Ship intelligent charging positioning adjustment method, system and terminal

Abstract

The invention relates to a ship intelligent charging positioning adjustment method and system and a terminal, and relates to the field of ship intelligent charging, and the method comprises the steps: obtaining a ship detection position point of a to-be-charged ship and laser detection information of a laser detection device; calling a laser height value, a laser angle value and a laser distance value based on the laser detection information; determining detection range information according to the laser height value and the laser angle value; determining fixed reference object information according to the detection range information and the ship detection position point; selecting and determining a reference object position point based on the fixed reference object information; determining an actual position point of the ship according to the reference object position point, the laser angle value and the laser distance value; and controlling a preset charging device to operate for charging based on the actual position point of the ship. The charging device has the advantage that the charging device can conveniently charge the ship.

Description

Technical Field

[0001] The present invention relates to the field of intelligent charging of ships, and in particular to a method, system and terminal for intelligent charging positioning adjustment of ships. Background Art

[0002] An electric ship is a water vehicle powered by electric energy, which realizes navigation through an electric motor-driven propulsion system and has the characteristics of environmental protection, high efficiency, low noise, etc., and is applied to various fields such as transportation, tourism, and operation.

[0003] The cruising range of an electric ship is limited and it needs to be charged frequently. Ship charging devices are distributed in each port. When an electric ship arrives at the charging area and charges, the crane in the charging device needs to move the charging head to the charging port of the ship according to the position located on the ship.

[0004] Due to the influence of wind and waves, it is easy to cause a small displacement of the position of the electric ship, resulting in an offset of the actual position of the charging port on the ship, making the position inaccurate when the charging device is inserted into the charging port. Therefore, it is necessary for personnel to manually adjust the charging head before inserting it, which is inconvenient for the charging device to charge the ship. Summary of the Invention

[0005] In order to facilitate the charging device to charge the ship, the present invention provides a method, system and terminal for intelligent charging positioning adjustment of ships.

[0006] In a first aspect, the present invention provides a method for intelligent charging positioning adjustment of ships, adopting the following technical solutions: A method for intelligent charging positioning adjustment of ships includes: Obtaining the ship detection position point where the ship to be charged is located and the laser detection information of the laser detection device; Retrieving the laser height value, laser angle value and laser distance value based on the laser detection information; Determining the detection range information according to the laser height value and the laser angle value; Determining the fixed reference object information according to the detection range information and the ship detection position point; Selecting and determining the reference object position point based on the fixed reference object information; Determining the actual ship position point according to the reference object position point, the laser angle value and the laser distance value; Controlling the operation of a preset charging device based on the actual ship position point for charging.

[0007] By adopting the above technical solution, the ship detection position points of the ship to be charged and the laser detection information are obtained, and through calculation and analysis, the actual position points of the ship are obtained, and the operation of the preset charging device is controlled based on the actual position points of the ship, so as to achieve the positioning accuracy when the charging head charges the electric ship, and it is convenient for the charging device to automatically charge the ship without the assistance of personnel.

[0008] Optionally, it further includes steps after determining the actual position points of the ship according to the reference object position points, laser angle values, and laser distance values, specifically as follows: Determine the reference object reference distance value according to the reference object position points and the ship detection position points; Determine the fluctuation range according to the reference object reference distance value; Determine whether the laser distance value falls within the fluctuation range; If the laser distance value falls within the fluctuation range, the detection is completed; If the laser distance value is greater than the maximum value of the fluctuation range, determine the actual abnormal position points according to the ship detection position points, laser height values, laser angle values, and laser distance values; Determine the deviation adjustment value according to the reference object position points and the actual abnormal position points; Control the preset laser detection device to adjust with the deviation adjustment value, update the laser detection information, and update the actual position points of the ship according to the updated laser detection information; If the laser distance value is less than the minimum value of the fluctuation range, obtain the ship parameter information of the ship to be charged; Update the actual position points of the ship according to the ship parameter information and the laser distance value with a preset laser adjustment method.

[0009] By adopting the above technical solution, by determining the fluctuation range, when the laser distance value is greater than the maximum value of the fluctuation range, the deviation adjustment value is calculated through analysis, the laser detection device is controlled to adjust with the deviation adjustment value, and the laser detection information and the actual position points of the ship are updated. When it is less than the minimum value of the fluctuation range, continue to detect through the laser adjustment method, so as to ensure the accuracy of ship position detection.

[0010] Optionally, the laser adjustment method includes: Determine the ship reference distance value according to the ship parameter information; Determine whether the laser distance value is greater than the ship reference distance value; When the laser distance value is greater than the ship reference distance value, correct the actual position points of the ship with a preset reference object deviation adjustment method; When the laser distance value is not greater than the ship reference distance value, obtain the dynamic detection information of the preset detection area; Determine the moving state according to the dynamic detection information; Determine the status adjustment value according to the moving state, laser height value, laser angle value and laser distance value; Control the laser detection device to adjust according to the status adjustment value, update the laser detection information, and update the actual position point of the ship according to the updated laser detection information.

[0011] By adopting the above technical solution, determine the reference distance value of the ship through the ship parameter information, compare the laser distance value with the reference distance value of the ship. When the laser distance value is greater than the reference distance value of the ship, use the preset reference object deviation adjustment method to correct the actual position point of the ship. If the laser distance value is not greater than the reference distance value of the ship, calculate the status adjustment value and adjust the laser detection device, so as to improve the positioning accuracy when the electric ship is charging.

[0012] Optionally, the reference object deviation adjustment method includes: Determine the occlusion value according to the fixed reference object information and the laser distance value; Determine the moving adjustment value according to the occlusion value; Determine whether the moving adjustment value is within the preset reference adjustment interval; If the moving adjustment value falls within the reference adjustment interval, control the preset laser detection device to adjust according to the moving adjustment value, update the laser detection information, and update the actual position point of the ship according to the updated laser detection information; If the adjustment value does not fall within the reference adjustment interval, switch to the standby laser detection device and jump to re-acquire the laser detection information.

[0013] By adopting the above technical solution, when the moving adjustment value is within the reference adjustment interval, adjust the laser detection device through the moving adjustment value and update the actual position point of the ship. When the moving adjustment value does not fall within the reference adjustment interval, switch to the standby laser detection device and re-acquire the laser detection information, so as to ensure the laser detection accuracy and ensure the accurate positioning of the ship.

[0014] Optionally, the specific steps for controlling the preset charging device to operate for charging include: Obtain the position points of the charging devices, wind force detection values, wind direction detection values and ship model information in the charging area; Determine the charging port position point according to the ship model information and the actual position point of the ship; Determine the charging distance value according to the charging port position point and the charging device position point; Determine the reference distance interval according to the ship model information; Determine whether the charging distance value falls within the reference distance interval; If the charging distance value falls within the reference distance interval, charge in the preset charging head falling method; If the charging distance value does not fall within the reference distance range, determine the influence amplitude value of the ship's charging head according to the wind force detection value and the wind direction detection value; Retrieve the charging reference distance value based on the reference distance range, determine the distance difference according to the influence amplitude value of the charging head, the charging reference distance value, and the charging distance value, and define the distance difference as the moving distance value; Control the charging device to move towards the charging port position point of the ship with the moving distance value and charge using a preset charging head falling method.

[0015] By adopting the above technical solution, when the charging distance value does not fall within the reference distance range, determine the influence amplitude value of the charging head through real-time wind force and wind direction, then calculate the moving distance value through analysis, control the charging device to move with the moving distance value, and charge the ship, thereby ensuring that the charging device accurately docks with the ship's charging port.

[0016] Optionally, the charging head falling method includes: Obtain the device model information of the charging device; Determine the reference range interval according to the device model information; Calculate the ship amplitude value based on the change in the actual position point of the ship per unit time; Determine whether the ship amplitude value falls within the reference range interval; If the ship amplitude value falls within the reference range interval, calculate the moving speed and moving direction when the charging head is inserted according to the ship amplitude value and the charging port position point; Control the preset charging device to place the charging head at the preset charging port position point with the moving speed and moving direction; If the ship amplitude value does not fall within the reference range interval, determine the fixed state according to the ship amplitude value; Adjust according to the fixed state and place the charging head at the preset charging port position point.

[0017] By adopting the above technical solution, calculate the ship amplitude value and determine whether it falls within the reference range interval. If it does, determine the moving speed and moving direction required for the charging head to be inserted through analysis and control the operation of the charging device; if it does not, adjust through the fixed state and then charge. Thus, ensure that the charging head accurately docks with the charging port.

[0018] Optionally, it further includes: Obtain the weather detection information of the preset area to be charged; Determine the signal weather influence value according to the weather detection information; Determine whether the signal weather influence value falls within the preset signal reference influence interval; When the signal weather influence value falls within the signal reference influence interval, continue the detection; When the signal weather influence value does not fall within the signal reference influence interval, the laser adjustment value is determined based on the signal weather influence value and the signal reference influence interval, and the laser detection device is controlled to make adjustments with the laser adjustment value.

[0019] By adopting the above technical solution, by obtaining the weather detection information of the area to be charged, determining the signal weather influence value and comparing it with the preset signal reference influence interval, when the signal weather influence value falls within the signal reference influence interval, the detection continues; if it does not fall within the interval, the laser adjustment value is determined to control the laser detection device to make adjustments, ensuring the accuracy and stability of the laser detection.

[0020] Optionally, the method for determining the signal weather influence value includes: Retrieving the detected temperature value, detected light value, and detected humidity value based on the weather detection information; Determining whether the detected light value is greater than the preset reference received light value; When the detected light value is greater than the received light value, calculate the difference between the detected light value and the received light value as the light deviation value; Retrieve the light angle value based on the weather detection information, and determine the signal weather influence value according to the light deviation value and the light angle value; When the detected light value is not greater than the received light value, determine the rain and snow value according to the detected temperature value and the detected humidity value; Determine whether the rain and snow value is within the preset rain and snow interval; When it is within the rain and snow interval, determine the signal weather influence value according to the rain and snow value; When it is not within the rain and snow interval, stop charging.

[0021] By adopting the above technical solution, the detected temperature value, detected light value, and detected humidity value are retrieved and analyzed based on the weather detection information, thereby determining the signal weather influence value and improving the accuracy of determining the signal weather influence value.

[0022] In a second aspect, the present application provides a ship intelligent charging positioning adjustment system, adopting the following technical solution: A ship intelligent charging positioning adjustment system includes: An acquisition module for acquiring the ship detection position point, laser detection information, ship parameter information, dynamic detection information, model information, and weather detection information; A memory for storing the program of the above ship intelligent charging positioning adjustment method; A processor for loading the program stored in the memory.

[0023] By adopting the above technical solution, through the acquisition module, the laser height value, angle value and distance value are acquired, and the detection range information, fixed reference object information and reference object position points are determined, so as to calculate the actual position point of the ship. Finally, based on the actual position point of the ship, the operation of the preset charging device is controlled, which facilitates the charging device to charge the ship.

[0024] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution: An intelligent terminal includes a memory and a processor. A computer program capable of being loaded and executed by the processor for the above-mentioned ship intelligent charging positioning adjustment method is stored on the memory.

[0025] By adopting the above technical solution, through the computer program stored on the memory that can be loaded and executed by the processor for the above-mentioned ship intelligent charging positioning adjustment method, the actual position point of the ship is calculated. Finally, based on the actual position point of the ship, the operation of the preset charging device is controlled, which facilitates the charging device to charge the ship.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. By analyzing the detected position point of the ship and the laser detection information to obtain the actual position point of the ship to be charged, the charging head and the charging port can be accurately positioned when the charging device is charging, thereby improving the positioning accuracy of the charging head when charging the electric ship. The ship can be automatically charged without the assistance of personnel, which facilitates the charging device to charge the ship; 2. Analyze and determine the deviation adjustment value according to the laser distance value and the fluctuation range, and update the actual position point of the ship in real time according to the deviation adjustment value, improving the accuracy during charging; 3. By retrieving the detected temperature value, detected light value, and detected humidity value from the weather detection information and analyzing them, the signal weather influence value is determined. Through the analysis of the signal weather influence value and the signal reference influence range, the laser adjustment value is analyzed and corrected, improving the accuracy during charging and facilitating the charging device to charge the ship. Description of the Drawings

[0027] Figure 1 is the flowchart of the method for adjusting the ship intelligent charging positioning in the embodiment of the present invention; Figure 2 is the flowchart of the steps after determining the actual position point of the ship according to the reference object position point, laser angle value and laser distance value in the embodiment of the present invention; Figure 3 is the flowchart of the laser adjustment method in the embodiment of the present invention; Figure 4 is the flowchart of the reference object deviation adjustment method in the embodiment of the present invention; Figure 5 It is a flowchart of the method for controlling the operation of the charging device to perform charging according to an embodiment of the present invention; Figure 6 It is a flowchart of the method for the charging head to fall according to an embodiment of the present invention; Figure 7 It is a flowchart of the method for adjusting the laser detection device affected by the weather according to an embodiment of the present invention; Figure 8 It is a flowchart of the method for determining the signal weather influence value according to an embodiment of the present invention. Detailed implementation manners

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0029] A method for intelligent charging position adjustment of a ship determines the actual position point of the ship by obtaining the ship detection position point and the laser detection information, and further corrects the actual position point of the ship through the laser distance value and the reference object reference distance value, so as to determine the accurate charging port position, and then adjusts the falling manner of the charging head according to the wind force and weather conditions, controls the charging head to fall into the charging port at an appropriate moving speed and moving direction, so that the charging head and the charging port are precisely matched, facilitating the charging device to charge the ship.

[0030] Referring to Figure 1 , an embodiment of the present application discloses a method for intelligent charging position adjustment of a ship, including the following steps: Step 100: Obtain the ship detection position point where the ship to be charged is located and the laser detection information of the laser detection device.

[0031] The ship to be charged refers to the ship that needs to be charged. The ship detection position point refers to the position of the ship at the current time, which is obtained through GPS satellite positioning. The laser detection information refers to the position information obtained by detecting the distance of surrounding objects by laser, which is obtained by detecting with a laser detection device preset on the ship to be charged. The laser detection device includes a laser transmitter and a laser receiver. The laser transmitter is used to emit a laser beam, and the laser receiver is used to receive the laser beam.

[0032] Step 101: Retrieve the laser height value, laser angle value, and laser distance value based on the laser detection information.

[0033] The laser height value refers to the height at which the laser detection device operates. The laser angle value refers to the angle value towards which the laser detection device operates. The laser distance value refers to the distance value obtained by detecting with the laser detection device.

[0034] The laser detection information includes the laser height value, laser angle value, and laser distance value, so as to retrieve the laser height value, laser angle value, and laser distance value through the laser detection information.

[0035] Step 102: Determine the detection range information based on the laser height value and the laser angle value.

[0036] The detection range information refers to the range that can be detected by the height and angle during laser detection. By analyzing the laser height value and the laser angle value, the range that can be detected in the direction corresponding to the laser angle value at the height corresponding to the laser height value is determined, and this range is used as the detection range information.

[0037] Step 103: Determine the fixed reference object information based on the detection range information and the ship detection position point.

[0038] The fixed reference object information refers to the fixed reference object that can be used to determine the position of the ship to be charged, and the fixed reference object information includes the reference object position point. The fixed reference object information is determined through the detection range information of the laser beam and the ship detection position point of the ship.

[0039] Step 104: Select and determine the reference object position point based on the fixed reference object information.

[0040] The reference object position point refers to the central position point where the fixed reference object is located. The fixed reference object with the shortest distance is selected from the fixed reference object information, and the position corresponding to the selected fixed reference object is used as the selected reference object position point.

[0041] Step 105: Determine the actual ship position point based on the reference object position point, the laser angle value, and the laser distance value.

[0042] The actual ship position point refers to the actual accurate position of the ship to be charged on the sea surface. The relative position relationship between the actual ship position point and the reference object position point is determined through the laser angle value and the laser distance value, and then the actual ship position point is determined through the reference object position point and the relative position relationship.

[0043] Step 106: Control the operation of the preset charging device based on the actual ship position point to perform charging.

[0044] The charging device refers to the device for charging the ship to be charged. The charging device includes a charging device, a crane for controlling the placement of the charging head, a trolley for carrying and moving the charging device and the crane. The charging device includes a charging head and a power source. The crane of the charging device is controlled to move and lower the charging head through the actual ship position point to dock with the charging port of the ship to be charged located at the actual ship position point, thereby performing charging. By accurately positioning, the ship to be charged can be successfully charged, improving the accuracy during charging, so that the charging device can charge the ship.

[0045] Refer to Figure 2, the steps after determining the actual position point of the ship according to the reference object position point, the laser angle value, and the laser distance value include the following steps: Step 200: Determine the reference object reference distance value according to the reference object position point and the ship detection position point.

[0046] The reference object reference distance value refers to the distance value between the solid reference object and the ship to be charged. Calculate the distance between the reference object position point and the ship detection position point to obtain the reference object reference distance value.

[0047] Step 201: Determine the fluctuation range according to the reference object reference distance value.

[0048] The fluctuation range refers to the distance fluctuation range when the ship to be charged moves under the influence of the waves. Different reference object reference distance values correspond to different fluctuation ranges, so as to determine the fluctuation range between the ship to be charged and the reference object position point when fluctuating through the reference object reference distance value.

[0049] Step 202: Determine whether the laser distance value falls within the fluctuation range.

[0050] Judge whether the laser distance value falls within the fluctuation range to determine whether the position of the ship to be charged is correct.

[0051] Step 2020: If the laser distance value falls within the fluctuation range, the detection is completed.

[0052] If the laser distance value falls within the fluctuation range, it means that the position of the ship to be charged is correct, and the detection is completed.

[0053] Step 2021: If the laser distance value is greater than the maximum value of the fluctuation range, determine the actual abnormal position point according to the ship detection position point, the laser height value, the laser angle value, and the laser distance value.

[0054] The actual abnormal position point refers to the misdetected position point. If the laser distance value is greater than the maximum value of the fluctuation range, it means that the position where the laser beam is emitted is incorrect, resulting in an incorrect detected distance. Then, determine the range direction according to the laser height value and the laser angle value, and determine the actual abnormal position point according to the range direction and the laser distance value.

[0055] Step 203: Determine the deviation adjustment value according to the reference object position point and the actual abnormal position point.

[0056] The deviation adjustment value refers to the parameter that the laser detection device needs to adjust according to the deviation between the reference object position point and the actual abnormal position point. Calculate the abnormal position distance value from the reference object position point and the actual abnormal position point, and then input the abnormal position distance value into the preset deviation database to obtain the deviation adjustment value. Different abnormal position distance values and their corresponding deviation adjustment values are stored in the deviation database, which is a database set by humans and will not be elaborated here.

[0057] Step 204: Control the preset laser detection device to adjust according to the deviation adjustment value, update the laser detection information, and update the actual position point of the ship based on the updated laser detection information.

[0058] Control the laser detection device on the ship to be charged to adjust according to the deviation adjustment value, update the laser detection information, and then re-analyze and update the actual position point of the ship through the updated laser detection information.

[0059] Step 2022: If the laser distance value is less than the minimum value of the fluctuation range, obtain the ship parameter information of the ship to be charged.

[0060] The ship parameter information refers to the parameter information such as the size and model of the ship, which is obtained through pre-input. If the laser distance value is less than the minimum value of the fluctuation range, it means that there is interference from other objects, resulting in an incorrect actual distance detected, so the ship parameter information is obtained.

[0061] Step 205: Update the actual position point of the ship according to the ship parameter information and the laser distance value with a preset laser adjustment method.

[0062] Update the actual position point of the ship to be charged with a preset laser adjustment method through the ship parameter information and the laser distance value, thereby improving the accuracy when charging the ship to be charged. The laser adjustment method refers to the method of adjusting the laser direction, and the laser adjustment method is Steps 300 - 304.

[0063] Refer to Figure 3 , the laser adjustment method includes the following steps: Step 300: Determine the ship reference distance value according to the ship parameter information.

[0064] The ship reference distance value refers to the distance between the position point of the laser detection device on the ship to be charged and the ship edge. Analyze and calculate the distance between the reference object position point and the position point of the laser detection device to determine the ship reference distance value.

[0065] Step 301: Determine whether the laser distance value is greater than the ship reference distance value.

[0066] Determine whether the laser distance value is greater than the ship's reference distance value, so as to determine whether other interfering objects are on the ship and affect the laser distance value.

[0067] Step 3010: When the laser distance value is greater than the ship's reference distance value, correct the actual position point of the ship by using a preset reference object deviation adjustment method.

[0068] When the laser distance value is greater than the ship's reference distance value, it indicates that other interfering objects are not on the ship. Then, correct the actual position point of the ship by using a preset reference object deviation adjustment method. The reference object deviation adjustment method refers to the method of adjusting the laser detection device through the occlusion value, which is determined by pre-input. The reference object deviation adjustment method is from Step 400 to Step 4021.

[0069] Step 3011: When the laser distance value is not greater than the ship's reference distance value, obtain the dynamic detection information of a preset detection area.

[0070] The detection area refers to the area around the laser detection device of the ship. The detection area is pre-set by the staff and will not be elaborated here. The dynamic detection information refers to the image of the objects within the detection coverage area around the laser detection device per unit time, which is obtained by the camera preset in the detection area. When the laser distance value is not greater than the ship's reference distance value, it indicates that other interfering objects are on the ship. Then, obtain the dynamic detection information of the detection area through the preset camera.

[0071] Step 302: Determine the moving state according to the dynamic detection information.

[0072] The moving state refers to whether the object irradiated by the laser beam is in a moving state. Determine the moving state through the image change situation per unit time.

[0073] Step 303: Determine the state adjustment value according to the moving state, laser height value, laser angle value and laser distance value.

[0074] The state adjustment value refers to the adjustment parameter of the light beam based on the moving state. The direction range of the laser emission is determined by the laser height value and the laser angle value. Then, the position reached by the laser emission beam is determined by the direction range of the laser emission and the laser distance value. Input the position reached by the laser emission beam and the moving state into a preset state adjustment database to obtain the state adjustment value. Different state adjustment values corresponding to the position reached by the laser emission and the moving state are stored in the state adjustment database. The state adjustment database is a database set by humans and will not be elaborated here.

[0075] Step 304: Control the laser detection device to adjust with the state adjustment value, update the laser detection information, and update the actual position point of the ship according to the updated laser detection information.

[0076] Control the laser detection device to adjust according to the status adjustment value. After adjustment, update the laser detection information, and update the actual ship position point through the updated laser detection information, so as to improve the accuracy of the actual ship position point.

[0077] Refer to Figure 4 , the reference object deviation adjustment method includes the following steps: Step 400: Determine the occlusion value according to the fixed reference object information and the laser distance value.

[0078] The occlusion value refers to the blocked range when the laser is emitted. The area of the reference object is determined through the fixed reference object information, and the distance from the laser to the reference object when the laser is emitted is determined through the laser distance value. Input the distance of the reference object and the area of the reference object into the preset occlusion database, so as to obtain the occlusion value. Different occlusion values corresponding to the distance of the reference object and the area of the reference object are stored in the occlusion database. The occlusion database is a database set by humans and will not be elaborated here.

[0079] Step 401: Determine the movement adjustment value according to the occlusion value.

[0080] The movement adjustment value refers to the adjustment parameter of the light beam when the laser is emitted. Input the occlusion value into the preset adjustment database, so as to obtain the movement adjustment value. Different movement adjustment values corresponding to different occlusion values are stored in the adjustment database. The adjustment database is pre-set by the staff and will not be elaborated here.

[0081] Step 402: Determine whether the movement adjustment value is within the preset reference adjustment range.

[0082] The reference adjustment range refers to the parameters that the laser detection device can adjust. The reference adjustment range is pre-set by the staff and will not be elaborated here. Judge whether the movement adjustment value is within the reference adjustment range, so as to determine whether the adjustment can be successful.

[0083] Step 4020: If the movement adjustment value falls within the reference adjustment range, control the preset laser detection device to adjust according to the movement adjustment value, update the laser detection information, and update the actual ship position point according to the updated laser detection information.

[0084] If the movement adjustment value falls within the reference adjustment range, it means that adjustment is possible. Control the laser detection device to adjust according to the movement adjustment value, and update the laser detection information. Update the actual ship position point through the updated laser detection information.

[0085] Step 4021: If the adjustment value does not fall within the reference adjustment range, switch to the standby laser detection device and jump to re-acquire the laser detection information.

[0086] If the adjustment value does not fall within the reference adjustment range, it indicates that the adjustable range of the laser detection device has been exceeded. Turn off the currently used laser detection device and turn on the standby laser detection device to obtain the laser detection information again through laser emission, thus avoiding incorrect detection of the laser detection information due to occlusion.

[0087] Refer to Figure 5 , the specific steps for controlling the preset charging device to operate for charging include the following steps: Step 500: Obtain the position point of the charging device, the wind force detection value, the wind direction detection value, and the ship model information in the charging area.

[0088] The position point of the charging device refers to the position where the charging head is docked with the charging port of the ship to be charged. The ship model information includes the position point of the charging device, so the position point of the charging device is determined according to the ship model information. The wind force detection value refers to the wind force value when the ship to be charged is charging, which is obtained through a wind force measuring instrument. The wind direction detection value refers to the wind direction when the ship is charging, which is obtained through the wind vane in the port. The ship model information refers to the model of the ship, and the ship model information is included in the ship parameter information, so it is retrieved through the ship parameter information.

[0089] Step 501: Determine the position point of the charging port according to the ship model information and the actual position point of the ship.

[0090] The position point of the charging port refers to the position of the charging port on the ship to be charged. Determine the relative position distance between the position of the charging port on the ship to be charged determined by the ship model information and the actual position point of the ship, and then determine the position point of the charging port through the actual position point of the ship and the relative position distance, so as to obtain the position point of the charging port.

[0091] Step 502: Determine the charging distance value according to the position point of the charging port and the position point of the charging device.

[0092] The charging distance value refers to the actual distance between the charging device and the charging port when charging the ship to be charged. Calculate the distance between the position point of the charging port and the position point of the charging device to determine the charging distance value.

[0093] Step 503: Determine the reference distance range according to the ship model information.

[0094] The reference distance range refers to the distance range within which the charging device can charge the ship to be charged. Determine the reference distance range through the ship model information, and different ship model information corresponds to different reference distance ranges.

[0095] Step 504: Determine whether the charging distance value falls within the reference distance range.

[0096] Judge whether the charging distance value falls within the preset reference distance range to determine whether the ship to be charged can be charged normally.

[0097] Step 5040: If the charging distance value falls within the reference distance range, charge using a preset charging head falling method.

[0098] If the charging distance value falls within the reference distance range, it indicates that the distance between the charging device and the ship to be charged is sufficient for charging the ship to be charged. Then, charge using a preset charging head falling method. The charging head falling method refers to the accurate insertion method when the charging head is inserted into the charging port. The charging head falling method is Steps 600 - 605.

[0099] Step 5041: If the charging distance value does not fall within the reference distance range, determine the charging head influence amplitude value of the ship based on the wind force detection value and the wind direction detection value.

[0100] The charging head influence amplitude value refers to the influence amplitude of wind force and wind direction on the ship to be charged located at sea. If the charging distance value does not fall within the reference distance range, it means that the distance between the charging device and the ship to be charged is too far to charge normally. Input the wind force detection value and the wind direction detection value into a preset amplitude database to obtain the charging head influence amplitude value. Different wind force detection values and corresponding charging head influence amplitude values are stored in the amplitude database, which is pre-set by the staff and will not be elaborated here.

[0101] Step 505: Retrieve the charging reference distance value based on the reference distance range. Determine the distance difference based on the charging head influence amplitude value, the charging reference distance value, and the charging distance value, and define the distance difference as the moving distance value.

[0102] The charging reference distance value refers to the distance at which the charging device can charge the ship to be charged. The moving distance value refers to the distance that the charging device needs to move to reach a position where it can charge the ship to be charged. Analyze the reference distance range to retrieve the maximum value as the charging reference distance value. Calculate the product value between the charging head influence amplitude value and the charging distance value to determine the distance value that needs to be moved after being affected by the wind force. Then calculate the distance difference between the distance value that needs to be moved after being affected by the wind force and the charging reference distance value. This distance difference is the moving distance value.

[0103] Step 506: Control the charging device to move towards the charging port position point of the ship by the moving distance value and charge using a preset charging head falling method.

[0104] By controlling the charging device to move towards the charging port position point of the ship to be charged by the moving distance value, the distance between the charging device and the charging port of the ship to be charged can be within the reference distance range. At this time, charge using a preset charging head falling method. The charging head falling method is Steps 600 - 605.

[0105] Reference Figure 6 , the charging head falling method includes the following steps: Step 600: Obtain the device model information of the charging device.

[0106] The device model information refers to the parameter information of the charging device. The device model information is obtained through pre-input.

[0107] Step 601: Determine the reference range interval according to the device model information.

[0108] The reference range interval refers to the amplitude interval of the ship that can be charged normally. The reference range interval is included in the device model information, so the reference range interval is determined through the device model information.

[0109] Step 602: Calculate the ship amplitude value based on the change of the actual position points of the ship per unit time.

[0110] The ship amplitude value refers to the amplitude value corresponding to the ship to be charged when it sways at sea. The unit time refers to the minimum time value used to determine the ship amplitude value, which is obtained through pre-input. By analyzing and calculating the change of the actual position points of the ship per unit time, the ship amplitude value is obtained.

[0111] Step 603: Determine whether the ship amplitude value falls within the reference range interval.

[0112] Judge whether the ship amplitude value falls within the reference range interval, so as to determine whether the charging head can be inserted into the charging port of the ship to be charged for charging.

[0113] Step 6030: If the ship amplitude value falls within the reference range interval, calculate the moving speed and moving direction when the charging head is inserted according to the ship amplitude value and the charging port position point.

[0114] The moving speed refers to the speed at which the charging head approaches the charging port when charging the ship to be charged. The moving direction refers to the orientation when the charging head approaches the charging port when charging the ship to be charged. If the ship amplitude value falls within the reference range interval, it means that charging can be carried out. By analyzing the dynamic position relationship between the ship and the charging port through the ship amplitude value and the charging port position point, the moving speed and the moving direction are obtained.

[0115] Step 604: Control the preset charging device to place the charging head at the preset charging port position point at the moving speed and moving direction.

[0116] Control the charging device to place the charging head at the charging port position point of the ship at the moving speed and moving direction, so that the ship to be charged can be accurately charged when there is floating, and the charging efficiency is improved.

[0117] Step 6031: If the ship amplitude value does not fall within the reference range interval, determine the fixed state according to the ship amplitude value.

[0118] The fixed state refers to the operating state of fixing the ship to be charged. The fixed state is divided into mooring fixing with cables and anchoring fixing. Mooring fixing with cables uses steel cables to fix to the mooring bollards on the shore, and anchoring fixing uses anchors. The fixing state is operated by the staff. If the ship amplitude value does not fall within the reference range interval, it means that the floating of the ship to be charged is large. Determine the fixed state according to the ship amplitude value, and input the ship amplitude value into the preset fixed database to determine the fixed state. Different fixed states corresponding to different ship amplitude values are stored in the fixed database, which is a database set by humans and will not be elaborated here.

[0119] Step 605: Adjust according to the fixed state and place the charging head at the preset charging port position point.

[0120] Determine the equipment to be used for fixing according to the fixed state. After fixing, place the charging head at the charging port position point, so as to improve the stability of the ship to be charged during charging.

[0121] Refer to Figure 7 , the method for adjusting the laser detection device affected by the weather includes the following steps: Step 700: Obtain the weather detection information of the preset area to be charged.

[0122] The area to be charged refers to the area where the ship to be charged is charged and the area around the ship to be charged, which is preset by technicians. The weather detection information includes the detected temperature value, detected light value, and detected humidity value. Obtain the weather detection information of the area to be charged by retrieving the weather data of the weather station.

[0123] Step 701: Determine the signal weather influence value according to the weather detection information.

[0124] The signal weather influence value refers to the degree of influence of the weather on the signal in the laser detection information. Analyze the weather detection information to determine the signal weather influence value. The confirmation method of the signal weather influence value refers to Step 800 - Step 8031.

[0125] Step 702: Determine whether the signal weather influence value falls within the preset signal reference influence interval.

[0126] The signal reference influence interval is the influence value interval set by technicians when the weather does not affect the signal of the laser detection. Judge whether the signal weather influence value falls within the preset signal reference influence interval to determine whether the weather will affect the accuracy of the actual position point of the ship.

[0127] Step 703: When the signal weather influence value falls within the signal reference influence range, continue the detection.

[0128] When the signal weather influence value falls within the signal reference influence range, it indicates that the weather will not affect the position of the actual position point of the ship, and then continue the detection.

[0129] Step 704: When the signal weather influence value does not fall within the signal reference influence range, determine the laser adjustment value according to the signal weather influence value and the signal reference influence range, and control the laser detection device to make adjustments with the laser adjustment value.

[0130] The laser adjustment value refers to the adjustment value for adjusting the laser intensity. When the signal weather influence value does not fall within the signal reference influence range, it indicates that the weather will affect the position of the actual position point of the ship. Then, select the maximum signal reference influence value through the signal reference influence range, calculate the difference between the signal weather influence value and the signal reference influence value, and input the difference between the signal weather influence value and the signal reference influence value into the preset laser adjustment database to obtain the laser adjustment value. Different differences between the signal weather influence value and the signal reference influence value corresponding to the laser adjustment values are stored in the laser adjustment database. The laser adjustment database is a database set by humans and will not be elaborated here. By controlling the laser detection device to make adjustments with the laser adjustment value, the error caused by the weather for detecting the actual position point of the ship can be avoided.

[0131] Refer to Figure 8 , the determination method of the signal weather influence value includes the following steps: Step 800: Retrieve the detected temperature value, detected light value, and detected humidity value based on the weather detection information.

[0132] The detected temperature value refers to the air temperature value of the area to be charged. The detected light value refers to the light intensity value of the area to be charged. The detected humidity value refers to the relative air humidity value of the area to be charged. The weather detection information includes the detected temperature value, detected light value, and detected humidity value, so as to determine the detected temperature value, detected light value, and detected humidity value through the weather detection information.

[0133] Step 801: Determine whether the detected light value is greater than the preset reference received light value.

[0134] Judge whether the detected light value is greater than the preset reference received light value, so as to determine whether the light intensity value of the area to be charged will affect the accuracy of the laser detection information. The reference received light value refers to the received light value that can not affect the judgment of the laser detection information.

[0135] Step 8010: When the detected light value is greater than the received light value, calculate the difference between the detected light value and the received light value and use it as the light deviation value.

[0136] When the detected light value is greater than the received light value, it indicates that the detected position may cause inaccurate laser detection information due to too high brightness. Then, calculate the difference between the detected light value and the received light value and use it as the light deviation value.

[0137] Step 802: Retrieve the light angle value based on the weather detection information, and determine the signal weather influence value according to the light deviation value and the light angle value.

[0138] The light angle value refers to the angle value between the light in the area to be charged and the laser detection device. Retrieve the light angle value through the weather detection information, input the light deviation value and the light angle value into the preset influence database, so as to determine the signal weather influence value. The influence database stores the signal weather influence values corresponding to each light deviation value and light angle value. The influence database is a database set by humans and will not be elaborated here.

[0139] Step 8011: When the detected light value is not greater than the received light value, determine the rain and snow value according to the detected temperature value and the detected humidity value.

[0140] The rain and snow value refers to the amount of rain or snow in the area to be charged. When the detected light value is not greater than the received light value, it indicates that the light intensity value in the area to be charged will not affect the laser detection information. Input the detected temperature value and the detected humidity value into the preset rain and snow database, so as to obtain the rain and snow value. The rain and snow database stores the rain and snow values corresponding to different detected temperature values and detected humidity values. The rain and snow database is a database set by humans and will not be elaborated here.

[0141] Step 803: Determine whether the rain and snow value is within the preset rain and snow range.

[0142] The rain and snow range refers to the range corresponding to the signal when normal rain or snow does not affect the laser detection information. The rain and snow range is set in advance by those skilled in the art and will not be elaborated here. Judge whether the rain and snow value is within the preset rain and snow range, so as to determine whether the weather at this time affects the detection of laser detection information.

[0143] Step 8030: When it is within the rain and snow range, determine the signal weather influence value according to the rain and snow value.

[0144] When it is within the rain and snow range, it indicates that the weather at this time does not affect the detection of laser detection information. Then, input the rain and snow value into the preset weather database, so as to obtain the signal weather influence value. The weather database stores the signal weather influence values corresponding to different rain and snow values. The weather database is a database set by humans and will not be elaborated here.

[0145] Step 8031: When it is not within the rain and snow range, stop charging.

[0146] When not in the rain and snow range, it indicates that the rain and snow value is too large, which is extreme weather and will affect the detection of laser detection information, so charging is stopped. This improves the safety and stability during detection.

[0147] Based on the same inventive concept, an embodiment of the present invention provides a ship intelligent charging positioning adjustment system, including: An acquisition module, configured to acquire ship detection position points, laser detection information, ship parameter information, dynamic detection information, model information, and weather detection information; A memory, configured to store a program of the above-mentioned ship intelligent charging positioning adjustment method; A processor, configured to load the program stored in the memory.

[0148] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory for a ship intelligent charging positioning adjustment method.

[0149] Those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0150] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for adjusting ship intelligent charging positioning, characterized in that: include: Obtain the ship detection position point where the ship to be charged is located and the laser detection information of the laser detection device; Retrieve laser height value, laser angle value and laser distance value based on laser detection information; Determine the detection range information according to the laser height value and the laser angle value; Determine the fixed reference object information based on the detection range information and the ship detection position point; Select and determine the reference object position point based on the fixed reference object information; Determine the actual position of the ship based on the reference position, laser angle and laser distance; Based on the actual position of the ship, the preset charging device is controlled to operate for charging.

2. A method for adjusting ship intelligent charging positioning according to claim 1, characterized in that: The method also includes the following steps after determining the actual position of the vessel according to the reference position, the laser angle value and the laser distance value: Determine the reference object benchmark distance value according to the reference object position point and the ship detection position point; Determine the fluctuation range according to the reference base distance value; Determine whether the laser distance value falls within the fluctuation range; If the laser distance value falls within the fluctuation range, the detection is completed; If the laser distance value is greater than the maximum value of the fluctuation range, the actual abnormal position point is determined according to the ship detection position point, laser height value, laser angle value and laser distance value; Determine the deviation adjustment value based on the reference object position point and the actual abnormal position point; Controlling a preset laser detection device to adjust with a deviation adjustment value, and updating laser detection information, and updating the actual position point of the ship according to the updated laser detection information; If the laser distance value is less than the minimum value of the fluctuation range, the ship parameter information of the ship to be charged is obtained; The actual position of the ship is updated according to the ship parameter information and the laser distance value using a preset laser adjustment method.

3. A method for adjusting ship intelligent charging positioning according to claim 2, characterized in that: Laser trimming methods include: Determine the ship reference distance value according to the ship parameter information; Determine whether the laser distance value is greater than the ship reference distance value; When the laser distance value is greater than the ship reference distance value, the actual position of the ship is corrected using the preset reference deviation adjustment method; When the laser distance value is not greater than the ship reference distance value, the dynamic detection information of the preset detection area is obtained; Determine the movement state according to the dynamic detection information; Determine the state adjustment value according to the moving state, the laser height value, the laser angle value and the laser distance value; The laser detection device is controlled to be adjusted with the state adjustment value, and the laser detection information is updated, and the actual position point of the ship is updated according to the updated laser detection information.

4. A method for adjusting ship intelligent charging positioning according to claim 3, characterized in that: Reference object deviation adjustment methods include: Determine the occlusion value according to the fixed reference object information and the laser distance value; Determine the movement adjustment value according to the occlusion value; Determining whether the movement adjustment value is within a preset reference adjustment range; If the movement adjustment value falls within the reference adjustment interval, the preset laser detection device is controlled to adjust with the movement adjustment value, and the laser detection information is updated, and the actual position point of the ship is updated according to the updated laser detection information; If the adjustment value does not fall within the reference adjustment interval, the backup laser detection device is switched and the process jumps to reacquiring laser detection information.

5. A method for adjusting ship intelligent charging positioning according to claim 1, characterized in that: The specific steps of controlling the preset charging device to operate for charging include: Obtain the charging device location point, wind force detection value, wind direction detection value and ship model information in the charging area; Determine the location of the charging port based on the ship model information and the actual location of the ship; Determine the charging distance value according to the charging port location point and the charging device location point; Determine the reference distance interval according to the ship model information; Determine whether the charging distance value falls within the reference distance interval; If the charging distance value falls within the reference distance interval, charging is performed using the preset charging head drop method; If the charging distance value does not fall within the reference distance interval, the impact amplitude value of the ship's charging head is determined according to the wind force detection value and the wind direction detection value; Based on the reference distance interval, the charging reference distance value is retrieved, and the distance difference is determined according to the charging head impact amplitude value, the charging reference distance value and the charging distance value, and the distance difference is defined as the moving distance value; The charging device is controlled to move to the charging port position of the ship according to the moving distance value, and charging is performed using a preset charging head falling method.

6. A method for adjusting ship intelligent charging positioning according to claim 5, characterized in that: The charging head falls into the following ways: Obtain device model information of the charging device; Determine the reference range based on the equipment model information; The ship amplitude value is calculated based on the change of the actual position point of the ship per unit time; Determine whether the ship amplitude value falls within the reference range; If the ship amplitude value falls within the reference range, the moving speed and moving direction of the charger when it is inserted are calculated based on the ship amplitude value and the charging port location point; Control the preset charging device to place the charging head to the preset charging port position point at a moving speed and moving direction; If the ship amplitude value does not fall within the reference range, the fixed state is determined according to the ship amplitude value; Adjust according to the fixed state and place the charging head to the preset charging port position.

7. A method for adjusting ship intelligent charging positioning according to claim 1, characterized in that: Also includes: Obtain weather detection information of the preset charging area; Determine the signal weather impact value based on weather detection information; Determine whether the signal weather impact value falls within a preset signal benchmark impact interval; When the signal weather impact value falls into the signal benchmark impact interval, detection continues; When the signal weather impact value does not fall within the signal reference impact interval, the laser adjustment value is determined according to the signal weather impact value and the signal reference impact interval, and the laser detection device is controlled to perform adjustment with the laser adjustment value.

8. A method for adjusting ship intelligent charging positioning according to claim 7, characterized in that: Methods for determining the signal weather impact value include: Retrieve the detected temperature value, the detected light value, and the detected humidity value based on the weather detection information; Determining whether the detected light value is greater than a preset reference received light value; When the detected illumination value is greater than the received illumination value, the difference between the detected illumination value and the received illumination value is calculated and used as the illumination deviation value; Retrieve the illumination angle value based on the weather detection information, and determine the signal weather impact value according to the illumination deviation value and the illumination angle value; When the detected light value is not greater than the received light value, the rain and snow value is determined according to the detected temperature value and the detected humidity value; Determine whether the rain and snow value is within the preset rain and snow range; When it is in the rain and snow interval, the signal weather impact value is determined according to the rain and snow value; When it is not in the rain or snow zone, charging stops.

9. A ship intelligent charging positioning adjustment system, characterized in that: include: The acquisition module is used to obtain the ship detection location point, laser detection information, ship parameter information, dynamic detection information, model information, and weather detection information; A memory, used to store a program of a ship intelligent charging positioning adjustment method according to any one of claims 1 to 8; The program in the memory can be loaded and executed by the processor.

10. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a method for adjusting the positioning of a ship intelligent charging as claimed in any one of claims 1 to 8.

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