Ship charging method and device for bidirectional precise positioning verification between ship and shore

Abstract

The invention relates to a ship charging method and device for bidirectional precise positioning verification between ships and shores, and relates to the field of ship charging equipment, and the method comprises the steps: obtaining a ship image of a ship; determining a charging position according to the ship image; matching a charging stroke according to the charging position; a preset charging device is controlled to move to the position over the charging position according to the charging stroke, and the preset charging device is controlled to send out a charging signal; a preset signal receiving device receives the charging signal and controls a protection device preset on the charging interface to be started; and controlling a preset charging device to descend to be connected with a charging interface preset on the ship according to the charging position. The ship charging device has the effects of improving the ship charging efficiency and reducing the situation that foreign matter is mixed into the charging interface.

Description

Technical Field

[0001] The present invention relates to the field of ship charging equipment, and in particular to a ship charging method and equipment for bidirectional precise positioning verification between ship and shore. Background Art

[0002] The ship charging technology with bidirectional precise positioning verification refers to the technology that enables the ship to achieve precise position control during the charging process. This technology involves the ship's navigation system, power system and the interaction with the charging facilities.

[0003] In the prior art, the ship charging technology verified by bidirectional precise positioning facilitates the stable docking of ships in ports or specific areas, thereby facilitating the connection of the charging device with the charging interface provided on the ship, thereby enabling the ship to be stably charged.

[0004] Foreign matter can easily get mixed into the charging port, causing the connection between the charging device and the charging port to become unstable, which in turn leads to reduced charging efficiency. Summary of the invention

[0005] In order to improve the efficiency of ship charging and reduce the situation of foreign objects mixing into the charging interface, the present invention provides a ship charging method and equipment with two-way precise positioning verification between ship and shore.

[0006] In a first aspect, the present invention provides a ship charging method for bidirectional precise positioning verification between ship and shore, which adopts the following technical solution: A ship charging method for bidirectional precise positioning verification between ship and shore, comprising: Acquire a ship image of the vessel; Determine the charging location based on the ship image; Match the charging itinerary according to the charging location; Controlling a preset charging device to move to just above the charging position according to the charging stroke, and controlling the preset charging device to send a charging signal; The preset signal receiving device receives the charging signal and controls the protection device preset on the charging interface to turn on; According to the charging position, the preset charging device is controlled to descend to be connected with the charging interface preset on the ship.

[0007] By adopting the above technical solution, when charging is required, the charging device is controlled to interact with the protection device to control the protection device to open and expose the charging interface, and when charging is not required, the protection device is controlled to close to isolate the charging interface from the outside world, thereby reducing the situation of foreign objects entering the charging interface and improving the efficiency of ship charging.

[0008] Optionally, also include: When the charging device is connected to the charging interface, the battery number is obtained; Determine the ship number based on the ship image; Determine whether the battery and the ship correspond to each other from a preset battery installation database according to the battery number and the ship number; When the battery and the ship do not correspond, the preset warning device is controlled to issue a modification warning according to the ship number, and the preset charging device is controlled to disconnect from the preset charging interface; When the battery and the ship correspond, obtain the battery power; Determine charging time based on battery power; According to the charging time, a preset charging device is controlled to transmit power to a preset charging interface.

[0009] By adopting the above technical solution, when the charging device is connected to the charging interface, it is identified whether the battery matches the ship, thereby reducing the situation where the battery parameters change due to the replacement of the battery on the ship, and then causing the battery to be damaged or even exploded when charging through the charging device.

[0010] Optionally, a ship image acquisition method is also included, and the ship image acquisition method includes: Determine whether there is fog based on the ship image; When fog is present, the fog concentration is determined based on the ship image; When the fog concentration exceeds the preset visible concentration, an infrared image is acquired; The charging position is determined based on the infrared image.

[0011] By adopting the above technical solution, when the fog is thick, it is difficult to determine the charging position by using the ship image obtained by the optical camera. At this time, an infrared image is obtained, and the charging position is identified by the characteristic that the battery is prone to heat up, thereby improving the efficiency of ship charging.

[0012] Optionally, a battery inspection method is also included, and the battery inspection method includes: When the charging device is connected to the charging interface, the battery temperature is extracted based on the infrared image; Determine whether the battery temperature is abnormal based on the battery temperature; When the battery temperature is abnormal, obtain the ambient temperature; Calculate the difference between the battery temperature and the ambient temperature and define it as the battery temperature difference; When the battery temperature difference is greater than a preset high temperature threshold, the preset warning device is controlled to issue a battery abnormality warning according to the ship number, and the preset charging device is controlled to disconnect from the preset charging interface.

[0013] By adopting the above technical solution, the temperature of the battery is judged through infrared images, thereby reducing the situation where charging when the battery is overheated causes further heating of the battery, which in turn causes battery failure or even explosion, thereby improving the safety of battery charging.

[0014] Optionally, a battery charging method is also included, and the battery charging method includes: When the battery temperature difference is less than a preset high temperature threshold, the battery type is matched from a preset battery type database according to the battery number; Determine the heating rate based on the battery type; Determine the power transmission time based on the heating rate and battery temperature difference; Calculate the heat dissipation rate according to the high temperature threshold value using a preset heat dissipation rate calculation method; Determine the interval length based on the heat dissipation rate; Determine the power transmission process based on the power transmission duration, intermittent duration and charging time; According to the power transmission process, the preset charging device is controlled to intermittently transmit power to the charging interface.

[0015] By adopting the above technical solution, when the battery is hot, the charging device intermittently transmits power to the charging port, so that the battery can dissipate heat in time when it is overheated due to charging, thereby reducing the situation where the battery fails or even explodes due to overheating during charging, and improving the safety of battery charging.

[0016] Optionally, an anti-corrosion method is also included, and the anti-corrosion method includes: When fog is present, obtain the salt fog concentration; When the salt spray concentration exceeds the preset corrosion range, the neutralization concentration is determined according to the salt spray concentration; Determine the neutralization dose based on the neutralization concentration; Controlling a preset injection device according to the neutralization dosage to inject a preset neutralization agent into a water tank in a preset spraying device; Determine the spraying stroke according to the charging position; The preset spraying device is controlled according to the spraying stroke to spray the water in the water tank in the form of mist.

[0017] By adopting the above technical solution, salt mist can easily corrode the charging device and the charging interface. By spraying a neutralizer in advance to reduce the corrosion effect of the salt mist around the charging position, the situation in which the charging efficiency is reduced due to unstable connection between the charging device and the charging interface can be reduced.

[0018] Optionally, the method for obtaining the salt spray concentration includes: Get fog wind direction; Determine the collection direction according to the fog and wind direction; Controlling the preset collection device to rotate according to the collection direction; Controlling the preset collecting device to inject water into a water tank preset in the collecting device, and controlling the preset collecting device to inhale the mist and blow it into the water tank; Control the output current of the power output terminal preset at one end of the water tank, and control the power input terminal preset at the other end of the water tank to obtain a detection signal; Determine the salt spray concentration based on the detection signal.

[0019] By adopting the above technical solution, the collection device sucks in the salt mist and blows it towards the water tank, so that the salt mist is dissolved in the water tank, and the concentration of the salt mist is estimated by detecting the conductivity of the water in the water tank, thereby reducing the situation where the concentration of the neutralizing agent is too high and causes corrosion to the charging device and the charging interface.

[0020] Optionally, a charging interface cleaning method is also included, and the charging interface cleaning method includes: Judging whether there are foreign objects on the protective device based on the ship image; When there is foreign matter on the protective device, the location and weight of the foreign matter are determined based on the ship image; When the weight of the foreign object is lower than the preset handling range, the blowing direction is matched according to the position of the foreign object, and the blowing wind force is determined according to the weight of the foreign object; Controlling a preset blowing device to blow air in a blowing direction according to the blowing wind force, and controlling a preset signal receiving device to receive a charging signal; When the weight of the foreign object falls into the preset handling interval, the preset camera device is controlled according to the position of the foreign object to obtain the image of the foreign object; Match the clamping stroke according to the foreign body image; The preset clamping device is controlled to clamp the foreign matter according to the clamping stroke, and the preset signal receiving device is controlled to receive the charging signal.

[0021] By adopting the above technical solution, foreign objects on the protective device are cleaned by the blowing device and the clamping device before the protective device is activated, thereby reducing the situation where foreign objects on the protective device fall into the charging interface when the protective device is opened.

[0022] Optionally, the heat dissipation rate calculation method includes: ; Where Q is the required heat dissipation rate; is the convective heat transfer coefficient; is the surface area of ​​the battery; This is the high temperature threshold.

[0023] In the second aspect, the present application provides a ship charging device for bidirectional precise positioning verification between ship and shore, which adopts the following technical solution: A ship charging device for two-way precise positioning verification between ship and shore comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned ship charging methods for two-way precise positioning verification between ship and shore.

[0024] By adopting the above technical solution, when charging is required, the charging device is controlled to interact with the protection device to control the protection device to open and expose the charging interface, and when charging is not required, the protection device is controlled to close to isolate the charging interface from the outside world, thereby reducing the situation of foreign objects entering the charging interface and improving the efficiency of ship charging.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: When charging is required, the charging device is controlled to interact with the protection device to control the protection device to open and expose the charging interface, and when charging is not required, the protection device is controlled to close to isolate the charging interface from the outside world, thereby reducing the situation where foreign objects enter the charging interface and improving the efficiency of ship charging; When the charging device is connected to the charging port, it identifies whether the battery matches the ship, thereby reducing the situation where the battery parameters change due to the replacement of the battery on the ship, which in turn causes the battery to be damaged or even exploded when charged through the charging device; When the fog is thick, it is difficult to determine the charging position by using the ship image obtained by the optical camera. At this time, infrared images are obtained and the charging position is identified by the characteristic that the battery is prone to heat up, thereby improving the efficiency of ship charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a process of ship charging method for two-way precise positioning verification between ship and shore Figure 1 ; Figure 2 It is a process of ship charging method for two-way precise positioning verification between ship and shore Figure 2 ; Figure 3 is a flow chart of a method for acquiring ship images; Figure 4 is a flow chart of a battery inspection method; Figure 5 is a flow chart of a battery charging method; Figure 6 It is a flow chart of the corrosion prevention method; Figure 7 It is a flow chart of the method for obtaining the salt spray concentration; Figure 8 It is a flow chart of the charging interface cleaning method. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] The embodiment of the present application discloses a ship charging method and device for bidirectional precise positioning verification between ship and shore. The present invention is used to improve the stability of the connection between the charging device and the charging interface on the ship, thereby improving the charging efficiency of the battery on the ship.

[0029] Reference Figure 1 A ship charging method for bidirectional precise positioning verification between ship and shore, comprising the following steps: Step 100: Acquire a ship image of a ship.

[0030] The ship image refers to the image of the ship when it is docked at the shore. The ship image can be obtained through a camera installed on the shore. The method for obtaining the ship image is selected by the staff according to the actual situation and will not be elaborated here.

[0031] Step 101: Determine the charging position according to the ship image.

[0032] The charging position refers to the position of the charging interface on the ship. The charging position can be obtained through a charging position recognition model. The charging position recognition model refers to a neural network model obtained in advance through sample training.

[0033] Step 102: Match the charging itinerary according to the charging position.

[0034] The charging stroke refers to the path that the charging device moves to directly above the charging position. The charging stroke can be obtained through a charging stroke matching model. The charging stroke matching model refers to a neural network model obtained in advance through sample training.

[0035] Step 103: Control the preset charging device to move to above the charging position according to the charging stroke, and control the preset charging device to send a charging signal.

[0036] The signal receiving device refers to a device installed on the ship and used to communicate with the charging equipment on the shore. The signal receiving device is selected by the staff according to the actual situation and will not be described in detail here. The charging signal refers to the signal sent by the charging device to the signal receiving device after the charging device arrives directly above the charging position according to the charging journey to prepare for charging.

[0037] Step 104: The preset signal receiving device receives the charging signal and controls the protection device preset on the charging interface to start.

[0038] The protection device refers to a device used to isolate the charging interface from the outside world to reduce the entry of foreign objects into the charging interface. The protection device generally adopts an automatically controlled sliding cover. The protection device is selected by the staff according to the actual situation and will not be described in detail here. When the signal receiving device receives the charging signal, it means that the charging device is in place. At this time, the control protection device is opened to expose the charging interface to facilitate the connection between the charging device and the charging interface.

[0039] Step 105: Control the preset charging device to descend according to the charging position to connect with the charging interface preset on the ship.

[0040] The protective device is used to reduce the exposure of the charging port to the outside, thereby reducing the possibility of foreign matter entering the charging port, and the protective device is turned on when charging is required.

[0041] Reference Figure 2 , a ship charging method for bidirectional precise positioning verification between ship and shore, further comprising the following steps: Step 106: After the charging device is connected to the charging interface, the battery number is obtained.

[0042] The battery number refers to a pre-set number used to distinguish batteries. Each battery number corresponds to a battery one-to-one. The battery number can be read through the charging interface. The setting method and acquisition method of the battery number are selected by the staff according to actual conditions and will not be elaborated here.

[0043] Step 107: Determine the ship number according to the ship image.

[0044] The ship number refers to a number set in advance to distinguish ships. Each ship number corresponds to a ship one-to-one. The ship number is generally marked on the hull. The ship number can be identified from the ship image through a ship number recognition model. The ship number recognition model refers to a neural network model obtained in advance through sample training.

[0045] Step 108: Determine whether the battery and the ship correspond to each other from a preset battery installation database according to the battery number and the ship number.

[0046] The battery installation database refers to a database that records the ship number and its corresponding battery number. Whether the battery and the ship correspond is determined by searching whether the ship number corresponding to the battery number in the battery installation database is the ship number.

[0047] Step 109: When the battery and the ship do not correspond, the preset warning device is controlled to issue a modification warning according to the ship number, and the preset charging device is controlled to disconnect from the preset charging interface.

[0048] The warning device refers to a device used to remind the ship's management personnel. The warning device is selected by the staff according to the actual situation and will not be described in detail here. The modification warning is to warn the ship's management personnel through the warning device that the ship and the battery are not compatible.

[0049] When the ship replaces the battery, the battery parameters change. At this time, directly charging through the charging device is likely to cause battery failure or even explosion. The charging device is taken back and the ship management personnel are alerted through the warning device so that further processing of the ship can be carried out.

[0050] Step 110: When the battery corresponds to the ship, the battery power is obtained.

[0051] The battery power refers to the actual power of the ship's battery. The battery power can be read through the charging interface. The method for obtaining the battery power is selected by the staff according to the actual situation and will not be elaborated here.

[0052] Step 111: Determine charging time according to battery power.

[0053] Charging time refers to the time required for a battery to be charged from the battery level to the full charge. The charging time can be calculated based on the corresponding relationship between the battery level and the time required to be fully charged.

[0054] Step 112: Control the preset charging device to transmit power to the preset charging interface according to the charging time.

[0055] Power is delivered to the charging port according to the charging time, thereby reducing battery swelling caused by overcharging.

[0056] Reference Figure 3 , the ship image acquisition method comprises the following steps: Step 200: Determine whether there is fog based on the ship image.

[0057] The presence of fog can be determined through a fog recognition model, where the fog recognition model refers to a neural network model obtained through sample training in advance.

[0058] Step 201: When fog exists, the fog concentration is determined according to the ship image.

[0059] The fog concentration can be obtained through a fog concentration recognition model. The fog concentration recognition model refers to a neural network model obtained through sample training in advance. The fog concentration recognition model can match the fog concentration according to the visibility in the ship image.

[0060] Step 202: When the fog concentration exceeds a preset visible concentration, an infrared image is acquired.

[0061] Visible density refers to the fog density value at which the entire ship can be clearly seen from the ship image. The visible density is selected by the staff according to the actual situation and will not be elaborated here. The fog density exceeds the visible density, which means that the overall situation of the ship cannot be grasped through the ship image at this time. Infrared image refers to the infrared image of the ship when it is docked at the shore. The infrared image can be obtained through the infrared camera set up at the shore. The method of obtaining the infrared image is selected by the staff according to the actual situation and will not be elaborated here.

[0062] Step 203: Determine the charging position according to the infrared image.

[0063] When the fog is thick, it is difficult to determine the charging position through the ship image. At this time, the charging position can be identified from the infrared image based on the characteristic that the battery easily heats up.

[0064] Reference Figure 4 , the battery inspection method comprises the following steps: Step 300: When the charging device is connected to the charging port, the battery temperature is extracted according to the infrared image.

[0065] The battery temperature refers to the temperature of the highest temperature point in the battery area in the infrared image. The battery temperature can be extracted through a battery temperature recognition model. The battery temperature extraction model refers to a neural network model obtained in advance through sample training.

[0066] Step 301: Determine whether the battery temperature is abnormal based on the battery temperature.

[0067] The temperature anomaly recognition model can be used to determine whether there is an abnormal battery temperature. The temperature anomaly recognition model refers to a neural network model obtained through sample training in advance. The temperature anomaly recognition model can compare the battery temperature with a preset reference temperature value to determine whether the battery temperature is too high, and determine whether the battery temperature is abnormal when the battery temperature is too high, wherein the reference temperature value refers to the optimal operating temperature of the battery.

[0068] Step 302: When the battery temperature is abnormal, obtain the ambient temperature.

[0069] The ambient temperature refers to the temperature of the shore where the ship is moored. The ambient temperature can be obtained through a temperature sensor. The method for obtaining the ambient temperature is selected by the staff according to the actual situation and will not be elaborated here.

[0070] Step 303: Calculate the difference between the battery temperature and the ambient temperature and define it as the battery temperature difference.

[0071] The battery temperature difference refers to the difference between the battery temperature and the ambient temperature. The battery temperature difference is used to determine the heating condition of the battery itself.

[0072] Step 304: When the battery temperature difference is greater than a preset high temperature threshold, a preset warning device is controlled to issue a battery abnormality warning according to the ship number, and a preset charging device is controlled to disconnect from a preset charging interface.

[0073] The high temperature threshold refers to the battery temperature difference at which the battery is abnormally heated. The high temperature threshold is selected by the staff according to the actual situation and will not be described here. The battery abnormality warning refers to the prompt of notifying the ship management personnel of the abnormal battery heating through the warning device.

[0074] If the battery temperature difference is greater than the high temperature threshold, it means that the battery is heating abnormally. At this time, the warning device will issue a battery abnormality warning and control the charging device to disconnect from the charging interface to stop the charging process, thereby reducing the situation where the battery is overheated and causing battery swelling or even explosion, making it convenient for ship management personnel to conduct further inspections of the ship.

[0075] Reference Figure 5 , the battery charging method comprises the following steps: Step 400: When the battery temperature difference is less than a preset high temperature threshold, the battery type is matched from a preset battery type database according to the battery number.

[0076] A temperature difference less than the high temperature threshold indicates that the battery is hot but still can work normally. The battery type database refers to a pre-established database that records battery numbers and types. The battery type is the type of battery corresponding to the battery number matched from the battery type database.

[0077] Step 401: Determine the heating rate according to the battery type.

[0078] The heating rate refers to the speed at which the battery generates heat when charging. The heating rate can be obtained by looking up a table. The heating rates of batteries of different types are different. The heating rate corresponding to the battery type can be obtained by looking up the table.

[0079] Step 402: Determine the power transmission duration according to the heating rate and the battery temperature difference.

[0080] The power transmission time refers to the time it takes for the battery temperature difference to reach the high temperature threshold at the heating rate. The battery is prone to heat up when charging. When the battery itself is at a high temperature, the heat generated during charging can easily cause the battery to overheat, leading to battery swelling or even explosion.

[0081] Step 403: Calculate the heat dissipation rate according to the high temperature threshold and the preset heat dissipation rate calculation method.

[0082] The heat dissipation rate calculation method refers to the method used to calculate the heat dissipation rate. The heat dissipation rate calculation method generally adopts , where Q is the required heat dissipation rate, It is the convective heat transfer coefficient. The convective heat transfer coefficient is selected by the staff according to the actual situation and will not be elaborated here. The surface area of ​​the battery is recorded in the database in advance and can be obtained by querying the database. This is the high temperature threshold.

[0083] Step 404: Determine the interval duration according to the heat dissipation rate.

[0084] The interval duration refers to the time required for the battery temperature to drop from the high temperature threshold to the battery temperature difference according to the heat dissipation rate.

[0085] Step 405: Determine the power transmission process according to the power transmission time, the intermittent time and the charging time.

[0086] The charging process refers to the process of the charging device transmitting power to the charging interface. The charging process includes first transmitting power according to the transmission time, then stopping the transmission according to the interval time, and repeating this process until the accumulated transmission time reaches the charging time.

[0087] Step 406: Control the preset charging device to intermittently transmit power to the charging interface according to the power transmission process.

[0088] When the battery temperature is high, the charging device is controlled to transmit power intermittently, so that the battery can be cooled down in time when it is overheated due to charging, thereby reducing the battery swelling caused by excessive temperature during charging.

[0089] Reference Figure 6 , the anti-corrosion method comprises the following steps: Step 500: When fog exists, obtain the salt fog concentration.

[0090] Salt spray concentration refers to the salt content in the fog. The salt spray concentration is selected by the staff based on actual conditions and will not be elaborated here.

[0091] Step 501: When the salt mist concentration exceeds a preset corrosion range, a neutralization concentration is determined according to the salt mist concentration.

[0092] The corrosion range refers to the salt content range in which the salt content in the fog is too high, causing the fog to easily corrode the charging device or charging interface. The corrosion range is selected by the staff based on actual conditions and will not be elaborated here.

[0093] The salt mist concentration exceeds the corrosion range, which means that the mist has a high corrosion effect on the charging device or charging interface. The neutralization concentration refers to the concentration of the neutralization agent required to neutralize the salt content in the mist to reduce the corrosion effect of the salt mist on the charging device or charging interface. The neutralization concentration can be calculated by the corresponding relationship between the salt mist concentration and the neutralization concentration. The calculation method of the neutralization concentration is common knowledge among people in this field and will not be described here. The neutralization agent refers to a reagent used to reduce the corrosion effect of inorganic salts in the mist. Generally, weak alkaline substances are used. The neutralization agent is selected by the staff according to the actual situation and will not be described here.

[0094] Step 502: Determine the neutralization dosage according to the neutralization concentration.

[0095] The spraying device is a device used to spray the neutralizing liquid around the charging position to reduce the corrosive effect of the mist. The spraying device is selected by the staff according to the actual situation and will not be described here. The neutralizing dose refers to the volume of the neutralizing agent required to obtain the neutralizing liquid of the neutralizing concentration. The neutralizing dose can be obtained by calculating the product of the required volume of the neutralizing liquid and the neutralizing concentration, wherein the required volume of the neutralizing liquid is generally the volume of the water tank in the spraying device.

[0096] Step 503: Control the preset injection device according to the neutralization dosage to inject the preset neutralization agent into the water tank in the preset spraying device.

[0097] The injection device is a device used to inject the neutralizing agent into the water tank in the spraying device. The injection device is selected by the staff according to the actual situation and will not be described here. The spraying device first injects clean water into the water tank. When the clean water fills half of the water tank, the injection device is controlled to inject the neutralizing agent into the water tank synchronously to obtain the neutralized liquid.

[0098] Step 504: Determine the spraying stroke according to the charging position.

[0099] The spraying stroke refers to the path of spraying the neutralizing liquid into the air around the charging position through the spraying device. The spraying stroke can be obtained through the spraying stroke matching model. The spraying stroke matching model refers to a neural network model obtained in advance through sample training. The spraying stroke matching model can match the spraying stroke that fully sprays the neutralizing liquid around the charging position through the spraying device.

[0100] Step 505: Control a preset spraying device to spray the water in the water tank in a mist form according to the spraying stroke.

[0101] When the salt content of the mist is too high, the mist is easy to corrode the charging device and the charging interface. At this time, the contact part between the charging device and the charging interface is easy to be corroded during the charging process, thereby causing the connection between the charging device and the charging interface to be unstable. The neutralizing liquid is sprayed in the form of mist around the charging position through a spraying device, so that the suspended neutralizing liquid neutralizes the inorganic salts in the mist, thereby reducing the corrosive effect of the mist.

[0102] Reference Figure 7 , the method for obtaining the salt spray concentration includes the following steps: Step 600: Obtain fog wind direction.

[0103] The fog wind direction refers to the real-time wind direction on the shore. The fog wind direction can be obtained through a wind vane. The method for obtaining the fog wind direction is selected by the staff according to the actual situation and will not be elaborated here.

[0104] Step 601: Determine the collection direction according to the fog wind direction.

[0105] The collecting device refers to a device used to collect fog. The collecting device generally uses a fan to suck fog into a water tank in the device so that the salt in the fog dissolves in the water in the water tank. The collecting device is selected by the staff according to the actual situation and will not be described here. The collecting direction refers to the direction in which the fog is collected by the collecting device. The collecting direction generally adopts an angle relative to the wind direction of the fog.

[0106] Step 602: Control the preset collection device to rotate according to the collection direction.

[0107] Adjust the collecting device to a collecting direction to facilitate the mist to enter the device.

[0108] Step 603: Control the preset collecting device to inject water into a water tank preset in the collecting device, and control the preset collecting device to inhale the mist and blow it into the water tank.

[0109] First, water is poured into the water tank in the collection device, and then the collection device is started to suck the mist into the water tank, so that the salt in the mist dissolves in the water to form a detection liquid.

[0110] Step 604: Control the power output terminal preset at one end of the water tank to output current, and control the power input terminal preset at the other end of the water tank to obtain a detection signal.

[0111] The output terminal refers to the electrode used to input current, and the input terminal refers to the electrode used to receive current. Both the output terminal and the input terminal are immersed in the detection liquid. The setting method of the output terminal and the input terminal is selected by the staff according to the actual situation, and will not be described here. The detection signal is the current received by the input terminal.

[0112] Step 605: Determine the salt spray concentration according to the detection signal.

[0113] The more salt there is in the detection liquid, the greater the conductivity of the detection liquid is. The conductivity of the detection liquid is matched by the size of the received detection signal, and the salt spray concentration is matched by the conductivity of the detection liquid. The salt spray concentration can be calculated by comparing the size of the detection signal and the salt spray concentration.

[0114] Reference Figure 8 , the charging interface cleaning method includes:

[0115] Step 700: Determine whether there is foreign matter on the protection device according to the ship image.

[0116] The foreign object recognition model can be used to determine whether there are foreign objects on the protective device. The foreign object recognition model refers to a neural network model obtained through sample training in advance. The foreign object recognition model can determine whether there are debris such as plastic and metal or accumulated water at the charging position in the ship image.

[0117] Step 701: When there is a foreign object on the protection device, the location and weight of the foreign object are determined according to the ship image.

[0118] The foreign object position refers to the position of the existing foreign object, and the foreign object weight refers to the weight of the existing foreign object. The foreign object position and foreign object weight can be obtained by matching in the foreign object matching model. The foreign object matching model refers to a neural network model obtained through sample training in advance. The foreign object matching model can identify the position, material and volume of the foreign object from the ship image, and calculate the foreign object weight based on the material and volume of the foreign object.

[0119] Step 702: When the weight of the foreign object is lower than the preset transport interval, the blowing direction is matched according to the position of the foreign object, and the blowing wind force is determined according to the weight of the foreign object.

[0120] The blowing device refers to a device used to blow away foreign matter. The blowing device is selected by the staff according to actual conditions and will not be described in detail here.

[0121] The handling range refers to the weight range of the objects that need to be handled by the robot. The handling range is selected by the staff according to the actual situation and will not be described here. If the weight of the foreign object is lower than the handling range, it means that the weight of the foreign object is light and the foreign object can be blown away by the blowing device.

[0122] The blowing direction refers to the blowing direction of blowing foreign matter away from the surface of the protective device by the blowing device. The blowing direction can be obtained by matching a blowing direction matching model. The blowing direction matching model refers to a neural network model obtained in advance through sample training.

[0123] The blowing wind force refers to the wind strength that blows foreign matter away from the surface of the protective device through the blowing device. The blowing wind force can be obtained by matching the blowing direction matching model. The blowing wind force matching model refers to a neural network model obtained in advance through sample training.

[0124] Step 703: Control the preset blowing device to blow in the blowing direction according to the blowing wind force, and control the preset signal receiving device to receive the charging signal.

[0125] Light foreign objects are blown away by the blowing device, thereby reducing the possibility of foreign objects falling from the surface of the protective device into the charging port when the protective device is opened.

[0126] Step 704: When the weight of the foreign object falls into the preset transport interval, a preset camera device is controlled according to the position of the foreign object to obtain an image of the foreign object.

[0127] The clamping device is a device used to clamp foreign objects on the protective device. The clamping device is selected by the staff according to the actual situation and will not be described here. If the weight of the foreign object falls into the handling range, it means that the weight of the foreign object is large and needs to be clamped by the clamping device.

[0128] The camera device refers to a device used to obtain a picture of a foreign object. The camera device, the blowing device and the clamping device are generally integrated. The camera device is selected by the staff according to the actual situation, and will not be described in detail here. The foreign object image is the picture obtained when the camera device is facing the foreign object position.

[0129] Step 705: Match the clamping stroke according to the foreign object image.

[0130] The clamping stroke refers to the path taken by the clamping device to clamp the foreign object away from the foreign object position and away from the surface of the protective device. The clamping stroke can be obtained through a clamping stroke matching model. The clamping stroke matching model refers to a neural network model obtained in advance through sample training.

[0131] Step 706: Control the preset clamping device to clamp the foreign object according to the clamping stroke, and control the preset signal receiving device to receive the charging signal.

[0132] Heavier foreign objects are clamped away by the clamping device, thereby reducing the possibility of foreign objects falling from the surface of the protective device into the charging port when the protective device is opened.

[0133] Based on the same inventive concept, an embodiment of the present invention provides a ship charging device for ship-shore two-way precise positioning verification, including a memory and a processor, and the memory stores a computer program that can be loaded by the processor and execute the above-mentioned ship charging method for ship-shore two-way precise positioning verification.

[0134] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0135] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A ship charging method for bidirectional precise positioning verification between ship and shore, characterized in that: include: Acquire a ship image of the vessel; Determine the charging location based on the ship image; Match the charging itinerary according to the charging location; Controlling a preset charging device to move to just above the charging position according to the charging stroke, and controlling the preset charging device to send a charging signal; The preset signal receiving device receives the charging signal and controls the protection device preset on the charging interface to turn on; According to the charging position, the preset charging device is controlled to descend to connect with the charging interface preset on the ship; Also includes: When the charging device is connected to the charging interface, the battery number is obtained; Determine the ship number based on the ship image; Determine whether the battery and the ship correspond to each other from a preset battery installation database according to the battery number and the ship number; When the battery and the ship do not correspond, the preset warning device is controlled to issue a modification warning according to the ship number, and the preset charging device is controlled to disconnect from the preset charging interface; When the battery and the ship correspond, obtain the battery power; Determine charging time based on battery power; According to the charging time, a preset charging device is controlled to transmit power to a preset charging interface.

2. A ship charging method for bidirectional precise positioning verification between ship and shore according to claim 1, characterized in that: The invention also includes a ship image acquisition method, wherein the ship image acquisition method comprises: Determine whether there is fog based on the ship image; When fog is present, the fog concentration is determined based on the ship image; When the fog concentration exceeds the preset visible concentration, an infrared image is acquired; The charging position is determined based on the infrared image.

3. A ship charging method for ship-shore bidirectional precise positioning verification according to claim 2, characterized in that: Also included is a battery testing method, the battery testing method comprising: When the charging device is connected to the charging interface, the battery temperature is extracted based on the infrared image; Determine whether the battery temperature is abnormal based on the battery temperature; When the battery temperature is abnormal, obtain the ambient temperature; Calculate the difference between the battery temperature and the ambient temperature and define it as the battery temperature difference; When the battery temperature difference is greater than a preset high temperature threshold, the preset warning device is controlled to issue a battery abnormality warning according to the ship number, and the preset charging device is controlled to disconnect from the preset charging interface.

4. A ship charging method for ship-shore bidirectional precise positioning verification according to claim 3, characterized in that: Also included is a battery charging method, the battery charging method comprising: When the battery temperature difference is less than a preset high temperature threshold, the battery type is matched from a preset battery type database according to the battery number; Determine the heating rate based on the battery type; Determine the power transmission time based on the heating rate and battery temperature difference; Calculate the heat dissipation rate according to the high temperature threshold value using a preset heat dissipation rate calculation method; Determine the interval length based on the heat dissipation rate; Determine the power transmission process based on the power transmission duration, intermittent duration and charging time; According to the power transmission process, the preset charging device is controlled to intermittently transmit power to the charging interface.

5. A ship charging method for ship-shore bidirectional precise positioning verification according to claim 2, characterized in that: Also included is an anti-corrosion method, the anti-corrosion method comprising: When fog is present, obtain the salt fog concentration; When the salt spray concentration exceeds the preset corrosion range, the neutralization concentration is determined according to the salt spray concentration; Determine the neutralization dose based on the neutralization concentration; Controlling a preset injection device according to the neutralization dosage to inject a preset neutralization agent into a water tank in a preset spraying device; Determine the spraying stroke according to the charging position; The preset spraying device is controlled according to the spraying stroke to spray the water in the water tank in the form of mist.

6. A ship charging method for ship-shore bidirectional precise positioning verification according to claim 5, characterized in that: The method for obtaining the salt spray concentration includes: Get fog wind direction; Determine the collection direction according to the fog and wind direction; Controlling the preset collection device to rotate according to the collection direction; Controlling the preset collecting device to inject water into a water tank preset in the collecting device, and controlling the preset collecting device to inhale the mist and blow it into the water tank; Control the output current of the power output terminal preset at one end of the water tank, and control the power input terminal preset at the other end of the water tank to obtain a detection signal; Determine the salt spray concentration based on the detection signal.

7. A ship charging method for ship-shore bidirectional precise positioning verification according to claim 5, characterized in that: Also included is a charging interface cleaning method, the charging interface cleaning method comprising: Judging whether there are foreign objects on the protective device based on the ship image; When there is foreign matter on the protective device, the location and weight of the foreign matter are determined based on the ship image; When the weight of the foreign object is lower than the preset handling range, the blowing direction is matched according to the position of the foreign object, and the blowing wind force is determined according to the weight of the foreign object; Controlling a preset blowing device to blow air in a blowing direction according to the blowing wind force, and controlling a preset signal receiving device to receive a charging signal; When the weight of the foreign object falls into the preset handling interval, the preset camera device is controlled according to the position of the foreign object to obtain the image of the foreign object; Match the clamping stroke according to the foreign body image; The preset clamping device is controlled to clamp the foreign matter according to the clamping stroke, and the preset signal receiving device is controlled to receive the charging signal.

8. A ship charging method for ship-shore bidirectional precise positioning verification according to claim 4, characterized in that: The heat dissipation rate calculation method comprises: ; Where Q is the required heat dissipation rate; is the convective heat transfer coefficient; is the surface area of ​​the battery; This is the high temperature threshold.

9. A ship charging device for bidirectional precise positioning verification between ship and shore, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a ship charging method for bidirectional precise positioning verification between ship and shore as claimed in any one of claims 1 to 8.

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