A shore charging device and charging system for harbor workboats

Abstract

The present application relates to the technical field of ship charging systems, and in particular to a shore charging device and a charging system for harbor working ships, which include: a positioning module, a traveling module, and a robotic arm module; a winding module for adjusting the exposed length of the cable. The winding module switches based on instructions to a first state in which the exposed length increases, a second state in which the exposed length decreases, and a third state in which the exposed length remains unchanged; a charging start module for adjusting the winding module to the first state; a tension detection module for detecting the magnitude of the tension and causing the winding module to enter the third state based on the change in the first tension state of the cable; in the third state, detecting the change in the second tension state of the cable; a tension adjustment module for generating a state adjustment target and calculating the exposed length adjustment amount based on the change in the second tension state; a charging end module for adjusting the winding module to the second state. The present application has the effect of alleviating the excessive pulling of the charging cable caused by the rocking of the ship during the ship charging process.

Description

Technical Field

[0001] The present application relates to the technical field of ship charging systems, and more particularly to a shore-side charging device and a charging system for harbor working ships. Background Art

[0002] Harbor working ships are collectively referred to as ships specifically engaged in harbor operations. Currently, in order to save harbor operation costs and reduce harmful substance pollution, many harbor working ships, after docking, have switched from adding fuel for power generation and energy replenishment in the past to charging and energy replenishment through shore-side charging devices.

[0003] In the current technology, when charging a ship, first, the position of the docked ship is obtained. The charging device uses a manipulator or robotic arm to move the charging head suspended by a charging cable above 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 suspended charging head to disengage from the charging port and return to its original state to complete the charging process.

[0004] However, in the actual charging scenario, since ships are different from vehicle charging, a ship cannot achieve complete fixation of its own attitude when docked, but will randomly sway with the water flow. The amplitude and direction of the sway are related to factors such as the water flow direction, wind force magnitude, and direction, showing complete randomness. When the ship is charging, since the charging port and the charging head are fixedly connected, when the ship sways, it will drive the cable to move. The movement of the cable is mainly reflected in the magnitude of its own tension force. After the charging head is docked, the winding device in the related technology will stop controlling the cable so that the cable maintains the same length throughout the charging process. Then, as the ship sways, the magnitude of the cable's tension force will also change. When the sway amplitude and sway frequency of the ship are relatively large, the cable will bear a large tension force, 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 of the charging cable caused by the sway of the ship during the ship charging process, the present application provides a shore-side charging device and a charging system for harbor working ships.

[0006] In a first aspect, the present application provides an A, adopting the following technical solutions:

[0007] A shore-side charging device for harbor working ships, comprising:

[0008] A positioning module, configured to position and obtain the shore-side position of the ship to generate a charging positioning coordinate;

[0009] A walking module, configured to obtain the lateral coordinate in the charging positioning coordinate and move to the corresponding position;

[0010] A robotic arm module for obtaining the charging positioning coordinates and moving above the charging port;

[0011] A winding module for winding and storing the cable and adjusting the exposed length of the cable according to the height coordinate in the charging positioning coordinates. The winding module switches between a first state for increasing the exposed length, a second state for decreasing the exposed length, and a third state for keeping the exposed length unchanged based on instructions. The cable is also arranged on the robotic arm and extends from one end of the robotic arm, and a charging head is fixedly connected to the end of the cable;

[0012] A charging start module for adjusting the winding module to the first state when the charging head moves to a matching position based on the charging positioning coordinates;

[0013] A tension detection module for detecting the tension magnitude on the cable and making the winding module enter the third state based on the change in the first tension state of the cable; in the third state, a swing amplitude increase detection task is generated and a detection duration is set, and the change in the second tension state of the cable is detected within the detection duration;

[0014] A tension adjustment module for generating a state adjustment target and calculating an exposed length adjustment amount based on the change in the second tension state, controlling the state of the winding module according to the state adjustment target, and controlling the number of winding turns of the winding module based on the exposed length adjustment amount;

[0015] A charging end module for waiting for a charging end signal and adjusting the winding module to the second state according to the charging end signal.

[0016] In some embodiments, the tension detection module detects the tension magnitude of the winding module in the initial state and defines it as the initial tension, and defines the corresponding time when the tension magnitude changes from the initial tension to 0 when the winding module is in the first state as the standard time point;

[0017] The standard time point is extended by a first preset time to obtain a target time point, and the first tension state change corresponds to the arrival of the target time point.

[0018] In some embodiments, when the winding module enters the third state based on the first tension state change, the tension detection module enters the swing amplitude increase 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.

[0019] In some of these embodiments, the tension adjustment module generates different numerical tension critical values and tension extreme 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;

[0020] If the maximum tension value is greater than or equal to the tension extreme value, then the second tension state changes to a risk change. In the risk change, the tension adjustment module stops the swing amplitude 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 first state;

[0021] If the maximum tension value is less than the tension extreme value and greater than or equal to the tension critical value, then the second tension state changes to a warning change. In the warning change, the tension adjustment module generates a second adjustment instruction. In the second adjustment instruction, the state adjustment target is the first state;

[0022] If the maximum tension value is less than the tension critical value, then the second tension state changes to a stable change. In the stable change, the tension adjustment module generates a third adjustment instruction. In the third adjustment instruction, the state adjustment target is the third state;

[0023] If the maximum tension value is 0, then the second tension state changes to 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 second state.

[0024] In some of these embodiments, the tension adjustment module is further configured to:

[0025] In the risk change and the warning change,

[0026] calculate a first tension difference between the maximum tension value and the tension critical value, and calculate a first swaying amplitude based on the first tension difference;

[0027] calculate an exposed length adjustment amount according to the first swaying amplitude, and calculate the corresponding number of winding turns according to the exposed length adjustment amount in combination with the coil ratio of the winding module;

[0028] control the winding module to maintain the first state according to the number of winding turns, and change to the third state after the number of winding turns is reached.

[0029] In some of these embodiments, the tension adjustment module is further configured to:

[0030] In the over-verification change,

[0031] Calculate the current exposed length based on the number of winding turns that the current winding module has rotated, and generate a number of wire winding verification lengths according to the exposed length and a preset segmentation coefficient;

[0032] Set the wire winding verification length as the exposed length adjustment amount and calculate the corresponding number of winding turns in combination with the turn-to-wire ratio of the winding module;

[0033] Control the winding module to maintain the second state at regular intervals through the number of winding turns, and detect the magnitude of the tension during the winding process;

[0034] If it is detected that the magnitude of the tension is not greater than the tension critical value, change the second state to the third state;

[0035] If the detected maximum tension value is still 0, continue to keep the winding module in the second state at the next timing based on the number of winding turns corresponding to the next wire winding verification length.

[0036] In some of the embodiments, it further includes a tension graph drawing module and a periodic analysis module, wherein,

[0037] The tension graph drawing module is used to obtain the detected magnitude of the tension from the tension detection module and draw a corresponding tension distribution graph;

[0038] The periodic analysis module is used to obtain the tension analysis graph and determine whether there is a periodic tendency, and when there is the periodic tendency, obtain the first tension value and the second tension value corresponding to the periodic endpoints on both sides in a single period;

[0039] The periodic analysis module calculates the difference between the first tension value and the second tension value, and when the absolute value of the difference is greater than a preset value, generates a position adjustment task, 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.

[0040] 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 periodic endpoints, and when it belongs to the periodic endpoints, preferentially adjust the rotation angle of the robotic arm module through the position adjustment task;

[0041] If the adjusted maximum tension value is still greater than or equal to the tension extreme value or the tension critical value, change the winding module to the first state based on the first adjustment instruction or the second adjustment instruction.

[0042] In some of these embodiments, when the rewinding module is adjusted to the second state based on the charging end signal, when the tension detection module detects that the tension on the cable is greater than the abnormal value, a third tension state change is generated. In the third tension state change, the tension detection module causes the rewinding module to enter the first state and waits until the tension is not greater than the abnormal value, then switches to the third state and generates a warning signal, where the abnormal value is the initial tension plus a preset tension increment.

[0043] In a second aspect, the present application provides a charging system for a harbor workboat, adopting the following technical solution:

[0044] A charging system for a harbor workboat includes the above-mentioned charging device for a harbor workboat when it is docked.

[0045] Through the technical solution provided by the embodiments of the present application, the following technical effects exist:

[0046] During charging start, charging in progress, and charging end, the rewinding 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 sway state is specifically analyzed based on the influence of the ship's sway on the cable tension, and the state that needs to be adjusted by the rewinding module is determined based on the detected tension change. In this way, by adjusting the state of the rewinding module, the excessive tension influence on the cable in the ship's sway state is reduced, and the negative pulling influence on the cable is reduced through the dynamic adjustment of the rewinding module state, reducing the situations of cable breakage, deformation, and aging. Description of the Drawings

[0047] Figure 1 It is a schematic diagram of the module connection of a charging device for a harbor workboat when it is docked provided by some embodiments in the present application.

[0048] Figure 2 It is a schematic diagram of the module connection of a charging device for a harbor workboat when it is docked provided by another part of the embodiments in the present application. Detailed Embodiments

[0049] To more clearly understand the purpose, technical solution, and advantages of this application, the following describes and explains this application in combination with the accompanying drawings and embodiments. However, those of ordinary skill in the art should understand that this application can be implemented without these details. In some cases, to avoid unnecessary descriptions from obscuring various aspects of this application, well-known methods, processes, systems, components, and / or circuits that have been described at a higher level will not be elaborated further. For those of ordinary skill in the art, it is obvious that various changes can be made to the disclosed embodiments of this application, and without departing from the principles and scope of this application, the general principles defined in this application can be applied to other embodiments and application scenarios. Therefore, this application is not limited to the illustrated embodiments, but conforms to the broadest scope consistent with the scope claimed in this application.

[0050] It should be noted here that the descriptions of these embodiments are used to help understand the present invention, but do not constitute a limitation to the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0051] In the description of this application, the meaning of "several" is one or more, the meaning of "multiple" is more than two, and understandings such as "greater than", "less than", and "exceeding" do not include the number itself, and understandings such as "above", "below", and "within" include the number itself. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0052] In the description of this application, the descriptions with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a combined manner.

[0053] An embodiment of this application discloses a shore charging device for harbor working ships.

[0054] As Figure 1 shown, a shore charging device for harbor working ships includes:

[0055] A positioning module, configured to locate and obtain the shore position of the ship to generate a charging positioning coordinate.

[0056] The positioning module mainly obtains the location of the port operation vessel when the port operation 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.

[0057] After obtaining the current position of the port operation vessel, since the position of each on-board charging port is fixed, the position coordinates of the charging port can be further obtained, and the charging positioning coordinates are generated based on the position coordinates of the charging port.

[0058] The charging positioning coordinates represent the position that the module to be charged subsequently needs to move to, and it includes a horizontal coordinate, a vertical coordinate, and a height coordinate. The horizontal coordinate is in the ship length direction, the vertical coordinate is in the ship width direction, and the height coordinate is in the ship height direction.

[0059] The walking module is used to obtain the horizontal coordinate in the charging positioning coordinates and move to the corresponding position.

[0060] The walking module is an electric pulley in the embodiment of the present application. It is arranged under a support plate, and a mechanical arm module, a winding module, etc. obtained are arranged on the support plate.

[0061] After the walking module obtains the charging positioning coordinates, it obtains the direction and distance it needs to move based on the horizontal coordinate in the charging positioning coordinates and moves to the corresponding position. In general, after the walking module moves to the target position, the horizontal coordinate of its own center point is the same as the horizontal coordinate of the center point of the charging port.

[0062] Furthermore, the walking module is also matched with a locking mechanism. The locking mechanism is mainly used to prevent the walking module from displacing during the subsequent mechanical arm movement, winding movement, etc. after the walking module moves to the target position through a certain locking method. When the charging is over, the locking mechanism is restored so that the walking module can move again.

[0063] The locking mechanism is a hydraulic telescopic support rod arranged around the whole charging device in the embodiment of the present application.

[0064] The mechanical arm module is used to obtain the charging positioning coordinates and move above the charging port.

[0065] The mechanical arm module is mainly a rotatable and telescopic mechanical arm device. After the walking mechanism moves to the target position, through telescopic adjustment and rotational adjustment, the end of the mechanical arm is moved above the charging port. The charging head is located below the end of the mechanical arm, and the charging head is connected to the mechanical arm through a cable.

[0066] The winding module is used for winding and storing the cable and for adjusting the exposed length of the cable according to the height coordinate in the charging positioning coordinates.

[0067] The wire rewinding module is a roller structure driven by a motor. A charging cable is wound around it, and the motor drives it to adjust the exposed length of the cable. The exposed length in the embodiments of the present application is characterized as the length of the cable that is exposed and between the end of the robotic arm and the charging head.

[0068] Based on instructions, the wire rewinding module switches to State 1 for increasing the exposed length, State 2 for decreasing the exposed length, and State 3 for keeping the exposed length unchanged.

[0069] The wire rewinding module can be adjusted among three states: State 1 of forward rotation to increase the exposed length of the cable, State 2 of reverse rotation to shorten the exposed length of the cable, and State 3 of the motor stopping to keep the exposed length of the cable unchanged.

[0070] Subsequently, based on the tension detection on the cable, the wire rewinding module is dynamically adjusted in different states to achieve the effect of dynamically controlling the cable length and reducing the excessive tension on the cable caused by the ship's swaying.

[0071] The cable is also arranged on the robotic arm and extends from one end of the robotic arm, and a charging head is fixedly connected to the end of the cable.

[0072] The charging start module is used to adjust the wire rewinding module to State 1 when the charging head moves to the matching position based on the charging positioning coordinates.

[0073] When the robotic arm module drives the charging head to move above the charging port, a signal for starting charging is correspondingly generated. Based on this signal, the charging start module adjusts the wire rewinding module to State 1. The wire rewinding module starts to rotate forward in State 1 to increase the exposed length of the cable, and the charging head slowly descends until it docks with the charging port.

[0074] The tension detection module is used to detect the magnitude of the tension on the cable and make the wire rewinding module enter State 3 based on the change in the first tension state of the cable.

[0075] The tension detection module includes tension detection devices such as a tension sensor and a tensiometer, which can detect the magnitude of the tension on the cable.

[0076] When it detects a specified change in the first tension state on the cable, it is considered that the cable is in an ideal state at the initial stage of the charging task, and the wire rewinding module enters State 3. In State 3, the wire rewinding module stops working and keeps the exposed length of the cable unchanged. And when the wire rewinding module switches from State 1 at the start of charging to State 3, it is considered that the charging process starts.

[0077] In State 3, the tension detection module also generates a swing amplitude increase detection task and sets a detection duration, and detects the change in the second tension state of the cable within the detection duration.

[0078] During the charging process, the tension detection module performs a swing amplitude increase detection task for a certain period of time. Under this task, it continuously detects the tension on the cable and judges and adjusts the specific situation of the exposed length of the cable according to the change of the tension. When such a situation occurs, the cable corresponds to a preset second tension state change.

[0079] The swing amplitude increase detection task is mainly used to detect whether the exposed length of the current 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 swing area of the cable, etc.

[0080] Among them, adjusting the exposed length of the cable includes increasing the exposed length, decreasing the exposed length, and maintaining the exposed length.

[0081] The tension adjustment module generates a state adjustment target based on the second tension state change, calculates the exposed length adjustment amount, controls the state of the winding module according to the state adjustment target, and at the same time controls the number of winding turns of the winding module based on the exposed length adjustment amount.

[0082] The tension adjustment module obtains the state adjustment target corresponding to what state the winding module needs to be changed to and the exposed length adjustment amount corresponding to how long the exposed length of the cable needs to be based on the second tension state change corresponding to the detection result in the swing amplitude increase detection task.

[0083] Among them, according to what adjustment needs to be made to the cable, the state change of the winding module is controlled through the state adjustment target, and the number of winding turns that the winding module needs to rotate in different states is calculated by converting the length of the required exposed length change.

[0084] 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.

[0085] 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. Therefore, the winding module needs to be adjusted to state two to shorten the exposed length of the cable so that the charging head rises to detach from the charging port.

[0086] Through the above technical solutions, during charging start, charging, and charging end, the exposed length of the cable is adjusted by controlling the winding mechanism according to different processing signals. At the same time, during the charging process, based on the influence of the ship's sway on the cable tension, the sway state is specifically analyzed, and based on the detected tension change, the state that needs to be adjusted by the winding module is determined. In this way, through the adjustment of the winding module state, the excessive tension influence on the cable in the ship's sway state is reduced, and the negative pulling influence on the cable is reduced through the dynamic adjustment of the winding module state, reducing the situations of cable breakage, deformation, and aging.

[0087] In some other embodiments, the tension detection module detects the tension magnitude 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 the detected tension magnitude changes from the initial tension to 0 as the standard time point.

[0088] The initial state is characterized as the state before the charger head is inserted into the charging port. In this state, the pressure magnitude on the cable is defined as the initial tension. The initial tension is characterized as the pulling force exerted on the cable by the weight of the charger head itself.

[0089] When the charger head slowly moves downward under the winding module in State 1 and docks with the charging port, since the charging port will support the charger head, the pulling force magnitude on the cable will gradually decrease. And when the charger head is fully docked into the charging port, all the weight of the charger head is borne by the charging port, so finally the pulling force on the cable will become zero.

[0090] At the moment when the detected pulling force magnitude becomes zero, the corresponding time point is defined as the standard time point, and this standard time point indicates the completion of the connection of the charger head.

[0091] Extend the standard time point by a first preset time to obtain the target time point, and at the arrival of the target time point, it corresponds to the change of the first tension state.

[0092] If the ship is a completely stationary object, then the state corresponding to the standard time point is the ideal charging state. Since the current pulling force is zero and the ship will not shake to drag the cable, then at the standard time point, the winding module changes to State 3 to stop the increase of the exposed length of the cable, so that the cable is in a situation where it is neither dragged nor there is excess cable exposed.

[0093] However, in actual situations, the ship will shake. Therefore, stopping the winding module at the standard time point will definitely cause the ship to drag the cable with just the right exposed length during the shaking process. So, in order to provide a certain acceptance threshold for the subsequent unpredictable hull shaking at the beginning of charging, it is necessary to define the time point after delaying the standard time point by a certain time as the target time point, and consider that the first tension state change is triggered when the target time point arrives, so that the winding module changes from State 1 to State 3.

[0094] In this way, on the basis of the just-right length of the cable, the exposed length of the cable will continue to increase through the extended certain time, such as making the winding module continue to rotate for 3 - 5 s. The additional length of the cable on the basis of the just-right exposed length state is used as the prediction threshold before the actual ship shaking is detected during the charging start stage.

[0095] In some other embodiments, when the winding module enters State 3 based on the change of the first tension state, the tension detection module enters the swing amplitude increase detection task and determines the maximum tension value on the cable during the detection duration of a preset time length, and defines the maximum tension value as the second tension state change.

[0096] In the swing amplitude increase detection task, the tension detection module regularly detects the tension size within a certain time after the start of the task, such as within 5 minutes, and determines the size of the maximum tension value on the cable after or during the end of the detection duration.

[0097] The maximum tension value will continuously change during the detection duration, and the maximum tension value is used as the second tension state change.

[0098] Since the overall charging time of the ship varies from a few hours, and factors such as water flow and weather basically remain at a similar level within a few hours under normal circumstances, then by detecting the tension during a preset part of the duration after charging is started, the swaying situation during the subsequent few hours of the charging process can be predicted and inferred, and the prediction duration can be 10 minutes - 30 minutes. And the maximum pulling force value detected during the prediction duration can generally be equivalently considered as the maximum pulling force value during the subsequent overall charging time.

[0099] In some other embodiments, the tension adjustment module generates different tension critical values and tension extreme values, and simultaneously obtains the maximum tension value and judges the size relationship with the tension critical value and the tension extreme value.

[0100] The tension adjustment module generates two different reference values, and the tension critical value is less than the tension extreme value.

[0101] The tension critical value represents the maximum acceptance value of the cable when the hull sways. Below the tension critical value, it is considered that the tension will not have a negative impact on the cable, while the tension extreme value represents the maximum tension limit value corresponding to the cable. Exceeding this value, it is considered that the cable is very likely to break or be damaged.

[0102] Then, according to the size relationship between the maximum tension value detected during the charging process and the two reference values, the scheme for the winding module to perform state adjustment can be judged.

[0103] If the maximum tension value is greater than or equal to the tension extreme value, the second tension state change is a risk change.

[0104] In the risk change, the tension adjustment module stops the swing amplitude increase detection task of the tension detection module and immediately generates a first adjustment instruction to the winding module.

[0105] In the first adjustment instruction, the state adjustment target is State 1.

[0106] 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 quickly avoid the risks caused by excessive tension, it is necessary to immediately define the risk change and generate the first adjustment instruction for the winding module.

[0107] After receiving the first adjustment instruction, the winding module quickly adjusts the current state to State 1 to quickly increase the exposed length of the cable to relieve and share the greater tension.

[0108] At the same time, when the maximum tension is greater than or equal to the extreme tension value, the pressure on the cable and the risks borne are extremely high. Therefore, even if it is still in the detection stage of the swing amplitude increase detection task, it is necessary to immediately stop the swing amplitude increase detection task and directly adjust the state of the winding module.

[0109] If the maximum tension value is less than the extreme tension value and greater than or equal to the critical tension value, the second tension state changes to a warning change.

[0110] In the warning change, the tension adjustment module generates the second adjustment instruction.

[0111] In the second adjustment instruction, the state adjustment target is State 1.

[0112] When the maximum tension is between the extreme tension value and the critical tension value, it is considered that the current rocking degree of the hull exceeds the ideal maximum reception value of the cable. In this state, although the risk of the cable breaking and being damaged is less 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. Therefore, at this time, 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 warning change, the task can still be allowed to continue when the swing amplitude increase detection task has not ended.

[0113] If the maximum tension value is less than the critical tension value, the second tension state changes to a stable change.

[0114] In the stable change, the tension adjustment module generates the third adjustment instruction.

[0115] In the third adjustment instruction, the state adjustment target is State 3.

[0116] When the maximum tension value is less than the critical tension value, it is considered that the hull has rocked, but this rocking does not cause damage to the cable, and it is within the tension range allowed by the strength of the cable itself. At this time, there is no need to adjust the length of the cable. Therefore, the third adjustment instruction given is to make the winding module maintain the current State 3.

[0117] If the maximum tension value is 0, the second tension state changes to an over-verification change.

[0118] During excessive changes, the tension adjustment module generates a fourth adjustment instruction.

[0119] In the fourth adjustment instruction, the state adjustment target is State Two.

[0120] When the maximum tension value is 0, it indicates that the sway amplitude of the hull is smaller than the lower limit of the sway amplitude that the exposed length of the cable can bear. At this time, there may be too long useless cable exposed. When the cable sways due to factors such as wind, if the exposed cable length is too long, the excess cable will droop due to gravity, which may cause impacts on the personnel and goods on the ship. At the same time, it will take longer during the subsequent winding process. Therefore, a 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.

[0121] In some other embodiments, in addition to adjusting the state of the winding module through the second tension state change, the tension adjustment module also needs to calculate the specific size of the state change of the winding module to change the exposed length of the cable according to the maximum tension value corresponding to the second tension state change, including:

[0122] In the risk change and warning change, it is necessary to calculate the adjustment length for increasing the exposed length of the cable:

[0123] Calculate the first tension difference between the maximum tension value and the tension critical value, and calculate the first sway amplitude based on the first tension difference.

[0124] First of all, it should be clear that when the detected maximum tension value is large, the goal for the cable to be adjusted is to make the maximum tensile force value it receives after adjustment less than the tension critical value.

[0125] Therefore, first calculate the first tension difference between the maximum tension value and the tension critical value. After obtaining the first tension difference, calculate the first sway amplitude according to the first tension difference. This first sway amplitude corresponds to the sway amplitude of the hull. At the same time, for the cable, it is characterized that one end of the cable is fixed (corresponding to one end of the winding module), and the sway amplitude of the other end of the cable (corresponding to the end of the charging head).

[0126] Specifically, the maximum tension value corresponds to the current tension, the tension critical value corresponds to the expected tension, and the first tension difference is the change amount. First, obtain the set swing increase ratio k, and k represents the adjustment coefficient between the sway amplitude of the ship and the change in cable length.

[0127] The first sway amplitude = the first tension difference / (k * the current exposed length).

[0128] Calculate the exposed length adjustment amount according to the first sway amplitude, and calculate the corresponding winding turns according to the exposed length adjustment amount and the winding ratio of the winding module.

[0129] After calculating the first sway amplitude, calculate the maximum allowable sway amplitude corresponding to the current exposed length based on the tension critical value, and obtain the exposed length adjustment amount based on the difference between the first sway amplitude and the maximum allowable sway amplitude. This value represents the length by which the exposed length needs to be lengthened.

[0130] Then, through the coil-to-wire ratio, the number of turns that need to be rotated on the winding module corresponding to this value can be calculated. The coil-to-wire ratio represents the length of the cable that can be wound per turn of the winding module.

[0131] Control the winding module to maintain State 1 according to the number of winding turns, and change to State 3 after the number of winding turns is reached.

[0132] When the winding module rotates the calculated number of winding turns in State 1, it returns to State 3, thus increasing a certain length of the cable to reduce the problem of excessive tension caused by insufficient cable length.

[0133] In some other embodiments, the tension adjustment module is further configured to:

[0134] In the over-verification change, it is necessary to control the winding module to retract the cable through the tension adjustment module to reduce the exposed length:

[0135] Calculate the current exposed length based on the number of winding turns that the current winding module has rotated, and generate several wire-receiving verification lengths according to the exposed length and the preset segmentation coefficient.

[0136] Obtain the current exposed length and divide the exposed length based on a certain coefficient. Since the situations of cable elongation and cable shortening are different, when the cable is lengthened, the degree to which the cable is pulled can be intuitively judged by the magnitude of the maximum tensile force value. When the cable needs to be retracted due to excessive exposed length, no matter how much the excess exposed length of the cable is, the detected maximum tensile force value is zero. Therefore, multiple wire-receiving verification lengths need to be set based on the current exposed length.

[0137] Set the wire-receiving verification length as the exposed length adjustment amount and calculate the corresponding number of winding turns in combination with the coil-to-wire ratio of the winding module.

[0138] Control the winding module to maintain State 2 at regular intervals according to the number of winding turns, and detect the magnitude of the tension during the winding process.

[0139] If the detected tension magnitude is not greater than the tension critical value, change State 2 to State 3.

[0140] If the detected maximum tension value is still 0, continue to keep the winding module in State 2 at the next timing based on the number of winding turns corresponding to the next wire-receiving verification length.

[0141] Each time the status of the take-up module is adjusted to Status Two, only part of the cable is retracted, and the change in tension is judged in real time after or during the retraction. When there is a change in tension and the detected tension value is not greater than the tension critical value, Status Two is promptly changed to Status Three.

[0142] If the maximum tension value is still 0 after the take-up is completed by passing the take-up verification length at one time, it is considered that there is still a part of the excess length in the current exposed length. Therefore, Status Two is still maintained at this time until the magnitude of the tension is detected.

[0143] As Figure 2 shown, in some other embodiments, a tension graph drawing module and a periodic analysis module are further included.

[0144] The tension graph drawing module is used to obtain the detected tension magnitude from the tension detection module and draw a corresponding tension analysis graph.

[0145] The tension graph drawing template first generates a template with the horizontal axis being time and the vertical axis being the tension magnitude, and marks the tension detected in real time in the template to obtain the tension analysis graph for a certain period during charging.

[0146] The periodic analysis module is used to obtain the tension analysis graph and judge whether there is a periodic tendency. When there is a periodic tendency, the first tension value and the second tension value corresponding to the periodic endpoints on both sides in a single period are obtained.

[0147] Under normal circumstances, such as in scenarios without abnormal weather and abnormal water conditions, the swaying of the ship is to a certain extent a simple harmonic motion, and it may have a certain periodicity. For example, when the ship sways left and right, up and down, etc., the tension magnitudes of the cables corresponding to the two extreme positions on both sides are the same or similar.

[0148] Therefore, the periodic analysis module judges whether the ship being charged has an obvious periodic tendency through the tension analysis graph. If so, the tension values corresponding to the two endpoints in each period are obtained. These two tension values generally represent the tension values corresponding to the two extreme positions of the ship in its swaying direction.

[0149] The periodic analysis module calculates the difference between the first tension value and the second tension value, and generates a position adjustment task when the absolute value of the difference is greater than the preset value, and adjusts the rotation angle of the robotic arm module based on the position adjustment task until the absolute value of the detected difference is less than the preset value.

[0150] It is judged whether the robotic arm is directly above the ship's charging port by the difference between two tension values. In an ideal situation, 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 where the end of the cable moves should be close. Therefore, the tension values corresponding to the two ends of one cycle should also be the same or similar.

[0151] Therefore, it can be judged whether there is a position deviation between the robotic arm and the charging port by the difference in tension values at the two end points. When there is a position deviation, the position of the robotic arm needs to be adjusted to a certain extent. Because when there is a position deviation, it is possible that the tension at some positions in the cycle is relatively large and the tension at some positions is relatively small.

[0152] At this time, the numerical 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.

[0153] In some other embodiments, in the risk change and warning change, the periodic analysis module is also used to judge whether the maximum tension value belongs to the cycle end point, and when it belongs to the cycle end point, the rotation angle of the robotic arm module is preferentially adjusted through the position adjustment task.

[0154] 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.

[0155] Meanwhile, in the risk change and warning change, if the detected maximum tension value belongs to the cycle end point, and it is also judged that the difference between the tension values corresponding to the two end points in one cycle is greater than the preset value, it means that the mode of the winding module needs to be adjusted to state one currently, and the position of the robotic arm also needs to be adjusted.

[0156] At this time, first, the rotation angle of the robotic arm is adjusted based on the difference in tension values, and it is judged whether there is still tension greater than the tension critical value or greater than the tension extreme value in the new cycle. If there is still such tension, the state of the winding module is changed.

[0157] In this way, the problem of excessive tension can be improved by correcting the position of the robotic arm before the winding module acts. When the problem of excessive tension still cannot be solved after the position of the robotic arm is improved, the mode of the winding module is converted to increase the exposed length.

[0158] In some other embodiments, when the rewinding module is adjusted to state two based on the charging end signal, if the tension detection module detects that the tension on the cable is greater than the abnormal value, a third tension state change is generated. In the third tension state change, the tension detection module makes the rewinding module enter state one and waits until the tension is not greater than the abnormal value, then switches to state three and generates a warning signal, where the abnormal value is the initial tension plus a preset tension increment.

[0159] When the charging task ends, it is necessary to adjust the rewinding module to state two to disconnect the charging head from the charging port. However, when most ships are charging, in order to avoid accidental disconnection of the charging head, a certain locking structure is set at the charging port, which can be opened before charging starts, locked during charging, and opened again after charging ends.

[0160] However, in some cases, abnormal situations may occur where the charging head cannot be disconnected due to aging or damage of the locking structure. If the rewinding module remains in state two in such cases, it will cause extreme pulling on the cable, charging head, and charging port, and it is very easy to damage the charging device. Therefore, it is necessary to detect the tension in real time during the state two stage. Generally speaking, as long as the tension is equal to or greater than the weight of the charging head by a little, the charging head can be disconnected from the charging port. However, if it is detected that the tension is much greater than the initial tension, it is considered that the charging head may not be able to be disconnected. At this time, the rewinding module is stopped (entering state three), and a warning signal is generated to notify the staff for inspection.

[0161] This application also discloses a charging system for a harbor workboat, including the above-mentioned charging device for a harbor workboat when it is docked.

[0162] The implementation principle is as follows:

[0163] During charging startup, charging in progress, and charging end, the rewinding mechanism is controlled according to different processing signals to adjust the exposed length of the cable. At the same time, during the charging process, the sway state is specifically analyzed based on the influence of the ship's sway on the cable tension, and the state that the rewinding module needs to adjust is determined based on the detected tension change. In this way, by adjusting the state of the rewinding module, the excessive tension influence on the cable in the ship's sway state is reduced, and the negative pulling influence on the cable is reduced by dynamically adjusting the state of the rewinding module, reducing the occurrence of cracks, deformation, and aging of the cable.

[0164] It should be understood that although the steps in the flowchart of the drawings are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and they can be executed in other orders.

[0165] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application shall be covered within 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 to detect the tension on the cable in the initial state and define it as the initial tension, and define the corresponding time when the winding module is in the state 1 and detects that the tension changes from the initial tension to 0 as a standard time point, the initial state is characterized by the state before the charging head is not inserted into the charging port, and the initial tension is characterized by the pulling force exerted on the cable by the weight of the charging head itself; Extending the standard time point by a first preset time to obtain a target time point, and when the target time point is reached, the first tension state changes; The tension detection module is also used to detect the tension on the cable, and to make 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; Specifically, the tension adjustment module generates tension critical values ​​and tension extreme values ​​with different values, obtains a maximum tension value, and determines the magnitude relationship between the maximum tension value and the tension critical value and the tension extreme value to generate a corresponding adjustment instruction; If the maximum tension value is 0, the second tension state change is an over-verification change, in which the tension adjustment module generates a fourth adjustment instruction, in which the state adjustment target is the state 2; In the over-verification change, the tension during the winding process is detected, and if the tension is detected and is not greater than the tension threshold, the state 2 is changed to the state 3; A charging end module, used for waiting for a charging end signal and adjusting the winding module to the second state according to the charging end signal; 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 distribution 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.

2. 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.

3. The charging device for harbor-based vessels according to claim 2, characterized in that: Also includes; 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 the stable change, the tension adjustment module generates a third adjustment instruction. In the third adjustment instruction, the state adjustment target is the state three.

4. The charging device for harbor-based vessels according to claim 3, 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.

5. The charging device for harbor-based vessels according to claim 4, characterized in that: The tension adjustment module is specifically 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.

6. The charging device for harbor-based vessels according to claim 5, characterized in that: In the risk change and the warning change, the periodicity 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.

7. 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.

8. A charging system for a harbor vessel, characterized in that: It comprises the charging device for harbor vessels at shore as described in any one of claims 1 to 7.

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