Control method, control device and equipment for multi-side battery replacement of ship

Abstract

The invention provides a control method, control device and equipment for multi-side battery replacement of a ship, and relates to the technical field of ship battery replacement control, and the method comprises the steps: obtaining a target port side of the ship, the attitude information of a battery replacement robot, the first position of a target cache bin, and the second position of a target battery bin; generating a first control parameter based on the first position, the attitude information and the second position; on the basis of the first control parameter, the battery replacing robot is controlled to take out the to-be-replaced battery from the target battery bin and place the to-be-replaced battery in a target cache bin; in response to a first prompt signal sent by the target cache bin, real-time attitude information of the battery replacement robot is obtained; generating a second control parameter based on the real-time attitude information, the first position and the second position; and based on the second control parameter, the battery replacement robot is controlled to take out the target battery replacement battery from the target cache bin, and the target battery replacement battery is placed in the target battery bin. According to the invention, multi-side power conversion of the ship is realized.

Description

Technical Field

[0001] The present application relates to the technical field of ship power exchange control, and in particular to a control method, control device and equipment for multi-side power exchange of a ship. Background Art

[0002] Traditional ship battery swap arrangements are often only compatible with single-side battery swapping. However, in actual application scenarios, due to the diversity of ports and changes in navigation directions, single-side battery swapping cannot adapt to changes in scenarios. Ships must deliberately turn around or change their berthing direction to be compatible with single-side battery swapping scenarios. For busy ports, deliberately turning around or changing the berthing direction of ships can easily cause port congestion and bring navigation safety risks. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a control method, control device and equipment for multi-side battery replacement on ships, so as to solve the above-mentioned problems existing in the prior art, realize multi-side battery replacement on ships, and adapt to multiple battery replacement scenarios.

[0004] In a first aspect, a control method for multi-side battery replacement of a ship is provided, which is applied to a control system for multi-side battery replacement of a ship, wherein the control system comprises: a battery replacement robot, a plurality of battery compartments and three cache compartments, wherein the three cache compartments are respectively located on both sides of the stern of the ship and at the rear end of the stern of the ship; the battery compartment is used to store batteries of the ship; the method may comprise:

[0005] Obtain the target port side of the ship, as well as the posture information of the battery-swapping robot, the first position of the target cache bin and the second position of the target battery bin; wherein the target cache bin is the cache bin closest to the target port side; and the target battery bin is the battery bin where the battery to be replaced is located;

[0006] generating a first control parameter based on the first position, the posture information and the second position;

[0007] Based on the first control parameter, control the battery-swapping robot to take out the battery to be replaced from the target battery compartment, and place the battery to be replaced in the target cache compartment;

[0008] In response to a first prompt signal sent by the target cache bin, real-time posture information of the battery-swapping robot is acquired; wherein the first prompt signal is generated when the target cache bin detects the target battery-swapping battery;

[0009] generating a second control parameter based on the real-time posture information, the first position, and the second position;

[0010] Based on the second control parameter, the battery-exchange robot is controlled to take out the target battery-exchange battery from the target cache bin, and place the target battery-exchange battery in the target battery bin.

[0011] In an optional implementation, the multiple battery compartments are arranged in a circle with the battery-exchanging robot as the center.

[0012] In an optional implementation, the battery-exchange robot is provided with a multi-degree-of-freedom manipulator for taking out batteries to be replaced from each battery compartment and placing them in a cache compartment, and taking out target battery-exchange batteries from the cache compartment and placing them in the battery compartment.

[0013] In an optional implementation, the first position and the second position are positions of corresponding target cache bins or target battery bins on the ship;

[0014] After placing the battery to be replaced in the target cache bin, the method further includes:

[0015] Controlling the second prompt signal emitted by the target cache compartment, and obtaining the relative position of the battery swap station and the ship;

[0016] Determining the relative position of the battery swap station and the target cache based on the relative position of the battery swap station and the ship and the first position;

[0017] The second prompt signal and the relative position of the battery swap station and the target cache bin are sent to the battery swap station.

[0018] In an optional implementation, after sending the second prompt signal and the relative position of the battery swap station and the target cache bin to the battery swap station, the method further includes:

[0019] The battery swap station generates a third control parameter based on the received relative position of the battery swap station and the target cache bin and the first storage position of the battery to be swapped;

[0020] Based on the third control parameter, taking out the battery to be replaced from the target cache bin, and placing the battery to be replaced at the first storage position;

[0021] Generate a fourth control parameter based on the relative position of the battery swap station and the target cache bin and the second storage position of the target battery swap battery;

[0022] Based on the fourth control parameter, the target battery-exchange battery is taken out from the second storage position, and the target battery-exchange battery is placed in the target cache bin.

[0023] In an optional implementation, a sensor is provided in any cache compartment; the sensor is used to detect whether there is a battery to be replaced or a target battery to be replaced in the cache compartment.

[0024] In an optional implementation, the method further includes:

[0025] When the battery swap station or the battery swap robot places the target battery swap battery or the battery to be swapped in the target cache bin, a third prompt signal is sent to the target cache bin;

[0026] The target cache receives the third prompt signal and controls the sensor to send a detection signal;

[0027] If the sensor does not detect the target battery to be replaced or the battery to be replaced, an alarm signal is generated.

[0028] In a second aspect, a control device for multi-side power exchange of a ship is provided, and the device may include:

[0029] An acquisition unit is used to acquire the target port side of the ship, as well as the posture information of the battery-swapping robot, the first position of the target cache bin and the second position of the target battery bin; wherein the target cache bin is the cache bin closest to the target port side; the target battery bin is the battery bin where the battery to be replaced is located; there are three cache bins; the three cache bins are respectively located on both sides of the stern of the ship and at the rear end of the stern of the ship;

[0030] a generating unit, configured to generate a first control parameter based on the first position, the posture information and the second position;

[0031] A control unit, configured to control the battery-swapping robot to take out the battery to be replaced from the target battery compartment and place the battery to be replaced in the target cache compartment based on the first control parameter;

[0032] A response unit, configured to obtain real-time posture information of the battery-swapping robot in response to a first prompt signal sent by the target cache bin; wherein the first prompt signal is generated when the target cache bin detects a target battery-swapping battery;

[0033] A battery exchange unit is used to generate a second control parameter based on the real-time posture information, the first position and the second position; based on the second control parameter, control the battery exchange robot to take out the target battery exchange battery from the target cache bin and place the target battery exchange battery in the target battery bin.

[0034] In a third aspect, an electronic device is provided, the electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0035] Memory, used to store computer programs;

[0036] The processor is used to implement any method step described in the first aspect when executing the program stored in the memory.

[0037] In a fourth aspect, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any method step described in the first aspect is implemented.

[0038] The present application can realize ship battery replacement in three directions by setting up cache bins located in different directions, thereby improving the efficiency of battery replacement. At the same time, no matter which side the ship is docked, there is no need to adjust the direction of the ship, thus avoiding port congestion caused by ship direction adjustment. The present application controls the battery replacement robot to complete the battery removal and placement according to the position of the target cache bin, the position of the target battery bin and the posture information of the battery replacement robot, thereby improving the accuracy of battery removal and placement, and improving the accuracy and safety of battery replacement. At the same time, multiple battery bins are set up to provide sufficient power sources for the ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of the structure of a control system for multi-side power exchange on a ship provided in an embodiment of the present application;

[0041] Figure 2 A flow chart of a control method for multi-side power exchange of a ship provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of the structure of a control device for multi-side power exchange of a ship provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0044] In the picture: 1. Cache compartment; 2. Battery compartment; 3. Battery exchange robot; 4. The tail of the ship. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] The control method for multi-side power exchange of a ship provided in the embodiment of the present application can be applied in the following aspects: Figure 1 The control system of the multi-side power exchange of the ship shown is located at the stern 4 of the ship; the control system of the multi-side power exchange of the ship is provided with a power exchange robot 3, multiple battery compartments 2, three cache compartments 1 and a server;

[0047] The three cache bins 1 are respectively located on both sides of the ship's stern 4 and at the tail end of the ship's stern; the multiple battery bins 2 are arranged in a circular shape with the battery-swapping robot 3 as the center; the distance from the center of the battery-swapping robot 3 to the center of any cache bin 1 is the same;

[0048] The battery-swapping robot 3 is used to take out the battery to be replaced from the battery compartment and place it in the cache compartment based on the received first control parameter, and to take out the target battery to be replaced from the cache compartment and place it in the battery compartment based on the received second control parameter, so as to complete the battery replacement; and send its own posture information to the controller;

[0049] Battery compartment 2, used for storing batteries of the ship;

[0050] Cache compartment 1, used for transferring batteries during battery replacement and sending battery test results and prompt signals to the server;

[0051] A controller is used to obtain the target port side of the ship, as well as the posture information of the battery-swapping robot, the first position of the target cache bin and the second position of the target battery bin; wherein the target cache bin is the cache bin closest to the target port side; the target battery bin is the battery bin where the battery to be replaced is located; based on the first position, the posture information and the second position, a first control parameter is generated; the first control parameter is sent to the battery-swapping robot; based on the real-time posture information, the first position and the second position of the battery-swapping robot, a second control parameter is generated; and the second control parameter is sent to the battery-swapping robot.

[0052] In the embodiment of the present application, the number of battery compartments 2 can be set to 8.

[0053] In the embodiment of the present application, the battery-swapping robot 3 is provided with a multi-degree-of-freedom manipulator or an omnidirectional rotating manipulator arm; the battery-swapping robot 3 has multiple rotating joints, which can rotate and grasp batteries located in various positions to facilitate battery replacement.

[0054] In an embodiment of the present application, a sensor is provided in any cache compartment 1; the sensor is used to detect whether there is a battery to be replaced or a target battery to be replaced in the cache compartment.

[0055] In an embodiment of the present application, the sensor may be an inductive proximity switch; the sensor is arranged at the bottom of the battery cache compartment, and may be provided in plurality, which is consistent with the number of battery terminals, to sense the plurality of terminals of the battery respectively; when and only when the plurality of sensors sense the terminals of the battery, it indicates that there is no abnormality in the placement of the battery; specifically, the positions of the plurality of sensors respectively correspond to the positions of the plurality of terminals of the ship battery when they are normally placed in the cache compartment.

[0056] The controller can be a server or a terminal with strong computing power. The server can be a physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms. The terminal can be a user equipment (User Equipment, UE) such as a mobile phone, a smart phone, a laptop, a digital broadcast receiver, a personal digital assistant (PDA), a tablet computer (PAD), a handheld device, a vehicle-mounted device, a wearable device, a computing device or other processing equipment connected to a wireless modem, a mobile station (MobileStation, MS), a mobile terminal (Mobile Terminal), etc. The terminal and the server can be directly or indirectly connected by wired or wireless communication, and this application is not limited here.

[0057] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0058] Figure 2 A flow chart of a control method for multi-side power exchange of a ship provided in an embodiment of the present application. Figure 2 As shown, the method may include:

[0059] Step S210, obtain the target port side of the ship, as well as the posture information of the battery swap robot, the first position of the target cache bin and the second position of the target battery bin; based on the first position, the posture information and the second position, generate a first control parameter.

[0060] In the embodiment of the present application, the target port side of the ship is the side of the ship close to the battery swap station, that is, the side that is docked; in actual applications, when the ship swaps batteries at a port or route, it will usually dock or approach the battery swap station (with the bow as the front end) on the left, right, or stern to swap batteries.

[0061] In an embodiment of the present application, when the ship docks on the left side, that is, approaches the battery swap station, the cache bin located on the left side of the ship's stern is the target cache bin; when the ship docks on the right side, that is, approaches the battery swap station, the cache bin located on the right side of the ship's stern is the target cache bin; when the ship docks at the stern end, that is, approaches the battery swap station, the cache bin located at the rear end of the ship's stern is the target cache bin.

[0062] In the embodiment of the present application, the target battery compartment may be one or more; the ship generally requires 2 batteries to supply power at the same time; if the ship is equipped with 8 batteries (No. 1 to No. 8 respectively), No. 1 and No. 2 are used first; generally, when No. 7 and No. 8 batteries are used first or the power of No. 7 and No. 8 batteries is almost gone, the ship approaches the battery swap station for battery swap, and 8 batteries are replaced at one time, thereby reducing the number of battery replacements and extending the sailing distance.

[0063] In an embodiment of the present application, when there are multiple target battery compartments, the batteries to be replaced in the target battery compartments are placed in the target cache compartments in sequence, and then the target battery replacement batteries placed in the target cache compartments by the battery swap station are placed in the corresponding target battery compartments in sequence.

[0064] In an embodiment of the present application, the target battery compartment is the battery compartment where the battery to be replaced is located.

[0065] In actual applications, there is a distance limit for the battery swap station to take the batteries from the ship. When the ship docks on the left side, the battery swap station cannot take the batteries to be replaced from the cache bin at the rear or right side of the ship, nor can it place the target battery to be replaced in the cache bin on the right or rear end. Therefore, it is necessary to control the ship to turn around or change the direction of docking for battery swapping.

[0066] The target cache bins of the present application are set in three positions. No matter which side or end of the ship is docked, battery replacement can be achieved without the need for the ship to turn around or change direction, thus realizing multi-side power replacement of the ship.

[0067] In an embodiment of the present application, the battery to be replaced is a low-power battery or a damaged battery.

[0068] In an embodiment of the present application, each battery compartment corresponds to a unique battery compartment number and location information; each cache compartment also corresponds to a unique cache compartment number and location information; the first position and the second position are the positions of the corresponding target cache compartment or target battery compartment on the ship.

[0069] In an embodiment of the present application, a detection component is provided in each battery compartment; the detection component can not only detect whether there is a battery in the battery compartment, but also detect the power level of the corresponding battery.

[0070] In one embodiment of the present application, the detection component communicates with the battery management system of the battery to obtain data such as the voltage and power of the corresponding battery, and sends the detected data to the controller, thereby reminding the controller that the battery in the corresponding battery compartment number has been exhausted and needs to be replaced; or when the target replacement battery is placed in the battery compartment, a signal is sent to the controller to remind the controller that the target replacement battery is not a fully charged battery.

[0071] In the embodiment of the present application, the first control parameter includes: a first taking control parameter and a first placing control parameter.

[0072] Step S220: Based on the first control parameter, control the battery-swapping robot to take out the battery to be replaced from the target battery compartment, and place the battery to be replaced in the target cache compartment; in response to the first prompt signal sent by the target cache compartment, obtain the real-time posture information of the battery-swapping robot.

[0073] In an embodiment of the present application, the battery swapping robot is located in the center of multiple battery compartments. The controller can determine the first picking control parameter of the battery swapping robot based on the current posture information of the battery swapping robot and the position information of the battery compartment where the battery to be replaced is located, thereby controlling the battery swapping robot to take out the battery to be replaced from the target battery compartment; combined with the position information of the target cache compartment and the position information of the target battery compartment, determine the first placement control parameter of the battery swapping robot, thereby controlling the battery swapping robot to place the taken battery to be replaced in the target cache compartment.

[0074] In the embodiment of the present application, after placing the battery to be replaced in the target cache bin, the method further includes:

[0075] Control the second prompt signal emitted by the target cache bin, and obtain the relative position of the battery swap station and the ship; determine the relative position of the battery swap station and the target cache bin based on the relative position of the battery swap station and the ship and the first position; send the second prompt signal and the relative position of the battery swap station and the target cache bin to the battery swap station.

[0076] In an embodiment of the present application, when the battery swap robot places the battery to be replaced in the target cache bin, a prompt signal can be generated by the battery swap robot or the target cache bin and sent to the controller; the controller then sends it to the battery swap station, thereby reminding the battery swap station that it can take the battery to be replaced from the target cache bin.

[0077] In an embodiment of the present application, after the battery swap station receives the corresponding signal, a third control parameter is generated based on the relative position of the received battery swap station and the target cache bin and the first storage position of the battery to be swapped; based on the third control parameter, the battery to be swapped is taken out from the target cache bin and the battery to be swapped is placed at the first storage position; a fourth control parameter is generated based on the relative position of the battery swap station and the target cache bin and the second storage position of the target battery swapped; based on the fourth control parameter, the target battery swapped battery is taken out from the second storage position and the target battery swapped battery is placed in the target cache bin.

[0078] In an embodiment of the present application, a crane is provided in the battery swap station, which is used to retrieve batteries; when the battery swap station receives the signal sent by the controller, it generates control parameters according to the corresponding position information received, controls the crane to retrieve the battery to be swapped from the target cache bin, and places the target swap battery in the target cache bin.

[0079] In an embodiment of the present application, the target battery to be replaced is a fully charged battery.

[0080] In an embodiment of the present application, when the ship contacts the battery swap station, the two need to be fixedly connected through an interface or other components. Therefore, the ship can determine the relative position of the center position of the ship and the battery swap station based on the position of the interface; and the position of each cache compartment and each battery compartment is relative to the center position of the ship. Therefore, the position of each cache compartment and each battery compartment relative to the battery swap station can be determined.

[0081] In an embodiment of the present application, the first prompt signal is generated when the target cache compartment detects the target battery replacement battery.

[0082] In an embodiment of the present application, when the target cache warehouse detects the target battery-changing battery, a first prompt signal will be sent to the controller, thereby reminding the controller that it can control the battery-changing robot to replace the target battery-changing battery.

[0083] In an embodiment of the present application, when the controller receives the first prompt signal, it will obtain the real-time posture information of the battery-swapping robot.

[0084] Step S230, generate a second control parameter based on the real-time posture information, the first position and the second position; based on the second control parameter, control the battery swap robot to take out the target battery swap battery from the target cache bin, and place the target battery swap battery in the target battery bin.

[0085] In an embodiment of the present application, when the controller obtains the real-time posture information of the battery swap robot, it will use the first position as the starting point for picking up and the second position as the end point for placing, thereby generating corresponding second control parameters; the battery swap robot is controlled to complete the picking up and placing actions, and the target battery swap battery is placed in the target battery compartment to complete the battery replacement in the target battery compartment.

[0086] In an embodiment of the present application, when there are multiple target battery compartments, there is no order restriction for the target battery compartments. Generally, the order of battery replacement is based on the order of the battery compartment numbers, and the battery currently being used by the ship can be the last battery to be replaced.

[0087] In an embodiment of the present application, after receiving the target battery replacement battery, each target battery compartment needs to detect whether the target battery replacement battery is a fully charged battery or whether it can be used normally. If it is a low-power battery, it is necessary to send a low-power signal to the controller for timely replacement; to avoid finding that the battery cannot be used when it is needed, causing the ship to lose power during navigation.

[0088] In an embodiment of the present application, after the battery swap station or the battery swap robot places the target battery swap battery or the battery to be swapped in the target cache warehouse, a third prompt signal is sent to the target cache warehouse; the target cache warehouse receives the third prompt signal and controls the sensor to send a detection signal; if the sensor does not detect the target battery swap battery or the battery to be swapped, an alarm signal is generated.

[0089] In an embodiment of the present application, a sensor is provided at the bottom of the target cache bin, and a terminal is provided at the bottom of the ship battery. When each sensor senses the terminal, it indicates that the battery is placed in the correct position; when some sensors cannot detect the terminal, or all sensors cannot detect the terminal, it indicates that the battery may not be stored correctly or is placed upside down. At this time, an alarm signal is generated to remind the controller that the placement of the battery needs to be adjusted.

[0090] In an embodiment of the present application, when the controller receives an alarm signal, it can control the robotic arm or manipulator of the battery-swapping robot to move to the top of the corresponding cache bin, and use a camera disposed on the top of the robotic arm or manipulator to capture an image of the top surface of the battery in the cache bin, and analyze the image to determine whether the battery is placed upside down or offset, and generate control parameters based on the image analysis results to control the battery-swapping robot to adjust the battery until the cache bin detects that the battery is in the correct position.

[0091] In another embodiment of the present application, a camera is used to be arranged at the top of the manipulator or arm of the battery swap robot (i.e., the end in contact with the battery) to capture the image of the current battery, and the captured battery image is analyzed to obtain an image analysis result, and corresponding control parameters are generated based on the posture information, the first position, the second position and the image analysis result of the battery swap robot to control the battery swap robot to take out the battery to be replaced from the target battery compartment; then based on the first position and the second position, the manipulator of the battery swap robot is controlled to move to above the target cache compartment, the image of the target cache compartment is captured, and the image is analyzed, and control parameters are generated according to the current posture and the image analysis result to control the manipulator or arm to place the battery to be replaced in the target cache compartment; similarly, combined with the image analysis result, the process of moving the target battery swap battery from the target cache compartment to the target battery compartment is completed.

[0092] In other embodiments of the present application, the battery swap robot may also be provided with multiple robotic arms or manipulators, so that the batteries to be replaced can be taken out from multiple target battery compartments at the same time, and when the batteries to be replaced in the target cache are taken out, the batteries to be replaced are immediately placed until all the batteries to be replaced are taken out from the target battery compartment; similarly, the same method can be used for the target battery swap batteries in the target cache compartment. When the battery swap station has multiple cranes, different robotic arms correspond to different cranes. Each robotic arm sends a signal to the crane after placement is completed, and each crane sends a signal to other robotic arms after taking it, and takes the batteries in turn, further improving the efficiency of battery swapping.

[0093] In an embodiment of the present application, the robot arm or manipulator of the battery swap robot adopts a spherical joint or a universal joint to adapt to the shaking or displacement of the ship caused by waves.

[0094] In an embodiment of the present application, an inertial measurement component is also provided on the robotic arm or manipulator of the battery-swapping robot for detecting changes in angular velocity and acceleration; a position sensor (encoder, etc.) is provided for accurately measuring the position and angle of each part of the robotic arm; a laser rangefinder or ultrasonic sensor is also provided for accurately measuring the distance between the robotic arm and the battery compartment or cache compartment, thereby facilitating the accurate generation of control parameters to complete the removal and placement of the battery.

[0095] In an embodiment of the present application, the battery-swapping robot will send the data sensed by the above-mentioned sensors to the controller in real time; after receiving the angular velocity, acceleration, position, angle and distance, the controller removes the noise to obtain the denoised angular velocity, acceleration, position, angle and distance; the actual position and actual posture of the top of the robotic arm (i.e., the end close to the battery compartment or the cache compartment) are calculated based on the denoised angular velocity, acceleration, position, angle and distance; the predicted position and predicted posture data of the battery-swapping robot are predicted based on the denoised historical angular velocity, historical acceleration, historical position, historical angle and historical distance of the battery-swapping robot in the past period of time using a pre-trained floating prediction model;

[0096] The errors between the predicted position and predicted attitude data and the corresponding actual position and actual attitude are input into a pre-trained adaptive control model to obtain compensation control parameters. Based on the compensation control parameters, the robot arm or manipulator of the battery swap robot is controlled to complete the battery picking and placement operations, so that the battery swap robot will not be affected by the floating of the ship and can complete the battery picking and placement operations more accurately.

[0097] In the embodiment of the present application, the floating prediction model is constructed by jointly constructing a linear prediction model and a nonlinear prediction model.

[0098] Corresponding to the above method, the embodiment of the present application also provides a control device for multi-side power exchange of a ship, such as Figure 3 As shown, the control device for multi-side power exchange of the ship includes:

[0099] The acquisition unit 310 is used to acquire the target port side of the ship, the posture information of the battery-swapping robot, the first position of the target cache bin and the second position of the target battery bin; wherein the target cache bin is the cache bin closest to the target port side; the target battery bin is the battery bin where the battery to be replaced is located; there are three cache bins; the three cache bins are respectively located on both sides of the stern of the ship and at the end of the stern of the ship;

[0100] A generating unit 320, configured to generate a first control parameter based on the first position, the posture information and the second position;

[0101] The control unit 330 is used to control the battery-swapping robot to take out the battery to be replaced from the target battery compartment and place the battery to be replaced in the target cache compartment based on the first control parameter;

[0102] The response unit 340 is used to obtain the real-time posture information of the battery-swapping robot in response to the first prompt signal sent by the target cache bin; wherein the first prompt signal is generated when the target cache bin detects the target battery-swapping battery;

[0103] The battery exchange unit 350 is used to generate a second control parameter based on real-time posture information, a first position and a second position; based on the second control parameter, control the battery exchange robot to take out the target battery exchange battery from the target cache bin and place the target battery exchange battery in the target battery bin.

[0104] The functions of each functional unit of the control device for multi-side power exchange of ships provided in the above-mentioned embodiments of the present application can be achieved through the above-mentioned method steps. Therefore, the specific working process and beneficial effects of each unit in the control device for multi-side power exchange of ships provided in the embodiments of the present application will not be repeated here.

[0105] The present application also provides an electronic device, such as Figure 4 As shown, it includes a processor 410 , a communication interface 420 , a memory 430 and a communication bus 440 , wherein the processor 410 , the communication interface 420 , and the memory 430 communicate with each other via the communication bus 440 .

[0106] Memory 430, for storing computer programs;

[0107] The processor 410 is used to execute the program stored in the memory 430 to implement the following steps:

[0108] Obtain the target port side of the ship, as well as the posture information of the battery swap robot, the first position of the target cache bin and the second position of the target battery bin; wherein the target cache bin is the cache bin closest to the target port side; the target battery bin is the battery bin where the battery to be swapped is located; there are three cache bins; the three cache bins are respectively located on both sides of the stern of the ship and at the end of the stern of the ship;

[0109] generating a first control parameter based on the first position, the posture information, and the second position;

[0110] Based on the first control parameter, the battery-swapping robot is controlled to take out the battery to be replaced from the target battery compartment, and to place the battery to be replaced in the target cache compartment;

[0111] In response to a first prompt signal sent by the target cache bin, real-time posture information of the battery-swapping robot is obtained; wherein the first prompt signal is generated when the target cache bin detects the target battery-swapping battery;

[0112] Based on the real-time posture information, the first position and the second position, a second control parameter is generated; based on the second control parameter, the battery swap robot is controlled to take out the target battery swap battery from the target cache bin, and place the target battery swap battery in the target battery bin.

[0113] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0114] The communication interface is used for communication between the above electronic device and other devices.

[0115] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0116] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0117] The implementation methods and beneficial effects of the components of the electronic device in the above embodiments to solve the problems can be seen in Figure 2 The various steps in the illustrated embodiment are implemented, therefore, the specific working process and beneficial effects of the electronic device provided by the embodiment of the present application are not repeated here.

[0118] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes any of the control methods for multi-side power exchange of ships in the above-mentioned embodiments.

[0119] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the control methods for multi-side power exchange of ships in the above-mentioned embodiments.

[0120] Those skilled in the art will appreciate that the embodiments in the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt a complete hardware embodiment, a complete software embodiment, or a form of an embodiment combining software and hardware. Moreover, the present application may adopt a form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0121] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0122] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0123] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0124] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

[0125] Obviously, those skilled in the art can make various changes and modifications to the embodiments in the present application without departing from the spirit and scope of the embodiments in the present application. Thus, if these modifications and variations of the embodiments in the present application fall within the scope of the claims and their equivalents in the embodiments of the present application, the embodiments of the present application are also intended to include these modifications and variations.

Claims

1. A control method for multi-side power exchange of a ship, characterized in that: Applied to a control system for multi-side battery replacement on a ship, the control system comprises: a battery replacement robot, multiple battery compartments and three cache compartments, the three cache compartments are respectively located on both sides of the stern of the ship and at the rear end of the stern of the ship; the battery compartment is used to store the battery of the ship; the method comprises: Obtain the target port side of the ship, as well as the posture information of the battery-swapping robot, the first position of the target cache bin and the second position of the target battery bin; wherein the target cache bin is the cache bin closest to the target port side; and the target battery bin is the battery bin where the battery to be replaced is located; generating a first control parameter based on the first position, the posture information and the second position; Based on the first control parameter, control the battery-swapping robot to take out the battery to be replaced from the target battery compartment, and place the battery to be replaced in the target cache compartment; In response to a first prompt signal sent by the target cache bin, real-time posture information of the battery-swapping robot is acquired; wherein the first prompt signal is generated when the target cache bin detects the target battery-swapping battery; generating a second control parameter based on the real-time posture information, the first position, and the second position; Based on the second control parameter, the battery-exchange robot is controlled to take out the target battery-exchange battery from the target cache bin, and place the target battery-exchange battery in the target battery bin.

2. The method according to claim 1, characterized in that The multiple battery compartments are arranged in a circle with the battery-exchanging robot as the center.

3. The method according to claim 1, characterized in that The battery-exchanging robot is provided with a multi-degree-of-freedom manipulator, which is used to take out the batteries to be replaced from each battery compartment and place them in the cache compartment, and to take out the target battery to be replaced from the cache compartment and place it in the battery compartment.

4. The method according to claim 1, characterized in that The first position and the second position are positions of corresponding target cache bins or target battery bins on the ship; After placing the battery to be replaced in the target cache bin, the method further includes: Controlling the second prompt signal emitted by the target cache compartment, and obtaining the relative position of the battery swap station and the ship; Determining the relative position of the battery swap station and the target cache based on the relative position of the battery swap station and the ship and the first position; The second prompt signal and the relative position of the battery swap station and the target cache bin are sent to the battery swap station.

5. The method according to claim 4, characterized in that After sending the second prompt signal and the relative position of the battery swap station and the target cache bin to the battery swap station, the method further includes: The battery swap station generates a third control parameter based on the received relative position of the battery swap station and the target cache bin and the first storage position of the battery to be swapped; Based on the third control parameter, taking out the battery to be replaced from the target cache bin, and placing the battery to be replaced at the first storage position; Generate a fourth control parameter based on the relative position of the battery swap station and the target cache bin and the second storage position of the target battery swap battery; Based on the fourth control parameter, the target battery-exchange battery is taken out from the second storage position, and the target battery-exchange battery is placed in the target cache bin.

6. The method according to claim 5, characterized in that A sensor is provided in any cache compartment; the sensor is used to detect whether there is a battery to be replaced or a target battery to be replaced in the cache compartment.

7. The method according to claim 6, characterized in that The method further comprises: When the battery swap station or the battery swap robot places the target battery swap battery or the battery to be swapped in the target cache bin, a third prompt signal is sent to the target cache bin; The target cache receives the third prompt signal and controls the sensor to send a detection signal; If the sensor does not detect the target battery to be replaced or the battery to be replaced, an alarm signal is generated.

8. A control device for multi-side power exchange of a ship, characterized in that: The device comprises: An acquisition unit is used to acquire the target port side of the ship, as well as the posture information of the battery-swapping robot, the first position of the target cache bin and the second position of the target battery bin; wherein the target cache bin is the cache bin closest to the target port side; the target battery bin is the battery bin where the battery to be replaced is located; there are three cache bins; the three cache bins are respectively located on both sides of the stern of the ship and at the rear end of the stern of the ship; a generating unit, configured to generate a first control parameter based on the first position, the posture information and the second position; A control unit, configured to control the battery-swapping robot to take out the battery to be replaced from the target battery compartment and place the battery to be replaced in the target cache compartment based on the first control parameter; A response unit, configured to obtain real-time posture information of the battery-swapping robot in response to a first prompt signal sent by the target cache bin; wherein the first prompt signal is generated when the target cache bin detects a target battery-swapping battery; A battery exchange unit is used to generate a second control parameter based on the real-time posture information, the first position and the second position; based on the second control parameter, control the battery exchange robot to take out the target battery exchange battery from the target cache bin and place the target battery exchange battery in the target battery bin.

9. An electronic device, characterized in that: The electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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