Container terminal alcohol electricity automatic charging device, charging method, scheduling method and system

Abstract

The invention provides a container terminal methanol power automatic charging device, charging method, scheduling method and system, and the device comprises a carrying module which is provided with a positioning device, and the positioning device is used for positioning a to-be-charged device so as to guide the carrying module to move to a position corresponding to the to-be-charged device; the automatic charging module is arranged on the carrying module; the methanol fuel cell module is arranged on the carrying module and electrically connected with the automatic charging module, and the methanol fuel cell module is used for supplying power to the automatic charging module; wherein the automatic charging module comprises a charging device and a recognition device, the recognition device is used for recognizing the position of a charging port of the to-be-charged equipment and whether the charging port of the to-be-charged equipment is opened or not, and the charging device is used for being inserted into the charging port of the to-be-charged equipment for charging. According to the automatic charging device, the occupied space can be reduced, and the charging efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of terminal equipment, and in particular to an alcohol-electric automatic charging device, a charging method, a scheduling method and a system for a container terminal. Background Art

[0002] At present, more and more container mobile equipment at the terminal has begun to use rechargeable batteries as power, replacing the original diesel engines and other power sources. These equipment mainly include rubber-tyred gantry container cranes (hereinafter referred to as "tyre cranes"), straddle carriers, automatic guided vehicles (Automated Guided Vehicle, hereinafter referred to as "AGV") / intelligent guided vehicles (hereinafter referred to as "IGV"), forklifts, reach stackers, infield container trucks and other mobile equipment.

[0003] Conventional battery charging solutions for containerized mobile equipment require the construction of a large number of charging stations or charging piles in the yard. Especially for large mobile equipment such as tire cranes, the scale of the charging station needs to be expanded accordingly, so it is necessary to renovate the site or add more sites in the yard, which occupies a large area and the cost of basic power facility renovation is also high. In addition, this solution requires the containerized mobile equipment to move over long distances, so the charging efficiency is low and the charging time is long. Summary of the invention

[0004] In view of this, the present invention provides an automatic alcohol-electric charging device, a charging method, a scheduling method and a system for a container terminal, which can reduce site occupancy and improve charging efficiency.

[0005] In order to solve at least one of the above technical problems, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides an automatic alcohol-electric charging device for a container terminal, comprising:

[0007] The carrier module is provided with a positioning device, which is used to locate the position of the device to be charged so as to guide the carrier module to move to a position corresponding to the device to be charged;

[0008] An automatic charging module, which is arranged on the carrier module;

[0009] A methanol fuel cell module, which is disposed on the carrier module and electrically connected to the automatic charging module, and is used to supply power to the automatic charging module;

[0010] Among them, the automatic charging module includes a charging device and an identification device, the identification device is used to identify the position of the charging port of the device to be charged and whether the charging port of the device to be charged is open, and the charging device is used to be inserted into the charging port of the device to be charged for charging.

[0011] In one embodiment of the present invention, the carrier module comprises:

[0012] A carrier vehicle, wherein the positioning device is arranged on the carrier vehicle;

[0013] A storage cabin, which is arranged on the carrier vehicle, and in which the automatic charging module and the methanol fuel cell module are arranged;

[0014] The positioning device is used to guide the carrier vehicle to move to a position corresponding to the device to be charged.

[0015] In one embodiment of the present invention, the storage compartment includes a first compartment and a second compartment, the automatic charging module is arranged in the first compartment, and the methanol fuel cell module is arranged in the second compartment.

[0016] The charging device includes a charging robot component and a charging gun connected to the charging robot component.

[0017] In one embodiment of the present invention, openings for extending the charging robot assembly are respectively provided at both ends of the first compartment along the width direction of the carrier module.

[0018] In one embodiment of the present invention, the charging robot assembly comprises:

[0019] A transverse guide rail, wherein the length direction of the transverse guide rail is consistent with the length direction of the first compartment;

[0020] A collaborative robot is arranged on a transverse guide rail and can reciprocate along the length direction of the transverse guide rail, and the charging gun is detachably connected to the collaborative robot.

[0021] In one embodiment of the present invention, the methanol fuel cell module comprises:

[0022] A methanol fuel cell stack, wherein the methanol fuel cell stack is used to generate direct current electricity;

[0023] An alcohol storage tank, the alcohol storage tank is used to store methanol, the alcohol storage tank is connected to the methanol fuel cell group, and the alcohol storage tank is used to provide methanol to the methanol fuel cell group;

[0024] Water storage tank, which is used to store water discharged after the methanol fuel cell group reforms to produce hydrogen for power generation;

[0025] A control cabinet, the control cabinet is connected to the methanol fuel cell group, and the control cabinet is used to modulate the direct current generated by the methanol fuel cell group;

[0026] Charger: one end of the charger is connected to the control cabinet, and the other end of the charger is connected to the charging gun;

[0027] Low voltage power supply: Low voltage power supply is used to supply power to the control cabinet and charger.

[0028] In one embodiment of the present invention, a corresponding rolling door is disposed above each opening.

[0029] In one embodiment of the present invention, the recognition device is a multi-eye camera or a laser camera.

[0030] In a second aspect, the present invention provides a method for automatically charging alcohol-based batteries at a container terminal, which is applied to the automatic alcohol-based batteries charging device at a container terminal described in any one of the above embodiments. The method comprises:

[0031] Step S10, upon receiving a dispatch instruction sent by the host computer, the container terminal alcohol battery automatic charging device moves to a position corresponding to the device to be charged based on the dispatch instruction;

[0032] Step S20, the container terminal alcohol-electric automatic charging device identifies the location of the charging port of the device to be charged and whether the charging port of the device to be charged is open, and after completing the identification, inserts the charging gun into the charging port to charge the device to be charged.

[0033] In one embodiment of the present invention, the scheduling instruction includes a charging command and the model information, waiting position and power requirement of the device to be charged. Step S10 includes:

[0034] The automatic alcohol-electric charging device at the container terminal determines the direction of the charging port of the device to be charged based on the model information and the waiting position;

[0035] The automatic alcohol-electric charging device at the container terminal moves to a position corresponding to the charging port of the device to be charged according to the waiting position and the direction of the charging port of the device to be charged.

[0036] In one embodiment of the present invention, step S20 includes:

[0037] The automatic alcohol-electric charging device at the container terminal obtains the first point cloud data of the charging port contour of the device to be charged based on the model information;

[0038] The container terminal alcohol battery automatic charging device scans the device to be charged to obtain second point cloud data, and when the second point cloud data matches the first point cloud data, the container terminal alcohol battery automatic charging device determines the location as the charging port of the device to be charged;

[0039] The container terminal alcohol battery automatic charging device obtains the first depth data after the charging port of the device to be charged is opened based on the model information;

[0040] The container terminal alcohol battery automatic charging device scans the charging port of the device to be charged to obtain second depth data, and when the second depth data matches the first depth data, the container terminal alcohol battery automatic charging device determines that the charging port of the device to be charged is opened;

[0041] After confirming the location of the charging port of the device to be charged and that the charging port is open, the container terminal alcohol battery automatic charging device inserts the charging gun into the charging port and sends a charging request signal to the device to be charged;

[0042] Upon receiving the charging confirmation signal sent by the device to be charged, the container terminal alcohol battery automatic charging device charges the device to be charged with electricity that meets the power demand.

[0043] In a third aspect, the present invention provides a method for dispatching an alcohol-electric automatic charging device at a container terminal, comprising:

[0044] S100: When receiving a charging demand instruction sent by the device to be charged, the host computer selects a container terminal alcohol-electric automatic charging device for scheduling;

[0045] S200, the host computer sends a dispatch instruction to the selected container terminal alcohol-electric automatic charging device to dispatch the selected container terminal alcohol-electric automatic charging device to charge the equipment to be charged;

[0046] Wherein, step S200 includes any one of the above-mentioned methods for automatic alcohol-to-electricity charging at a container terminal.

[0047] In one embodiment of the present invention, the charging requirement instruction includes charging request information, model information, waiting location and power requirement of the device to be charged, and step S100 includes:

[0048] The host computer sends a status query signal to each first selected automatic charging device on the dock in turn;

[0049] The host computer monitors the status information returned by each first candidate automatic charging device, and determines the operation status and remaining power of each first candidate automatic charging device based on the status information;

[0050] The upper computer determines the first candidate automatic charging device whose operation state is idle and whose remaining power meets the power demand as the second candidate automatic charging device;

[0051] The host computer calculates the distance between each second candidate automatic charging device and the waiting position, and determines the second candidate automatic charging device closest to the waiting position as the container terminal alcohol-electric automatic charging device for scheduling.

[0052] In one embodiment of the present invention, the host computer calculates the distance between each second candidate automatic charging device and the waiting position, and determines the second candidate automatic charging device closest to the waiting position as the container terminal alcohol-electric automatic charging device for scheduling, including:

[0053] The host computer sends a position query signal to each second selected automatic charging device in turn;

[0054] The upper computer monitors the position information returned by each second automatic charging device to be selected, and determines the current position of each second automatic charging device to be selected based on the position information;

[0055] The host computer calculates the distance between the current position and the waiting position of each second candidate automatic charging device and sorts them;

[0056] Based on the sorting result, the host computer determines the second candidate automatic charging device with the shortest distance between the current position and the waiting position as the container terminal alcohol-electric automatic charging device for scheduling.

[0057] In a fourth aspect, the present invention provides a container terminal alcohol battery automatic charging system, comprising:

[0058] An automatic alcohol-electricity charging device for a container terminal, the automatic alcohol-electricity charging device for a container terminal being used to execute any of the above-mentioned automatic alcohol-electricity charging methods for a container terminal;

[0059] A host computer, the host computer is used to execute any of the above-mentioned methods for dispatching an automatic alcohol-electric charging device at a container terminal.

[0060] The above technical solution of the present invention has at least one of the following beneficial effects:

[0061] The container terminal alcohol-electric automatic charging device of the present invention, by arranging the methanol fuel cell module and the automatic charging module on a movable carrier module, does not need to set up a fixed charging station or charging pile, and can charge the device to be charged at any time, effectively reducing the cost and improving the flexibility during charging. And because the device to be charged does not need to be moved over a long distance, but the automatic charging device drives itself to the device to be charged to identify the location of the charging port and whether the charging port is open, and then charges on the spot, effectively improving the charging efficiency. In addition, by using the methanol fuel cell module for power supply, methanol fuel is easy to store and transport, has high constant power generation efficiency, and can be quickly started in a low temperature environment, further improving the charging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a structural schematic diagram of an automatic alcohol-electric charging device for a container terminal according to an embodiment of the present invention;

[0063] Figure 2 It is a partial structural schematic diagram of an automatic alcohol-electric charging device for a container terminal according to an embodiment of the present invention;

[0064] Figure 3 This is a flow chart of a method for automatic charging of alcohol-electricity at a container terminal according to an embodiment of the present invention;

[0065] Figure 4 This is a flow chart of step S10 in the method for automatic charging of alcohol-to-electricity at a container terminal according to an embodiment of the present invention;

[0066] Figure 5 This is a flow chart of step S20 in the method for automatic charging of alcohol-to-electricity at a container terminal according to an embodiment of the present invention;

[0067] Figure 6 It is a flow chart of a method for dispatching an alcohol-electric automatic charging device at a container terminal according to an embodiment of the present invention;

[0068] Figure 7 This is a flow chart of step S100 in a method for scheduling an automatic alcohol-electric charging device at a container terminal according to an embodiment of the present invention;

[0069] Figure 8 This is a flowchart of step S140 in a method for scheduling an automatic alcohol-electric charging device at a container terminal according to an embodiment of the present invention;

[0070] Fig. 9 The present invention is a schematic diagram of the structure of an automatic alcohol-to-electric charging system for a container terminal according to an embodiment of the present invention.

[0071] Reference numerals:

[0072] 100, carrier module; 110, carrier vehicle; 120, storage cabin; 121, rolling door;

[0073] 200, automatic charging module; 211, charging robot assembly; 2111, transverse guide rail; 2112, collaborative robot; 212, charging gun; 220, identification device;

[0074] 300. Methanol fuel cell module; 310. Methanol fuel cell group; 320. Methanol storage tank; 330. Water storage tank; 340. Control cabinet; 350. Charger; 360. Low-voltage power supply. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0076] First, a container terminal alcohol-electric automatic charging device, a charging method, a scheduling method and a system according to an embodiment of the present invention are described in detail below with reference to the accompanying drawings.

[0077] like Figure 1 and Figure 2 As shown, the container terminal alcohol-electric automatic charging device of the embodiment of the present invention may include: a carrier module 100, an automatic charging module 200 and a methanol fuel cell module 300. Among them, the carrier module 100 is provided with a positioning device, which is used to locate the position of the device to be charged to guide the carrier module 100 to move to the position corresponding to the device to be charged; the automatic charging module 200 is arranged on the carrier module 100; the methanol fuel cell module 300 is arranged on the carrier module 100 and is electrically connected to the automatic charging module 200, and the methanol fuel cell module 300 is used to supply power to the automatic charging module 200. In addition, the automatic charging module 200 includes a charging device and an identification device 220, the identification device 220 is used to identify the position of the charging port of the device to be charged and whether the charging port of the device to be charged is open, and the charging device is used to insert the charging port of the device to be charged for charging.

[0078] In this embodiment, by setting the automatic charging module 200 and the methanol fuel cell module 300 on the carrier module 100, the carrier module 100 can respond to the scheduling of the host computer and move to the position corresponding to the charging port of the device to be charged based on the positioning of the positioning device. Then the automatic charging module 200 can identify the charging port of the device to be charged and whether the charging port of the device to be charged is open through the identification device 220, and control the charging device to be inserted into the charging port of the device to be charged for charging. As a result, there is no need to set up a fixed charging station or charging pile at the dock, and the device to be charged can be charged at any time through this device, thereby effectively reducing the cost and improving the flexibility of charging. And because the device to be charged does not need to be moved over a long distance, but the automatic charging device drives itself to the device to be charged to identify the charging port for on-site charging, while improving the charging efficiency, it also improves the operating efficiency of the device to be charged. In addition, by using the methanol fuel cell module 300 for power supply, methanol fuel is easy to store and transport, has high constant power generation efficiency, and can be quickly started in a low temperature environment, further improving the charging efficiency.

[0079] like Figure 1 As shown, the carrier module 100 includes: a carrier vehicle 110 and a storage cabin 120. Among them, the positioning device is arranged on the carrier vehicle 110; the storage cabin 120 is arranged on the carrier vehicle 110, and the automatic charging module 200 and the methanol fuel cell module 300 are arranged in the storage cabin 120; the positioning device is used to guide the carrier vehicle 110 to move to a position corresponding to the device to be charged.

[0080] In this embodiment, the carrier 110 may be any one of an AGV, an IGV or an unmanned container truck, and the storage compartment 120 may be a 20-foot container. By using the existing AGV, IGV or unmanned container truck at the terminal to carry the automatic charging module 200 and the methanol fuel cell module 300, and using a container to accommodate the automatic charging module 200 and the methanol fuel cell module 300, the transformation cost of the terminal can be reduced.

[0081] like Figure 1 and Figure 2 As shown, the accommodating compartment 120 includes a first compartment and a second compartment, the automatic charging module 200 is arranged in the first compartment, the methanol fuel cell module 300 is arranged in the second compartment, and the charging device includes a charging robot assembly 211 and a charging gun 212 connected to the charging robot assembly 211.

[0082] In this embodiment, by arranging the automatic charging module 200 and the methanol fuel cell module 300 in the first compartment and the second compartment respectively, the battery pack can be prevented from contacting the outside world, thereby improving the safety during charging and transportation. In addition, by arranging the charging robot component 211 to charge the device to be charged, the automation degree of charging is effectively improved, and the charging efficiency is improved.

[0083] like Figure 1 and Figure 2 As shown, openings for extending the charging robot assembly 211 are respectively provided at both ends of the first compartment along the width direction of the carrier module 100, and a corresponding rolling door 121 is respectively provided above each opening.

[0084] In this embodiment, by respectively setting openings on both sides of the first compartment perpendicular to the length of the carrier module 100, no matter which side of the storage compartment 120 the device to be charged is located, the charging robot assembly 211 can extend out of the first compartment to charge the device to be charged, thereby improving the flexibility during charging. In addition, by respectively setting a corresponding rolling door 121 above each opening, the rolling door 121 can be closed when the carrier module 100 moves to prevent debris from entering the first compartment, and the rolling door 121 on the opposite side of the device to be charged can be opened when the device to be charged is being charged, so that the charging robot assembly 211 can extend out to charge the device to be charged. In this way, safety is effectively improved.

[0085] like Figure 2As shown, in one embodiment of the present invention, the charging robot assembly 211 includes: a transverse guide rail 2111 and a collaborative robot 2112. The length direction of the transverse guide rail 2111 is consistent with the length direction of the first compartment; the collaborative robot 2112 is arranged on the transverse guide rail 2111 and can reciprocate along the length direction of the transverse guide rail 2111, and the charging gun 212 is detachably connected to the collaborative robot 2112. In addition, the collaborative robot 2112 is a multi-axis robot.

[0086] In this embodiment, the collaborative robot 2112 can reciprocate along the length direction of the transverse rail 2111. No matter which side of the storage compartment 120 the device to be charged is located, the charging robot assembly 211 can move along the length direction of the transverse rail 2111 and extend out of the first compartment to charge the device to be charged, thereby improving the flexibility during charging and the operating range of the collaborative robot 2112, and can charge different types of devices to be charged, such as tire cranes, straddle carriers, AGVs, etc. In addition, the multi-axis robot can perform telescopic rotation at multiple angles, and can quickly insert the charging gun 212 into the charging port of the device to be charged, further improving the flexibility and charging efficiency of the collaborative robot 2112.

[0087] like Figure 2 As shown, the methanol fuel cell module 300 includes: a methanol fuel cell group 310, an alcohol storage tank 320, a water storage tank 330, a control cabinet 340, a charger 350 and a low-voltage power supply 350. Among them, the methanol fuel cell group 310 is used to generate direct current; the alcohol storage tank 320 is used to store methanol, and the alcohol storage tank 320 is connected to the methanol fuel cell group 310, and the alcohol storage tank 320 is used to provide methanol to the methanol fuel cell group 310; the water storage tank 330 is used to store water discharged after the methanol fuel cell group 310 reforms to produce hydrogen and generate electricity; the control cabinet 340 is connected to the methanol fuel cell group 310, and the control cabinet 340 is used to modulate the direct current generated by the methanol fuel cell group 310; one end of the charger 350 is connected to the control cabinet 340, and the other end of the charger 350 is connected to the charging gun 212; the low-voltage power supply 350 is used to supply power to the control cabinet 340 and the charger 350. The methanol fuel cell stack 310 is green and environmentally friendly, easy to store and transport, has high constant power generation efficiency and can start quickly at low temperatures. It can effectively improve charging efficiency while meeting environmental protection requirements.

[0088] In one embodiment of the present invention, the recognition device 220 is a multi-camera or a laser camera. The multi-camera or laser camera has rapid recognition and high recognition accuracy, and can quickly and accurately locate the charging port of the device to be charged and whether the charging port of the device to be charged is open, thereby improving charging efficiency.

[0089] Figure 3The present invention shows a method for automatically charging alcohol-based batteries at a container terminal provided by an embodiment of the present invention. The method can be applied to any of the above embodiments of the automatic charging device for alcohol-based batteries at a container terminal. Specifically, Figure 3 As shown, the method may include the following steps:

[0090] Step S10, upon receiving the dispatch instruction sent by the host computer, the container terminal alcohol-electric automatic charging device moves to a position corresponding to the device to be charged based on the dispatch instruction.

[0091] In an embodiment of the present invention, the dispatch instruction may include a charging command and the model information, waiting position and power requirement of the device to be charged. The container terminal alcohol-electric automatic charging device may move to a position corresponding to the device to be charged based on the waiting position in the dispatch instruction.

[0092] In one possible embodiment, reference Figure 4 , the step S10 may include:

[0093] Step S11, the container terminal alcohol battery automatic charging device determines the direction of the charging port of the device to be charged based on the model information and the waiting position.

[0094] In this embodiment, the model information may include the device type and the location of the charging port of the device to be charged. The container terminal alcohol-electric automatic charging device can determine the direction of the charging port of the device to be charged based on the device type, the location of the charging port and the waiting position of the device to be charged, and then drive to the position corresponding to the charging port of the charging device.

[0095] Step S12, the container terminal alcohol battery automatic charging device moves to a position corresponding to the charging port of the device to be charged according to the waiting position and the direction of the charging port of the device to be charged.

[0096] Since the container terminal alcohol-electric automatic charging device is located at a position corresponding to the charging port of the charging equipment, the container terminal alcohol-electric automatic charging device can directly control the robot component to insert the charging gun into the charging port of the device to be charged, thereby reducing the waiting time of the device to be charged and improving the charging efficiency.

[0097] Step S20, the container terminal alcohol-electric automatic charging device identifies the location of the charging port of the device to be charged and whether the charging port of the device to be charged is open, and after completing the identification, inserts the charging gun into the charging port to charge the device to be charged.

[0098] In one possible embodiment, reference Figure 5 , the step S20 may include:

[0099] Step S21, the container terminal alcohol battery automatic charging device obtains the first point cloud data of the charging port contour of the device to be charged based on the model information.

[0100] In this embodiment, the recognition device on the automatic charging device for alcohol-electricity at the container terminal may be a laser camera, which can emit a laser beam and measure the distance to the surface of the target object by receiving the reflected laser signal, and generate point cloud data in three-dimensional space through a large amount of distance data. The model information of the device to be charged may also include the first point cloud data of the contour of the charging port of the device to be charged obtained by pre-scanning and modeling. Therefore, the automatic charging device for alcohol-electricity at the container terminal can compare the point cloud data scanned by the recognition device with the first point cloud data, and then identify and locate the position of the charging port of the device to be charged.

[0101] Step S22, the container terminal alcohol battery automatic charging device scans the device to be charged to obtain second point cloud data, and when the second point cloud data matches the first point cloud data, the container terminal alcohol battery automatic charging device determines the location as the charging port of the device to be charged.

[0102] In this embodiment, the recognition device can compare and match the second point cloud data obtained by real-time scanning with the first point cloud data contained in the model information. When the second point cloud data matches the first point cloud data, the container terminal alcohol battery automatic charging device determines the location as the charging port of the device to be charged. Therefore, the location of the charging port is identified and located by matching the point cloud data, which has strong adaptability and high precision, and can adapt to different types of devices to be charged, such as tire cranes, straddle carriers, AGVs and other equipment, thereby effectively improving the flexibility of charging.

[0103] Step S23, the container terminal alcohol battery automatic charging device obtains the first depth data after the charging port of the device to be charged is opened based on the model information.

[0104] In this embodiment, after locating the charging port of the device to be charged, the container terminal alcohol electric automatic charging device can control the identification device to move to a position relative to the charging port of the device to be charged, and emit a laser beam, and measure the distance between itself and the charging port by receiving the reflected laser signal. If the charging port is open, the laser beam will enter the inside of the charging port, so that the measured distance will be significantly greater than the distance when the charging port is not opened. Therefore, by comparing the depth data obtained by the real-time scanning of the identification device with the first depth data after the charging port of the charging device is opened, it is possible to identify whether the charging port is open.

[0105] Step S24, the container terminal alcohol battery automatic charging device scans the charging port of the device to be charged to obtain second depth data. When the second depth data matches the first depth data, the container terminal alcohol battery automatic charging device determines that the charging port of the device to be charged is open.

[0106] In this embodiment, the recognition device can compare and match the second depth data obtained by real-time scanning with the first depth data included in the model information. When the second depth data is consistent with the first depth data, it means that the charging port of the device to be charged is open.

[0107] Step S25, when the location of the charging port of the device to be charged is confirmed and the charging port is open, the container terminal alcohol-electric automatic charging device inserts the charging gun into the charging port and sends a charging request signal to the device to be charged.

[0108] In this embodiment, after the container terminal alcohol battery automatic charging device inserts the charging gun into the charging port, it can send a charging request signal to the device to be charged to initiate a handshake, and then notify the device to be charged to prepare for the charging operation.

[0109] Step S26, upon receiving the charging confirmation signal sent by the device to be charged, the container terminal alcohol battery automatic charging device charges the device to be charged with electricity that meets the power demand.

[0110] In this embodiment, when a charging confirmation signal is received from the device to be charged, it indicates that the device to be charged is ready to be charged. At this time, the container terminal alcohol battery automatic charging device can charge the device to be charged with enough electricity to meet the power demand. In this way, incorrect charging operations can be avoided, effectively improving the safety during charging.

[0111] Figure 6 The present invention shows a method for dispatching an automatic alcohol-electric charging device at a container terminal provided by an embodiment of the present invention. Figure 6 As shown, the method may include the following steps:

[0112] Step S100, upon receiving a charging demand instruction sent by the device to be charged, the host computer selects a container terminal alcohol-electric automatic charging device for scheduling.

[0113] In an embodiment of the present invention, the charging demand instruction may include charging request information, model information, waiting position and power demand of the device to be charged. The host computer may select the container terminal alcohol-electric automatic charging device for scheduling based on the model information, waiting position and power demand.

[0114] In one possible embodiment, reference Figure 7 , the step S100 may include:

[0115] Step S110: the host computer sends a status query signal to each first candidate automatic charging device on the dock in turn.

[0116] Step S120 : The host computer monitors the status information returned by each first candidate automatic charging device, and determines the operation status and remaining power of each first candidate automatic charging device based on the status information.

[0117] In this embodiment, by sending status query signals to each first candidate automatic charging device on the dock in turn and monitoring the status information returned by each first candidate automatic charging device, the host computer can determine the first candidate automatic charging device that is currently in an idle state and whose remaining power meets the power requirements of the device to be charged based on the status information.

[0118] In step S130, the host computer determines the first candidate automatic charging device, whose operating state is an idle state and whose remaining power meets the power requirement, as the second candidate automatic charging device.

[0119] In step S140, the host computer calculates the distance between each second candidate automatic charging device and the waiting position, and determines the second candidate automatic charging device closest to the waiting position as the container terminal alcohol-electric automatic charging device for scheduling.

[0120] In this embodiment, by calculating the distance between each second candidate automatic charging device and the waiting position, and selecting the second candidate automatic charging device closest to the waiting position as the container terminal alcohol-electric automatic charging device for scheduling, the waiting time of the equipment to be charged can be effectively shortened and the charging efficiency can be improved.

[0121] In one possible embodiment, reference Figure 8 , the step S140 may include:

[0122] Step S141 : the host computer sends a location query signal to each second to-be-selected automatic charging device in turn.

[0123] Step S142: the host computer monitors the location information returned by each second automatic charging device to be selected, and determines the current location of each second automatic charging device to be selected based on the location information.

[0124] In this embodiment, the host computer can calculate the distance between each second to-be-selected automatic charging device and the waiting position of the device to be charged by acquiring the current position of each second to-be-selected automatic charging device.

[0125] Step S143: the host computer calculates the distance between the current position and the waiting position of each second candidate automatic charging device and sorts them.

[0126] Step S144: the upper computer determines the second candidate automatic charging device with the shortest distance between the current position and the waiting position as the container terminal alcohol-electric automatic charging device for scheduling based on the sorting result.

[0127] In this embodiment, the host computer can select the second candidate automatic charging device that is closest to the waiting position as the container terminal alcohol-electric automatic charging device for scheduling based on the sorting results, thereby effectively shortening the waiting time of the equipment to be charged and improving the charging efficiency.

[0128] S200. The host computer sends a dispatch instruction to the selected container terminal alcohol-electricity automatic charging device to dispatch the selected container terminal alcohol-electricity automatic charging device to charge the equipment to be charged.

[0129] Among them, step S200 includes any of the above-mentioned methods for automatic alcohol-to-electricity charging at a container terminal, which will not be repeated here.

[0130] Fig. 9 FIG. 4 shows an automatic alcohol-electric charging system for a container terminal provided by an embodiment of the present invention. Fig. 9 As shown, the container terminal alcohol battery automatic charging system of the embodiment of the present invention includes:

[0131] A container terminal alcohol-electricity automatic charging device 1000, wherein the container terminal alcohol-electricity automatic charging device 1000 is used to execute any of the above container terminal alcohol-electricity automatic charging methods;

[0132] The host computer 2000 is used to execute any one of the above methods for dispatching an alcohol-electric automatic charging device at a container terminal.

[0133] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0134] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A container terminal alcohol battery automatic charging device, characterized in that: include: A carrier module, wherein the carrier module is provided with a positioning device, wherein the positioning device is used to locate the position of the device to be charged so as to guide the carrier module to move to a position corresponding to the device to be charged; An automatic charging module, wherein the automatic charging module is arranged on the carrier module; a methanol fuel cell module, the methanol fuel cell module being disposed on the carrier module and electrically connected to the automatic charging module, the methanol fuel cell module being used to supply power to the automatic charging module; Among them, the automatic charging module includes a charging device and an identification device, the identification device is used to identify the position of the charging port of the device to be charged and whether the charging port of the device to be charged is open, and the charging device is used to be inserted into the charging port of the device to be charged for charging.

2. The automatic alcohol battery charging device for container terminals according to claim 1 is characterized in that: The carrier module comprises: A carrier vehicle, wherein the positioning device is arranged on the carrier vehicle; A storage compartment, wherein the storage compartment is arranged on the carrier vehicle, and the automatic charging module and the methanol fuel cell module are arranged in the storage compartment; The positioning device is used to guide the carrier vehicle to move to a position corresponding to the device to be charged.

3. The automatic alcohol battery charging device for container terminals according to claim 2 is characterized in that: The storage compartment includes a first compartment and a second compartment, the automatic charging module is arranged in the first compartment, and the methanol fuel cell module is arranged in the second compartment. The charging device includes a charging robot assembly and a charging gun connected to the charging robot assembly. The first compartment is provided with openings for extending the charging robot assembly at both ends along the width direction of the carrier module, and a corresponding rolling door is provided above each opening.

4. The automatic alcohol-electric charging device for container terminals according to claim 3 is characterized in that: The charging robot assembly comprises: a transverse guide rail, wherein the length direction of the transverse guide rail is consistent with the length direction of the first compartment; A collaborative robot is arranged on the transverse guide rail and can reciprocate along the length direction of the transverse guide rail, and the charging gun is detachably connected to the collaborative robot.

5. The automatic alcohol battery charging device for container terminals according to claim 4 is characterized in that: The methanol fuel cell module comprises: A methanol fuel cell stack, wherein the methanol fuel cell stack is used to generate direct current; An alcohol storage tank, the alcohol storage tank is used to store methanol, the alcohol storage tank is connected to the methanol fuel cell group, and the alcohol storage tank is used to provide methanol to the methanol fuel cell group; A water storage tank, the water storage tank is used to store water discharged after the methanol fuel cell group reforms to produce hydrogen and generate electricity; A control cabinet, the control cabinet is connected to the methanol fuel cell group, and the control cabinet is used to modulate the direct current generated by the methanol fuel cell group; A charger, one end of which is connected to the control cabinet, and the other end of which is connected to the charging gun; A low-voltage power supply is used to supply power to the control cabinet and the charger.

6. The automatic alcohol battery charging device for container terminals according to claim 1, characterized in that: The identification device is a multi-eye camera or a laser camera.

7. A method for automatically charging alcohol batteries at a container terminal, characterized in that: The method applied to the automatic alcohol-electric charging device for container terminals according to any one of claims 1 to 6 comprises: Step S10, upon receiving a dispatch instruction sent by the host computer, the container terminal alcohol battery automatic charging device moves to a position corresponding to the device to be charged based on the dispatch instruction; In step S20, the container terminal alcohol-electric automatic charging device identifies the location of the charging port of the device to be charged and whether the charging port of the device to be charged is open, and after completing the identification, inserts the charging gun into the charging port to charge the device to be charged.

8. The automatic charging method for alcohol battery at a container terminal according to claim 7, characterized in that: The scheduling instruction includes a charging command and the model information, waiting position and power requirement of the device to be charged. The step S10 includes: The container terminal alcohol battery automatic charging device determines the direction of the charging port of the device to be charged based on the model information and the waiting position; The container terminal alcohol-electric automatic charging device moves to a position corresponding to the charging port of the device to be charged according to the waiting position and the direction of the charging port of the device to be charged.

9. The automatic charging method for alcohol battery at a container terminal according to claim 8, characterized in that: The step S20 comprises: The container terminal alcohol battery automatic charging device acquires first point cloud data of the charging port contour of the device to be charged based on the model information; The container terminal alcohol battery automatic charging device scans the device to be charged to obtain second point cloud data, and when the second point cloud data matches the first point cloud data, the container terminal alcohol battery automatic charging device determines the location as the charging port of the device to be charged; The container terminal alcohol battery automatic charging device acquires first depth data after the charging port of the device to be charged is opened based on the model information; The container terminal alcohol-electric automatic charging device scans the charging port of the device to be charged to obtain second depth data, and when the second depth data matches the first depth data, the container terminal alcohol-electric automatic charging device determines that the charging port of the device to be charged is opened; When the position of the charging port of the device to be charged is confirmed and the charging port is open, the container terminal alcohol battery automatic charging device inserts the charging gun into the charging port and sends a charging request signal to the device to be charged; Upon receiving the charging confirmation signal sent by the device to be charged, the container terminal alcohol-electric automatic charging device charges the device to be charged with electricity that meets the electricity demand.

10. A method for dispatching an automatic alcohol-electric charging device at a container terminal, characterized in that: include: Step S100: upon receiving a charging demand instruction sent by the device to be charged, the host computer selects a container terminal alcohol-electric automatic charging device for scheduling; Step S200: the host computer sends a dispatch instruction to the selected container terminal alcohol-electric automatic charging device to dispatch the selected container terminal alcohol-electric automatic charging device to charge the device to be charged; Wherein, the step S200 includes the method for automatic alcohol-to-electric charging at a container terminal as described in any one of claims 7 to 9.

11. The method for dispatching an automatic alcohol-electric charging device at a container terminal according to claim 10, characterized in that: The charging requirement instruction includes the charging request information, model information, waiting position and power requirement of the device to be charged. The step S100 includes: The host computer sends a status query signal to each first selected automatic charging device on the dock in turn; The host computer monitors the status information returned by each of the first automatic charging devices to be selected, and determines the operation status and remaining power of each of the first automatic charging devices to be selected based on the status information; The host computer determines a first candidate automatic charging device whose operation state is idle and whose remaining power meets the power demand as a second candidate automatic charging device; The host computer calculates the distance between each of the second candidate automatic charging devices and the waiting position, and determines the second candidate automatic charging device closest to the waiting position as the container terminal alcohol-electric automatic charging device for scheduling.

12. The method for dispatching an automatic alcohol-electric charging device at a container terminal according to claim 11, characterized in that: The host computer calculates the distance between each of the second candidate automatic charging devices and the waiting position, and determines the second candidate automatic charging device closest to the waiting position as the container terminal alcohol-electric automatic charging device for scheduling, including: The host computer sends a location query signal to each of the second selected automatic charging devices in turn; The host computer monitors the location information returned by each of the second automatic charging devices to be selected, and determines the current location of each of the second automatic charging devices to be selected based on the location information; The host computer calculates the distance between the current position of each of the second selected automatic charging devices and the waiting position and sorts them; The host computer determines the second candidate automatic charging device with the shortest distance between the current position and the waiting position as the container terminal alcohol-electric automatic charging device for scheduling based on the sorting result.

13. A container terminal alcohol battery automatic charging system, characterized in that: include: An automatic alcohol-electric charging device for a container terminal, wherein the automatic alcohol-electric charging device for a container terminal is used to perform the method described in any one of claims 7 to 9; A host computer, wherein the host computer is used to execute the method described in any one of claims 10-12.

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