An Unmanned Cooperative Ship Intelligent Charging and Self-Locating Method and System

Abstract

The present invention relates to a method and system for intelligent charging and self-positioning of unmanned collaborative ships, belonging to the technical field of ship charging, and includes: obtaining information on the parking situation of the ship and the real-time charging position point where the charging head is located; analyzing and determining the charging demand position point of the charging port according to the information on the parking situation of the ship; analyzing and determining the position deviation information based on the charging demand position point and the initial charging position point; analyzing and determining the charging adjustment control information according to the position deviation information, and outputting the charging adjustment control information to the charging device. The present invention has the effect of improving the charging efficiency of ships.

Description

Technical Field

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

[0002] In order to reduce the dependence of ships on fossil fuels and reduce environmental pollution, generally electric ships or hybrid ships are currently adopted, and electric power supply is provided to the electric ships or hybrid ships to improve energy utilization efficiency and the overall operating economy of the ships.

[0003] When charging a ship, currently it is generally to dock the ship at a port and supply electric power to the ship through the charging equipment on the shore. The charging equipment includes a charging head for charging and a lifter for driving the charging head to move. When supplying electric power, the operator controls the lifter to drive the charging head to rise to a specified height and then move until the charging head is above the charging port on the ship, and then slowly controls the charging head to be placed in the charging port through the lifter, so as to supply electric power to the ship when the charging head is powered on.

[0004] When using the charging equipment on the shore to charge a ship, the operator needs to control the lifter to drive the charging head to move and place it in the charging port of the ship. Since the charging head and the charging port need to be completely aligned before charging can be carried out, the operator needs to spend a long time for alignment, thus reducing the charging efficiency of the ship. Summary of the Invention

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

[0006] In the first aspect, the present invention provides an unmanned collaborative intelligent charging self-positioning method for ships, adopting the following technical solutions:

[0007] An unmanned collaborative intelligent charging self-positioning method for ships includes:

[0008] Obtaining information on the parking situation of the ship and the real-time charging position point where the charging head is located;

[0009] Analyzing and determining the charging demand position point of the charging port according to the information on the parking situation of the ship;

[0010] Analyzing and determining the position deviation information based on the charging demand position point and the real-time charging position point;

[0011] Analyzing and determining the charging adjustment control information according to the position deviation information, and outputting the charging adjustment control information to the charging equipment.

[0012] Optionally, the method for determining the charging demand position point includes:

[0013] Retrieve the real-time position point, parking orientation information, and ship moving speed value of the ship based on the ship parking situation information;

[0014] Analyze the deviation angle between the parking orientation information and the preset reference orientation information to form an orientation deviation angle value;

[0015] Analyze and determine the initial demand position point based on the ship real-time position point and the orientation deviation angle value;

[0016] Judge whether the ship moving speed value is greater than the preset moving reference speed value;

[0017] If yes, calculate the difference between the ship moving speed value and the moving reference speed value and use it as the moving speed deviation value;

[0018] Analyze and determine the moving position influence value based on the moving speed deviation value and the parking orientation information;

[0019] Adjust the initial demand position point based on the moving position influence value to form an adjusted demand position point, and use the adjusted demand position point as the charging demand position point;

[0020] If no, use the initial demand position point as the charging demand position point.

[0021] Optionally, the method for determining the initial demand position point includes:

[0022] Retrieve the ship specification information based on the ship real-time position point;

[0023] According to the corresponding relationship between the ship specification information and the preset charging relative distance vector value, determine the charging relative distance vector value corresponding to the ship specification information;

[0024] Retrieve the charging relative distance value and the charging relative angle value based on the charging relative distance vector value;

[0025] Calculate the sum value between the charging relative angle value and the orientation deviation angle value and use it as the charging relative angle adjustment value;

[0026] Combine the charging relative angle adjustment value and the charging relative distance value to form a relative distance vector adjustment value;

[0027] Analyze and determine the initial demand position point based on the relative distance vector adjustment value and the ship real-time position point.

[0028] Optionally, the method for determining the moving position influence value includes:

[0029] Retrieve the position river flow velocity value and the position river flow direction information based on the ship real-time position point;

[0030] Analyze the deviation angle between the position river flow direction information and the parking orientation information and use it as the flow direction deviation angle value;

[0031] According to the corresponding relationship between the flow direction deviation angle value and the preset influence value of the flow direction deviation angle, determine the influence value of the flow direction deviation angle corresponding to the flow direction deviation angle value;

[0032] Calculate the difference between the position river flow velocity value and the ship moving speed value and use it as the river flow velocity deviation value;

[0033] According to the corresponding relationship between the river flow velocity deviation value and the preset reference influence value of the flow velocity deviation, determine the reference influence value of the flow velocity deviation corresponding to the river flow velocity deviation value;

[0034] Calculate the product value between the reference influence value of the flow velocity deviation and the influence value of the flow direction deviation angle and use it as the moving position influence value.

[0035] Optionally, the method for determining the charging adjustment control information includes:

[0036] Retrieve the position deviation distance value and the position deviation direction information based on the position deviation information;

[0037] According to the corresponding relationship between the position deviation direction information and the preset reference distance value of the deviation direction, determine the reference distance value of the deviation direction corresponding to the position deviation direction information;

[0038] Calculate the difference between the position deviation distance value and the reference distance value of the deviation direction and use it as the excess distance value of the deviation;

[0039] According to the corresponding relationship between the position deviation direction information and the preset deviation direction reference control information, determine the deviation direction reference control information corresponding to the position deviation direction information;

[0040] Analyze and determine the excess distance adjustment information according to the excess distance value of the deviation and the position deviation direction information;

[0041] Combine the excess distance adjustment information with the deviation direction reference control information to form the comprehensive control information of the deviation distance, and use the comprehensive control information of the deviation distance as the charging adjustment control information.

[0042] Optionally, the method for determining the excess distance adjustment information includes:

[0043] Judge whether the excess distance value of the deviation is positive;

[0044] If it is, then according to the corresponding relationship between the position deviation direction information and the preset adjustment combination direction information, determine the adjustment combination direction information corresponding to the position deviation direction information;

[0045] Retrieve a single-direction reference distance value and a single-direction reference speed value based on the adjusted combination direction information;

[0046] Calculate the quotient value between the single-direction reference distance value and the single-direction reference speed value and use it as the single-direction required time value;

[0047] Calculate and determine the remaining distance value based on the position deviation distance value and the single-direction reference distance value;

[0048] Analyze and determine the selected distance adjustment information based on the single-direction required time value and the remaining distance value, and use the selected distance adjustment information as the redundant distance adjustment information;

[0049] If not, calculate the quotient value between the deviation redundant distance value and the preset deviation direction movement speed reference value and use it as the redundant distance time adjustment value, and use the redundant distance time adjustment value as the redundant distance adjustment information.

[0050] Optionally, the method for determining the selected distance adjustment information includes:

[0051] Retrieve single-direction information based on the single-direction reference distance value;

[0052] Determine 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;

[0053] Retrieve the remaining direction reference speed value based on the remaining direction information;

[0054] Calculate the quotient value between the remaining distance value and the remaining direction reference speed value and use it as the remaining direction required time value;

[0055] Calculate the sum value between the single-direction required time value and the remaining direction required time value and use it as the comprehensive direction required time value;

[0056] Sort in ascending order based on the comprehensive direction required time value, and use the comprehensive direction required time value ranked first in the sorting result as the selected direction time value;

[0057] Determine the selected direction adjustment information corresponding to the selected direction time value according to the corresponding relationship between the selected direction time value and the preset selected direction adjustment information, and use the selected direction adjustment information as the selected distance adjustment information.

[0058] Optionally, it also includes the steps after calculating the sum value between the single-direction required time value and the remaining direction required time value and using it as the comprehensive direction required time value, specifically as follows:

[0059] Retrieve the environmental wind direction information and the environmental wind force value based on the real-time position point of the ship;

[0060] Analyze the deviation angle between the environmental wind direction information and the single direction information and use it as the single direction deviation angle value;

[0061] Analyze the deviation angle between the environmental wind direction information and the remaining direction information and use it as the remaining direction deviation angle value;

[0062] Analyze and determine the wind force influence value according to the environmental wind force value, the single direction deviation angle value and the remaining direction deviation angle value, and add the wind force influence value to the comprehensive direction demand time value to form a new comprehensive direction demand time value.

[0063] Optionally, the method for determining the wind force influence value includes:

[0064] Based on the preset wind force influence value calculation formula, analyze and calculate the environmental wind force value, the single direction deviation angle value and the remaining direction deviation angle value to form the wind force influence value, where the wind force influence value calculation formula is , is the wind force influence value, is the environmental wind force value, is the single direction deviation angle value, is the remaining direction deviation angle value, is the preset direction deviation angle reference influence value.

[0065] In a second aspect, the present invention provides an unmanned collaborative ship intelligent charging self-positioning system, adopting the following technical solutions:

[0066] An unmanned collaborative ship intelligent charging self-positioning system includes:

[0067] An acquisition module, configured to acquire ship parking situation information and real-time charging position points;

[0068] A memory, configured to store the program of the unmanned collaborative ship intelligent charging self-positioning method as described in the first aspect;

[0069] A processor, configured to load and execute the program in the memory and implement the unmanned collaborative ship intelligent charging self-positioning method as described in the first aspect.

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

[0071] 1. By obtaining and analyzing the information on the parking situation of the ship and the real-time charging position points where the charging heads are located, determining the charging demand position points of the charging ports, then analyzing and determining the position deviation information, and analyzing and determining the charging adjustment control information based on the position deviation information and outputting it to the charging equipment, so as to automatically control the charging equipment to move the charging heads according to the real-time positions of the charging heads, without the need for manual alignment, thereby improving the charging efficiency of the ship;

[0072] 2. By retrieving the real-time position points, parking orientation information and ship moving speed values of the ship through the ship parking situation information, and analyzing to obtain the orientation deviation angle value, determining the required initial position point by analyzing the real-time position points of the ship and the orientation deviation angle value, then judging whether the ship moving speed value is greater than the preset moving reference speed value. When it is greater, calculating the moving speed deviation value and analyzing with the parking orientation information to determine the moving position influence value, adjusting the required initial position point with the moving position influence value to form the required adjusted position point, and using the required adjusted position point as the charging demand position point. When it is not greater, using the required initial position point as the charging demand position point, thereby improving the accuracy of the obtained charging demand position points;

[0073] 3. By retrieving the ship specification information through the real-time position points of the ship and querying and determining the charging relative distance vector value, retrieving the charging relative distance value and the charging relative angle value through the charging relative distance vector value, calculating the charging relative angle adjustment value, combining the charging relative angle adjustment value and the charging relative distance value to form the relative distance vector adjustment value, and then analyzing the relative distance vector adjustment value and the real-time position points of the ship to determine the required initial position point, improving the accuracy of the obtained required initial position point. Description of the Drawings

[0074] Figure 1 is the flowchart of the method for unmanned collaborative ship intelligent charging self-positioning according to the embodiment of the present application;

[0075] Figure 2 is the flowchart of the method for determining the charging demand position points according to the embodiment of the present application;

[0076] Figure 3 is the flowchart of the method for determining the required initial position points according to the embodiment of the present application;

[0077] Figure 4 is the flowchart of the method for determining the moving position influence value according to the embodiment of the present application;

[0078] Figure 5 is the flowchart of the method for determining the charging adjustment control information according to the embodiment of the present application;

[0079] Figure 6Flowchart of the method for determining the redundant distance adjustment information in the embodiments of the present application;

[0080] Figure 7 Flowchart of the method for determining the selected distance adjustment information in the embodiments of the present application;

[0081] Figure 8 Flowchart of the method in the embodiments of the present application after calculating the sum of the demand time value in a single direction and the demand time value in the remaining direction as the comprehensive direction demand time value. Detailed implementation manners

[0082] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0083] An unmanned collaborative intelligent charging self-positioning method for ships determines the charging demand position point of the charging port by obtaining and analyzing the information on the ship parking situation and the real-time charging position point where the charging head is located, and then adjusts and controls the charging device to operate in real time according to the positions of the charging head and the charging port, eliminating the need for manual alignment, thereby improving the charging efficiency of the ship. Additionally, by analyzing the influence of the river flow direction and wind direction, the impact is reduced and the alignment accuracy is improved.

[0084] Embodiments of the present invention disclose an unmanned collaborative intelligent charging self-positioning method for ships. Referring to Figure 1 , an unmanned collaborative intelligent charging self-positioning method for ships includes:

[0085] Step S100: Obtain the information on the ship parking situation and the real-time charging position point where the charging head is located.

[0086] Among them, the information on the ship parking situation refers to the situation information corresponding to the ship parking at the current time, which is obtained by querying the ship. The real-time charging position point refers to the position point where the charging head in the charging device is located at the current time, which is detected and obtained by a position sensor preset on the charging head.

[0087] Step S200: Analyze and determine the charging demand position point of the charging port according to the information on the ship parking situation.

[0088] Among them, the charging demand position point refers to the position point where the charging port on the ship is located. By analyzing the information on the ship parking situation, the charging demand position point corresponding to the charging port is determined for convenient subsequent use.

[0089] Step S300: Analyze and determine the position deviation information based on the charging demand position point and the real-time charging position point.

[0090] 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 demand position point and the charging real-time position point, the deviation distance and deviation direction between the charging demand position point and the charging real-time position point are analyzed and combined to serve as the position deviation information for convenient subsequent use.

[0091] Step S400: Analyze and determine the charging adjustment control information according to the position deviation information, and output the charging adjustment control information to the charging device.

[0092] Among them, the charging adjustment control information refers to the control information used to control the charging device 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 device, so as to automatically control the charging device to move the charging head according to the real-time position of the charging head, without manual alignment, thereby improving the charging efficiency of the ship.

[0093] In Figure 1 In the shown step S200, in order to further ensure the rationality of the charging demand position point, it is necessary to conduct a further separate analysis and calculation of the charging demand position point. Specifically, it is described in detail through the Figure 2 shown steps.

[0094] Referring to Figure 2 , the method for determining the charging demand position point includes the following steps:

[0095] Step S210: Retrieve the ship's real-time position point, parking orientation information, and ship movement speed value based on the ship parking situation information.

[0096] Among them, the ship parking situation information includes the ship's real-time position point, parking orientation information, and ship movement speed value. The ship's real-time position point refers to the position point where the ship is located at the current time, and the ship's real-time position point is detected and obtained through a position sensor preset on the ship. The position sensor can be devices such as GPS and Beidou. The parking orientation information refers to the orientation information corresponding to the ship's parking at the current time, and the parking orientation information is detected and obtained through a direction detection device preset on the ship. The direction detection device can be devices such as a compass. The ship movement speed value refers to the movement speed value corresponding to the ship at the current time, and the ship movement speed value is obtained and stored by analyzing the change of the ship's real-time position point per unit time. Retrieving the ship's real-time position point, parking orientation information, and ship movement speed value through the ship parking situation information is convenient for subsequent use.

[0097] Step S220: Analyze the deviation angle between the parking orientation information and the preset reference orientation information to form an orientation deviation angle value.

[0098] Among them, the reference orientation information refers to the reference direction information that the ship needs to face when parked for charging, and the reference orientation information is obtained after being pre-input by the operator. The orientation deviation angle value refers to the deviation angle value corresponding to the deviation of the ship's orientation when parked for charging. By analyzing the deviation between the parked orientation information and the preset reference orientation information, and taking the deviation angle as the orientation deviation angle value, it is convenient for subsequent use.

[0099] Step S230: Analyze and determine the required initial position point based on the real-time position point of the ship and the orientation deviation angle value.

[0100] Among them, the required initial position point refers to the initial position point where the charging port is located. By analyzing the real-time position point of the ship and the orientation deviation angle value, the required initial position point is determined, which is convenient for subsequent use.

[0101] Step S240: Determine whether the ship's moving speed value is greater than the preset moving reference speed value. If it is, execute step S250; if not, execute step S280.

[0102] Among them, the moving reference speed value refers to the reference speed value corresponding to the ship when it is parked for charging without moving, and the moving reference speed value is obtained after being pre-input by the operator. By judging whether the ship's moving speed value is greater than the preset moving reference speed value, it is determined whether the ship is still moving at the current time.

[0103] 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.

[0104] Among them, the moving speed deviation value refers to the deviation value when the ship's moving speed has a deviation. 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, which is convenient for subsequent use.

[0105] Step S260: Analyze and determine the moving position influence value based on the moving speed deviation value and the parked orientation information.

[0106] Among them, the moving position influence value refers to the influence degree value of the ship's movement on the position of the charging port. By analyzing the moving speed deviation value and the parked orientation information, the moving position influence value is determined, which is convenient for subsequent use.

[0107] Step S270: Adjust the required initial position point based on the moving position influence value to form the required adjusted position point, and use the required adjusted position point as the charging required position point.

[0108] Among them, the demand adjustment position point refers to the position point after adjusting the position of the charging port. The demand initial position point is adjusted by the moving position influence value, so as to form the demand adjustment position point and use it as the charging demand position point, improving the accuracy of the obtained charging demand position point.

[0109] Step S280: Use the demand initial position point as the charging demand position point.

[0110] Among them, when the ship moving speed value is not greater than the preset moving reference speed value, it means that the ship is not moving at this time. Therefore, the demand initial position point is used as the charging demand position point to improve the accuracy of the obtained charging demand position point.

[0111] In Figure 2 In the step S230 shown, in order to further ensure the rationality of the demand initial position point, it is necessary to perform a further separate analysis and calculation on the demand initial position point. Specifically, it is described in detail through the Figure 3 steps shown.

[0112] Referring to Figure 3 , the method for determining the demand initial position point includes the following steps:

[0113] Step S231: Retrieve the ship specification information based on the ship's real-time position point.

[0114] Among them, the ship specification information refers to the size specification information corresponding to the ship. The ship specification information is obtained by retrieving relevant nearby ship information through the ship's real-time position point.

[0115] Step S232: Determine the charging relative distance vector value corresponding to the ship specification information according to the corresponding relationship between the ship specification information and the preset charging relative distance vector value.

[0116] Among them, 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 from a database storing the corresponding relationship between the ship specification information and the charging relative distance vector value. This database is obtained by querying ship-related websites, and it can also be directly obtained through pre-input by the operator. Querying and determining the charging relative distance vector value through the ship specification information is convenient for subsequent use.

[0117] Step S233: Retrieve the charging relative distance value and the charging relative angle value based on the charging relative distance vector value.

[0118] Among them, the charging relative distance vector value includes a charging relative distance value and a charging relative angle value. The charging relative distance value refers to the distance value between the position of the charging port and the self-detection position of the ship. The charging relative angle value refers to the angle value corresponding to the direction in which the charging port is located relative to the self-detection position of the ship. Retrieving the charging relative distance value and the charging relative angle value through the charging relative distance vector value facilitates subsequent use.

[0119] 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.

[0120] Among them, the charging relative angle adjustment value refers to the angle value after adjusting the angle between the position of the charging port and the self-detection position of the ship. Calculating the sum of the charging relative angle value and the orientation deviation angle value and using it as the charging relative angle adjustment value facilitates subsequent use.

[0121] Step S235: Combine the charging relative angle adjustment value and the charging relative distance value to form a relative distance vector adjustment value.

[0122] Among them, the relative distance vector adjustment value refers to the adjusted value of the relative distance vector between the position of the charging port and the self-detection position of the ship. Combining the charging relative angle adjustment value and the charging relative distance value to form the relative distance vector adjustment value facilitates subsequent use.

[0123] Step S236: Analyze and determine the required initial position point based on the relative distance vector adjustment value and the real-time position point of the ship.

[0124] Among them, by moving the real-time position point of the ship in the direction and distance corresponding to the relative distance vector adjustment value, the required initial position point is formed, improving the accuracy of the obtained required initial position point.

[0125] In Figure 2 In step S260 shown, in order to further ensure the rationality of the moving position influence value, it is necessary to perform a further separate analysis and calculation on the moving position influence value. Specifically, it is described in detail through Figure 4 the steps shown.

[0126] Referring to Figure 4 , the method for determining the moving position influence value includes the following steps:

[0127] Step S261: Retrieve the position river flow velocity value and the position river flow direction information based on the real-time position point of the ship.

[0128] Among them, the position river flow velocity value refers to the flow velocity value corresponding to the river where the ship is located, and the position river flow direction information refers to the flow direction information corresponding to the river where the ship is located. The position river flow velocity value and the position river flow direction information are retrieved through the real-time position point of the ship, so as to facilitate subsequent use.

[0129] Step S262: Analyze the deviation angle between the position river flow direction information and the parking orientation information and use it as the flow direction deviation angle value.

[0130] 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 ship's orientation. By analyzing the deviation angle between the position river flow direction information and the parking orientation information and using it as the flow direction deviation angle value, it is convenient for subsequent use.

[0131] Step S263: According to the correspondence between the flow direction deviation angle value and the preset flow direction deviation angle influence value, determine the flow direction deviation angle influence value corresponding to the flow direction deviation angle value.

[0132] Among them, the flow direction deviation angle influence value refers to the influence degree value generated when there is a deviation between the flow direction corresponding to the river and the ship's orientation. The flow direction deviation angle influence value is obtained by querying from a database storing the correspondence between the flow direction deviation angle value and the flow direction deviation angle influence value, and this database is obtained through the operator's pre-input. By querying the flow direction deviation angle value to determine the flow direction deviation angle influence value, it is convenient for subsequent use.

[0133] Step S264: Calculate the difference between the position river flow velocity value and the ship's moving speed value and use it as the river flow velocity deviation value.

[0134] Among them, the river flow velocity deviation value refers to the deviation value when there is a deviation between the flow velocity of the river and the moving speed of the ship. By calculating the difference between the position river flow velocity value and the ship's moving speed value and using it as the river flow velocity deviation value, it is convenient for subsequent use.

[0135] Step S265: According to the correspondence between the river flow velocity deviation value and the preset flow velocity deviation reference influence value, determine the flow velocity deviation reference influence value corresponding to the river flow velocity deviation value.

[0136] Among them, the flow velocity deviation reference influence value refers to the influence degree value generated when there is a deviation between the flow velocity of the river and the moving speed of the ship. The flow velocity deviation reference influence value is obtained by querying from a database storing the correspondence between the river flow velocity deviation value and the flow velocity deviation reference influence value, and this database is obtained through the operator's pre-input. By querying the river flow velocity deviation value to determine the flow velocity deviation reference influence value, it is convenient for subsequent use.

[0137] Step S266: Calculate the product value between the flow velocity deviation reference influence value and the flow direction deviation angle influence value, and use it as the moving position influence value.

[0138] Among them, 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, the accuracy of the obtained moving position influence value is improved.

[0139] In Figure 1 In step S400 shown, in order to further ensure the rationality of the charging adjustment control information, it is necessary to perform further separate analysis and calculation on the charging adjustment control information. Specifically, it is described in detail through Figure 5 the steps shown.

[0140] Refer to Figure 5 , the method for determining the charging adjustment control information includes the following steps:

[0141] Step S410: Retrieve the position deviation distance value and the position deviation direction information based on the position deviation information.

[0142] 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 the position when there is a deviation, and the position deviation direction information refers to the direction information corresponding to the position when there is a deviation. Retrieving the position deviation distance value and the position deviation direction information through the position deviation information facilitates subsequent use.

[0143] Step S420: Determine the deviation direction reference distance value corresponding to the position deviation direction information according to the correspondence between the position deviation direction information and the preset deviation direction reference distance value.

[0144] Among them, the deviation direction reference distance value refers to the reference distance value that the direction can be adjusted when there is a position deviation. The deviation direction reference distance value is obtained by querying from a database storing the correspondence between the position deviation direction information and the deviation direction reference distance value, and this database is obtained through pre-input by the operator. Determining the deviation direction reference distance value through the position deviation direction information facilitates subsequent use.

[0145] 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.

[0146] 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 the deviation direction can be adjusted when there is a position deviation. By calculating the difference between the position deviation distance value and the deviation direction reference distance value and using it as the deviation excess distance value, it facilitates subsequent use.

[0147] Step S440: Determine the deviation direction reference control information corresponding to the position deviation direction information according to the corresponding relationship between the position deviation direction information and the preset deviation direction reference control information.

[0148] Among them, the deviation direction reference control information refers to the reference control information for controlling the movement of the 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 corresponding relationship between the position deviation direction information and the deviation direction reference control information, and this database is obtained through pre-input by the operator. Querying and determining the deviation direction reference control information through the position deviation direction information facilitates subsequent use.

[0149] Step S450: Analyze and determine the redundant distance adjustment information based on the redundant distance value and the position deviation direction information.

[0150] Among them, the redundant distance adjustment information refers to the adjustment information for adjusting the redundant distance. By analyzing the redundant distance value and the position deviation direction information, the redundant distance adjustment information is determined, which facilitates subsequent use.

[0151] Step S460: Combine the redundant distance adjustment information and the deviation direction reference control information to form the deviation distance comprehensive control information, and use the deviation distance comprehensive control information as the charging adjustment control information.

[0152] Among them, the deviation distance comprehensive control information refers to the comprehensive control information corresponding to controlling the movement of the charging head of the charging device according to the deviation distance. By combining the redundant distance adjustment information and the deviation direction reference control information, the deviation distance comprehensive control information is formed and used as the charging adjustment control information, improving the accuracy of the obtained charging adjustment control information.

[0153] In Figure 5 In step S450 shown, in order to further ensure the rationality of the redundant distance adjustment information, it is necessary to perform further separate analysis and calculation on the redundant distance adjustment information. Specifically, it is described in detail through the steps shown in Figure 6 shown.

[0154] Referring to Figure 6 , the method for determining the redundant distance adjustment information includes the following steps:

[0155] Step S451: Determine whether the redundant distance value is positive. If it is, execute step S452; if not, execute step S457.

[0156] Among them, by determining whether the redundant distance value is positive, it is judged whether the charging device can be controlled to move the charging head according to the deviation direction.

[0157] Step S452: Determine the adjustment combination direction information corresponding to the position deviation direction information according to the corresponding relationship between the position deviation direction information and the preset adjustment combination direction information.

[0158] Among them, the adjustment combination direction information refers to the direction information obtained by decomposing the moving direction of the charger head into two direction combinations according to the deviation direction. The adjustment combination direction information is obtained by querying from a database storing the corresponding relationship between the position deviation direction information and the adjustment combination direction information. This database is obtained and stored after being tested by the operator. There are several combination directions for the adjustment combination direction information. When the deviation excess distance value is positive, it indicates that the charger cannot be controlled to move the charger head according to the deviation direction at this time. Therefore, the adjustment combination direction information is determined by querying through the position deviation direction information, which is convenient for subsequent use.

[0159] Step S453: Retrieve the single-direction reference distance value and the single-direction reference speed value based on the adjustment combination direction information.

[0160] Among them, the single-direction reference distance value refers to the reference distance value corresponding to the movement of one of the two combined directions when moving the charger head, and 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 through the adjustment combination direction information, which is convenient for subsequent use.

[0161] Step S454: Calculate the quotient of the single-direction reference distance value and the single-direction reference speed value and use it as the single-direction required time value.

[0162] Among them, the single-direction required time value refers to the time value required for movement in a single direction. By calculating the quotient of the single-direction reference distance value and the single-direction reference speed value and using it as the single-direction required time value, it is convenient for subsequent use.

[0163] Step S455: Calculate and determine the remaining distance value based on the position deviation distance value and the single-direction reference distance value.

[0164] Among them, the remaining distance value refers to the remaining distance value after moving in a single direction. By calculating the angle between the direction corresponding to the single-direction reference 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 reference distance value simultaneously, the remaining distance value is obtained, which is convenient for subsequent use.

[0165] Step S456: Analyze and determine the selected distance adjustment information according to the single-direction required time value and the remaining distance value, and use the selected distance adjustment information as the excess distance adjustment information.

[0166] 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 single-direction required time value and the remaining distance value, 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.

[0167] Step S457: Calculate the quotient of the deviation redundant distance value and the preset deviation direction moving speed reference value as the redundant distance time adjustment value, and use the redundant distance time adjustment value as the redundant distance adjustment information.

[0168] 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 through pre-input by the operator. The redundant distance time adjustment value refers to the adjustment value for adjusting the movement time corresponding to the redundant distance. When the deviation redundant distance value is not a positive value, it indicates that the charging device can be controlled to move the charging head according to the deviation direction at this time. Therefore, the quotient of the deviation redundant distance value and the preset deviation direction moving speed reference value is calculated as the redundant distance time adjustment value, and the redundant distance time adjustment value is used as the redundant distance adjustment information, thereby improving the accuracy of the obtained redundant distance adjustment information.

[0169] In Figure 6 In step S456 shown, in order to further ensure the rationality of the selected distance adjustment information, it is necessary to perform further separate analysis and calculation on the selected distance adjustment information. Specifically, it is described in detail through Figure 7 the steps shown.

[0170] Referring to Figure 7 , the method for determining the selected distance adjustment information includes the following steps:

[0171] Step S4561: Retrieve the single-direction information based on the single-direction reference distance value.

[0172] Among them, the single-direction information refers to the direction information corresponding to the single-direction reference distance value. Retrieving the single-direction information through the single-direction reference distance value facilitates subsequent use.

[0173] Step S4562: Determine 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.

[0174] Among them, the remaining direction information refers to the direction information required for the remaining deviation corresponding to the movement based on a single direction. The remaining direction information is obtained by querying from a database storing the correspondence between the single direction information, the position deviation direction information, and the remaining direction information, and the database is obtained through pre-input by the operator. Querying and determining the remaining direction information through the single direction information and the position deviation direction information is convenient for subsequent use.

[0175] Step S4563: Retrieve the remaining direction reference speed value based on the remaining direction information.

[0176] Among them, the remaining direction reference speed value refers to the reference speed value corresponding to the movement based on the remaining direction. Retrieving the remaining direction reference speed value through the remaining direction information is convenient for subsequent use.

[0177] 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.

[0178] Among them, the remaining direction required time value refers to the time value required for the movement based on the remaining direction. By calculating the quotient between the remaining distance value and the remaining direction reference speed value and using it as the remaining direction required time value, it is convenient for subsequent use.

[0179] Step S4565: Calculate the sum of the single direction required time value and the remaining direction required time value and use it as the comprehensive direction required time value.

[0180] Among them, the comprehensive direction required time value refers to the time value required for the comprehensive movement based on the single direction and the remaining direction. By calculating the sum of the single direction required time value and the remaining direction required time value and using it as the comprehensive direction required time value, it is convenient for subsequent use.

[0181] Step S4566: Sort the comprehensive direction required time values from smallest to largest, and use the comprehensive direction required time value with the first sorting result as the selected direction time value.

[0182] Among them, the selected direction time value refers to the time value corresponding to the selection of a single direction. By sorting the comprehensive direction required time values from smallest to largest and using the comprehensive direction required time value with the first sorting result as the selected direction time value, it is convenient for subsequent use.

[0183] Step S4567: According to the correspondence between the selected direction time value and the preset selected direction adjustment information, determine the selected direction adjustment information corresponding to the selected direction time value, and use the selected direction adjustment information as the selected distance adjustment information.

[0184] Among them, the selection direction adjustment information refers to the adjustment information for moving adjustment according to the selection direction. The selection direction adjustment information is obtained by querying from a database storing the correspondence between the selection direction time value and the selection direction adjustment information, and this database is obtained through the operator's pre-input. The selection direction adjustment information is determined by querying through the selection direction time value and used as the selection distance adjustment information, thereby improving the accuracy of the obtained selection distance adjustment information.

[0185] After Figure 7 the step S4565 shown, in order to further ensure the rationality of the comprehensive direction demand time value, it is necessary to perform a further separate analysis and calculation on the comprehensive direction demand time value. Specifically, it is described in detail through Figure 8 the steps shown.

[0186] Referring to Figure 8 , the steps after calculating the sum value of the single direction demand time value and the remaining direction demand time value and using it as the comprehensive direction demand time value include the following steps:

[0187] Step S45651: Retrieve the environmental wind direction information and the environmental wind force value based on the real-time position point of the ship.

[0188] Among them, 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 force value refers to the parameter value corresponding to the wind force in the environment where the ship is located. The real-time relevant website is queried through the real-time position point of the ship to retrieve the environmental wind direction information and the environmental wind force value.

[0189] Step S45652: Analyze the deviation angle between the environmental wind direction information and the single direction information and use it as the single direction deviation angle value.

[0190] 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 environmental wind force. By analyzing and calculating the deviation angle between the environmental wind direction information and the single direction information and using it as the single direction deviation angle value, it is convenient for subsequent use.

[0191] Step S45653: Analyze the deviation angle between the environmental wind direction information and the remaining direction information and use it as the remaining direction deviation angle value.

[0192] Among them, the remaining direction deviation angle value refers to the angle value corresponding to the deviation between the remaining direction and the direction of the environmental wind force. By analyzing and calculating the deviation angle between the environmental wind direction information and the remaining direction information and using it as the remaining direction deviation angle value, it is convenient for subsequent use.

[0193] Step S45654: Analyze and determine the wind force influence value based on the environmental wind force value, the single-direction deviation angle value, and the remaining direction deviation angle value, and add the wind force influence value to the comprehensive direction demand time value to form a new comprehensive direction demand time value.

[0194] Among them, the wind force influence value refers to the degree value of the influence of the environmental wind force on the movement time. By analyzing the environmental wind force value, the single-direction deviation angle value, and the remaining direction deviation angle value, the wind force influence value is determined, and the wind force influence value is added to the comprehensive direction demand time value to form a new comprehensive direction demand time value, improving the accuracy of the obtained comprehensive direction demand time value.

[0195] The method for determining the wind force influence value includes:

[0196] Analyze and calculate the environmental wind force value, the single-direction deviation angle value, and the remaining direction deviation angle value based on the preset wind force influence value calculation formula to form the wind force influence value. Among them, the wind force influence value calculation formula is , is the wind force influence value, is the environmental wind force value, is the single-direction deviation angle value, is the remaining direction deviation angle value, is the preset direction deviation angle reference influence value.

[0197] For example, when , , , , the wind force influence value .

[0198] Based on the same inventive concept, an embodiment of the present invention provides an unmanned collaborative ship intelligent charging self-positioning system, including:

[0199] An acquisition module, configured to acquire ship parking situation information and real-time charging position points;

[0200] A memory, configured to store programs of the unmanned collaborative ship intelligent charging self-positioning method described in any one of Figures 1 to 8 ;

[0201] A processor, configured to load and execute the programs in the memory and implement the unmanned collaborative ship intelligent charging self-positioning method described in any one of Figures 1 to 8 .

[0202] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. For the specific working processes of the system, device, and unit described above, reference can be made to the corresponding processes in the foregoing method embodiments, which will not be elaborated herein.

[0203] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. An intelligent charging self-positioning method for unmanned collaborative ships, characterized in that, Including: Obtain information on the parking situation of the ship and the real-time charging position points where the charging heads are located; Analyze and determine the charging demand position points of the charging ports based on the ship parking situation information; Analyze and determine the position deviation information based on the charging demand position points and the real-time charging position points; Analyze and determine the charging adjustment control information according to the position deviation information, and output the charging adjustment control information to the charging equipment; The method for determining the charging demand position points includes: Retrieve the real-time position points of the ship, the parking orientation information, and the ship moving speed value based on the ship parking situation information; Analyze the deviation angle between the parking orientation information and the preset reference orientation information to form an orientation deviation angle value; Analyze and determine the demand initial position point based on the real-time position points of the ship and the orientation deviation angle value. The demand initial position point refers to the initial position point where the charging port is located; Judge whether the ship moving speed value is greater than the preset moving reference speed value; If so, calculate the difference between the ship moving speed value and the moving reference speed value and use it as the moving speed deviation value; Analyze and determine the moving position influence value according to the moving speed deviation value and the parking orientation information; Adjust the demand initial position point based on the moving position influence value to form a demand adjusted position point, and use the demand adjusted position point as the charging demand position point; If not, use the demand initial position point as the charging demand position point; The method for determining the moving position influence value includes: Retrieve the position river flow velocity value and the position river flow direction information based on the real-time position points of the ship; Analyze the deviation angle between the position river flow direction information and the parking orientation information and use it as the flow direction deviation angle value; According to the corresponding relationship between the flow direction deviation angle value and the preset flow direction deviation angle influence value, determine the flow direction deviation angle influence value corresponding to the flow direction deviation angle value. The flow direction deviation angle influence value refers to the influence degree value generated by the deviation between the flow direction corresponding to the river and the ship orientation; Calculate the difference between the position river flow velocity value and the ship moving speed value and use it as the river flow velocity deviation value; According to the corresponding relationship between the river flow velocity deviation value and the preset flow velocity deviation reference influence value, determine the flow velocity deviation reference influence value corresponding to the river flow velocity deviation value. The flow velocity deviation reference influence value refers to the influence degree value generated by the deviation between the flow velocity of the river and the moving speed of the ship; Calculate the product value between the flow velocity deviation reference influence value and the flow direction deviation angle influence value and use it as the moving position influence value.

2. The method for intelligent charging and self-positioning of an unmanned collaborative ship according to claim 1, characterized in that, The method for determining the demand initial position point includes: Retrieve the ship specification information based on the real-time position points of the ship; According to the corresponding relationship between the ship specification information and the preset charging relative distance vector value, determine the charging relative distance vector value corresponding to the ship specification information; Retrieve the charging relative distance value and the charging relative angle value based on the charging relative distance vector value; Calculate the sum value between the charging relative angle value and the orientation deviation angle value and use it as the charging relative angle adjustment value; Combine the charging relative angle adjustment value and the charging relative distance value to form a relative distance vector adjustment value; Analyze and determine the demand initial position point according to the relative distance vector adjustment value and the real-time position points of the ship.

3. The method for self-positioning of intelligent charging of unmanned collaborative ships according to claim 1, wherein The method for determining the charging adjustment control information includes: Retrieve the position deviation distance value and the position deviation direction information based on the position deviation information; Determine the deviation direction reference distance value corresponding to the position deviation direction information according to the corresponding relationship between the position deviation direction information and the preset deviation direction reference distance value; 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; Determine the deviation direction reference control information corresponding to the position deviation direction information according to the corresponding relationship between the position deviation direction information and the preset deviation direction reference control information; Analyze and determine the excess distance adjustment information according to the deviation excess distance value and the position deviation direction information; Combine the excess distance adjustment information with the deviation direction reference control information to form the deviation distance comprehensive control information, and use the deviation distance comprehensive control information as the charging adjustment control information.

4. The method for intelligent charging and self-positioning of an unmanned collaborative ship according to claim 3, wherein The method for determining the excess distance adjustment information includes: Judge whether the deviation excess distance value is positive; If it is, determine the adjustment combination direction information corresponding to the position deviation direction information according to the corresponding relationship between the position deviation direction information and the preset adjustment combination direction information; Retrieve the single direction reference distance value and the single direction reference speed value based on the adjustment combination direction information; Calculate the quotient of the single direction reference distance value and the single direction reference speed value and use it as the single direction required time value; Calculate and determine the remaining distance value based on the position deviation distance value and the single direction reference distance value; Analyze and determine the selected distance adjustment information according to the single direction required time value and the remaining distance value, and use the selected distance adjustment information as the excess distance adjustment information; If it is not, calculate the quotient of the deviation excess distance value and the preset deviation direction movement 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.

5. The method for intelligent charging and self-positioning of an unmanned collaborative ship according to claim 4, wherein The method for determining the selected distance adjustment information includes: Retrieve the single direction information based on the single direction reference distance value; Determine 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; Retrieve the remaining direction reference speed value based on the remaining direction information; Calculate the quotient of 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 required time value and the remaining direction required time value and use it as the comprehensive direction required time value; Sort the comprehensive direction required time values from small to large based on the comprehensive direction required time value, and use the first sorted comprehensive direction required time value as the selected direction time value; Determine the selected direction adjustment information corresponding to the selected direction time value according to the corresponding relationship between the selected direction time value and the preset selected direction adjustment information, and use the selected direction adjustment information as the selected distance adjustment information.

6. The method for intelligent charging and self-positioning of an unmanned collaborative ship according to claim 5, wherein It also includes the steps after calculating the sum of the single direction required time value and the remaining direction required time value and using it as the comprehensive direction required time value, specifically as follows: Retrieve the environmental wind direction information and the environmental wind value based on the real-time position point of the ship; Analyze the deviation angle between the environmental wind direction information and the single direction information and use it as the single direction deviation angle value; Analyze the deviation angle between the environmental wind direction information and the remaining direction information and use it as the remaining direction deviation angle value; Analyze and determine the wind force influence value according to the environmental wind force value, the single direction deviation angle value and the remaining direction deviation angle value, and add the wind force influence value to the comprehensive direction demand time value to form a new comprehensive direction demand time value.

7. The method for autonomous collaborative intelligent charging and self-positioning of a ship according to claim 6, wherein The method for determining the wind force influence value includes: Analyze and calculate the environmental wind force value, the single-direction deviation angle value, and the remaining direction deviation angle value based on the preset wind force influence value calculation formula to form the wind force influence value. Among them, the wind force influence value calculation formula is , is the wind force influence value, is the environmental wind force value, is the single-direction deviation angle value, is the remaining direction deviation angle value, is the preset reference influence value of the direction deviation angle.

8. An unmanned collaborative intelligent charging and self-positioning system for ships, characterized in that, Including: An acquisition module, used to acquire the ship parking situation information and the real-time charging position point; A memory, used to store the program of the unmanned collaborative ship intelligent charging self-positioning method according to any one of claims 1 to 7; A processor, loading and executing the program in the memory and implementing the unmanned collaborative ship intelligent charging self-positioning method according to any one of claims 1 to 7.

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