A ship automatic docking charging pile and a charging method

Abstract

The application discloses a kind of automatic butt joint charging pile and charging method of ship berthing, it is related to ship charging technical field, the charging pile is composed of base unit, floating butt joint device, visual positioning module and charging control cabinet.By setting several charging induction zones at the entrance of ship, and connecting charging base on both sides, each charging base is registered in the base unit grid, to build the corresponding base unit cell, build floating butt joint object group, and make docking preparation through the identification and pairing of predefined docking rules of floating butt joint object group, and make visual positioning to the target object that makes docking preparation, determine the position calibration area after the ship berthing, execute area approach guidance in the position calibration area, control the ship to enter the target charging area, finally, charge the ship in the target charging area, and supervise the charging process, realize efficient, accurate and safe ship charging.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship charging, in particular to a ship automatic docking charging pile and a charging method. BACKGROUND

[0002] The ship charging technology is a key link of the electric ship energy supply system, and the automation level directly affects the port operation efficiency and ship energy efficiency management. At present, the common ship charging method still mainly relies on manual docking or semi-automatic mechanical guidance, which has obvious limitations such as low docking accuracy, poor adaptability, and large environmental interference.

[0003] There are several automation attempts in the prior art, such as using proximity sensors or wireless communication for rough positioning, but it still cannot realize high-precision real-time pose closed-loop control of multiple degrees of freedom. Some schemes introduce guide rails or hydraulic adjustment mechanisms, but lack the management ability of system-level resource scheduling and operating state, and are difficult to cope with the multi-interface concurrent charging scene.

[0004] In addition, the existing charging system generally does not establish a digital model of the charging base and a dynamic registration mechanism, and cannot realize real-time monitoring and optimal allocation of base resources. Therefore, it is necessary to provide an automatic docking charging system capable of realizing high-precision visual positioning, intelligent object pairing and safety control to meet the urgent needs of modern ports for efficient, reliable and intelligent charging operations. SUMMARY

[0005] The purpose of the present application is to provide a ship automatic docking charging pile and a charging method to solve the problems in the background art.

[0006] In order to achieve the above purpose, the present application provides the following technical scheme: a ship automatic docking charging pile, the charging pile comprising:

[0007] a base unit for setting a plurality of charging induction zones at the port entrance of the ship, both sides of each charging induction zone being used to connect a charging base, and all the charging bases being registered in a grid in the base unit, thereby constructing a corresponding base cell;

[0008] a floating docking device for constructing a floating docking object group, the floating docking object group comprising a base lock object and a ship key object, and the floating docking object group being used to identify the paired base lock object and ship key object and make docking preparations according to a predefined docking rule;

[0009] a visual positioning module for visually positioning the target object after identifying the paired object and making docking preparations, thereby determining a position calibration area after the ship docks at the port, performing regional approach guidance in the position calibration area, and controlling the ship to enter the target charging area;

[0010] A charging control cabinet is used for charging a ship in a target charging area and supervising a charging process.

[0011] Further, a plurality of charging induction areas are set at a ship entering port, and a process of connecting charging bases on both sides of each charging induction area includes:

[0012] A plurality of charging induction areas are set at equal intervals at the ship entering port, and each charging induction area has an equal induction area.

[0013] The positions of the plurality of charging induction areas are set at the edge of the coastline where the ship entering port is located, and each charging induction area is provided with one charging base on both sides of the area boundary.

[0014] The charging induction area determines whether to call the charging base set on both sides according to the induction result of the berthed ship, wherein the charging base is provided with different base states of idle, busy and fault, and when the charging bases in the charging induction area are all in the busy or fault state, a mobile charging base is dispatched to the current charging induction area in the set dynamic deployment area to replace the charging base with a base state that does not meet the demand to perform charging related work.

[0015] Further, a process of registering all charging bases in a base unit in a grid and then constructing a corresponding base cell includes:

[0016] The base unit is composed of a plurality of charging bases.

[0017] According to the base ID and base coordinates of each charging base under the base unit, a respective grid node is created, a database is connected and deployed for the base unit, and each charging base initiates a registration application to the database based on its own grid node. After the database is approved, a database entry is divided as a registration entry for the corresponding grid node.

[0018] Each charging base in the base unit is repeatedly registered in the grid, and each grid node registered in the corresponding database of the base unit is obtained. All registered grid nodes are combined to construct a base cell.

[0019] Further, a process of constructing a floating docking object group, identifying a matching base lock object and a ship key object, and preparing for docking according to a predefined docking rule of the floating docking object group includes:

[0020] Each floating docking object group includes a base lock object and a ship key object.

[0021] The base lock object is established based on the corresponding charging base of each grid node in the base cell, and the ship key object is established based on a plurality of charging interfaces on the ship berthed at the entering port. The base lock object is provided with lock information, and the ship key object is provided with key information.

[0022] The lock information and the key information of the completed floating docking object group are taken as the content of the message broadcast, and each ship key object and base lock object receives and analyzes the content of the message broadcast;

[0023] The docking rule includes a filtering rule and a selection rule; the filtering rule is executed to complete the preliminary screening between the ship key object and the base lock object; and the selection rule is executed to complete the final identification and pairing between the ship key object and the base lock object;

[0024] The charging base represented by the base lock object after the identification and pairing is completed is docked with the charging interface represented by the ship key object through the floating docking device.

[0025] Further, the process of establishing the base lock object and the ship key object is as follows:

[0026] Each charging base corresponding to the registered grid node in the base cell is taken as a base lock object, and the lock information of the base lock object includes identity state information, service capability information, location information and additional information;

[0027] The identity state information is used to represent the unique identity ID of the charging base and the base state of the charging base; the service capability information is used to represent the maximum output power, the interface type and the power supply duration of each charging base; the location information is used to represent the location coordinates of each charging base; and the additional information includes the waiting queue length and the expected waiting time of each charging base;

[0028] The ship is provided with a plurality of charging interfaces, each charging interface is taken as a ship key object, and the key information of the ship key object includes key points, demand information and interface information;

[0029] The key point is used to represent the location coordinates of each charging interface on the ship body, the demand information is used to represent the required power, the requested maximum charging power and the expected completion time of the ship, and the interface information is used to represent the interface type of the charging interface at each location coordinate on the ship body.

[0030] Further, the process of visually positioning the target object after the identification and pairing and then determining the location calibration area of the ship after berthing includes:

[0031] Each charging interface and charging base after the identification and pairing are taken as a target object for docking preparation, the high-frequency pose of the ship is calculated, and the real-time degree of freedom pose of each charging interface on the ship is obtained;

[0032] The real-time degree of freedom pose includes a translation degree of freedom pose and a rotation degree of freedom pose, and the translation degree of freedom pose includes 、 and , the rotational freedom degree pose includes 、 and ;

[0033] By the ship machine control terminal arranged on the ship, each real-time freedom degree pose is compared with the respective preset ideal freedom degree pose, and when the comparison result does not meet the expectation, the ship machine control terminal adjusts the real-time freedom degree pose that does not meet the expectation;

[0034] When each real-time freedom degree pose is within the pose allowable deviation range of the respective ideal freedom degree pose, an ideal docking space region between each charging interface of the ship and the identified paired charging base after the ship docks is determined, the ideal docking space region is taken as a position calibration region of the target object after the ship docks, and regional approach guidance is performed in the position calibration region.

[0035] Further, the process of controlling the ship to enter the target charging region in the position calibration region includes:

[0036] When the ship is in the position calibration region, the subsequent berthing process of the ship is divided into a coarse alignment stage, a fine alignment stage and an approaching stage;

[0037] In the coarse alignment stage, the translational freedom degree pose 、 and the rotational freedom degree pose are corrected, and the ship is controlled to move laterally and adjust the heading direction;

[0038] When the translational freedom degree pose 、 and the rotational freedom degree pose of the ship are within the error allowable range set in the fine alignment stage, all real-time freedom degree poses of the ship are adjusted until the values of all real-time freedom degree poses are 0, the parallelism and alignment between the charging interface and the charging base are completed, and the ship enters the target charging region;

[0039] In the approaching stage, in the target charging region, the ship uniformly completes the final docking between each charging interface on the ship and the corresponding charging base at a preset docking speed, and the final docking includes mechanical locking and electrical connection.

[0040] Further, the process of charging the ship in the target charging region and supervising the charging process includes:

[0041] Each completed mechanical locking and electrical connection charging interface and charging base are taken as a charging management object, and charging of each charging management object is synchronously performed by the charging control cabinet, and each charging management object is supervised;

[0042] When the charging power of a certain charging management object decays, power compensation is performed on the corresponding charging management object by the charging control cabinet, otherwise, no operation is performed; when a certain charging management object has an abnormal charging behavior, charging of the corresponding charging management object is immediately stopped;

[0043] When the input power of a certain charging management object reaches the required power, trickle charging is entered, and when the trickle charging exceeds the preset trickle time, the supervision of the corresponding charging management object by the charging control cabinet is disconnected, and when the input power of all charging management objects reaches the required power, the ship currently berthing reaches the required power, and the ship charging is completed.

[0044] Further, a ship berthing automatic docking charging method comprises the following steps:

[0045] Step S1: a plurality of charging induction zones are set at the port entrance of the ship, and both sides of each charging induction zone are used to connect the charging base, and all the charging bases are registered in the base unit in a grid manner, thereby constructing a corresponding base unit cell;

[0046] Step S2: a floating docking object group is constructed, the floating docking object group includes a base lock object and a ship key object, and through a predefined docking rule of the floating docking object group, the paired base lock object and the ship key object are identified, and docking preparation is made;

[0047] Step S3: visual positioning is performed on the target object after the identification and docking preparation, and then the position calibration area after the ship berthing is determined, and area approach guidance is performed in the position calibration area, and the ship is controlled to enter the target charging area;

[0048] Step S4: the ship is charged in the target charging area, and the charging process is supervised.

[0049] In the above technical solution, the technical effects and advantages provided by the present application are as follows:

[0050] 1、The application sets up several charging induction zones at the port of the ship, the two sides of each charging induction zone are connected with charging bases, the charging induction zone calls the charging base according to the induction result, when in busy or failure state, the mobile charging base is dispatched in the dynamic deployment area, the continuity and reliability of the charging service are guaranteed, all the charging bases are registered in the base unit to build the base unit cell, the digital management of the charging base is realized, the data basis for the base state monitoring and intelligent scheduling is provided, and the collaborative ability and management efficiency are improved.

[0051] 2、The application constructs the floating docking object group, and identifies the matching base lock object and the ship key object based on the predefined docking rule, realizes the intelligent matching and docking preparation of the charging interface and the charging base, improves the accuracy and efficiency of the matching, visually positions the target object after the matching, determines the position calibration area after the ship berths, and executes the area approaching guidance in the position calibration area, controls the ship to enter the target charging area, realizes the high-precision adjustment and docking guidance of the ship pose, and improves the adaptability to the complex berthing environment and the docking success rate.

[0052] 3、The charging control cabinet can monitor the charging state in real time, compensate for power attenuation, and handle abnormal charging behavior in time, so as to ensure the safety and stability of the charging process and improve the reliability and equipment life of the system. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0054] Figure 1 The system block diagram of the present application.

[0055] Figure 2 The method flowchart of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0057] Please refer to Figure 1As shown, an automatic docking charging pile for a ship in a port, the charging pile comprising:

[0058] a base unit for setting a plurality of charging induction zones at a ship entry port, both sides of each charging induction zone being used to connect a charging base, all charging bases being registered in a grid in the base unit, thereby constructing a corresponding base cell;

[0059] a floating docking device for constructing a floating docking object group, the floating docking object group comprising a base lock object and a ship key object, identifying a matched base lock object and a ship key object through a docking rule predefined by the floating docking object group, and making docking preparations;

[0060] a visual positioning module for visually positioning the target object after identifying the matched object and making docking preparations, thereby determining a position calibration area after the ship enters the port, performing regional approach guidance in the position calibration area, and controlling the ship to enter a target charging area;

[0061] a charging control cabinet for charging the ship in the target charging area and supervising the charging process.

[0062] It should be further noted that in the specific implementation process, the process of setting a plurality of charging induction zones at the ship entry port, both sides of each charging induction zone being used to connect a charging base, comprises:

[0063] a plurality of charging induction zones with equal induction areas are set at equal distances at the ship entry port, and the plurality of charging induction zones are labeled, with the label being denoted as i, i.e. i = 1, 2, 3, …, n, where n is a natural number greater than 0;

[0064] The positions of the plurality of charging induction zones are set at the edge of the shoreline where the ship entry port is located, and when the ship enters the ship entry port, the ship body gradually docks near the edge of the shoreline, and each charging induction zone is provided with a charging base on both sides of the area boundary;

[0065] The charging induction zone determines whether to call the charging base provided on both sides according to the induction result of the docked ship, and the specific induction and calling process is as follows:

[0066] When a target object with charging demand is induced in a charging induction zone, the relative distance between the corresponding charging base on both sides of the charging induction zone and the target object is obtained synchronously, and one charging base with closer relative distance is called as an execution end, and the base state of the execution end is judged, including idle, busy and failure;

[0067] If the execution end is idle, the execution end is responsible for the charging related work of the corresponding target object, if the execution end is busy or fails, another charging base of the charging induction area is called as the execution end, and the base state is judged;

[0068] If the base state meets the requirements, the execution end after calling is responsible for the charging related work, otherwise, the mobile charging base in the set dynamic deployment area is dispatched to the current charging induction area to replace the charging base with unsatisfied state to perform the charging related work;

[0069] The dynamic deployment area is set at a position with a standby range radius from the charging induction area, and a plurality of mobile charging bases are stored in the dynamic deployment area, the mobile charging base is a charging base with a mobile function, which is consistent with the ordinary charging base in function, the standby range radius is the maximum radius of the charging induction area that can initiate the calling operation, when the charging bases in the charging induction area all do not meet the requirements, the charging induction area initiates a calling application to the dynamic deployment area within the standby range radius, and then arranges the mobile charging base to complete the replacement of the charging base in the charging induction area that initiates the calling application.

[0070] It should be noted that the charging induction area is realized by a first identification system composed of AIS automatic identification technology, port WIFI network and RFID technology, and a second identification system composed of geomagnetic sensor and millimeter wave radar; wherein the first identification system is used for sensing the ship entering the port range, that is, knowing that "a ship is coming" and "who is the coming ship", and achieving pre-sensing, the charging induction area after pre-sensing enters the preparation state, and the second identification system is used for further identifying the pre-sensed ship, so that the different position areas required to be charged by the ship after entering the port enter the respective adapted charging berths, that is, the plurality of charging induction areas are used for docking different charging interfaces on the ship to perform subsequent power supply in the respective position areas;

[0071] The working process of the AIS automatic identification technology is as follows: when the ship enters the port, the AIS transceiver deployed thereon continuously broadcasts its static information (MMSI identification code, ship name, size, etc.) and dynamic information (position, speed, heading), the port base station receives these signals, and can remotely (up to dozens of nautical miles) identify the ship identity and approximate intention, and realize "pre-sensing";

[0072] The port WIFI network is used to maintain the port base station to receive all information generated by the AIS automatic identification;

[0073] The RFID technology sets an RFID reader at the entrance of the port, installs an RFID tag on the ship, and reads the RFID tag by the RFID reader when the ship enters the port, so as to quickly complete the identity verification of the current ship;

[0074] The geomagnetic sensor is buried underwater or installed at the bottom of the predetermined charging induction area of the shore base. The ship body is composed of a large amount of steel. When the ship enters the charging induction area, the geomagnetic sensor can detect a significant change in the geomagnetic field to determine that a target has entered the current area, thereby realizing induction operation.

[0075] The millimeter wave radar is deployed within the area range of the charging induction area. The millimeter wave radar transmits millimeter waves, receives echo information after reflection by the ship body, and measures the relative distance, relative direction, and relative speed between the ship and different charging induction areas by analyzing the echo information. Each charging induction area is provided with a virtual electronic fence. When the millimeter wave radar determines that the ship enters a certain virtual electronic fence, the radar signal of the corresponding charging induction area is triggered, so that each position area of the ship that needs to be charged enters the adaptive charging berth.

[0076] It should be noted that the number of the first identification system is one, which is commonly used for several charging induction areas, and the main purpose is to pre-induce. The number of the second identification system is several, which is equal to the number of the charging induction areas, and is deployed in each charging induction area for specific regional induction of each charging induction area.

[0077] It should be further noted that in the specific implementation process, the grid registration of all charging bases in the base unit is performed, and the process of constructing the corresponding base cell includes:

[0078] The base unit is composed of several charging bases;

[0079] According to the base ID and base coordinates of each charging base under the base unit, a corresponding grid node is created, the base ID is used as the unique identity authentication mark of each charging base, the base coordinates are used to determine the position of each charging base, and the grid node is used as a data storage carrier of the corresponding charging base;

[0080] A database is connected and deployed for the base unit. After the connection and deployment are completed, each charging base initiates a registration application to the database based on its own grid node. After the database passes the grid node, a database entry is divided in the database. The divided database entry is used as the registration entry of the corresponding grid node;

[0081] The specific content of the audit by the grid node is that the registration application initiated by the grid node includes an application IP and a historical operation log. When the application IP is not in a preset IP form or there is an abnormal operation behavior in the historical operation log, the database does not pass the audit of the current grid node, otherwise, the audit is passed;

[0082] The IP form includes a plurality of application IPs allowed to register the grid. When the application IP initiating the registration application is tampered, the application IP does not belong to the IP form, and the object of the registration application may have behaviors that adversely affect the database, thereby prohibiting the current registration application to protect the safe operation of the database;

[0083] The abnormal operation behavior recorded in the operation log specifically includes virus code injection, external interference and self running crash. The object with the abnormal operation behavior will also affect the safe operation of the database;

[0084] The registration entry is used to obtain the real-time operation data of the grid node corresponding to the charging base, and then register the grid node in the database of the base unit. The base ID and base coordinates of each charging base are combined as the entry ID of the registration entry, and the entry ID is used as the unique identity of the registration entry;

[0085] The grid registration is repeatedly performed on each charging base in the base unit to obtain each grid node registered in the database corresponding to the base unit. The grid nodes that have completed registration are combined to construct a base unit cell.

[0086] It should be noted that the real-time operation data of each charging base in the physical entity is registered in the database of the base unit through the grid registration, realizing the digitization of the charging base. After registration, each physical charging base is transformed from a cold hardware into an intelligent entity that can be perceived, monitored and scheduled.

[0087] It should be further noted that in the specific implementation process, the floating docking object group is constructed, and the matching base lock object and the ship key object are identified through the pre-defined docking rules of the floating docking object group, and the process of making docking preparation includes:

[0088] Each floating docking object group includes a base lock object and a ship key object;

[0089] The base lock object is established based on the charging base corresponding to each grid node in the base unit cell, and the ship key object is established based on a plurality of charging interfaces on the ship docked in the port;

[0090] The content of establishing the base lock object is: taking each charging base corresponding to the registered grid node in the base unit cell as a base lock object, setting the lock information corresponding to the base lock object, and the lock information includes identity state information, service capability information, location information and additional information;

[0091] The identity state information is used to represent the unique identity ID of the charging base and the base state of the charging base, and the base state includes idle, busy and failure;

[0092] The service capability information is used to represent the maximum output power, interface type and power supply duration corresponding to each charging base; it provides some key information of the charging base for the power supply of the ship, so as to match the charging interface of different position points on the ship as a reference element;

[0093] The location information is used to represent the location coordinates of each charging base;

[0094] The additional information includes the waiting queue length and the expected waiting time corresponding to each charging base, the waiting queue length is the number of target objects currently being powered or waiting for power supply under the current charging base, and the expected waiting time is the time required for the current charging base to complete the power supply of the target object number;

[0095] The content of establishing the ship key object is: a plurality of charging interfaces are provided on the ship, each charging interface is taken as a ship key object, and corresponding key information is set for the ship key object, and the key information includes key point, demand information and interface information;

[0096] The key point is used to represent the location coordinates of each charging interface on the ship body, the demand information is used to represent the required power, the requested maximum charging power and the expected completion time of the ship, and the interface information is used to represent the interface type corresponding to the charging interface at each location coordinate on the ship body;

[0097] The lock information and the key information corresponding to the completed floating docking object group are taken as the content of message broadcast, and then each ship key object and base lock object receives and analyzes the content of message broadcast, and the identification and pairing between a plurality of ship key objects and base lock objects are completed based on the predefined docking rule;

[0098] The docking rule includes a filtering rule and a selection rule;

[0099] The filtering rule includes an interface compatibility rule, a power matching rule and a geographical range rule;

[0100] The role of the interface compatibility rule is to filter out all base lock objects that do not match the interface type in the base cell for each ship key object. When the interface type of the charging interface is different from the interface type of the charging base, the interface types do not match. If they are the same, they match.

[0101] The role of the power matching rule is to filter out all base lock objects whose maximum output power is lower than the requested maximum charging power for each ship key object. For example, a charging base with a maximum output power of 100kw will not be assigned to a charging interface that requests a maximum charging power of 500kw.

[0102] The role of the geographical range rule is to calculate the distance between each ship key object and the base lock object, set a filtering radius, and filter out all base lock objects whose distance is greater than or equal to the filtering radius for any ship key object.

[0103] The selection rule includes the shortest distance rule, the highest power rule, and the minimum waiting rule.

[0104] The shortest distance rule is executed to select the charging base represented by the base lock object that meets the distance requirement and is closest to the charging interface represented by each ship key object.

[0105] The highest power rule is executed to select a charging base that is close to the maximum charging power requested by each charging interface.

[0106] The minimum waiting rule is executed, which involves obtaining the expected waiting time of each charging base for any charging interface if all charging bases that meet the shortest distance rule or the highest power rule are busy, and selecting the charging base with the shortest expected waiting time for the charging interface.

[0107] The charging base represented by the base lock object that completes the identification and pairing is prepared for docking with the charging interface represented by the ship key object through the floating docking device. The charging base and the charging interface in docking preparation establish a preliminary guide path, with the location of the ship key object as the starting point of the preliminary guide path and the location of the base lock object as the termination point of the preliminary guide path.

[0108] It needs to be further explained that in the specific implementation process, the target object prepared for docking after identification and pairing is visually positioned, and then the location calibration area after the ship docks is determined. The process of controlling the ship to enter the target charging area includes:

[0109] The several charging interfaces and the several charging bases are identified after successful pairing, each of the identified and paired charging interface and charging base is a target object for docking preparation, high-frequency pose calculation is performed on the ship, and real-time degree of freedom pose of each charging interface on the ship is obtained through the high-frequency pose calculation;

[0110] The high-frequency pose calculation is continuously captured by a visual operation device (binocular camera, laser radar) at a preset high-frequency frequency, and each frame of image represents the real-time degree of freedom pose of the charging interface on the ship relative to the charging base at a certain time during the ship docking process;

[0111] The real-time degree of freedom pose includes a translational degree of freedom pose and a rotational degree of freedom pose, and the number of each of the translational degree of freedom pose and the rotational degree of freedom pose is 3;

[0112] Each real-time degree of freedom pose is compared with a respective preset ideal degree of freedom pose through a ship machine control terminal arranged on the ship, and when the comparison result does not meet the expectation, the ship machine control terminal adjusts the real-time degree of freedom pose that does not meet the expectation, and when each real-time degree of freedom pose is within a pose allowable deviation range of the respective ideal degree of freedom pose;

[0113] An ideal docking space region between each charging interface and the identified and paired charging base after the ship docks is determined, and in the ideal docking space region, the charging interface and the identified and paired charging base are within a spatial distance range in which a distance error meets the expectation;

[0114] The translational degree of freedom pose includes 、 and ; is a fore-aft degree of freedom, representing a distance deviation along a direction in which the ship length is located (fore-aft direction), and in the ship docking, the ship is parked too far forward or backward, at this time, the ship machine control terminal controls a main propeller on the ship to advance or retreat at a low speed;

[0115] is a left-right degree of freedom, representing a distance deviation along a direction in which the ship width is located (port-starboard direction), and in the ship docking, the ship is parked to the left or right, and does not face the charging base, at this time, the ship machine control terminal controls a rudder on the ship to generate a lateral moving force;

[0116] is an up-down degree of freedom, representing a height deviation in a vertical direction (draft direction), and in the ship docking, the height of the charging interface on the ship does not match the height of the charging base, and the two cannot complete docking;

[0117] The rotational degree of freedom pose includes 、 and ;

[0118] is the roll degree of freedom, representing the rotation angle around the length axis (X axis), which in the docking of the ship is manifested as the ship tilting to the port or starboard, at this time, the ship's control terminal controls the ballast water system on the ship to adjust the ship's roll, or the floating docking device in the charging base is adaptively rotated to compensate for the angle;

[0119] is the pitch degree of freedom, representing the rotation angle around the width axis (Y axis), which in the docking of the ship is manifested as the bow sinking or lifting (the stern sitting or lifting), at this time, the ship's roll is adjusted by the ballast water system;

[0120] is the yaw degree of freedom, representing the rotation angle around the vertical axis (Z axis), which in the docking of the ship is manifested as the deviation of the ship's heading, not parallel or directly facing the shore line, at this time, the rudder is used to adjust the heading of the ship;

[0121] It should be noted that the translational degree of freedom pose 、 and is used to describe how far the charging interface on the ship is offset from the charging base in three mutually perpendicular directions; the rotational degree of freedom pose 、 and is used to describe how much the interface plane of the ship is rotated relative to the interface plane of the charging pile, which is the key to ensuring that the two can be parallel and fit, rather than skewed and collide, when the six real-time degrees of freedom pose are all zero, it means that the interfaces of the charging interface and the charging base are concentric and parallel in the ideal docking state in the space region, so as to achieve the final mechanical locking and electrical connection.

[0122] The ideal docking space region is taken as the position calibration region of the ship after docking, and the area approach guidance is continued in the position calibration region, the content of the area approach guidance is that when the ship is in the position calibration region, the subsequent docking process of the ship is divided into a coarse alignment stage, a fine alignment stage and an approach stage;

[0123] In the coarse alignment stage, the translational degree of freedom pose 、 and the rotational degree of freedom pose are corrected, and the ship is controlled to move laterally and adjust the heading;

[0124] When the translational degree of freedom pose 、 and the rotational degree of freedom pose When all the errors are within the error allowance range set in the fine alignment stage, the corresponding operation of the fine alignment stage is performed, specifically: adjusting the real-time degree of freedom pose of the entire ship until the values of all the real-time degree of freedom poses are 0, completing the parallelism and alignment between the charging interface and the charging base, at this time, the ship enters the target charging area;

[0125] Finally, the approaching stage is entered, and in the target charging area, the ship completes the final docking between each charging interface on the ship and the corresponding charging base at a preset docking speed, the final docking including mechanical locking and electrical connection.

[0126] It needs to be further explained that, in the specific implementation process, the process of charging the ship in the target charging area and supervising the charging process includes:

[0127] After the ship enters the target area, the final docking between all charging interfaces on the ship and the respective identified and paired charging bases is completed, wherein the mechanical locking is performed by the hydraulic lock deployed at the charging control cabinet, and the electrical connection is performed by the electromagnetic lock deployed;

[0128] The hydraulic lock and the electromagnetic lock are collectively referred to as the docking structure of the charging pile, when the sensor in the hydraulic lock detects that the mechanical locking between the charging interface and the charging base is completed, it sends a "mechanical locking in place" message signal to the charging control cabinet, and similarly, when the sensor in the electromagnetic lock detects that the electrical connection between the charging interface and the charging base is completed, it sends a "electrical plug-in completion" message signal to the charging control cabinet;

[0129] Each charging interface and charging base that has completed mechanical locking and electrical connection is taken as a charging management object, and the charging control cabinet synchronously charges each charging management object and supervises each charging management object;

[0130] When the charging power of a certain charging management object decays, the charging control cabinet compensates the power of the corresponding charging management object, otherwise, no operation is performed;

[0131] When a certain charging management object has an abnormal charging behavior, the charging of the corresponding charging management object is immediately stopped; the abnormal charging behavior includes mechanical connection failure and electrical parameter abnormality;

[0132] The mechanical connection failure means that after the docking between the charging interface and the charging base is completed, the interface does not match due to displacement change of the ship or other external factors, and then the "mechanical locking not in place" or "electrical connection not plugged in" fault phenomenon is generated;

[0133] The electrical parameter abnormality includes voltage abnormality, current abnormality and temperature abnormality;

[0134] The voltage anomaly specifically includes that the output voltage of the charging control cabinet exceeds the maximum allowable voltage set by the BMS or is lower than the minimum allowable voltage set by the BMS, and also includes that the difference between the voltage at the output end of the charging pile and the current voltage of the battery is too large, and a huge impact current will be generated when the switch is closed, causing voltage difference anomaly;

[0135] The current anomaly includes overcurrent, that is, the actual charging current continuously exceeds the current value requested by the BMS by a certain percentage or for a certain duration, and also includes current fluctuation anomaly, that is, the fluctuation amplitude of the current value exceeds the set safe amplitude range;

[0136] The temperature anomaly includes that the temperature at the end of the charging pile is too high and the temperature at the end of the ship is too high;

[0137] When there is an abnormal charging behavior, the charging is stopped in time, which can effectively protect the charging base and the charging interface from damage;

[0138] When the input power of a certain charging control object reaches the required power, trickle charging is entered, and when the trickle charging exceeds the preset trickle time, the supervision of the corresponding charging control object by the charging control cabinet is disconnected, and when the input power of all charging control objects reaches the required power, the ship currently in port reaches the required power as a whole, and the ship charging is completed.

[0139] Referring to Figure 2 The application also provides a ship automatic docking charging method when the ship is in port, which comprises the following steps:

[0140] Step S1: A plurality of charging induction zones are set at the port entrance of the ship, and both sides of each charging induction zone are used to connect the charging base. All the charging bases are registered in the base unit in a grid manner, and then the corresponding base unit cell is constructed.

[0141] Step S2: A floating docking object group is constructed, which includes a base lock object and a ship key object. The paired base lock object and the ship key object are identified through the docking rule predefined by the floating docking object group, and docking preparation is made.

[0142] Step S3: The target object which has made docking preparation after being identified and paired is visually positioned, and then the position calibration area of the ship when it is in port is determined. The area approach guidance is performed in the position calibration area, and the ship is controlled to enter the target charging area.

[0143] Step S4: The ship is charged in the target charging area, and the charging process is supervised.

[0144] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A ship automatic docking charging pile when berthing, characterized in that, The charging pile comprises: a base unit for setting a plurality of charging induction areas at a ship entering port, two sides of each charging induction area being used for connecting charging bases, all the charging bases being registered in a grid in the base unit, and a corresponding base cell being constructed; a floating docking device for constructing a floating docking object group, the floating docking object group comprising a base lock object and a ship key object, a docking rule being predefined by the floating docking object group, a matched base lock object and ship key object being identified, and docking preparation being made; a visual positioning module for visually positioning the target object after identification and docking preparation, determining a position calibration area after the ship enters the port, performing regional approach guidance in the position calibration area, and controlling the ship to enter a target charging area; a charging control cabinet for charging the ship in the target charging area and supervising the charging process.

2. The automatic docking charging pile for a ship berthing according to claim 1, characterized in that, The process of setting a plurality of charging induction areas at a ship entering port, two sides of each charging induction area being used for connecting charging bases, comprises: a plurality of charging induction areas with equal induction areas are set at equal distances at the ship entering port; the positions of the plurality of charging induction areas are set at the edge of the coastline where the ship entering port is located, and each charging induction area is provided with one charging base on each side of the area boundary; the charging induction area decides whether to call the charging base provided on both sides according to the induction result of the berthed ship, wherein the charging base is provided with different base states of idle, busy and fault, and when the charging bases in the charging induction area are all in the busy or fault state, a mobile charging base is dispatched to the current charging induction area in the set dynamic deployment area to replace the charging base with a base state that does not meet the demand to perform charging related work.

3. The automatic docking charging pile for a ship berthing according to claim 2, characterized in that, The process of registering all the charging bases in a grid in the base unit and constructing a corresponding base cell comprises: the base unit is composed of a plurality of charging bases; a grid node is created for each charging base in the base unit according to the base ID and base coordinates, a database is connected and deployed for the base unit, each charging base initiates a registration application to the database based on its own grid node, and after the database is approved, a database entry is divided as a registration entry for the corresponding grid node; each charging base in the base unit is registered in a grid repeatedly to obtain a grid node registered in the corresponding database of the base unit, all registered grid nodes are combined, and a base cell is constructed.

4. The automatic docking charging pile of a ship berthing according to claim 3, characterized in that, The process of constructing a floating docking object group, identifying a matched base lock object and ship key object, and making docking preparation according to a predefined docking rule of the floating docking object group comprises: each floating docking object group comprises a base lock object and a ship key object; the base lock object is established based on the charging base corresponding to each grid node in the base cell, and the ship key object is established based on a plurality of charging interfaces on the ship berthed in the port, lock information is set for the base lock object, and key information is set for the ship key object; The lock information and the key information of the completed floating docking object group are taken as the content of the message broadcast, and each ship key object and base lock object receives and analyzes the content of the message broadcast; The docking rule includes a filtering rule and a selection rule; the filtering rule is executed to complete the preliminary screening between the ship key object and the base lock object; the selection rule is executed to complete the final identification and pairing between the ship key object and the base lock object; The charging base represented by the base lock object and the charging interface represented by the ship key object are prepared for docking through the floating docking device after the identification and pairing are completed.

5. The automatic docking charging pile of a ship berthing according to claim 4, characterized in that, The process of establishing the base lock object and the ship key object is as follows: Each charging base corresponding to the registered grid node in the base cell is taken as a base lock object, and the lock information of the base lock object includes identity state information, service capability information, location information and additional information; The identity state information is used to represent the unique identity ID of the charging base and the base state of the charging base; the service capability information is used to represent the maximum output power, interface type and power supply duration of each charging base; The location information is used to represent the location coordinates of each charging base; the additional information includes the length of the waiting queue and the expected waiting time of each charging base; The ship is provided with a plurality of charging interfaces, and each charging interface is taken as a ship key object; the key information of the ship key object includes key point, demand information and interface information; The key point is used to represent the location coordinates of each charging interface on the ship body; the demand information is used to represent the required power, requested maximum charging power and expected completion time of the ship; and the interface information is used to represent the interface type of each charging interface at each location coordinate on the ship body.

6. The automatic docking charging pile of a ship berthing according to claim 5, characterized in that, The process of visually positioning the target object prepared for docking after the identification and pairing includes: Each charging interface and charging base that have successfully completed the identification and pairing serve as a target object for docking preparation; high-frequency pose calculation is performed on the ship to obtain the real-time degree of freedom pose of each charging interface on the ship; The real-time degrees of freedom poses include translational degrees of freedom poses and rotational degrees of freedom poses, the translational degrees of freedom poses include , and , the rotational degrees of freedom poses include , and ; Each real-time degree of freedom pose is compared with the respective preset ideal degree of freedom pose through the ship machine control terminal arranged on the ship, and the real-time degree of freedom pose that does not meet the expectation is adjusted by the ship machine control terminal when the comparison result does not meet the expectation; When each real-time degree of freedom pose is within the pose allowable deviation range of the respective ideal degree of freedom pose, the ideal docking space region between each charging interface on the ship and the identified and paired charging base after the ship docks is determined, and the ideal docking space region is taken as the location calibration region of the target object after the ship docks, and the region approach guidance is performed in the location calibration region.

7. The automatic docking charging pile of a ship berthing according to claim 6, characterized in that, The process of performing the region approach guidance in the location calibration region to control the ship to enter the target charging region includes: When the ship is in the location calibration region, the subsequent berthing process of the ship is divided into a coarse alignment stage, a fine alignment stage and an approaching stage; In the coarse alignment phase, the translational degrees of freedom pose , and rotational degrees of freedom pose are corrected, controlling the lateral movement of the vessel fore and aft and sideways, and adjusting the heading of the vessel; When the translational degree of freedom pose , and the rotational degree of freedom pose of the ship are all within the error allowable range set in the entering fine alignment stage, the real-time degree of freedom pose of the ship is adjusted as a whole until the values of all real-time degree of freedom poses are 0, the parallelism and alignment between the charging interface and the charging base are completed, and the ship enters the target charging area. In the approaching stage, the ship completes the final docking between each charging interface on the ship and the corresponding charging base at a preset docking speed in the target charging area. The final docking includes mechanical locking and electrical connection.

8. The automatic docking charging pile of a ship berthing according to claim 7, characterized in that, The process of charging the ship in the target charging area and supervising the charging process includes: Each charging interface that has completed mechanical locking and electrical connection and the charging base are taken as a charging management object, and the charging control cabinet synchronously charges each charging management object. Each charging management object is supervised. When the charging power of a certain charging management object decays, the charging control cabinet compensates the power of the corresponding charging management object, otherwise, no operation is performed. When a certain charging management object has abnormal charging behavior, the charging of the corresponding charging management object is immediately stopped. When the input power of a certain charging management object reaches the required power, trickle charging is entered. When the trickle charging exceeds the preset trickle time, the supervision of the corresponding charging management object by the charging control cabinet is disconnected. When the input power of all charging management objects reaches the required power, the ship currently in port reaches the required power, and the ship charging is completed.

9. A method for automatic docking and charging of a ship when it is in port, applied to the automatic docking and charging pile for a ship in port according to any one of claims 1 to 8, characterized in that, The process includes the following steps: Step S1: A plurality of charging induction zones are set at the entrance of the port. Both sides of each charging induction zone are used to connect the charging base. All charging bases are registered in the base unit in a grid, thereby constructing the corresponding base unit cell. Step S2: A floating docking object group is constructed, which includes a base lock object and a ship key object. The paired base lock object and ship key object are identified through the predefined docking rules of the floating docking object group, and docking preparation is made. Step S3: The target object that has made docking preparation after being identified and paired is visually positioned, thereby determining the position calibration area after the ship enters the port. The area approaching guide is executed in the position calibration area, and the ship is controlled to enter the target charging area. Step S4: The ship is charged in the target charging area, and the charging process is supervised.

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