Unmanned cooperative ship intelligent charging self-positioning method and system

Abstract

The invention relates to an unmanned cooperative ship intelligent charging self-positioning method and system, and relates to the technical field of ship charging, and the method comprises the steps: obtaining ship parking condition information and a charging real-time position point where a charging head is located; analyzing and determining a charging demand position point of the charging port according to the ship parking condition information; analyzing and determining position deviation information based on the charging demand position point and the charging initial position point; and analyzing and determining charging adjustment control information according to the position deviation information, and outputting the charging adjustment control information to the charging equipment. The ship charging system has the effect of improving the ship charging efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of ship charging, and in particular to an unmanned collaborative ship intelligent charging self-positioning method and system. Background Art

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

[0003] When charging a ship, it is currently generally done by docking the ship at the port and recharging the ship with electricity through the charging equipment on the shore. The charging equipment includes a charging head for charging and a lift for driving the charging head to move. When recharging electricity, the operator controls the lift to raise the charging head to a specified height and then moves it until the charging head is above the charging port on the ship. The lift then slowly controls the charging head to be placed in the charging port, thereby recharging electricity for the ship when the charging head is powered on.

[0004] When charging a ship with charging equipment on shore, the operator needs to control the lifting machine to move the charging head and place it in the charging port of the ship. Since the charging head and the charging port need to be fully aligned before charging can be carried out when the ship is powered on, the operator needs to spend a long time to align them, which reduces the efficiency of charging the ship. Summary of the invention

[0005] In order to improve the charging efficiency of ships, the present invention provides an unmanned ship intelligent charging self-positioning method and system.

[0006] In a first aspect, the present invention provides an unmanned collaborative ship intelligent charging self-positioning method, which adopts the following technical solution: An unmanned collaborative ship intelligent charging self-positioning method, comprising: Obtain information on the parking situation of the ship and the real-time charging location of the charger; Determine the charging demand location of the charging port based on the information analysis of the ship parking situation; Determine the position deviation information based on the analysis of the charging demand position point and the charging initial position point; The charging adjustment control information is determined based on the position deviation information analysis, and the charging adjustment control information is output to the charging device.

[0007] Optionally, a method for determining a charging demand location point includes: Based on the ship parking situation information, retrieve the ship's real-time position point, parking direction information and ship moving speed value; Analyzing a deviation angle between the parking orientation information and the preset reference orientation information to form an orientation deviation angle value; Determine the required initial position point based on the analysis of the ship's real-time position point and the heading deviation angle value; Determine whether the ship's moving speed value is greater than a preset moving reference speed value; If yes, the difference between the ship's moving speed value and the moving reference speed value is calculated and used as the moving speed deviation value; Determine the moving position impact value based on the moving speed deviation value and the parking direction information analysis; Adjusting the initial demand location point based on the mobile location impact value to form a demand adjustment location point, and using the demand adjustment location point as the charging demand location point; If not, the initial demand location point is used as the charging demand location point.

[0008] Optionally, the method for determining the initial location point of the requirement includes: Retrieve ship specification information based on the ship's real-time location; According to the correspondence between the ship specification information and the preset charging relative distance vector value, the charging relative distance vector value corresponding to the ship specification information is determined; Retrieve the charging relative distance value and the charging relative angle value based on the charging relative distance vector value; Calculate the sum of the charging relative angle value and the orientation deviation angle value and use it as the charging relative angle adjustment value; Combining the charging relative angle adjustment value and the charging relative distance value to form a relative distance vector adjustment value; The required initial position point is determined based on the relative distance vector adjustment value and the real-time position point of the ship.

[0009] Optionally, a method for determining the mobile position impact value includes: Retrieve the river velocity value and river flow direction information based on the real-time position of the ship; Analyze the deviation angle between the river flow direction information and the parking direction information and use it as the flow direction deviation angle value; According to the correspondence between the flow direction deviation angle value and the preset flow direction deviation angle influence value, the flow direction deviation angle influence value corresponding to the flow direction deviation angle value is determined; Calculate the difference between the river velocity value at the location and the ship moving speed value and use it as the river velocity deviation value; According to the corresponding relationship between the river flow velocity deviation value and the preset flow velocity deviation reference influence value, the flow velocity deviation reference influence value corresponding to the river flow velocity deviation value is determined; The product of the velocity deviation baseline impact value and the flow direction deviation angle impact value is calculated and used as the moving position impact value.

[0010] Optionally, the method for determining the charging adjustment control information includes: Retrieving the position deviation distance value and the position deviation direction information based on the position deviation information; According to the correspondence between the position deviation direction information and the preset deviation direction reference distance value, the deviation direction reference distance value corresponding to the position deviation direction information is determined; Calculate the difference between the position deviation distance value and the deviation direction reference distance value and use it as the deviation excess distance value; According to the correspondence between the position deviation direction information and the preset deviation direction reference control information, the deviation direction reference control information corresponding to the position deviation direction information is determined; Determine the excess distance adjustment information based on the excess distance value of the deviation and the position deviation direction information; The redundant distance adjustment information is combined with the deviation direction reference control information to form deviation distance comprehensive control information, and the deviation distance comprehensive control information is used as charging adjustment control information.

[0011] Optionally, a method for determining the redundant distance adjustment information includes: Determine whether the deviation excess distance value is positive; If yes, then determining the adjustment combination direction information corresponding to the position deviation direction information according to the correspondence between the position deviation direction information and the preset adjustment combination direction information; Retrieving a single direction reference distance value and a single direction reference speed value based on the adjusted combined direction information; Calculate the quotient between the single direction reference distance value and the single direction reference speed value and use it as the single direction required time value; The remaining distance value is determined by calculating the position deviation distance value and the single direction reference distance value; According to the required time value and the remaining distance value of a single direction, the selected distance adjustment information is determined and used as the redundant distance adjustment information; If not, the quotient between the deviation excess distance value and the preset deviation direction moving speed reference value is calculated and used as the excess distance time adjustment value, and the excess distance time adjustment value is used as the excess distance adjustment information.

[0012] Optionally, the method for determining the distance adjustment information includes: Retrieving single direction information based on a single direction reference distance value; According to the correspondence between the single direction information, the position deviation direction information and the preset remaining direction information, the remaining direction information corresponding to the single direction information and the position deviation direction information is determined; Retrieving a remaining direction reference speed value based on the remaining direction information; Calculate the quotient between the remaining distance value and the remaining direction reference speed value and use it as the remaining direction required time value; Calculate the sum of the single direction demand time value and the remaining direction demand time values ​​and use it as the comprehensive direction demand time value; Sort the comprehensive direction demand time values ​​from small to large, and use the comprehensive direction demand time value that comes first in the sorting result as the selected direction time value; According to the correspondence between the selection direction time value and the preset selection direction adjustment information, the selection direction adjustment information corresponding to the selection direction time value is determined, and the selection direction adjustment information is used as the selection distance adjustment information.

[0013] Optionally, the method further includes a step after calculating the sum of the single direction demand time value and the remaining direction demand time values ​​and taking the sum as the comprehensive direction demand time value, which is specifically as follows: Retrieve environmental wind direction information and environmental wind value based on the real-time position of the ship; Analyze the deviation angle between the ambient wind direction information and the single direction information and use it as the single direction deviation angle value; Analyze the deviation angle between the ambient wind direction information and the remaining direction information and use it as the remaining direction deviation angle value; The wind force impact value is determined based on the environmental wind force value, the single direction deviation angle value and the remaining direction deviation angle value, and the wind force impact value is added to the comprehensive direction demand time value to form a new comprehensive direction demand time value.

[0014] Optionally, the method for determining the wind impact value includes: Based on the preset wind force impact value calculation formula, the environmental wind force value, the single direction deviation angle value and the remaining direction deviation angle value are analyzed and calculated to form the wind force impact value, wherein the wind force impact value calculation formula is: , is the wind impact value, is the ambient wind value, is the single direction deviation angle value, is the residual direction deviation angle value, It is the preset direction deviation angle reference impact value.

[0015] In a second aspect, the present invention provides an unmanned collaborative ship intelligent charging self-positioning system, which adopts the following technical solutions: An unmanned collaborative ship intelligent charging self-positioning system, comprising: Acquisition module, used to obtain the parking information of the ship and the real-time charging location; A memory, used to store a program of the unmanned collaborative ship intelligent charging self-positioning method as described in the first aspect; The processor loads and executes the program in the memory and implements the unmanned collaborative ship intelligent charging self-positioning method as described in the first aspect.

[0016] In summary, the present invention includes at least one of the following beneficial technical effects: 1. The charging demand position of the charging port is determined by acquiring and analyzing the parking information of the ship and the real-time charging position of the charging head, and then analyzing and determining the position deviation information. The charging adjustment control information is determined by analyzing the position deviation information and output to the charging device, so that the charging device is automatically controlled to move the charging head according to the real-time position of the charging head, without the need for manual alignment, thereby improving the charging efficiency of the ship; 2. The real-time position point, parking direction information and ship moving speed value of the ship are retrieved through the ship parking situation information, and the direction deviation angle value is analyzed to obtain the required initial position point. Then, whether the ship moving speed value is greater than the preset moving reference speed value is judged. When it is greater, the moving speed deviation value is calculated and analyzed with the parking direction information to determine the moving position impact value. The required initial position point is adjusted according to the moving position impact value to form a required adjustment position point, and the required adjustment position point is used as the charging required position point. When it is not greater than, the required initial position point is used as the charging required position point, thereby improving the accuracy of the obtained charging required position point; 3. The ship specification information is retrieved through the real-time position point of the ship and the charging relative distance vector value is determined by query. The charging relative distance value and the charging relative angle value are retrieved through the charging relative distance vector value, and the charging relative angle adjustment value is calculated. The relative distance vector adjustment value is formed by combining the charging relative angle adjustment value and the charging relative distance value. The required initial position point is determined by analyzing the relative distance vector adjustment value and the real-time position point of the ship, thereby improving the accuracy of the obtained required initial position point. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flow chart of the method for unmanned collaborative ship intelligent charging self-positioning according to an embodiment of the present application; Figure 2 is a flow chart of a method for determining a charging demand location point according to an embodiment of the present application; Figure 3 is a flow chart of a method for determining a demand initial location point according to an embodiment of the present application; Figure 4 is a flow chart of a method for determining a mobile position impact value according to an embodiment of the present application; Figure 5is a flow chart of a method for determining charging adjustment control information according to an embodiment of the present application; Figure 6 is a flow chart of a method for determining redundant distance adjustment information in an embodiment of the present application; Figure 7 is a flow chart of a method for determining distance adjustment information selected in an embodiment of the present application; Figure 8 It is a method flow chart of the steps after calculating the sum of a single direction demand time value and the remaining direction demand time values ​​and taking the sum as the comprehensive direction demand time value in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0019] An unmanned collaborative ship intelligent charging self-positioning method obtains and analyzes the ship parking situation information and the real-time charging position of the charging head to determine the charging demand position of the charging port, so as to make real-time adjustments and control the operation of the charging equipment according to the position of the charging head and the charging port, without the need for manual alignment, thereby improving the charging efficiency of the ship, and reducing the impact of the river flow direction and wind direction by analyzing the impact, thereby improving the accuracy of alignment.

[0020] The embodiment of the present invention discloses an unmanned collaborative ship intelligent charging self-positioning method. Figure 1 , an unmanned collaborative ship intelligent charging self-positioning method includes: Step S100: Obtaining the parking information of the ship and the real-time charging position of the charging head.

[0021] The ship parking situation information refers to the situation information corresponding to the ship parking at the current time, and the ship parking situation information is obtained by querying the ship. The real-time charging position point refers to the position point of the charging head in the charging device at the current time, and the real-time charging position point is detected and obtained by the position sensor preset on the charging head.

[0022] Step S200: Determine the charging demand location point of the charging port based on the ship parking situation information analysis.

[0023] Among them, the charging demand location point refers to the location point of the charging port on the ship. By analyzing the parking information of the ship, the charging demand location point corresponding to the charging port is determined to facilitate subsequent use.

[0024] Step S300: analyzing and determining position deviation information based on the charging demand position point and the charging initial position point.

[0025] Among them, the position deviation information refers to the deviation information when there is a deviation in the position between the charging head and the charging port. By analyzing the charging requirement position point and the charging initial position point, the deviation distance and deviation direction between the charging requirement position point and the charging initial position point are analyzed and combined as the position deviation information, which is convenient for subsequent use.

[0026] Step S400: determining charging adjustment control information according to the position deviation information analysis, and outputting the charging adjustment control information to the charging device.

[0027] Among them, the charging adjustment control information refers to the control information used to control the charging equipment to adjust the movement of the charging head. By analyzing the position deviation information, the charging adjustment control information is determined and output to the charging equipment, so as to automatically control the charging equipment to move the charging head according to the real-time position of the charging head. No manual alignment is required, thereby improving the charging efficiency of the ship.

[0028] exist Figure 1 In step S200, in order to further ensure the rationality of the charging demand location point, it is necessary to further analyze and calculate the charging demand location point separately, specifically by Figure 2 The steps shown are explained in detail.

[0029] Reference Figure 2 , the method for determining the charging demand location point includes the following steps: Step S210: based on the ship parking situation information, retrieve the ship's real-time location point, parking direction information and ship moving speed value.

[0030] Among them, the ship parking situation information includes the real-time position point of the ship, parking direction information and the ship moving speed value. The real-time position point of the ship refers to the position point of the ship at the current time. The real-time position point of the ship is detected and obtained by the position sensor preset on the ship. The position sensor can be a GPS, Beidou and other devices. The parking direction information refers to the direction information corresponding to the ship when it is parked at the current time. The parking direction information is detected and obtained by the direction detection device preset on the ship. The direction detection device can be a compass and other devices. The ship moving speed value refers to the moving speed value corresponding to the ship at the current time. The ship moving speed value is obtained and stored after analyzing the change of the real-time position point of the ship per unit time. The real-time position point of the ship, parking direction information and ship moving speed value of the ship are retrieved through the ship parking situation information for subsequent use.

[0031] Step S220: analyzing the deviation angle between the parking orientation information and the preset reference orientation information to form an orientation deviation angle value.

[0032] The reference heading information refers to the reference direction information that the ship needs to face when parking and charging, and the reference heading information is obtained after being pre-input by the operator. The heading deviation angle value refers to the deviation angle value corresponding to the deviation of the heading when the ship is parking and charging. By analyzing the deviation between the parking heading information and the preset reference heading information, the deviation angle is used as the heading deviation angle value for subsequent use.

[0033] Step S230: Determine the required initial position point based on the real-time position point of the ship and the heading deviation angle value.

[0034] The required initial position point refers to the initial position point of the charging port. The required initial position point is determined by analyzing the real-time position point of the ship and the heading deviation angle value, which is convenient for subsequent use.

[0035] Step S240: Determine whether the ship's moving speed is greater than a preset moving reference speed. If yes, execute step S250; if no, execute step S280.

[0036] The moving reference speed value refers to the reference speed value corresponding to when the ship is parked and charging without moving, and the moving reference speed value is obtained after being pre-input by the operator. By judging whether the moving speed value of the ship is greater than the preset moving reference speed value, it is judged whether the ship is still moving at the current time.

[0037] Step S250: Calculate the difference between the ship's moving speed value and the moving reference speed value and use it as the moving speed deviation value.

[0038] Among them, the moving speed deviation value refers to the deviation value when there is a deviation in the moving speed of the ship. When the ship's moving speed value is greater than the preset moving reference speed value, it means that the ship is still moving at this time. Therefore, the difference between the ship's moving speed value and the moving reference speed value is calculated and used as the moving speed deviation value for subsequent use.

[0039] Step S260: determining the moving position impact value according to the moving speed deviation value and the parking direction information.

[0040] The moving position impact value refers to the degree of influence of the movement of the ship on the position of the charging port. The moving position impact value is determined by analyzing the moving speed deviation value and the parking direction information, which is convenient for subsequent use.

[0041] Step S270: adjusting the initial demand location point based on the moving location impact value to form a demand adjustment location point, and using the demand adjustment location point as the charging demand location point.

[0042] Among them, the demand adjustment position point refers to the position point after the position of the charging port is adjusted. The initial demand position point is adjusted by moving the position influence value, thereby forming the demand adjustment position point and serving as the charging demand position point, thereby improving the accuracy of the obtained charging demand position point.

[0043] Step S280: taking the initial demand location point as the charging demand location point.

[0044] Among them, when the ship's moving speed value is not greater than the preset moving reference speed value, it means that the ship is not moving at this time, so the initial demand position point is used as the charging demand position point to improve the accuracy of the obtained charging demand position point.

[0045] exist Figure 2 In step S230, in order to further ensure the rationality of the initial location point of the demand, it is necessary to further analyze and calculate the initial location point of the demand, specifically by Figure 3 The steps shown are explained in detail.

[0046] Reference Figure 3 , the method for determining the initial location point of demand includes the following steps: Step S231: Retrieve ship specification information based on the real-time position of the ship.

[0047] The ship specification information refers to the size specification information corresponding to the ship, and the ship specification information is obtained by retrieving the relevant nearby ship information through the real-time position point of the ship.

[0048] Step S232: Determine the charging relative distance vector value corresponding to the ship specification information according to the correspondence between the ship specification information and the preset charging relative distance vector value.

[0049] The charging relative distance vector value refers to the vector value corresponding to the relative distance between the charging port position and the ship's own detection position in the size specification corresponding to the ship. The charging relative distance vector value is obtained by querying a database storing the corresponding relationship between the ship specification information and the charging relative distance vector value. The database is obtained by querying the ship-related website, and the database can also be directly obtained after pre-input by the operator. The charging relative distance vector value is determined by querying the ship specification information to facilitate subsequent use.

[0050] Step S233: Retrieve the charging relative distance value and the charging relative angle value based on the charging relative distance vector value.

[0051] Among them, the charging relative distance vector value includes the charging relative distance value and the charging relative angle value. The charging relative distance value refers to the distance value between the charging port position and the ship's own detection position. The charging relative angle value refers to the angle value corresponding to the direction of the charging port position in the ship's own detection position. The charging relative distance value and the charging relative angle value are retrieved through the charging relative distance vector value for subsequent use.

[0052] Step S234: Calculate the sum of the charging relative angle value and the orientation deviation angle value and use it as the charging relative angle adjustment value.

[0053] Among them, the charging relative angle adjustment value refers to the angle value after adjusting the angle between the charging port position and the ship's own detection position. The sum of the charging relative angle value and the heading deviation angle value is calculated and used as the charging relative angle adjustment value for convenience in subsequent use.

[0054] Step S235 : Combining the charging relative angle adjustment value and the charging relative distance value to form a relative distance vector adjustment value.

[0055] Among them, the relative distance vector adjustment value refers to the adjustment value after the relative distance vector between the charging port position and the ship's own detection position is adjusted. By combining the charging relative angle adjustment value and the charging relative distance value, a relative distance vector adjustment value is formed to facilitate subsequent use.

[0056] Step S236: Determine the required initial position point based on the relative distance vector adjustment value and the real-time position point of the ship.

[0057] The required initial position point is formed by moving the real-time position of the ship in a direction and distance corresponding to the relative distance vector adjustment value, thereby improving the accuracy of the obtained required initial position point.

[0058] exist Figure 2 In step S260, in order to further ensure the rationality of the moving position influence value, it is necessary to further analyze and calculate the moving position influence value separately, specifically by Figure 4 The steps shown are explained in detail.

[0059] Reference Figure 4 , the method for determining the mobile position impact value includes the following steps: Step S261: Retrieve the location river velocity value and location river flow direction information based on the real-time location point of the ship.

[0060] Among them, the location river velocity value refers to the velocity value corresponding to the river at the location of the ship, and the location river flow direction information refers to the flow direction information corresponding to the river at the location of the ship. The location river velocity value and location river flow direction information are retrieved through the real-time location point of the ship, so as to facilitate subsequent use.

[0061] Step S262: Analyze the deviation angle between the location river flow direction information and the parking direction information and use it as the flow direction deviation angle value.

[0062] Among them, the flow direction deviation angle value refers to the deviation angle value when there is a deviation between the flow direction corresponding to the river and the direction of the ship. The deviation angle between the location river flow direction information and the parking direction information is analyzed and used as the flow direction deviation angle value for convenience in subsequent use.

[0063] Step S263: determining the flow direction deviation angle influence value corresponding to the flow direction deviation angle value according to the correspondence between the flow direction deviation angle value and the preset flow direction deviation angle influence value.

[0064] The flow deviation angle impact value refers to the impact degree value caused by the deviation between the flow direction corresponding to the river and the ship direction. The flow deviation angle impact value is obtained by querying from a database storing the corresponding relationship between the flow deviation angle value and the flow deviation angle impact value. The database is obtained after the operator pre-enters. The flow deviation angle impact value is determined by querying the flow deviation angle value, which is convenient for subsequent use.

[0065] Step S264: Calculate the difference between the location river flow velocity value and the ship moving speed value and use it as the river flow velocity deviation value.

[0066] Among them, the river flow velocity deviation value refers to the deviation value when there is a deviation between the river flow velocity and the moving speed of the ship. The difference between the location river flow velocity value and the ship moving speed value is calculated and used as the river flow velocity deviation value for subsequent use.

[0067] Step S265: determining the flow velocity deviation reference influence value corresponding to the river flow velocity deviation value according to the correspondence between the river flow velocity deviation value and the preset flow velocity deviation reference influence value.

[0068] The velocity deviation reference impact value refers to the impact degree value caused by the deviation between the velocity of the river and the moving speed of the ship. The velocity deviation reference impact value is obtained by querying from a database storing the corresponding relationship between the river velocity deviation value and the velocity deviation reference impact value. The database is obtained after being pre-entered by the operator. The velocity deviation reference impact value is determined by querying the river velocity deviation value to facilitate subsequent use.

[0069] Step S266: Calculate the product of the velocity deviation reference impact value and the flow direction deviation angle impact value and use it as the moving position impact value.

[0070] The accuracy of the obtained moving position influence value is improved by calculating the product value between the flow velocity deviation reference influence value and the flow direction deviation angle influence value and using it as the moving position influence value.

[0071] exist Figure 1 In step S400, in order to further ensure the rationality of the charging adjustment control information, it is necessary to further analyze and calculate the charging adjustment control information. Figure 5 The steps shown are explained in detail.

[0072] Reference Figure 5 , the method for determining the charging adjustment control information comprises the following steps: Step S410: Retrieve the position deviation distance value and the position deviation direction information based on the position deviation information.

[0073] Among them, the position deviation information includes the position deviation distance value and the position deviation direction information. The position deviation distance value refers to the distance value corresponding to when there is a position deviation, and the position deviation direction information refers to the direction information corresponding to when there is a position deviation. The position deviation distance value and the position deviation direction information are retrieved through the position deviation information to facilitate subsequent use.

[0074] Step S420: determining a deviation direction reference distance value corresponding to the position deviation direction information according to a correspondence between the position deviation direction information and a preset deviation direction reference distance value.

[0075] The deviation direction reference distance value refers to the reference distance value that can be adjusted in the direction corresponding to the position deviation. The deviation direction reference distance value is obtained by querying from a database storing the corresponding relationship between the position deviation direction information and the deviation direction reference distance value. The database is obtained after the operator pre-enters. The deviation direction reference distance value is determined by querying the position deviation direction information to facilitate subsequent use.

[0076] Step S430: Calculate the difference between the position deviation distance value and the deviation direction reference distance value and use it as the deviation excess distance value.

[0077] Among them, the deviation excess distance value refers to the distance value corresponding to the excess deviation between the deviation distance and the reference distance that can be adjusted in the deviation direction when there is a deviation in the position. The difference between the position deviation distance value and the reference distance value in the deviation direction is calculated and used as the deviation excess distance value for convenience in subsequent use.

[0078] Step S440: Determine the deviation direction reference control information corresponding to the position deviation direction information according to the correspondence between the position deviation direction information and the preset deviation direction reference control information.

[0079] The deviation direction reference control information refers to the reference control information for controlling the mobile charging head of the charging device according to the deviation direction. The deviation direction reference control information is obtained by querying from a database storing the correspondence between the position deviation direction information and the deviation direction reference control information. The database is obtained after the operator pre-enters. The deviation direction reference control information is determined by querying the position deviation direction information, so as to facilitate subsequent use.

[0080] Step S450: determining the excess distance adjustment information according to the excess distance value of the deviation and the position deviation direction information.

[0081] The redundant distance adjustment information refers to adjustment information for adjusting redundant distances. The redundant distance adjustment information is determined by analyzing the deviation redundant distance value and the position deviation direction information, so as to facilitate subsequent use.

[0082] Step S460: combining the redundant distance adjustment information with the deviation direction reference control information to form deviation distance comprehensive control information, and using the deviation distance comprehensive control information as charging adjustment control information.

[0083] Among them, the deviation distance comprehensive control information refers to the comprehensive control information corresponding to when the charging device moves the charging head according to the deviation distance. By combining the redundant distance adjustment information with the deviation direction reference control information, the deviation distance comprehensive control information is formed and used as the charging adjustment control information, thereby improving the accuracy of the acquired charging adjustment control information.

[0084] exist Figure 5 In step S450, in order to further ensure the rationality of the redundant distance adjustment information, it is necessary to further analyze and calculate the redundant distance adjustment information separately, specifically by Figure 6 The steps shown are explained in detail.

[0085] Reference Figure 6 , the method for determining the redundant distance adjustment information comprises the following steps: Step S451: Determine whether the deviation excess distance value is a positive value. If yes, execute step S452; if no, execute step S457.

[0086] Among them, by judging whether the deviation excess distance value is a positive value, it is judged whether the charging device can be controlled to move the charging head according to the deviation direction.

[0087] Step S452: determining the adjustment combination direction information corresponding to the position deviation direction information according to the correspondence between the position deviation direction information and the preset adjustment combination direction information.

[0088] Among them, the adjustment combination direction information refers to the direction information after the moving direction of the charging head is decomposed into two directions according to the deviation direction. The adjustment combination direction information is obtained by querying from a database storing the correspondence between the position deviation direction information and the adjustment combination direction information. The database is obtained and stored after the operator's test. There are several combination directions for the adjustment combination direction information. When the deviation excess distance value is a positive value, it means that the charging device cannot be controlled to move the charging head according to the deviation direction at this time. Therefore, the adjustment combination direction information is determined by querying the position deviation direction information to facilitate subsequent use.

[0089] Step S453: Retrieve a single direction reference distance value and a single direction reference speed value based on the adjusted combined direction information.

[0090] Among them, the single-direction reference distance value refers to the reference distance value corresponding to the movement in one direction when the charging head is moved in two combined directions; the single-direction reference speed value refers to the reference speed value corresponding to the movement in a single direction. The single-direction reference distance value and the single-direction reference speed value are retrieved by adjusting the combined direction information to facilitate subsequent use.

[0091] Step S454: Calculate the quotient between the single-direction reference distance value and the single-direction reference speed value and use it as the single-direction required time value.

[0092] The required time value for a single direction refers to the time value required to move in a single direction. The quotient between the single direction reference distance value and the single direction reference speed value is calculated and used as the required time value for a single direction, which is convenient for subsequent use.

[0093] Step S455: Calculate and determine the remaining distance value based on the position deviation distance value and the single direction reference distance value.

[0094] Among them, the remaining distance value refers to the remaining distance value after moving in a single direction. It is obtained by calculating the angle between the direction corresponding to the single direction benchmark distance value and the position deviation direction information, and then analyzing and calculating the calculated angle, the position deviation distance value, and the single direction benchmark distance value at the same time, so as to obtain the remaining distance value for subsequent use.

[0095] Step S456: analyzing and determining selected distance adjustment information according to the required time value and the remaining distance value in a single direction, and using the selected distance adjustment information as redundant distance adjustment information.

[0096] Among them, the selected distance adjustment information refers to the adjustment information for adjusting the deviation distance according to the selected direction. By analyzing the required time value and the remaining distance value of a single direction, the selected distance adjustment information is determined and used as the redundant distance adjustment information, thereby improving the accuracy of the obtained redundant distance adjustment information.

[0097] Step S457: Calculate the quotient between the deviation excess distance value and the preset deviation direction moving speed reference value and use it as the excess distance time adjustment value, and use the excess distance time adjustment value as the excess distance adjustment information.

[0098] Among them, the deviation direction moving speed reference value refers to the reference speed value corresponding to the movement according to the deviation direction, and the deviation direction moving speed reference value is obtained after pre-input by the operator. The excess distance time adjustment value refers to the adjustment value for adjusting the moving time corresponding to the excess distance. When the deviation excess distance value is not a positive value, it means that the charging device can be controlled to move the charging head according to the deviation direction. Therefore, the quotient between the deviation excess distance value and the preset deviation direction moving speed reference value is calculated and used as the excess distance time adjustment value, and the excess distance time adjustment value is used as the excess distance adjustment information, thereby improving the accuracy of the obtained excess distance adjustment information.

[0099] exist Figure 6 In step S456, in order to further ensure the rationality of the selected distance adjustment information, it is necessary to further analyze and calculate the selected distance adjustment information. Figure 7 The steps shown are explained in detail.

[0100] Reference Figure 7 , the method for determining the distance adjustment information includes the following steps: Step S4561: Retrieve single direction information based on a single direction reference distance value.

[0101] The single direction information refers to the direction information corresponding to the single direction reference distance value. The single direction information is retrieved through the single direction reference distance value to facilitate subsequent use.

[0102] Step S4562: determining the remaining direction information corresponding to the single direction information and the position deviation direction information according to the corresponding relationship between the single direction information, the position deviation direction information and the preset remaining direction information.

[0103] The remaining direction information refers to the direction information required to move according to the remaining deviation after moving in a single direction. The remaining direction information is obtained by querying from a database storing the corresponding relationship between the single direction information, the position deviation direction information and the remaining direction information. The database is obtained after the operator pre-enters. The remaining direction information is determined by querying the single direction information and the position deviation direction information, which is convenient for subsequent use.

[0104] Step S4563: Retrieve the remaining direction reference speed value based on the remaining direction information.

[0105] The remaining direction reference speed value refers to a reference speed value corresponding to movement in the remaining direction. The remaining direction reference speed value is retrieved through the remaining direction information to facilitate subsequent use.

[0106] Step S4564: Calculate the quotient between the remaining distance value and the remaining direction reference speed value and use it as the remaining direction required time value.

[0107] The remaining direction required time value refers to the time value required to move in the remaining direction. The quotient between the remaining distance value and the remaining direction reference speed value is calculated and used as the remaining direction required time value for subsequent use.

[0108] Step S4565: Calculate the sum of the single direction demand time value and the remaining direction demand time values ​​and use it as the comprehensive direction demand time value.

[0109] Among them, the comprehensive direction demand time value refers to the time value spent on the comprehensive demand for movement in a single direction and the remaining directions. The sum of the single direction demand time value and the remaining direction demand time value is calculated and used as the comprehensive direction demand time value for convenience in subsequent use.

[0110] Step S4566: Sort the comprehensive direction demand time values ​​from small to large, and use the comprehensive direction demand time value that comes first in the sorting result as the selected direction time value.

[0111] Among them, the selected direction time value refers to the time value corresponding to the selection of a single direction. The comprehensive direction demand time values ​​are sorted from small to large, and the comprehensive direction demand time value with the first sorting result is used as the selected direction time value, so as to facilitate subsequent use.

[0112] Step S4567: Determine the selection direction adjustment information corresponding to the selection direction time value according to the correspondence between the selection direction time value and the preset selection direction adjustment information, and use the selection direction adjustment information as the selection distance adjustment information.

[0113] The selection direction adjustment information refers to the adjustment information for movement adjustment according to the selection direction, and the selection direction adjustment information is obtained by querying from a database storing the corresponding relationship between the selection direction time value and the selection direction adjustment information, and the database is obtained after being pre-input by the operator. The selection direction adjustment information is determined by querying the selection direction time value and used as the selection distance adjustment information, thereby improving the accuracy of the obtained selection distance adjustment information.

[0114] exist Figure 7 After step S4565, in order to further ensure the rationality of the comprehensive direction demand time value, it is necessary to further analyze and calculate the comprehensive direction demand time value separately, specifically by Figure 8 The steps shown are explained in detail.

[0115] Reference Figure 8 The steps after calculating the sum of the single direction demand time value and the remaining direction demand time values ​​as the comprehensive direction demand time value include the following steps: Step S45651: Retrieve environmental wind direction information and environmental wind value based on the real-time position of the ship.

[0116] The environmental wind direction information refers to the direction information corresponding to the wind force in the environment where the ship is located, and the environmental wind value refers to the parameter value corresponding to the wind force in the environment where the ship is located. The environmental wind direction information and environmental wind value are retrieved by querying the real-time relevant website through the real-time location point of the ship.

[0117] Step S45652: Analyze the deviation angle between the ambient wind direction information and the single direction information and use it as the single direction deviation angle value.

[0118] Among them, the single direction deviation angle value refers to the angle value corresponding to the deviation between the single direction and the direction of the ambient wind force. The deviation angle between the ambient wind force direction information and the single direction information is analyzed and calculated and used as the single direction deviation angle value for convenience in subsequent use.

[0119] Step S45653: Analyze the deviation angle between the ambient wind direction information and the remaining direction information and use it as the remaining direction deviation angle value.

[0120] Among them, the residual direction deviation angle value refers to the angle value corresponding to the deviation between the residual direction and the direction of the ambient wind force. The deviation angle between the ambient wind force direction information and the residual direction information is analyzed and calculated and used as the residual direction deviation angle value for convenience in subsequent use.

[0121] Step S45654: Analyze and determine the wind force impact value based on the ambient wind force value, the single direction deviation angle value and the remaining direction deviation angle value, and add the wind force impact value to the comprehensive direction demand time value to form a new comprehensive direction demand time value.

[0122] Among them, the wind impact value refers to the degree of influence of the environmental wind on the moving time. The wind impact value is determined by analyzing the environmental wind value, the single direction deviation angle value and the remaining direction deviation angle value. The wind impact value is added to the comprehensive direction demand time value to form a new comprehensive direction demand time value, thereby improving the accuracy of the obtained comprehensive direction demand time value.

[0123] The methods for determining the wind impact value include: Based on the preset wind force impact value calculation formula, the environmental wind force value, the single direction deviation angle value and the remaining direction deviation angle value are analyzed and calculated to form the wind force impact value, wherein the wind force impact value calculation formula is: , is the wind impact value, is the ambient wind value, is the single direction deviation angle value, is the residual direction deviation angle value, It is the preset direction deviation angle reference impact value.

[0124] For example, when , , , When the wind force impact value .

[0125] Based on the same inventive concept, an embodiment of the present invention provides an unmanned collaborative ship intelligent charging self-positioning system, comprising: Acquisition module, used to obtain the parking information of the ship and the real-time charging location; Memory, used to store Figures 1 to 8 A program for any one of the unmanned collaborative ship intelligent charging self-positioning methods; The processor loads and executes the program in the memory and implements Figures 1 to 8 Any one of the unmanned collaborative ship intelligent charging self-positioning methods described in.

[0126] 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.

[0127] 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. An unmanned collaborative ship intelligent charging self-positioning method, characterized in that: include: Obtain information on the parking situation of the ship and the real-time charging location of the charger; Determine the charging demand location of the charging port based on the information analysis of the ship parking situation; Determine the position deviation information based on the analysis of the charging demand position point and the charging initial position point; The charging adjustment control information is determined based on the position deviation information analysis, and the charging adjustment control information is output to the charging device.

2. The unmanned collaborative ship intelligent charging self-positioning method according to claim 1, characterized in that: Methods for determining charging demand location points include: Based on the ship parking situation information, retrieve the ship's real-time position point, parking direction information and ship moving speed value; Analyzing a deviation angle between the parking orientation information and the preset reference orientation information to form an orientation deviation angle value; Determine the required initial position point based on the analysis of the ship's real-time position point and the heading deviation angle value; Determine whether the ship's moving speed value is greater than a preset moving reference speed value; If yes, the difference between the ship's moving speed value and the moving reference speed value is calculated and used as the moving speed deviation value; Determine the moving position impact value based on the moving speed deviation value and the parking direction information analysis; Adjusting the initial demand location point based on the mobile location impact value to form a demand adjustment location point, and using the demand adjustment location point as the charging demand location point; If not, the initial demand location point is used as the charging demand location point.

3. The unmanned collaborative ship intelligent charging self-positioning method according to claim 2 is characterized in that: The method for determining the initial location point of demand includes: Retrieve ship specification information based on the ship's real-time location; According to the correspondence between the ship specification information and the preset charging relative distance vector value, the charging relative distance vector value corresponding to the ship specification information is determined; Retrieve the charging relative distance value and the charging relative angle value based on the charging relative distance vector value; Calculate the sum of the charging relative angle value and the orientation deviation angle value and use it as the charging relative angle adjustment value; Combining the charging relative angle adjustment value and the charging relative distance value to form a relative distance vector adjustment value; The required initial position point is determined based on the relative distance vector adjustment value and the real-time position point of the ship.

4. The unmanned collaborative ship intelligent charging self-positioning method according to claim 2, characterized in that: Methods for determining the mobile position impact value include: Retrieve the river velocity value and river flow direction information based on the real-time position of the ship; Analyze the deviation angle between the river flow direction information and the parking direction information and use it as the flow direction deviation angle value; According to the correspondence between the flow direction deviation angle value and the preset flow direction deviation angle influence value, the flow direction deviation angle influence value corresponding to the flow direction deviation angle value is determined; Calculate the difference between the river velocity value at the location and the ship moving speed value and use it as the river velocity deviation value; According to the corresponding relationship between the river flow velocity deviation value and the preset flow velocity deviation reference influence value, the flow velocity deviation reference influence value corresponding to the river flow velocity deviation value is determined; The product of the velocity deviation baseline impact value and the flow direction deviation angle impact value is calculated and used as the moving position impact value.

5. The unmanned collaborative ship intelligent charging self-positioning method according to claim 1, characterized in that: The method for determining the charging adjustment control information includes: Retrieving the position deviation distance value and the position deviation direction information based on the position deviation information; According to the correspondence between the position deviation direction information and the preset deviation direction reference distance value, the deviation direction reference distance value corresponding to the position deviation direction information is determined; Calculate the difference between the position deviation distance value and the deviation direction reference distance value and use it as the deviation excess distance value; According to the correspondence between the position deviation direction information and the preset deviation direction reference control information, the deviation direction reference control information corresponding to the position deviation direction information is determined; Determine the excess distance adjustment information based on the excess distance value of the deviation and the position deviation direction information; The redundant distance adjustment information is combined with the deviation direction reference control information to form deviation distance comprehensive control information, and the deviation distance comprehensive control information is used as charging adjustment control information.

6. The unmanned collaborative ship intelligent charging self-positioning method according to claim 5, characterized in that: The method for determining the redundant distance adjustment information includes: Determine whether the deviation excess distance value is positive; If yes, then determining the adjustment combination direction information corresponding to the position deviation direction information according to the correspondence between the position deviation direction information and the preset adjustment combination direction information; Retrieving a single direction reference distance value and a single direction reference speed value based on the adjusted combined direction information; Calculate the quotient between the single direction reference distance value and the single direction reference speed value and use it as the single direction required time value; The remaining distance value is determined by calculating the position deviation distance value and the single direction reference distance value; According to the required time value and the remaining distance value of a single direction, the selected distance adjustment information is determined and used as the redundant distance adjustment information; If not, the quotient between the deviation excess distance value and the preset deviation direction moving speed reference value is calculated and used as the excess distance time adjustment value, and the excess distance time adjustment value is used as the excess distance adjustment information.

7. The unmanned collaborative ship intelligent charging self-positioning method according to claim 6, characterized in that: The method for determining the selected distance adjustment information includes: Retrieving single direction information based on a single direction reference distance value; According to the correspondence between the single direction information, the position deviation direction information and the preset remaining direction information, the remaining direction information corresponding to the single direction information and the position deviation direction information is determined; Retrieving a remaining direction reference speed value based on the remaining direction information; Calculate the quotient between the remaining distance value and the remaining direction reference speed value and use it as the remaining direction required time value; Calculate the sum of the single direction demand time value and the remaining direction demand time values ​​and use it as the comprehensive direction demand time value; Sort the comprehensive direction demand time values ​​from small to large, and use the comprehensive direction demand time value that comes first in the sorting result as the selected direction time value; According to the correspondence between the selection direction time value and the preset selection direction adjustment information, the selection direction adjustment information corresponding to the selection direction time value is determined, and the selection direction adjustment information is used as the selection distance adjustment information.

8. The unmanned collaborative ship intelligent charging self-positioning method according to claim 7, characterized in that: The method further includes a step after calculating the sum of the single direction demand time value and the remaining direction demand time values ​​and taking the sum as the comprehensive direction demand time value, which is as follows: Retrieve environmental wind direction information and environmental wind value based on the real-time position of the ship; Analyze the deviation angle between the ambient wind direction information and the single direction information and use it as the single direction deviation angle value; Analyze the deviation angle between the ambient wind direction information and the remaining direction information and use it as the remaining direction deviation angle value; The wind force impact value is determined based on the environmental wind force value, the single direction deviation angle value and the remaining direction deviation angle value, and the wind force impact value is added to the comprehensive direction demand time value to form a new comprehensive direction demand time value.

9. The unmanned collaborative ship intelligent charging self-positioning method according to claim 8, characterized in that: The methods for determining the wind impact value include: Based on the preset wind force impact value calculation formula, the environmental wind force value, the single direction deviation angle value and the remaining direction deviation angle value are analyzed and calculated to form the wind force impact value, wherein the wind force impact value calculation formula is: , is the wind impact value, is the ambient wind value, is the single direction deviation angle value, is the residual direction deviation angle value, It is the preset direction deviation angle reference impact value.

10. An unmanned collaborative ship intelligent charging self-positioning system, characterized in that: include: Acquisition module, used to obtain the parking information of the ship and the real-time charging location; A memory, used to store a program of the unmanned collaborative ship intelligent charging self-positioning method according to any one of claims 1 to 9; A processor is configured to load and execute a program in a memory and implement an unmanned collaborative ship intelligent charging self-positioning method as described in any one of claims 1 to 9.

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