distance deviation warning information refers to the warning information based on the distance deviation, and the distance deviation warning information is obtained by querying from a database storing the correspondence between the distance deviation value and the distance deviation warning information, and the database is obtained and stored through experiments. When the weight abnormality deviation value is consistent with the weight distance influence reference value, it means that the weight deviation is caused by the distance deviation at this time. Therefore, the distance deviation warning information is determined by querying the distance deviation value, and the distance deviation warning information is used as the weight abnormality warning information, thereby improving the accuracy of the obtained weight abnormality warning information.

[0169] Step S674: Calculate the difference between the weight abnormality deviation value and the weight distance influence reference value and use it as the other influence weight deviation value.

[0170] Among them, other influencing weight deviation values ​​refer to the deviation values ​​corresponding to other influencing weight deviations. When the abnormal weight deviation value is consistent with the weight distance influence benchmark value, it means that the weight deviation at this time is not entirely caused by the distance deviation. Therefore, the difference between the abnormal weight deviation value and the weight distance influence benchmark value is calculated and used as other influencing weight deviation values ​​for convenience of subsequent use.

[0171] Step S675: Retrieve the historical deviation information of the charging head based on the charging device specification information.

[0172] The historical deviation information of the charging head refers to the situation information when the charging head has deviations in historical time. The historical deviation information of the charging head is retrieved through the number corresponding to the charging device specification information to facilitate subsequent use.

[0173] Step S676: Determine the historical weight deviation value based on the historical deviation information of the charging head.

[0174] Among them, the historical weight deviation value refers to the deviation reference value corresponding to the deviation situation of the charging head in the historical time. By analyzing the historical deviation information of the charging head, the historical weight deviation value is determined to facilitate subsequent use.

[0175] Step S677: Determine other influencing warning information based on the analysis of other influencing weight deviation values ​​and historical weight deviation values, and use the other influencing warning information as weight abnormality warning information.

[0176] Among them, other impact warning information refers to warning information that warns of the impact of other factors. By analyzing the weight deviation values ​​of other impacts and the historical weight deviation values, the other impact warning information is determined and used as weight abnormality warning information, thereby improving the accuracy of the obtained weight abnormality warning information.

[0177] exist Figure 6In step S676, in order to further ensure the rationality of the historical weight deviation value, it is necessary to further analyze and calculate the historical weight deviation value. Figure 7 The steps shown are explained in detail.

[0178] Reference Figure 7 , the method for determining the historical weight deviation value includes the following steps:

[0179] Step S6761: Retrieve the historical deviation time point and the deviation time weight deviation value based on the historical deviation information of the charging head.

[0180] Among them, the historical deviation time point refers to the time point when there is a deviation in the historical time, and the deviation time weight deviation value refers to the deviation value when there is a deviation in the historical time. The historical deviation time point and the deviation time weight deviation value are retrieved through the historical deviation information of the charging head to facilitate subsequent use.

[0181] Step S6762: Curve the deviation time weight deviation value based on the historical deviation time points to form a weight deviation change curve.

[0182] Among them, the weight deviation change curve refers to a curve that shows the change in weight deviation as time changes. The weight deviation value of the deviation time is plotted against the historical deviation time points to form a weight deviation change curve for easy subsequent use.

[0183] Step S6763: Analyze the difference between the weight deviation change curve and the preset weight deviation reference curve and use it as the curve deviation value.

[0184] The weight deviation reference curve refers to the reference curve based on the tolerable change of the weight deviation when the time changes. The weight deviation reference curve is obtained after the operator pre-enters. The curve deviation value refers to the deviation value corresponding to the deviation in the curve. The difference between the weight deviation change curve and the preset weight deviation reference curve is calculated and used as the curve deviation value for subsequent use.

[0185] Step S6764: Determine the estimated deviation value based on the curve deviation value analysis, and use the estimated deviation value as the historical weight deviation value.

[0186] The deviation estimate refers to the estimate of the deviation that will occur at the next time. By analyzing the curve deviation value, the deviation estimate is determined and used as the historical weight deviation value, thereby improving the accuracy of the historical weight deviation value obtained.

[0187] The method for determining the deviation estimate includes:

[0188] The curve deviation value is analyzed and calculated based on a preset deviation estimation calculation formula to obtain a deviation estimation value.

[0189] The deviation estimation calculation formula refers to the formula used to calculate the deviation estimation value, and the deviation estimation calculation formula is obtained after the operator inputs it in advance. The deviation estimation calculation formula is , is the estimated deviation at time t+1, is the preset smoothing constant, is the curve deviation value, is the estimated deviation at time t. For example, when , , At this time, the estimated deviation is .

[0190] exist Figure 6 In step S677, in order to further ensure the rationality of other impact warning information, it is necessary to further analyze and calculate other impact warning information separately, specifically through Figure 8 The steps shown are explained in detail.

[0191] Reference Figure 8 , other methods for determining the impact warning information include the following steps:

[0192] Step S6771: Determine whether other weight deviation values ​​are consistent with the historical weight deviation value. If yes, execute step S6772; if no, execute step S6773.

[0193] Among them, by judging whether the weight deviation value of other factors affecting the weight is consistent with the historical weight deviation value, it is determined whether the impact is caused by the deviation of the historical weight.

[0194] Step S6772: According to the correspondence between the historical weight deviation value and the preset historical deviation warning information, the historical deviation warning information corresponding to the historical weight deviation value is determined, and the historical deviation warning information is used as other impact warning information.

[0195] Among them, historical deviation warning information refers to warning information for warning the impact of historical weight deviation. The historical deviation warning information is obtained by querying from a database storing the correspondence between historical weight deviation values ​​and historical deviation warning information. The database is obtained and stored through experiments. When the other weight deviation values ​​that affect the weight are consistent with the historical weight deviation values, it means that the impact is caused by the historical weight deviation. Therefore, the historical deviation warning information is determined by querying the historical weight deviation value, and the historical deviation warning information is used as other impact warning information, thereby improving the accuracy of the other impact warning information obtained.

[0196] Step S6773: Calculate the difference between other impact weight deviation values ​​and the historical weight deviation value and use it as the environmental impact deviation value.

[0197] Among them, the environmental impact deviation value refers to the deviation value caused by the environment during charging. When the other impact weight deviation value is inconsistent with the historical weight deviation value, it means that the impact is not entirely caused by the historical weight deviation. Therefore, the difference between the other impact weight deviation value and the historical weight deviation value is calculated and used as the environmental impact deviation value for subsequent use.

[0198] Step S6774: Retrieve the rainfall amount at the charging location.

[0199] Among them, the location rainfall amount refers to the amount of rainwater generated at the location during charging. The location rainfall amount is retrieved through the charging location point to facilitate subsequent use.

[0200] Step S6775: Determine the rain impact estimate value corresponding to the rain impact at the location according to the correspondence between the rain impact at the location and the preset rain impact estimate value.

[0201] The rain impact estimate refers to the estimated impact of the generated rain on the weight, and the rain impact estimate is obtained by querying from a database storing the corresponding relationship between the location rain volume and the rain impact estimate, which is obtained and stored through experiments. The rain impact estimate is determined by querying the location rain volume, which is convenient for subsequent use.

[0202] Step S6776: Determine environmental impact warning information based on the rainwater impact estimate and the environmental impact deviation value, and use the environmental impact warning information as other impact warning information.

[0203] Among them, environmental impact warning information refers to warning information for warning of the impact on the environment. By analyzing the rainwater impact estimate and the environmental impact deviation value, when the rainwater impact estimate and the environmental impact deviation value are consistent, the preset rainwater impact warning information is directly output as the environmental impact warning information. When the rainwater impact estimate and the environmental impact deviation value are inconsistent, the preset debris impact warning information is output as the environmental impact warning information, and the environmental impact warning information is used as other impact warning information, thereby improving the accuracy of the other impact warning information obtained. Rainwater impact warning information refers to warning information for warning of the impact of rainwater, and the rainwater impact warning information is obtained after the operator pre-inputs. Debris impact warning information refers to warning information for warning of the impact of debris, and the debris impact warning information is obtained after the operator pre-inputs.

[0204] Based on the same inventive concept, an embodiment of the present invention provides a plug-in positioning device, including a memory and a processor, wherein the memory stores a program that can be loaded and executed by the processor. Figures 1 to 8 A computer program for any one of the plug-in positioning methods described in .

[0205] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0206] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for positioning a plug in place, characterized in that: include: Obtaining the weight detection value detected by the charging position point and the weight detection device preset at the charging port; Retrieve ship specification information and charging equipment specification information based on the charging location point; According to the correspondence between the charging equipment specification information and the preset weight reference value, the weight reference value corresponding to the charging equipment specification information is determined; Calculate the difference between the weight detection value and the weight reference value and use it as the weight deviation value; According to the correspondence between the ship specification information and the preset weight deviation reference interval, the weight deviation reference interval corresponding to the ship specification information is determined; It is determined whether the weight deviation value falls within the weight deviation reference interval to determine the charging control information, and the charging control information is output to the charging device.

2. The plug-in positioning method according to claim 1, characterized in that: The method for determining the charging control information includes: Obtaining a distance detection value detected by a distance detection device preset at the charging port; Calculate the difference between the distance detection value and the preset distance reference value and use it as the distance deviation value; Determine distance adjustment control information based on distance deviation value analysis; Determine whether the weight deviation value falls within the weight deviation reference range; If yes, the distance adjustment control information is used as charging control information; If not, the difference between the weight deviation value and the weight deviation reference interval is calculated and used as the weight abnormal deviation value; The abnormal weight warning information is determined based on the analysis of the distance deviation value and the abnormal weight deviation value, and the abnormal weight warning information is output to the terminal held by the manager.

3. The plug-in positioning method according to claim 2, characterized in that: The method for determining the distance adjustment control information includes: Retrieve the distance deviation position point based on the distance deviation value; According to the correspondence between the ship specification information and the preset charging connection relative position vector value, the charging connection relative position vector value corresponding to the ship specification information is determined; Determine the charging connection location point based on the charging location point and the charging connection relative location vector value calculation; Calculate the distance between the charging connection position point and the distance deviation position point and use it as the deviation position connection distance value; According to the correspondence between the deviation position connection distance value and the preset connection distance influence value, the connection distance influence value corresponding to the deviation position connection distance value is determined; The distance deviation adjustment information is determined based on the connection distance impact value and the distance deviation position point analysis, and the distance deviation adjustment information is used as the distance adjustment control information.

4. The plug-in positioning method according to claim 3, characterized in that: The method for determining the distance deviation adjustment information includes: Retrieve the deviation position value based on the distance deviation position point; Selecting symmetrical deviation position points based on the distance deviation position points and the charging position points; According to the correspondence between the symmetrical deviation position point and the preset symmetrical position adjustment information, the symmetrical position adjustment information corresponding to the symmetrical deviation position point is determined; Determine whether the value of the deviation position is an even number; If yes, the symmetrical position adjustment information is used as the distance deviation adjustment information; If not, a separate deviation position point is selected based on the distance deviation position point and the symmetric deviation position point, and the connection distance influence value corresponding to the separate deviation position point is used as the separate deviation position influence value; Determine the deviation cause information based on individual deviation location point analysis; According to the correspondence between the deviation cause information, the individual deviation position impact value and the preset deviation cause adjustment information, the deviation cause adjustment information corresponding to the deviation cause information and the individual deviation position impact value is determined, and the deviation cause adjustment information is combined with the symmetrical position adjustment information as the distance deviation adjustment information.

5. The plug-in positioning method according to claim 4, characterized in that: Methods for determining deviation cause information include: Retrieve the historical deviation position points of the charging port based on the ship specification information; Calculate the distance between the historical deviation position point of the charging port and the individual deviation position point and use it as the deviation distance value of the charging port; Retrieve the historical deviation position points of the charging head based on the specification information of the charging equipment; Calculate the distance between the historical deviation position point of the charging head and the individual deviation position point and use it as the deviation distance value of the charging head; Determine whether the charging port deviation distance value is smaller than the charging head deviation distance value; If yes, then determining the charging port reason information corresponding to the charging port deviation distance value according to the correspondence between the charging port deviation distance value and the preset charging port reason information, and using the charging port reason information as the deviation reason information; If not, the charging head reason information corresponding to the charging head deviation distance value is determined according to the correspondence between the charging head deviation distance value and the preset charging head reason information, and the charging head reason information is used as the deviation reason information.

6. The plug-in positioning method according to claim 2, characterized in that: Methods for determining abnormal weight warning information include: According to the correspondence between the distance deviation value and the preset weight distance influence reference value, the weight distance influence reference value corresponding to the distance deviation value is determined; Determine whether the weight abnormal deviation value is consistent with the weight distance impact benchmark value; If yes, then according to the correspondence between the distance deviation value and the preset distance deviation warning information, the distance deviation warning information corresponding to the distance deviation value is determined, and the distance deviation warning information is used as the weight abnormality warning information; If not, the difference between the weight abnormal deviation value and the weight distance influence reference value is calculated and used as the other influence weight deviation value; Retrieve the historical deviation information of the charging head based on the specification information of the charging equipment; Determine the historical weight deviation value based on the historical deviation information of the charging head; Other impact warning information is determined based on the analysis of other impact weight deviation values ​​and historical weight deviation values, and other impact warning information is used as weight abnormality warning information.

7. The plug-in positioning method according to claim 6, characterized in that: The method for determining the historical weight deviation value includes: Based on the historical deviation information of the charging head, retrieve the historical deviation time point and the deviation time weight deviation value; Based on the historical deviation time points, the deviation time weight deviation value is curve-formed to form a weight deviation change curve; Analyze the difference between the weight deviation change curve and the preset weight deviation reference curve and use it as the curve deviation value; The estimated deviation value is determined based on the curve deviation value analysis, and the estimated deviation value is used as the historical weight deviation value.

8. The plug-in positioning method according to claim 7, characterized in that: The method for determining the deviation estimate includes: Based on the preset deviation estimation calculation formula, the curve deviation value is analyzed and calculated to obtain the deviation estimation value, wherein the deviation estimation calculation formula is: , is the estimated deviation at time t+1, is the preset smoothing constant, is the curve deviation value, is the estimated deviation at time t.

9. The plug-in positioning method according to claim 7, characterized in that: Other methods that affect the determination of early warning information include: Determine whether other weight deviation values ​​that affect the weight are consistent with historical weight deviation values; If yes, then determine the historical deviation warning information corresponding to the historical weight deviation value according to the correspondence between the historical weight deviation value and the preset historical deviation warning information, and use the historical deviation warning information as other impact warning information; If not, the difference between the other impact weight deviation value and the historical weight deviation value is calculated and used as the environmental impact deviation value; Retrieve the rainfall amount at the location based on the charging location; According to the corresponding relationship between the rainfall amount at the location and the preset rainfall impact estimated value, the rainfall impact estimated value corresponding to the rainfall amount at the location is determined; The environmental impact warning information is determined based on the analysis of the rainwater impact estimate and the environmental impact deviation value, and is used as other impact warning information.

10. A plug-in positioning device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes the plug-in positioning method according to any one of claims 1 to 9.

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