Harbor ship docking charging device and charging system

Abstract

The invention relates to the technical field of ship charging systems, in particular to a harbor ship docking charging device and a charging system, and the harbor ship docking charging device comprises a positioning module, a walking module and a mechanical arm module; the winding module is used for adjusting the exposed length of the cable, and the winding module is used for respectively switching a first state in which the exposed length is increased, a second state in which the exposed length is reduced and a third state in which the exposed length is not changed based on an instruction; the charging starting module is used for adjusting the winding module to the first state; the tension detection module is used for detecting the tension and enabling the winding module to enter a third state based on the first tension state change of the cable; in the third state, the second tension state change of the cable is detected; a tension adjustment module generating a state adjustment target based on the second tension state change and calculating an exposure length adjustment amount; and the charging ending module is used for adjusting the winding module to be in the second state. The ship charging device has the effect of relieving the situation that the ship shakes to excessively pull the charging cable in the ship charging process.

Description

Technical Field

[0001] The present application relates to the technical field of ship charging systems, and in particular to a charging device and a charging system for a docked port vessel. Background Art

[0002] Port vessels are a general term for ships that specialize in port work. In order to save port costs and reduce pollution from harmful substances, many port vessels have switched from adding fuel to generate electricity to charging through charging devices on shore after docking.

[0003] In current technology, when charging a ship, the position of the docked ship is first obtained. The charging device uses a manipulator or a mechanical arm to move the charging head hoisted by the charging cable to the top of the ship's charging port, and controls the length of the cable through a winding device to adjust the height of the charging head so that it can be inserted into the charging port for charging. After charging is completed, the length of the cable is controlled again to control the hoisted charging head to detach from the charging port and restore it to its original state to complete the charging process.

[0004] However, in actual charging scenarios, because ships are charged differently from vehicles, they cannot completely fix their posture when docked, but will sway randomly with the water flow. The amplitude and direction of the swaying are related to factors such as the direction of the water flow and the size and direction of the wind, and are completely random. When the ship is charging, the charging port and the charging head maintain a fixed connection. When the ship shakes, the cable will move. The movement of the cable is mainly reflected in the size of its own tension. After the charging head is docked, the winding device in the relevant technology will stop controlling the cable so that the cable maintains the same length throughout the charging process. As the ship sways, the tension of the cable will also change. When the shaking amplitude and frequency of the ship are large, the cable will bear a large tension, which may cause the cable to break, deform, and accelerate the aging of the cable. Summary of the invention

[0005] In order to alleviate the excessive pulling on the charging cable caused by the shaking of the ship during the ship charging process, the present application provides a charging device and a charging system for a port ship docked at the shore.

[0006] In the first aspect, the present application provides a method A, which adopts the following technical solution: A charging device for a harbor vessel at shore, comprising: A positioning module, used to locate and obtain the ship's berthing position to generate charging positioning coordinates; A walking module, used for acquiring the lateral coordinates in the charging positioning coordinates and moving to the corresponding position; A robotic arm module, used to obtain the charging positioning coordinates and move to above the charging port; a winding module, for winding and storing the cable and for adjusting the exposed length of the cable according to the height coordinate in the charging positioning coordinate, wherein the winding module switches, based on instructions, to a state one for increasing the exposed length, a state two for reducing the exposed length, and a state three for keeping the exposed length unchanged, the cable is also arranged on the mechanical arm and extends from one end of the mechanical arm, and a charging head is fixedly connected to an end of the cable; A charging start module, configured to adjust the winding module to the first state when the charging head moves to a matching position based on the charging positioning coordinates; A tension detection module is used to detect the tension on the cable, and based on the change of the first tension state of the cable, the winding module enters the state three; in the state three, a swing amplification detection task is generated and a detection time is set, and the change of the second tension state of the cable is detected within the detection time; a tension adjustment module, which generates a state adjustment target and calculates an exposure length adjustment amount based on the change in the second tension state, controls the state of the winding module according to the state adjustment target, and controls the number of winding turns of the winding module based on the exposure length adjustment amount; The charging end module is used to wait for the charging end signal and adjust the winding module to the second state according to the charging end signal.

[0007] In some of the embodiments, the tension detection module detects the tension of the winding module in the initial state and defines it as the initial tension, and the corresponding time when the winding module is in the state 1 and detects that the tension changes from the initial tension to 0 is defined as the standard time point; The standard time point is extended by a first preset time to obtain a target time point, and when the target time point is reached, the first tension state changes accordingly.

[0008] In some of the embodiments, when the winding module enters the state three based on the first tension state change, the tension detection module enters the swing amplitude detection task and determines the maximum tension value on the cable within the detection duration of a preset time length, and defines the maximum tension value as the second tension state change.

[0009] In some of the embodiments, the tension adjustment module generates a tension critical value and a tension extreme value with different values, obtains the maximum tension value, and determines the magnitude relationship between the maximum tension value and the tension critical value and the tension extreme value; If the maximum tension value is greater than or equal to the extreme tension value, the second tension state change is a risk change. In the risk change, the tension adjustment module stops the swing increase detection task of the tension detection module and immediately generates a first adjustment instruction to the winding module. In the first adjustment instruction, the state adjustment target is the state one. If the maximum tension value is less than the tension extreme value and greater than or equal to the tension critical value, the second tension state change is a warning change, in which the tension adjustment module generates a second adjustment instruction, in which the state adjustment target is state one; If the maximum tension value is less than the tension critical value, the second tension state change is a stable change, in which the tension adjustment module generates a third adjustment instruction, in which the state adjustment target is the state three; If the maximum tension value is 0, the second tension state change is an over-verification change. In the over-change, the tension adjustment module generates a fourth adjustment instruction. In the fourth adjustment instruction, the state adjustment target is the state two.

[0010] In some of the embodiments, the tension adjustment module is further used to: In the risk change and the warning change, calculating a first tension difference between the maximum tension value and the tension threshold value, and calculating a first shaking amplitude based on the first tension difference; Calculate the exposure length adjustment amount according to the first shaking amplitude, and calculate the corresponding number of winding turns according to the exposure length adjustment amount combined with the winding ratio of the winding module; The winding module is controlled to maintain the state one according to the number of winding turns, and is changed to the state three after the number of winding turns is reached.

[0011] In some of the embodiments, the tension adjustment module is further used to: In the over-validation variation, Calculating the current exposure length based on the number of winding turns that the winding module has rotated, and generating a number of winding verification lengths according to the exposure length and a preset segmentation coefficient; The winding verification length is set as the exposure length adjustment amount and the corresponding winding number is calculated in combination with the winding ratio of the winding module; Controlling the winding module to maintain the second state by the number of winding turns at a fixed time, and detecting the tension during the winding process; If the tension is detected to be not greater than the tension threshold, the state 2 is changed to the state 3; If the detected maximum tension value is still 0, the winding module continues to maintain the state 2 based on the number of winding turns corresponding to the next winding verification length at the next timing.

[0012] In some of the embodiments, a tension diagram drawing module and a periodicity analysis module are also included, wherein: The tension map drawing module is used to obtain the detected tension magnitude from the tension detection module and draw a corresponding tension distribution map; The periodicity analysis module is used to obtain the tension analysis diagram and determine whether there is a periodic tendency, and when there is a periodic tendency, obtain the first tension value and the second tension value corresponding to the periodic endpoints on both sides of a single period; The periodic analysis module calculates the difference between the first tension value and the second tension value, generates a position adjustment task when the absolute value of the difference is greater than a preset value, and adjusts the rotation angle of the robotic arm module based on the position adjustment task until it is detected that the absolute value of the difference is less than the preset value.

[0013] In some of the embodiments, in the risk change and the warning change, the periodic analysis module is further used to determine whether the maximum tension value belongs to the cycle endpoint, and when it belongs to the cycle endpoint, the rotation angle of the robot arm module is adjusted preferentially through the position adjustment task; If the adjusted maximum tension value is still greater than or equal to the tension extreme value or the tension critical value, the winding module is changed to the state one based on the first adjustment instruction or the second adjustment instruction.

[0014] In some of the embodiments, when the winding module is adjusted to the state two based on the charging end signal, the tension detection module generates a third tension state change when it detects that the tension on the cable is greater than the abnormal value. In the third tension state change, the tension detection module causes the winding module to enter the state one and waits for the tension to be no greater than the abnormal value before switching to the state three and generating a warning signal, wherein the abnormal value is the initial tension plus a preset tension increment.

[0015] In the second aspect, the present application provides a port-based ship charging system, which adopts the following technical solution: A charging system for a harbor vessel, comprising the above-mentioned charging device for a harbor vessel at shore The technical solution provided by the embodiments of the present application has the following technical effects: At the start, during and end of charging, the reeling mechanism is controlled to adjust the exposed length of the cable according to different processing signals. At the same time, during the charging process, the swaying state is specifically analyzed based on the influence of the ship's swaying on the cable tension, and the state that requires adjustment of the reeling module is determined based on the detected tension change. In this way, the reeling module state is adjusted to reduce the influence of excessive tension on the cable in the ship's swaying state, and the negative pulling effect on the cable is reduced by dynamically adjusting the reeling module state, thereby reducing the possibility of cable breakage, deformation and aging. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the module connection of a charging device for a harbor vessel provided in some embodiments of the present application.

[0017] Figure 2 This is a schematic diagram of module connection of a charging device for a docked vessel provided in another embodiment of the present application. DETAILED DESCRIPTION

[0018] To more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. However, it should be understood by those of ordinary skill in the art that the present application can be implemented without these details. In some cases, in order to avoid unnecessary descriptions that make various aspects of the present application obscure, well-known methods, processes, systems, components and / or circuits that have been described at a higher level will not be described in detail. For those of ordinary skill in the art, it is obvious that various changes can be made to the embodiments disclosed in the present application, and without departing from the principles and scope of the present application, the general principles defined in the present application can be applied to other embodiments and application scenarios. Therefore, the present application is not limited to the embodiments shown, but conforms to the broadest scope consistent with the scope claimed for protection of the present application.

[0019] It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as there is no conflict between them.

[0020] In the description of this application, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0021] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples.

[0022] The embodiment of the present application discloses a charging device for a harbor vessel when docked.

[0023] like Figure 1 As shown, a charging device for a harbor vessel at shore comprises: The positioning module is used to locate and obtain the ship's berthing position to generate charging positioning coordinates.

[0024] The positioning module mainly obtains the location of the harbor-working vessel when the harbor-working vessel is docked and in a state of waiting for charging. The positioning module can be a visual image acquisition module or an infrared positioning module.

[0025] After obtaining the current position of the port-working vessel, since the location of the charging port on each ship is fixed, the location coordinates of the charging port can be further obtained, and the charging positioning coordinates can be generated based on the location coordinates of the charging port.

[0026] The charging positioning coordinates represent the position to which the module that needs to be charged later needs to be moved, which includes the lateral coordinate, the longitudinal coordinate and the height coordinate. The lateral coordinate is the direction of the ship's length, the longitudinal coordinate is the direction of the ship's width, and the height coordinate is the direction of the ship's height.

[0027] The walking module is used to obtain the lateral coordinates in the charging positioning coordinates and move to the corresponding position.

[0028] The walking module in the embodiment of the present application is an electric pulley, which is arranged under a support plate, and the support plate is provided with an acquired robotic arm module, a winding module, etc.

[0029] When the walking module obtains the charging location coordinates, it obtains the direction and distance it needs to move based on the horizontal coordinates in the charging location coordinates, and moves to the corresponding position. Generally, after the walking module moves to the target position, the horizontal coordinates of its own center point are the same as the horizontal coordinates of the center point of the charging port.

[0030] Furthermore, the walking module is also equipped with a locking mechanism, which is mainly used to prevent the walking module from being displaced during subsequent robotic arm movements, winding movements, etc. through a certain locking method after the walking module moves to the target position. When charging is completed, the locking mechanism is restored so that the walking module can be displaced again.

[0031] In the embodiment of the present application, the locking mechanism is a hydraulic telescopic support rod arranged around the entire charging device.

[0032] The robotic arm module is used to obtain the charging positioning coordinates and move to the top of the charging port.

[0033] The robot arm module is mainly a rotating and telescopic robot arm device. After the walking mechanism moves to the target position, the end of the robot arm is moved to the top of the charging port through telescopic adjustment and rotation adjustment. The charging head is located below the end of the robot arm and is connected to the robot arm through a cable.

[0034] The winding module is used for winding and storing the cable and for adjusting the exposed length of the cable according to the height coordinates in the charging positioning coordinates.

[0035] The winding module is a roller structure driven by a motor, which is long and wound with a charging cable, and is driven by the motor to adjust the exposed length of the cable. In the embodiment of the present application, the exposed length is characterized as the length of the cable exposed to the outside and between the end of the robot arm and the charging head.

[0036] The winding module switches, based on the instruction, to state one for increasing the exposure length, state two for reducing the exposure length, and state three for keeping the exposure length unchanged.

[0037] The winding module can be adjusted in three states, namely, state 1 in which the exposed length of the cable is increased by forward rotation, state 2 in which the exposed length of the cable is shortened by reverse rotation, and state 3 in which the motor stops rotating to keep the exposed length of the cable unchanged.

[0038] Subsequently, based on the tension detection on the cable, the winding module is dynamically adjusted under different conditions to achieve the effect of dynamically controlling the cable length, thereby reducing excessive tension on the cable caused by the swaying of the ship.

[0039] The cable is also arranged on the robotic arm and extends from one end of the robotic arm, and the end of the cable is fixedly connected with a charging head.

[0040] The charging start module is used to adjust the winding module to state one when the charging head moves to a matching position based on the charging positioning coordinates.

[0041] When the robotic arm module drives the charging head to move above the charging port, a corresponding charging start signal is generated. Based on the signal, the charging start module adjusts the winding module to state one. The winding module starts to rotate forward in state one to increase the exposed length of the cable, and the charging head slowly descends until it docks with the charging port.

[0042] The tension detection module is used to detect the tension on the cable and enable the winding module to enter state three based on the change of the first tension state of the cable.

[0043] The tension detection module includes tension sensors, tension meters and other tension detection equipment, which can detect the tension on the cable.

[0044] When it detects the first tension state change on the cable, it is considered that the cable is in an ideal state at the beginning of the charging task, and the winding module enters state three. In state three, the winding module stops working, so that the exposed length of the cable remains unchanged. When the winding module changes from state one at the beginning of charging to state three, it is considered that the charging process is started.

[0045] In state three, the tension detection module also generates a swing amplification detection task and sets the detection duration, and detects the change in the second tension state of the cable within the detection duration.

[0046] During the charging process, the tension detection module performs a swing amplification detection task for a certain period of time. Under this task, it continuously detects the tension on the cable and determines the specific circumstances of adjusting the exposed length of the cable based on the change in tension. When this situation occurs, the cable changes to a preset second tension state.

[0047] The swing amplification detection task is mainly used to detect whether the current exposed length of the cable is optimal. The non-optimal situations mainly include that the cable length is short, resulting in a large tensile force on the cable when the ship swings, and the cable length is long, resulting in a large cable swing area.

[0048] Among them, adjusting the exposed length of the cable includes increasing the exposed length, reducing the exposed length and maintaining the exposed length.

[0049] The tension adjustment module generates a state adjustment target based on the change of the second tension state and calculates the exposure length adjustment amount, controls the state of the winding module according to the state adjustment target, and controls the number of winding turns of the winding module based on the exposure length adjustment amount.

[0050] The tension adjustment module obtains the state adjustment target corresponding to the state to which the winding module needs to be changed and the exposed length adjustment amount corresponding to the length to which the exposed length of the cable needs to be changed based on the second tension state change corresponding to the detection result in the swing amplification detection task.

[0051] The state change of the winding module is controlled by the state adjustment target according to the adjustment of the cable as needed, and the number of winding turns that the winding module needs to rotate in different states is calculated by the length of the exposed length change.

[0052] The charging end module is used to wait for the charging end signal and adjust the winding module to state two according to the charging end signal.

[0053] When the charging end information is obtained, it is considered that the charging task has been completed. At this time, the charging head needs to be detached from the charging port, so the winding module needs to be adjusted to state 2 to shorten the exposed length of the cable to make the charging head rise to detach from the charging port.

[0054] Through the above technical scheme, the adjustment of the exposed length of the cable by the reeling mechanism is controlled according to different processing signals when charging is started, during charging, and at the end of charging. At the same time, during the charging process, the swaying state is specifically analyzed based on the influence of the ship's shaking on the cable tension, and the state that needs to be adjusted by the reeling module is determined based on the detected tension change. In this way, the influence of excessive tension on the cable in the ship's swaying state is reduced by adjusting the state of the reeling module, and the negative pulling effect on the cable is reduced by dynamically adjusting the state of the reeling module, thereby reducing the breakage, deformation, and aging of the cable.

[0055] In other embodiments, the tension detection module detects the tension of the winding module in the initial state and defines it as the initial tension, and defines the corresponding time when the winding module is in state 1 and detects that the tension changes from the initial tension to 0 as the standard time point.

[0056] The initial state is the state before the charging head is inserted into the charging port. In this state, the pressure on the cable is defined as the initial tension. The initial tension is the pulling force exerted on the cable by the weight of the charging head itself.

[0057] When the charging head slowly moves downward under the winding module in state one and docks with the charging port, the tension on the cable will gradually decrease because the charging port supports the charging head. When the charging head is completely docked with the charging port, the entire weight of the charging head is borne by the charging port, so the tension on the cable will finally become zero.

[0058] When the detected pulling force becomes zero, the corresponding time point is defined as the standard time point, which indicates that the charging head is connected successfully.

[0059] The standard time point is extended by a first preset time to obtain a target time point, and when the target time point is reached, the first tension state changes accordingly.

[0060] If the ship is a completely stationary object, the state corresponding to the standard time point is an ideal charging state. Since the current tension is zero and the ship will not shake to drag the cable, the winding module changes to state three at the standard time point to stop the increase in the exposed length of the cable, so that the cable is neither dragged nor has any excess cable exposed.

[0061] However, in actual situations, the ship will shake, so stopping the winding module at the standard time point will definitely cause the cable with just the right exposed length to be dragged during the shaking of the ship. In order to provide a certain acceptance threshold for the subsequent unpredictable hull shaking when charging begins, it is necessary to define the time point after a certain period of time after the standard time point as the target time point, and when the target time point is reached, it is considered that the first tension state change is triggered, so that the winding module changes from state one to state three.

[0062] In this way, the exposed length of the cable will continue to increase by a certain period of time based on the baseline of just the right length, such as allowing the winding module to continue to rotate for 3-5 seconds. The increased length of the cable based on the state of just the right exposed length will be used as the predicted threshold before the actual ship shaking is detected during the charging start-up phase.

[0063] In other embodiments, when the winding module enters state three based on the first tension state change, the tension detection module enters the swing amplitude detection task and determines the maximum tension value on the cable within the detection duration of a preset time length, and defines the maximum tension value as the second tension state change.

[0064] In the swing amplification detection task, the tension detection module periodically detects the tension within a certain period of time after the task starts, such as within 5 minutes, and determines the maximum tension value on the cable after or during the detection period.

[0065] The maximum tension value will continue to change during the detection time, and the maximum tension value will be used as the second tension state change.

[0066] Since the overall charging time of a ship varies from several hours, and factors such as water flow and weather generally remain at similar levels within a few hours, by testing the tension for a preset portion of time after charging is started, it is possible to predict and infer the swaying during the subsequent hours of charging, and the prediction time can be 10 minutes to 30 minutes. The maximum tension value detected during the predicted time can generally be considered equivalent to the maximum tension value during the subsequent overall charging time.

[0067] In other embodiments, the tension adjustment module generates a tension critical value and a tension extreme value with different values, and simultaneously obtains the maximum tension value and determines the relationship between the maximum tension value and the tension critical value and the tension extreme value.

[0068] The tension adjustment module generates two different reference values, and the tension threshold value is smaller than the tension extreme value.

[0069] The critical tension value is characterized by the maximum receiving value of the cable when the hull swings. Below the critical tension value, it is believed that the tension will not have a negative impact on the cable. The extreme tension value is characterized by the maximum tension limit value corresponding to the cable. If the value exceeds this value, it is believed that the cable is likely to break or be damaged.

[0070] Then, according to the relationship between the maximum tension value detected during the charging process and the two reference values, it is possible to determine the solution that requires the winding module to adjust its state.

[0071] If the maximum tension value is greater than or equal to the extreme tension value, the second tension state change is a risk change.

[0072] When the risk changes, the tension adjustment module stops the swing increase detection task of the tension detection module and immediately generates a first adjustment instruction to the winding module.

[0073] In the first adjustment instruction, the state adjustment target is state one.

[0074] First, when the maximum tension is greater than or equal to the extreme tension value, it is considered that the cable is very likely to break or be damaged. At this time, in order to avoid the risk caused by excessive tension as soon as possible, it is necessary to immediately define the risk change and generate the first adjustment instruction to the winding module.

[0075] After receiving the first adjustment instruction, the winding module quickly adjusts the current state to state 1 to quickly lengthen the exposed length of the cable to relieve and share the greater tension.

[0076] At the same time, because the pressure and risk of the cable are extremely high when the maximum tension is greater than or equal to the extreme tension value, even if it is still in the detection stage of the swing amplification detection task, it is necessary to immediately stop the swing amplification detection task and directly adjust the state of the winding module.

[0077] If the maximum tension value is less than the tension extreme value and greater than or equal to the tension critical value, the second tension state change is a warning change.

[0078] In the early warning change, the tension adjustment module generates a second adjustment instruction.

[0079] In the second adjustment instruction, the state adjustment target is state one.

[0080] When the maximum tension is between the extreme tension value and the critical tension value, it is considered that the current shaking degree of the hull exceeds the ideal maximum receiving value of the cable. In this state, although the risk of cable breakage and damage is lower than the risk in the risk change, it will cause a certain degree of long-term damage to the cable, and the corresponding hull swing amplitude is also relatively large, so it is also necessary to generate an adjustment instruction to adjust the state of the winding module to state 1. However, the difference is that in the early warning change, the task can be allowed to continue even if the swing amplification detection task is not completed.

[0081] If the maximum tension value is less than the tension critical value, the second tension state change is a stable change.

[0082] In a stable change, the tension adjustment module generates a third adjustment command.

[0083] In the third adjustment instruction, the state adjustment target is state three.

[0084] When the maximum tension value is less than the critical tension value, it is considered that the hull is shaking, but the shaking does not cause damage to the cable. It is within the tension range allowed by the cable's own strength. At this time, there is no need to adjust the cable length. Therefore, the third adjustment instruction given by Shengchen is to keep the winding module in the current state three.

[0085] If the maximum tension value is 0, the second tension state change is an over-verification change.

[0086] During the overshoot, the tension adjustment module generates a fourth adjustment command.

[0087] In the fourth adjustment instruction, the state adjustment target is state two.

[0088] When the maximum tension value is 0, it means that the swaying amplitude of the hull is smaller than the lower limit of the swaying amplitude that the exposed length of the cable can bear. At this time, excessive useless cable may be exposed. When the cable sways due to wind and other factors, if the exposed cable length is too long, the excess cable will hang down due to gravity, which may cause it to affect the personnel and cargo on board. At the same time, it will take longer time in the subsequent winding process. Therefore, the fourth adjustment instruction can be generated at this time to adjust the state of the winding module to state two to shorten the exposed length of the cable.

[0089] In other embodiments, in addition to adjusting the state of the winding module by changing the second tension state, the tension adjustment module also needs to calculate the winding module replacement state according to the maximum tension value corresponding to the second tension state change to change the specific size of the exposed length of the cable, including: In the case of risk changes and warning changes, it is necessary to calculate the adjustment length to increase the exposed length of the cable: A first tension difference between the maximum tension value and the tension threshold value is calculated, and a first shaking amplitude is calculated based on the first tension difference.

[0090] First of all, it should be made clear that when the maximum tension value is detected to be large, the cable needs to be adjusted to a target so that the maximum pulling force it is subjected to after adjustment is less than the tension critical value.

[0091] Therefore, the first tension difference between the maximum tension value and the tension critical value is calculated first, and after the first tension difference is obtained, the first shaking amplitude is calculated according to the first tension difference. The first shaking amplitude corresponds to the shaking amplitude of the hull, and for the cable, it is characterized by the amplitude of shaking of the other end of the cable (corresponding to one end of the reel module) while one end of the cable is fixed (corresponding to one end of the reel module).

[0092] Specifically, the maximum tension value corresponds to the current tension, the tension threshold value corresponds to the expected tension, the first tension difference is the change, and the set swing amplification ratio k is first obtained, where k represents the adjustment coefficient between the ship's swing amplitude and the cable length change.

[0093] First shaking amplitude = first tension difference / (k*current exposure length).

[0094] The exposure length adjustment amount is calculated according to the first shaking amplitude, and the corresponding number of winding circles is calculated according to the exposure length adjustment amount combined with the winding ratio of the winding module.

[0095] After the first shaking amplitude is calculated, the maximum allowable shaking amplitude corresponding to the current exposure length is calculated based on the tension critical value, and the exposure length adjustment amount is obtained based on the difference between the first shaking amplitude and the maximum allowable shaking amplitude. This value represents the length by which the exposure length needs to be extended.

[0096] Then, the number of turns required on the winding module corresponding to this value can be calculated through the winding ratio. The winding ratio represents the length of cable that can be wound on the winding module per turn.

[0097] The control winding module maintains state one according to the number of winding turns, and changes to state three after the number of winding turns is reached.

[0098] When the winding module completes the calculated number of winding turns in state one, it returns to state three, thereby increasing the cable length to a certain extent to reduce the problem of excessive tension caused by insufficient cable length.

[0099] In some other embodiments, the tension adjustment module is further used to: In the over-verification change, it is necessary to control the winding module through the tension adjustment module to retract the cable to reduce the exposed length: The current exposure length is calculated based on the number of winding turns that the current winding module has rotated, and a number of winding verification lengths are generated according to the exposure length and the preset segmentation coefficient.

[0100] Get the current exposed length and divide it based on a certain coefficient. Because the cable lengthening and shortening are different, the maximum tension value can be used to intuitively judge the extent of the cable being pulled when the cable is stretched. When the cable is too long and needs to be retracted, no matter how much the excess exposed length of the cable is, the maximum tension value detected on it is zero, so it is necessary to set multiple retraction verification lengths based on the current exposed length.

[0101] The winding verification length is set as the exposure length adjustment amount and the corresponding winding number is calculated in combination with the winding ratio of the winding module.

[0102] The winding module is controlled to maintain state 2 by the number of winding turns at a fixed time, and the tension during the winding process is detected.

[0103] If the tension is detected and is not greater than the tension threshold, the state 2 is changed to the state 3.

[0104] If it is detected that the maximum tension value is still 0, the winding module continues to maintain state 2 based on the number of winding turns corresponding to the next winding verification length at the next timing time.

[0105] Each time the state of the winding module is adjusted to state two, only part of the cable is retracted, and the tension change is judged in real time after or during the retraction. When the tension change occurs and the detected tension value is not greater than the tension critical value, state two is changed to state three in time.

[0106] If the maximum tension value is still 0 after the winding is completed through the winding verification length, it is considered that there is still some excess length in the current exposed length, so the state 2 is still maintained at this time until the tension size is detected.

[0107] like Figure 2 As shown, in some other embodiments, a tension diagram drawing module and a periodicity analysis module are also included.

[0108] The tension diagram drawing module is used to obtain the detected tension from the tension detection module and draw the corresponding tension analysis diagram.

[0109] The tension diagram drawing template first generates a template with time as the horizontal axis and tension as the vertical axis, and marks the real-time detected tension in the template to obtain a tension analysis diagram for a certain period of time during charging.

[0110] The periodicity analysis module is used to obtain the tension analysis diagram and determine whether there is a periodic tendency, and when there is a periodic tendency, obtain the first tension value and the second tension value corresponding to the periodic endpoints on both sides of a single period.

[0111] In normal scenarios, such as when there is no abnormal weather or water conditions, the swaying of the ship is simple harmonic motion to a certain extent, which may have a certain periodicity. For example, when the ship sways left and right, up and down, etc., the tension on the cable is the same or similar when it is at the extreme positions on both sides.

[0112] Therefore, the periodicity analysis module uses the tension analysis diagram to determine whether the charging ship has an obvious periodic tendency. If so, the tension values ​​corresponding to the two end points in each cycle are obtained. These two tension values ​​are generally expressed as the tension values ​​corresponding to the two extreme positions of the ship in its rolling direction.

[0113] The periodic analysis module calculates the difference between the first tension value and the second tension value, generates a position adjustment task when the absolute value of the difference is greater than a preset value, and adjusts the rotation angle of the robot arm module based on the position adjustment task until it is detected that the absolute value of the difference is less than the preset value.

[0114] The difference between the two tension values ​​is used to determine whether the robotic arm is directly above the ship's charging port. Ideally, if the end of the robotic arm is directly above the charging port and the cable is completely vertical, then when the ship moves periodically, the two end points of the cable end should be close, so the tension values ​​corresponding to the two ends of a cycle should also be the same or similar.

[0115] Therefore, the difference in tension values ​​at both end points can be used to determine whether there is a position deviation between the robot arm and the charging port. When there is a position deviation, the position of the robot arm needs to be adjusted to a certain extent. When a position deviation occurs, the tension at some positions in the cycle may be larger, while the tension at some positions may be smaller.

[0116] At this time, the values ​​of the two end points of the detected periodic tension are adjusted by rotating the robotic arm to reduce the excessive tension caused by the tension imbalance.

[0117] In other embodiments, in risk changes and warning changes, the periodic analysis module is also used to determine whether the maximum tension value belongs to a cycle endpoint, and if it belongs to a cycle endpoint, the rotation angle of the robot arm module is adjusted preferentially through a position adjustment task.

[0118] If the adjusted maximum tension value is still greater than or equal to the tension extreme value or the tension critical value, the winding module is changed to state one based on the first adjustment instruction or the second adjustment instruction.

[0119] At the same time, in the risk changes and warning changes, if the detected maximum tension value belongs to the cycle endpoint, and it is also judged that the difference in tension values ​​corresponding to the two end points in a cycle is greater than the preset value, it means that the mode of the winding module needs to be adjusted to state one, and the position of the robot arm also needs to be adjusted.

[0120] At this time, the rotation angle of the robot arm is first adjusted based on the difference in tension values, and it is determined whether there is still a tension greater than the tension critical value or the tension extreme value in the new cycle. If it still exists, the state of the winding module is changed.

[0121] In this way, the problem of excessive tension can be improved by correcting the position of the robot arm before the winding module takes action. If the problem of excessive tension still cannot be solved after the position of the robot arm is improved, the mode of the winding module can be switched to increase the exposed length.

[0122] In other embodiments, when the winding module is adjusted to state two based on the charging end signal, the tension detection module generates a third tension state change when it detects that the tension on the cable is greater than the abnormal value. In the third tension state change, the tension detection module causes the winding module to enter state one and waits for the tension to be no greater than the abnormal value before switching to state three and generating a warning signal, wherein the abnormal value is the initial tension plus a preset tension increment.

[0123] When the charging task is completed, it is necessary to adjust the winding module to state two to disengage the charging head from the charging port. However, when charging on most ships, in order to avoid accidental detachment of the charging head, a certain locking structure is provided at the charging port, which can be opened before charging begins, locked during charging, and opened again after charging is completed.

[0124] However, in some cases, the locking result may cause the charging head to be unable to detach due to aging or damage. If the winding module remains in state two in this case, it will cause extreme pulling of the cable, the charging head and the charging port, which can easily damage the charging device. Therefore, it is necessary to detect the tension in real time in state two. Generally speaking, as long as the tension is equal to or greater than the weight of the charging head, the charging head can be detached from the charging port. However, if the tension is detected to be greater than the initial tension, it is considered that the charging head may not be able to detach. At this time, the winding module is stopped (entering state three), and an early warning signal is generated to notify the staff to check.

[0125] The present application also discloses a port-working vessel charging system, including the above-mentioned port-working vessel docked charging device.

[0126] The implementation principle is: When charging is started, during charging, and at the end of charging, the reeling mechanism is controlled to adjust the exposed length of the cable according to different processing signals. At the same time, during the charging process, the swaying state is specifically analyzed based on the influence of the ship's shaking on the cable tension, and the state that needs to be adjusted by the reeling module is determined based on the detected tension change. In this way, the excessive tension on the cable in the ship's swaying state is reduced by adjusting the state of the reeling module, and the negative pulling effect on the cable is reduced by dynamically adjusting the state of the reeling module, thereby reducing the cracking, deformation, and aging of the cable.

[0127] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the instructions of the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise clearly stated in this document, the execution of these steps is not strictly limited in order and can be performed in other orders.

[0128] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A charging device for a harbor vessel, characterized in that: include: A positioning module, used to locate and obtain the ship's berthing position to generate charging positioning coordinates; A walking module, used for acquiring the lateral coordinates in the charging positioning coordinates and moving to the corresponding position; A robotic arm module, used to obtain the charging positioning coordinates and move to above the charging port; a winding module, for winding and storing the cable and for adjusting the exposed length of the cable according to the height coordinate in the charging positioning coordinate, wherein the winding module switches, based on instructions, to a state one for increasing the exposed length, a state two for reducing the exposed length, and a state three for keeping the exposed length unchanged, the cable is also arranged on the mechanical arm and extends from one end of the mechanical arm, and a charging head is fixedly connected to an end of the cable; A charging start module, configured to adjust the winding module to the first state when the charging head moves to a matching position based on the charging positioning coordinates; A tension detection module, used for detecting the tension on the cable, and making the winding module enter the state three based on the change of the first tension state of the cable; In the state three, a swing amplification detection task is generated and a detection duration is set, and a change in the second tension state of the cable is detected within the detection duration; a tension adjustment module, which generates a state adjustment target and calculates an exposure length adjustment amount based on the change in the second tension state, controls the state of the winding module according to the state adjustment target, and controls the number of winding turns of the winding module based on the exposure length adjustment amount; The charging end module is used to wait for the charging end signal and adjust the winding module to the second state according to the charging end signal.

2. The charging device for harbor-based vessels according to claim 1, characterized in that: The tension detection module detects the tension of the winding module in the initial state and defines it as the initial tension, and the corresponding time when the winding module is in the state 1 and detects that the tension changes from the initial tension to 0 is defined as the standard time point; The standard time point is extended by a first preset time to obtain a target time point, and when the target time point is reached, the first tension state changes accordingly.

3. The charging device for harbor-based vessels according to claim 1, characterized in that: When the winding module enters the state three based on the first tension state change, the tension detection module enters the swing amplification detection task and determines the maximum tension value on the cable within the detection duration of the preset time length, and defines the maximum tension value as the second tension state change.

4. The charging device for harbor-based vessels according to claim 3, characterized in that: The tension adjustment module generates tension critical values ​​and tension extreme values ​​with different values, obtains the maximum tension value, and determines the magnitude relationship between the maximum tension value and the tension critical value and the tension extreme value; If the maximum tension value is greater than or equal to the extreme tension value, the second tension state change is a risk change. In the risk change, the tension adjustment module stops the swing increase detection task of the tension detection module and immediately generates a first adjustment instruction to the winding module. In the first adjustment instruction, the state adjustment target is the state one. If the maximum tension value is less than the tension extreme value and greater than or equal to the tension critical value, the second tension state change is a warning change, in which the tension adjustment module generates a second adjustment instruction, in which the state adjustment target is state one; If the maximum tension value is less than the tension critical value, the second tension state change is a stable change, in which the tension adjustment module generates a third adjustment instruction, in which the state adjustment target is the state three; If the maximum tension value is 0, the second tension state change is an over-verification change. In the over-change, the tension adjustment module generates a fourth adjustment instruction. In the fourth adjustment instruction, the state adjustment target is the state two.

5. The charging device for harbor-based vessels according to claim 4, characterized in that: The tension adjustment module is also used for: In the risk change and the warning change, calculating a first tension difference between the maximum tension value and the tension threshold value, and calculating a first shaking amplitude based on the first tension difference; Calculate the exposure length adjustment amount according to the first shaking amplitude, and calculate the corresponding number of winding turns according to the exposure length adjustment amount combined with the winding ratio of the winding module; The winding module is controlled to maintain the state one according to the number of winding turns, and is changed to the state three after the number of winding turns is reached.

6. The charging device for harbor-based vessels according to claim 5, characterized in that: The tension adjustment module is also used for: In the over-validation variation, Calculating the current exposure length based on the number of winding turns that the winding module has rotated, and generating a number of winding verification lengths according to the exposure length and a preset segmentation coefficient; The winding verification length is set as the exposure length adjustment amount and the corresponding winding number is calculated in combination with the winding ratio of the winding module; Controlling the winding module to maintain the second state by the number of winding turns at a fixed time, and detecting the tension during the winding process; If the tension is detected to be not greater than the tension threshold, the state 2 is changed to the state 3; If the detected maximum tension value is still 0, the winding module continues to maintain the state 2 based on the number of winding turns corresponding to the next winding verification length at the next timing.

7. The charging device for harbor vessels according to claim 4, characterized in that: It also includes a tension diagram drawing module and a periodicity analysis module, in which: The tension map drawing module is used to obtain the detected tension magnitude from the tension detection module and draw a corresponding tension distribution map; The periodicity analysis module is used to obtain the tension analysis diagram and determine whether there is a periodic tendency, and when there is a periodic tendency, obtain the first tension value and the second tension value corresponding to the periodic endpoints on both sides of a single period; The periodic analysis module calculates the difference between the first tension value and the second tension value, generates a position adjustment task when the absolute value of the difference is greater than a preset value, and adjusts the rotation angle of the robotic arm module based on the position adjustment task until it is detected that the absolute value of the difference is less than the preset value.

8. The charging device for harbor-based vessels according to claim 7, characterized in that: In the risk change and the warning change, the periodic analysis module is further used to determine whether the maximum tension value belongs to the cycle endpoint, and when it belongs to the cycle endpoint, the rotation angle of the robot arm module is adjusted preferentially through the position adjustment task; If the adjusted maximum tension value is still greater than or equal to the tension extreme value or the tension critical value, the winding module is changed to the state one based on the first adjustment instruction or the second adjustment instruction.

9. The charging device for harbor-based vessels according to claim 2, characterized in that: When the winding module is adjusted to the state two based on the charging end signal, the tension detection module generates a third tension state change when it detects that the tension on the cable is greater than the abnormal value. In the third tension state change, the tension detection module causes the winding module to enter the state one and waits for the tension to be no greater than the abnormal value before switching to the state three and generating a warning signal, wherein the abnormal value is the initial tension plus a preset tension increment.

10. A charging system for a harbor vessel, characterized in that: It comprises the charging device for harbor vessels at shore as claimed in any one of claims 1 to 9.

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