Shore power charging method and system

Abstract

The invention provides a shore power charging method and system, and the method comprises the following steps: enabling a charging vehicle to respond to a first movement control signal, and to move to the position of a shore power supply; after the shore-side interface is connected with the shore power supply, the charging vehicle responds to the second movement control signal, moves to the area where the charging interface of the ship to be charged is located, and controls the first take-up and pay-off unit to release the shore-side cable; after the charging vehicle reaches the area where the charging interface of the to-be-charged ship is located, the charging vehicle responds to the automatic connection signal, moves the ship side interface to the position where the charging interface of the to-be-charged ship is located, controls the second take-up and pay-off unit to release the ship side cable, and connects the ship side interface with the charging interface of the to-be-charged ship; and after charging is finished, the charging vehicle responds to the automatic separation signal, disconnects the ship side interface from the charging interface of the ship to be charged, drives the mechanical arm to return to the original position, and controls the second take-up and pay-off unit to take up the ship side cable. According to the invention, ship shore power charging can be conveniently realized.

Description

Technical Field

[0001] The present invention relates to the technical field of ship shore power, and in particular to a shore power charging method and system. Background Art

[0002] With the popularization of new energy and the development of related technologies, more and more ships are powered by electricity. For example, some ships use hybrid power systems of hydrogen fuel cells and lithium batteries. The policies and technologies of electric ships and shore power at docks can be perfectly adapted, that is, ships can charge their energy storage batteries through shore power after docking.

[0003] At present, the shore power charging of ships mostly relies on manpower to transport, retract and connect the charging cables. The distance and height difference from the shore power source to the ship, as well as the weight of the cable, make the above work very intensive and difficult. Although some charging scenarios use auxiliary tools such as cranes and transporters, they still basically require manual control throughout the process, which still consumes a lot of manpower and requires personnel skills. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a shore power charging method and system, which can transport, retract and release the charging cable through a charging vehicle, and can realize automatic connection with the ship's charging interface, thereby conveniently realizing ship shore power charging and greatly reducing labor costs.

[0005] The technical solution adopted by the present invention is as follows: A shore power charging method, comprising the following steps: a charging vehicle moves to a location of a shore power source in response to a first movement control signal, wherein the charging vehicle comprises a vehicle body and a first retractable wire unit, a second retractable wire unit, a bracket, and a mechanical arm located on the vehicle body, wherein the first retractable wire unit comprises a shore cable, and the second retractable wire unit comprises a ship cable, wherein one end of the shore cable has a shore interface, and one end of the ship cable has a ship interface, and the other end of the shore cable is electrically connected to the other end of the ship cable, the head end of the mechanical arm is connected to the bracket, and the ship interface is arranged at the end of the mechanical arm; after the shore interface is connected to the shore power source, the charging vehicle moves to an area where a charging interface of a ship to be charged is located in response to a second movement control signal, and controls the first retractable wire unit to release the shore cable; after the charging vehicle reaches the area where the charging interface of the ship to be charged is located, the charging vehicle responds to the self The charging vehicle receives an automatic connection signal, determines the relative position relationship between the charging interface of the ship to be charged and the ship-side interface, and drives the mechanical arm according to the relative position relationship to move the ship-side interface to the location of the charging interface of the ship to be charged, and controls the second retractable line unit to release the ship-side cable, and after the ship-side interface reaches the location of the charging interface of the ship to be charged, connects the ship-side interface with the charging interface of the ship to be charged, so as to charge the ship to be charged through the shore power supply; after charging is completed, the charging vehicle disconnects the ship-side interface from the charging interface of the ship to be charged in response to the automatic separation signal, drives the mechanical arm to return to its position, and controls the second retractable line unit to recycle the ship-side cable; after the mechanical arm is returned to its position, the charging vehicle moves to the location of the shore power supply in response to the third movement control signal, and controls the first retractable line unit to recycle the shore-side cable.

[0006] Further, when the charging vehicle responds to the second movement control signal, the initial pay-out speed of the first pay-out unit is first given, and then the moving speed of the charging vehicle at the next moment is determined according to the tension change rate of the shore-side cable and the pay-out speed of the first pay-out unit at the current moment; when the charging vehicle responds to the third movement control signal, the initial moving speed of the charging vehicle is first given, and then the take-up speed of the first pay-out unit at the next moment is determined according to the tension change rate of the shore-side cable and the moving speed of the charging vehicle at the current moment; when the charging vehicle responds to the automatic connection signal, the initial pay-out speed of the second pay-out unit is first given, and then the moving speed of the end of the manipulator at the next moment is determined according to the tension change rate of the ship-side cable and the pay-out speed of the second pay-out unit at the current moment; when the charging vehicle responds to the automatic separation signal, the initial moving speed of the end of the manipulator is first given, and then the take-up speed of the second pay-out unit at the next moment is determined according to the tension change rate of the ship-side cable and the moving speed of the end of the manipulator at the current moment.

[0007] Furthermore, the moving speed of the charging vehicle or the moving speed of the end of the robotic arm is calculated according to the following formula: , in, k Indicates the current moment, k +1 means the next moment, v 移(k+1) is the moving speed of the charging vehicle at the next moment or the moving speed of the end of the robotic arm at the next moment, v 放(k) is the pay-off speed of the first pay-off and take-up unit at the current moment or the pay-off speed of the second pay-off and take-up unit at the current moment, Δ F is the tension change rate of the shore-side cable at the current moment or the tension change rate of the ship-side cable at the current moment, Δ F = F (k) - F (k-1) , k -1 means the last moment, F (k) is the current tension of the shore-side cable or the current tension of the ship-side cable, F (k-1) is the tension of the shore-side cable at the last moment or the tension of the ship-side cable at the last moment, E is the Young's modulus of the shore-side cable or the Young's modulus of the ship-side cable.

[0008] The take-up speed of the first take-up and pay-off unit or the take-up speed of the second take-up and pay-off unit is calculated according to the following formula: , in, v 收(k+1) is the wire-receiving speed of the first wire-receiving and wire-unreceiving unit at the next moment or the wire-receiving speed of the second wire-receiving and wire-unreceiving unit at the next moment, v 移(k) It is the moving speed of the charging vehicle at the current moment or the moving speed of the end of the robotic arm at the current moment.

[0009] Furthermore, the first wire-retracting and -releasing unit and the second wire-retracting and -releasing unit are both wire wheels.

[0010] Furthermore, the relative direction and distance between the charging interface of the ship to be charged and the ship side interface are determined by wireless positioning technology.

[0011] Furthermore, after the ship-side interface reaches the location of the charging interface of the ship to be charged, the ship-side interface is aligned with the charging interface of the ship to be charged, and the ship-side interface is inserted into the charging interface of the ship to be charged.

[0012] Furthermore, the charging vehicle also includes a support leg arranged on the vehicle body. The charging vehicle responds to the automatic connection signal and controls the support leg to fall to the ground. The charging vehicle responds to the automatic separation signal and controls the support leg to leave the ground after the mechanical arm has completed the return.

[0013] Furthermore, the charging vehicle sends out an alarm message when the relative distance between the charging interface of the ship to be charged and the ship-side interface is greater than a preset distance threshold.

[0014] Furthermore, the charging interface of the ship to be charged has a protective cover. After the ship-side interface reaches the location of the charging interface of the ship to be charged, the charging vehicle sends a connection request to the ship to be charged, and the ship to be charged controls the protective cover to open after receiving the connection request.

[0015] A shore power charging system comprises a shore power source, a charging vehicle and a ship to be charged, wherein the charging vehicle comprises a vehicle body and a first retractable wire unit, a second retractable wire unit, a bracket and a mechanical arm located on the vehicle body, wherein the first retractable wire unit comprises a shore cable, and the second retractable wire unit comprises a ship cable, wherein one end of the shore cable has a shore interface, and one end of the ship cable has a ship interface, and the other end of the shore cable is electrically connected to the other end of the ship cable, wherein the head end of the mechanical arm is connected to the bracket, and the ship interface is arranged at the end of the mechanical arm, wherein the charging vehicle moves to the location of the shore power source in response to a first movement control signal; after the shore interface is connected to the shore power source, the charging vehicle moves to the area where the charging interface of the ship to be charged is located in response to a second movement control signal, and controls the first retractable wire unit to release the shore cable; after the charging vehicle arrives at the area where the charging interface of the ship to be charged is located, the The charging vehicle determines the relative position relationship between the charging interface of the ship to be charged and the ship-side interface in response to the automatic connection signal, and drives the mechanical arm to move the ship-side interface to the location of the charging interface of the ship to be charged according to the relative position relationship, and controls the second retractable wire unit to release the ship-side cable, and after the ship-side interface reaches the location of the charging interface of the ship to be charged, connects the ship-side interface with the charging interface of the ship to be charged to charge the ship to be charged through the shore power supply; after charging is completed, the charging vehicle disconnects the ship-side interface from the charging interface of the ship to be charged in response to the automatic separation signal, drives the mechanical arm to return to its position, and controls the second retractable wire unit to recycle the ship-side cable; after the mechanical arm is returned to its position, the charging vehicle moves to the location of the shore power supply in response to the third movement control signal, and controls the first retractable wire unit to recycle the shore-side cable.

[0016] Beneficial effects of the present invention: The present invention responds to various signals and performs corresponding actions through the charging vehicle, can transport, retract and release the charging cable through the charging vehicle, and can realize automatic connection with the ship's charging interface, thereby conveniently realizing ship shore power charging and greatly reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a charging vehicle according to an embodiment of the present invention when it is in an initial state at a certain viewing angle; Figure 2 This is a schematic structural diagram of a charging vehicle according to an embodiment of the present invention when it is in an initial state from another perspective; Figure 3 This is a schematic diagram of the structure of a charging vehicle according to an embodiment of the present invention when the bracket is rotating and the mechanical arm is raised; Figure 4 This is a schematic structural diagram of a charging interface and a protective cover of a ship to be charged according to an embodiment of the present invention; Figure 5 This is a flow chart of a shore power charging method according to an embodiment of the present invention; Figure 6 4 is a block diagram of a shore power charging system according to an embodiment of the present invention.

[0018] Reference numerals: Vehicle body 1, first retractable wire unit 2, second retractable wire unit 3, bracket 4, mechanical arm 5, outrigger 6, protective cover 7, shore power supply 100, charging vehicle 200, and ship to be charged 300. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The shore power charging method of the embodiment of the present invention is mainly implemented by the charging vehicle, which is the main device constituting the shore power charging system of the embodiment of the present invention. Therefore, the relevant contents of the charging vehicle of the embodiment of the present invention are first introduced.

[0021] like Figure 1 , Figure 2 and Figure 3 As shown, the charging vehicle of the embodiment of the present invention includes a vehicle body 1 and a first wire-retracting unit 2, a second wire-retracting unit 3, a bracket 4, and a mechanical arm 5 located on the vehicle body 1, the first wire-retracting unit 2 includes a shore cable, the second wire-retracting unit includes a ship cable, one end of the shore cable has a shore interface, one end of the ship cable has a ship interface, the other end of the shore cable is electrically connected to the other end of the ship cable, the head end of the mechanical arm 5 is connected to the bracket 4, and the ship interface is arranged at the end of the mechanical arm 5.

[0022] In one embodiment of the present invention, the first retractable wire unit 2 and the second retractable wire unit 3 are both wire wheels, and the rotating shafts of the wire wheels are arranged horizontally, wherein the rotating shaft of the first retractable wire unit 2 is arranged on a box at the front of the vehicle body 1, and a motor for driving the first retractable wire unit 2 to rotate is arranged in the box; the rotating shaft of the second retractable wire unit 3 is arranged in the middle of the bracket, and a motor for driving the second retractable wire unit 3 to rotate is arranged in the bracket. The head end of the mechanical arm 5 is connected to the top of the bracket 4, and the bracket 4 is located at the rear of the vehicle body 1 and can rotate in the horizontal direction. The initial state of the bracket 4 and the mechanical arm 5 is as shown in FIG. Figure 1 and Figure 2As shown, the state after the bracket 4 rotates 90° and the robot arm 5 is lifted is as follows Figure 3 As shown. Based on the structure of the above-mentioned bracket 4 and the mechanical arm 5, the mechanical arm 5 can rotate with the horizontal rotation of the bracket 4, and the mechanical arm 5 itself is a structure that can be lifted, lowered and retracted, and has multiple degrees of freedom. The above-mentioned rotation, lifting and falling can control the direction of the end of the mechanical arm 5, and the above-mentioned extension can control the distance of the end of the mechanical arm 5 relative to the second retractable unit 3. Based on the structure of the above-mentioned bracket 4, the mechanical arm 5, and the second retractable unit 3, if the tension of the ship-side cable remains unchanged from the beginning to the completion of recovery or release, then the retractable length depends only on the extension length of the mechanical arm 5. In other words, when the tension of the ship-side cable is constant, the extension speed of the mechanical arm 5 is directly proportional to the retractable speed of the second retractable unit 3. Among them, the retractable speed of the embodiment of the present invention refers to the length of the retractable length per unit time.

[0023] Furthermore, if Figure 3 As shown, the charging vehicle of the embodiment of the present invention may further include legs 6 disposed on the vehicle body 1. The number of legs 6 may be four, which can maintain the overall stability of the charging vehicle when it lands.

[0024] The shore power supply of the embodiment of the present invention may be in the form of a charging box or a charging pile, and its power interface may be in the form of a socket. Correspondingly, the shore interface at one end of the shore cable may be in the form of a plug. The charging interface of the ship to be charged in the embodiment of the present invention may be in the form of a socket. Correspondingly, the ship-side interface at one end of the ship-side cable may be in the form of a plug. In one embodiment of the present invention, Figure 4 As shown, the charging interface of the ship to be charged has a protective cover 7, which is waterproof and dustproof and can be opened and closed under control.

[0025] like Figure 5 As shown, the shore power charging method of the embodiment of the present invention includes the following steps: S1, the charging vehicle moves to the location of the shore power source in response to a first movement control signal.

[0026] In one embodiment of the present invention, the charging vehicle has a set initial parking position. The operator can send a first movement control signal to the charging vehicle through a remote control. After receiving the first movement control signal, the charging vehicle can plan a path according to the current position and the pre-stored location of the shore power supply, so as to move from the initial parking position to the location of the shore power supply; or, there is a guide rail between the initial parking position and the location of the shore power supply, and after receiving the first movement control signal, the charging vehicle can move from the initial parking position to the location of the shore power supply along the guide rail; or, the first movement control signal may include forward, backward, left turn, right turn and other signals sent by the operator through the remote control button, so that the operator can control the charging vehicle from the initial parking position to the location of the shore power supply.

[0027] S2, after the shore interface is connected to the shore power supply, the charging vehicle moves to the area where the charging interface of the ship to be charged is located in response to the second movement control signal, and controls the first retractable cable unit to release the shore cable.

[0028] After the charging vehicle reaches the location of the shore power supply, the operator can plug the shore side interface into the power interface of the shore power supply, or the connection can be automatically connected to achieve the connection between the shore side interface and the shore power supply.

[0029] After completing the above connection, the operator can send a second movement control signal to the charging vehicle through the remote control. After receiving the second movement control signal, the charging vehicle can first establish a communication connection with the ship to be charged to obtain the area where the charging interface of the ship to be charged is located; or, the second movement control signal can include the area where the charging interface of the ship to be charged is located input by the operator. After determining the area where the charging interface of the ship to be charged is located, the charging vehicle can plan a path according to the current position and the area where the charging interface of the ship to be charged is located, so as to move from the location of the shore power supply to the area where the charging interface of the ship to be charged is located; or, there is a guide rail between the location of the shore power supply and the area where the charging interface of the ship to be charged is located (for example, different guide rails leading to area A, area B, area C... can be pre-laid), and the charging vehicle can move along the guide rail from the location of the shore power supply to the area where the charging interface of the ship to be charged is located; or, the second movement control signal can include forward, backward, left turn, right turn and other signals sent by the operator through the remote control button, so that the operator controls the charging vehicle from the location of the shore power supply to the area where the charging interface of the ship to be charged is located.

[0030] When the charging vehicle moves toward the area where the charging interface of the ship to be charged is located, the first cable-retracting unit is synchronously controlled to release the shore-side cable.

[0031] S3, after the charging vehicle arrives at the area where the charging interface of the ship to be charged is located, the charging vehicle responds to the automatic connection signal, determines the relative position relationship between the charging interface of the ship to be charged and the ship side interface, and drives the mechanical arm to move the ship side interface to the location of the charging interface of the ship to be charged according to the relative position relationship, and controls the second retractable cable unit to release the ship side cable, and after the ship side interface arrives at the location of the charging interface of the ship to be charged, connects the ship side interface with the charging interface of the ship to be charged, so as to charge the ship to be charged through the shore power supply.

[0032] Furthermore, the charging vehicle controls the legs to fall to the ground before driving the robotic arm in response to the automatic connection signal, so as to maintain the stability of the charging vehicle during driving the robotic arm and subsequent charging.

[0033] Similarly, the operator can send an automatic connection signal to the charging vehicle through the remote control. The area where the charging interface of the ship to be charged in step S2 is located can be a longitude and latitude coordinate value or a longitude and latitude coordinate range, but in step S3, in order to realize the relative position relationship between the charging interface of the ship to be charged and the ship side interface when the interface is docked, it is not enough to only know the longitude and latitude information of the charging interface of the ship to be charged. It is also necessary to know the height information, angle information, or direction information of the charging interface of the ship to be charged. Therefore, in one embodiment of the present invention, after receiving the automatic connection signal, the charging vehicle can determine the relative direction and distance between the charging interface of the ship to be charged and the ship side interface through wireless positioning technology. In a specific embodiment of the present invention, the wireless positioning technology can be UWB (Ultra Wide Band) positioning technology.

[0034] After the relative position relationship between the charging interface of the ship to be charged and the ship side interface is obtained, the ship side interface at the end of the mechanical arm can be sent to the location of the charging interface of the ship to be charged by driving the multi-degree-of-freedom mechanical arm. In the process of driving the mechanical arm, the second retractable cable unit is synchronously controlled to release the ship side cable.

[0035] After the ship-side interface reaches the location of the charging interface of the ship to be charged, the charging vehicle can send a connection request to the ship to be charged, and the ship to be charged can control the protective cover to open after receiving the connection request.

[0036] In one embodiment of the present invention, when the relative distance between the charging interface of the ship to be charged and the ship side interface of the charging vehicle is greater than a preset distance threshold, an alarm message may be issued. The preset distance threshold may be set according to the distance moved by the end of the mechanical arm from the initial position to the maximum distance after being extended. If the relative distance between the charging interface of the ship to be charged and the ship side interface is greater than the preset distance threshold, it means that the charging vehicle is at this position, and the ship side interface at the end of its mechanical arm cannot reach the charging interface of the ship to be charged. At this time, an alarm may be issued to prompt the operator to assist in adjustment.

[0037] After the ship-side interface reaches the location of the charging interface of the ship to be charged, in one embodiment of the present invention, due to the problem of wireless positioning accuracy, it may be impossible to accurately insert the ship-side interface into the charging interface of the ship to be charged. Therefore, manual assistance can be used for insertion, or alignment technology can be used to align the ship-side interface with the charging interface of the ship to be charged, and then the ship-side interface can be inserted into the charging interface of the ship to be charged.

[0038] In one embodiment of the present invention, the ship side interface is arranged in a movable manner at the end of the mechanical arm, so that the ship side interface can not only move with the movement of the position of the end of the mechanical arm, but also change its own position at the end of the mechanical arm. In one embodiment of the present invention, the charging interface of the ship to be charged faces directly upward, and the ship side interface faces directly downward when it arrives.

[0039] In one embodiment of the present invention, a funnel-shaped guide port may be provided on the charging interface of the ship to be charged, the guide port being larger at the top and smaller at the bottom. After the ship side interface reaches the location of the charging interface of the ship to be charged, due to the larger opening of the guide port, even if there is a deviation in the vertical position between the ship side interface and the charging interface of the ship to be charged, when the ship side interface falls, it can slide along the side wall of the guide port to the charging interface of the ship to be charged located at the bottom of the guide port, thereby achieving alignment between the ship side interface and the charging interface of the ship to be charged.

[0040] In one embodiment of the present invention, a camera may be provided at the end of the mechanical arm, and the camera may capture images when the ship side interface is at a preset distance from the horizontal plane where the charging interface of the ship to be charged is located. The position of the camera may be set in advance by calibrating the position of the camera, so that the center point of the image captured by the camera is located directly below the center point of the ship side interface. After the ship side interface reaches the location of the charging interface of the ship to be charged, as the ship side interface falls, when the ship side interface is at a preset distance from the horizontal plane where the charging interface of the ship to be charged is located, the camera captures the image, and then the position of the ship side interface may be fine-tuned according to the relative positional relationship between the center point of the charging interface of the ship to be charged in the image and the center point of the image in the horizontal direction, so that it reaches directly above the charging interface of the ship to be charged, thereby realizing the alignment of the ship side interface with the charging interface of the ship to be charged.

[0041] In one embodiment of the present invention, after the ship-side interface is inserted into the charging interface of the ship to be charged, an insertion detection can be performed, for example, by setting an insertion switch at the charging interface of the ship to be charged, and determining that the insertion is in place after the switch is triggered; or a power connection detection can be performed, and when it is detected that the current of the shore power supply can reach the charging interface of the ship to be charged, it can be determined that the power is successfully connected. After detecting that the insertion is in place and / or the power is successfully connected, the locking mechanism at the charging interface of the ship to be charged can also be controlled to lock the ship-side interface, and then the formal charging process can be entered.

[0042] During the charging process, the status information of the shore power supply, each line and the battery of the ship to be charged can also be monitored in real time, including voltage, current, temperature, charge status, etc., to determine whether there is any abnormality in each device.

[0043] S4, after charging is completed, the charging vehicle responds to the automatic separation signal, disconnects the ship side interface from the charging interface of the ship to be charged, drives the mechanical arm to return to its position, and controls the second retractable cable unit to retract the ship side cable.

[0044] The automatic separation signal can be sent by the operator through the remote control, or it can be automatically sent by the ship to be charged (the ship that has completed charging) to the charging vehicle at the moment of charging completion or at a preset time after completion. Before sending the automatic separation signal to the charging vehicle, the ship that has completed charging can first control the locking mechanism at its charging interface to release the lock on the ship side interface. After the ship side interface is disconnected from the charging interface of the ship that has completed charging, that is, after the corresponding plug is unplugged from the corresponding socket, the ship that has completed charging can control the protective cover to close.

[0045] Furthermore, the charging vehicle responds to the automatic separation signal and controls the legs to leave the ground after the robotic arm has completed its return.

[0046] S5, after the robot arm is returned to its original position, the charging vehicle moves toward the location of the shore power supply in response to the third movement control signal, and controls the first retractable cable unit to retract the shore-side cable.

[0047] The third movement control signal can be sent by the operator through the remote control, or it can be automatically triggered by the charging vehicle after the robot arm has returned to its original position.

[0048] After the charging vehicle reaches the location of the shore power source, the operator can unplug the shore interface from the power interface of the shore power source, or unplug it automatically to disconnect the shore interface from the shore power source. Finally, the charging vehicle can return to its initial parking position in response to the fourth movement control signal sent by the operator through the remote control.

[0049] In addition, in the above-mentioned shore power charging method, in order to achieve coordination between the retraction and release of the cable and the movement of the charging vehicle and the robotic arm, to avoid cable confusion or length waste inside and outside the retraction and release unit due to the cable being released too quickly or recovered too slowly, or to avoid affecting the movement of the charging vehicle and the robotic arm or damaging the drive system due to the cable being released too slowly or recovered too quickly, the embodiment of the present invention also proposes the following retraction and movement coordination control strategy.

[0050] Specifically, when the charging vehicle responds to the second movement control signal, the initial pay-out speed of the first pay-out unit is first given, and then the moving speed of the charging vehicle at the next moment is determined according to the tension change rate of the shore-side cable and the pay-out speed of the first pay-out unit at the current moment.

[0051] When the charging vehicle responds to the third movement control signal, the initial moving speed of the charging vehicle is first given, and then the take-up speed of the first take-up and pay-out unit at the next moment is determined according to the tension change rate of the shore-side cable and the moving speed of the charging vehicle at the current moment.

[0052] When the charging vehicle responds to the automatic connection signal, the initial pay-out speed of the second pay-out and take-up unit is first given, and then the moving speed of the end of the robotic arm at the next moment is determined according to the tension change rate of the ship side cable and the pay-out speed of the second pay-out and take-up unit at the current moment.

[0053] When the charging vehicle responds to the automatic separation signal, the initial moving speed of the end of the robotic arm is first given, and then the reeling speed of the second reeling and unreeling unit at the next moment is determined according to the tension change rate of the ship side cable and the moving speed of the end of the robotic arm at the current moment.

[0054] More specifically, the moving speed of the charging vehicle or the moving speed of the end of the robotic arm can be calculated according to the following formula: , in, k Indicates the current moment, k +1 means the next moment, v 移(k+1) The moving speed of the charging vehicle or the moving speed of the end of the robotic arm at the next moment. v 放(k) is the pay-off speed of the first pay-off and take-up unit at the current moment or the pay-off speed of the second pay-off and take-up unit at the current moment, Δ F is the rate of change of the cable tension on the shore side or the cable tension on the ship side at the current moment, Δ F = F (k) - F (k-1) , k -1 means the last moment, F (k) is the current tension of the shore-side cable or the current tension of the ship-side cable, F (k-1) is the tension of the shore-side cable at the last moment or the tension of the ship-side cable at the last moment, E is the Young's modulus of the shore-side cable or the Young's modulus of the ship-side cable.

[0055] Furthermore, the take-up speed of the first take-up and pay-off unit or the take-up speed of the second take-up and pay-off unit can be calculated according to the following formula: , in, v 收(k+1) is the take-up speed of the first take-up and pay-off unit at the next moment or the take-up speed of the second take-up and pay-off unit at the next moment, v 移(k) It is the moving speed of the charging vehicle at the current moment or the moving speed of the end of the robotic arm at the current moment.

[0056] exist Figures 1 to 3 In the structure shown, the moving speed of the end of the robot arm is the telescopic speed of the robot arm.

[0057] exist Figures 1 to 3 In the structure shown, the pay-out speed and the take-up speed depend on the speed of the motor that drives the wire reel. By collecting the speed of the motor, the pay-out speed or the take-up speed can be obtained; by controlling the speed of the motor, the pay-out speed or the take-up speed can be controlled. When the wire reel structure and the cable size are fixed, there is a fixed conversion relationship between the pay-out speed and the motor speed. Figures 1 to 3 Taking the reel as an example, the radius of the cable loop in the reel corresponds to the current release or recovery degree. Therefore, the radius r of the current cable loop can be obtained according to the length of the released cable or the length of the unrecovered cable, and the retractable line speed v and the motor speed ω satisfy the following relationship: v=ω*r.

[0058] Through the above control strategy, the coordination between the retraction and extension of the cable and the movement of the charging vehicle, and the retraction and extension of the cable and the movement of the end of the robotic arm can be achieved, ensuring the smooth implementation of shore power charging.

[0059] According to the shore power charging method of the embodiment of the present invention, the charging vehicle responds to various signals and performs corresponding actions. The charging cable can be transported, retracted and released by the charging vehicle, and automatic connection with the ship charging interface can be achieved, thereby conveniently realizing ship shore power charging and greatly reducing labor costs.

[0060] In order to implement the shore power charging method of the above embodiment, the present invention also provides a shore power charging system.

[0061] like Figure 6 As shown, the shore power charging system of the embodiment of the present invention includes a shore power source 100, a charging vehicle 200 and a ship to be charged 300. Figure 1 , Figure 2 and Figure 3 As shown, the charging vehicle 200 includes a vehicle body 1 and a first wire-retracting unit 2, a second wire-retracting unit 3, a bracket 4, and a mechanical arm 5 located on the vehicle body 1. The first wire-retracting unit 2 includes a shore cable, and the second wire-retracting unit includes a ship cable. One end of the shore cable has a shore interface, and one end of the ship cable has a ship interface. The other end of the shore cable is electrically connected to the other end of the ship cable. The head end of the mechanical arm 5 is connected to the bracket 4, and the ship interface is arranged at the end of the mechanical arm 5.

[0062] Among them, the charging vehicle 200 responds to the first movement control signal and moves to the location of the shore power supply 100; after the shore interface is connected to the shore power supply, the charging vehicle 200 responds to the second movement control signal and moves to the area where the charging interface of the ship to be charged is located, and controls the first retractable cable unit 2 to release the shore cable; after the charging vehicle 200 arrives at the area where the charging interface of the ship to be charged 300 is located, the charging vehicle 200 responds to the automatic connection signal, determines the relative position relationship between the charging interface of the ship to be charged 300 and the ship-side interface, and drives the mechanical arm 5 according to the relative position relationship to move the ship-side interface to the location of the charging interface of the ship to be charged 300, and controls The second retractable line unit 3 releases the ship-side cable, and after the ship-side interface reaches the location of the charging interface of the ship to be charged 300, the ship-side interface is connected to the charging interface of the ship to be charged 300, so as to charge the ship to be charged 300 through the shore power supply 100; after the charging is completed, the charging vehicle 200 responds to the automatic separation signal, disconnects the ship-side interface from the charging interface of the ship to be charged 300, drives the mechanical arm 5 to return to its position, and controls the second retractable line unit 3 to retract the ship-side cable; after the mechanical arm 5 is returned to its position, the charging vehicle 200 responds to the third movement control signal, moves to the location of the shore power supply 100, and controls the first retractable line unit 2 to retract the shore-side cable.

[0063] A more specific implementation of the shore power charging system of the embodiment of the present invention can refer to the various embodiments of the shore power charging method described above, which will not be described again here to avoid redundancy.

[0064] According to the shore power charging system of the embodiment of the present invention, the charging vehicle responds to various signals and performs corresponding actions. The charging cable can be transported, retracted and released through the charging vehicle, and automatic connection with the ship's charging interface can be achieved, thereby conveniently realizing ship shore power charging and greatly reducing labor costs.

[0065] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0066] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0068] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0069] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0070] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0071] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0072] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0073] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0074] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A shore power charging method, characterized in that: The following steps are involved: The charging vehicle moves to the location of the shore power source in response to the first movement control signal, wherein the charging vehicle includes a vehicle body and a first wire-retracting unit, a second wire-retracting unit, a bracket, and a mechanical arm located on the vehicle body, the first wire-retracting unit includes a shore-side cable, the second wire-retracting unit includes a ship-side cable, one end of the shore-side cable has a shore-side interface, one end of the ship-side cable has a ship-side interface, the other end of the shore-side cable is electrically connected to the other end of the ship-side cable, the head end of the mechanical arm is connected to the bracket, and the ship-side interface is provided at the end of the mechanical arm; After the shore interface is connected to the shore power source, the charging vehicle moves to the area where the charging interface of the ship to be charged is located in response to the second movement control signal, and controls the first retractable cable unit to release the shore cable; After the charging vehicle arrives at the area where the charging interface of the ship to be charged is located, the charging vehicle determines the relative position relationship between the charging interface of the ship to be charged and the ship-side interface in response to the automatic connection signal, and drives the mechanical arm to move the ship-side interface to the location of the charging interface of the ship to be charged according to the relative position relationship, and controls the second retractable unit to release the ship-side cable, and after the ship-side interface arrives at the location of the charging interface of the ship to be charged, connects the ship-side interface with the charging interface of the ship to be charged, so as to charge the ship to be charged through the shore power supply; After charging is completed, the charging vehicle disconnects the ship-side interface from the charging interface of the ship to be charged in response to the automatic separation signal, drives the mechanical arm to return to its original position, and controls the second retractable cable unit to retract the ship-side cable; After the robot arm has been reset, the charging vehicle moves toward the location of the shore power source in response to a third movement control signal, and controls the first retractable cable unit to retract the shore-side cable.

2. The shore power charging method according to claim 1, characterized in that: When the charging vehicle responds to the second movement control signal, the initial pay-out speed of the first pay-out unit is first given, and then the moving speed of the charging vehicle at the next moment is determined according to the tension change rate of the shore-side cable and the pay-out speed of the first pay-out unit at the current moment; When the charging vehicle responds to the third movement control signal, the initial movement speed of the charging vehicle is first given, and then the take-up speed of the first take-up and pay-out unit at the next moment is determined according to the tension change rate of the shore-side cable and the movement speed of the charging vehicle at the current moment; When the charging vehicle responds to the automatic connection signal, the initial pay-out speed of the second pay-out and take-up unit is first given, and then the moving speed of the end of the manipulator at the next moment is determined according to the tension change rate of the ship-side cable and the pay-out speed of the second pay-out and take-up unit at the current moment; When the charging vehicle responds to the automatic separation signal, the initial moving speed of the end of the robotic arm is first given, and then the reeling speed of the second reeling and unreeling unit at the next moment is determined according to the tension change rate of the ship side cable and the moving speed of the end of the robotic arm at the current moment.

3. The shore power charging method according to claim 2, characterized in that: The moving speed of the charging vehicle or the moving speed of the end of the robotic arm is calculated according to the following formula: ， in, k Indicates the current moment, k +1 means the next moment, v 移(k+1) is the moving speed of the charging vehicle at the next moment or the moving speed of the end of the robotic arm at the next moment, v 放(k) is the pay-off speed of the first pay-off and take-up unit at the current moment or the pay-off speed of the second pay-off and take-up unit at the current moment, Δ F is the tension change rate of the shore-side cable at the current moment or the tension change rate of the ship-side cable at the current moment, Δ F = F (k) - F (k-1) , k -1 means the last moment, F (k) is the current tension of the shore-side cable or the current tension of the ship-side cable, F (k-1) is the tension of the shore-side cable at the last moment or the tension of the ship-side cable at the last moment, E is the Young's modulus of the shore-side cable or the Young's modulus of the ship-side cable; The take-up speed of the first take-up and pay-off unit or the take-up speed of the second take-up and pay-off unit is calculated according to the following formula: ， in, v 收(k+1) is the wire-receiving speed of the first wire-receiving and wire-unreceiving unit at the next moment or the wire-receiving speed of the second wire-receiving and wire-unreceiving unit at the next moment, v 移(k) It is the moving speed of the charging vehicle at the current moment or the moving speed of the end of the robotic arm at the current moment.

4. The shore power charging method according to claim 1, characterized in that: The first wire-retracting and -releasing unit and the second wire-retracting and -releasing unit are both wire wheels.

5. The shore power charging method according to claim 1, characterized in that: The relative direction and distance between the charging interface of the ship to be charged and the ship side interface are determined by wireless positioning technology.

6. The shore power charging method according to claim 5, characterized in that: After the ship side interface reaches the location of the charging interface of the ship to be charged, the ship side interface is also aligned with the charging interface of the ship to be charged, and the ship side interface is inserted into the charging interface of the ship to be charged.

7. The shore power charging method according to claim 1, characterized in that: The charging vehicle further comprises a support leg arranged on the vehicle body. The charging vehicle controls the support leg to fall to the ground in response to an automatic connection signal. The charging vehicle controls the support leg to leave the ground in response to an automatic separation signal after the mechanical arm has been reset.

8. The shore power charging method according to claim 5, characterized in that: The charging vehicle sends out an alarm message when the relative distance between the charging interface of the ship to be charged and the ship side interface is greater than a preset distance threshold.

9. The shore power charging method according to claim 1, characterized in that: The charging interface of the ship to be charged has a protective cover. After the ship side interface reaches the location of the charging interface of the ship to be charged, the charging vehicle sends a connection request to the ship to be charged, and the ship to be charged controls the protective cover to open after receiving the connection request.

10. A shore power charging system, characterized in that: It includes a shore power supply, a charging vehicle and a ship to be charged, wherein the charging vehicle includes a vehicle body and a first retractable wire unit, a second retractable wire unit, a bracket and a mechanical arm located on the vehicle body, wherein the first retractable wire unit includes a shore-side cable, and the second retractable wire unit includes a ship-side cable, wherein one end of the shore-side cable has a shore-side interface, and one end of the ship-side cable has a ship-side interface, and the other end of the shore-side cable is electrically connected to the other end of the ship-side cable, the head end of the mechanical arm is connected to the bracket, and the ship-side interface is arranged at the end of the mechanical arm, wherein: The charging vehicle moves to the location of the shore power source in response to the first movement control signal; After the shore interface is connected to the shore power source, the charging vehicle moves to the area where the charging interface of the ship to be charged is located in response to the second movement control signal, and controls the first retractable cable unit to release the shore cable; After the charging vehicle arrives at the area where the charging interface of the ship to be charged is located, the charging vehicle determines the relative position relationship between the charging interface of the ship to be charged and the ship-side interface in response to the automatic connection signal, and drives the mechanical arm to move the ship-side interface to the location of the charging interface of the ship to be charged according to the relative position relationship, and controls the second retractable unit to release the ship-side cable, and after the ship-side interface arrives at the location of the charging interface of the ship to be charged, connects the ship-side interface with the charging interface of the ship to be charged, so as to charge the ship to be charged through the shore power supply; After charging is completed, the charging vehicle disconnects the ship-side interface from the charging interface of the ship to be charged in response to the automatic separation signal, drives the mechanical arm to return to its original position, and controls the second retractable cable unit to retract the ship-side cable; After the robot arm has been reset, the charging vehicle moves toward the location of the shore power source in response to a third movement control signal, and controls the first retractable cable unit to retract the shore-side cable.

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