A cold box plug-in live-line work system and method

Abstract

The application belongs to the technical field of cold box operation, and specifically discloses a cold box plug-in and plug-out electric operation system and method. The operation system comprises a cold box support arranged in multiple layers, a support rail arranged on the cold box support, a lifting mechanism arranged on one side of the cold box support, an extension mechanism fixed to the lifting mechanism, and an execution mechanism arranged on the extension mechanism. The method comprises the following steps: obtaining cold box plug-in and plug-out electric scheduling data, controlling the lifting mechanism to move to a target layer position, driving the extension mechanism to extend out in the direction of the cold box, controlling the execution mechanism to switch between rails and move to a target cold box position, obtaining plug and socket pose information through a visual recognition unit and performing trajectory planning and closed-loop control, and completing plug-in and plug-out operation. The method realizes continuous coverage operation of multiple layers and multiple rows of cold box yards, obtains long-stroke extension capability in a limited space, reduces the degree of manual participation and the risk of electric shock, and improves the automation level and operation safety of plug-in and plug-out electric operation.

Description

Technical Field

[0001] This invention belongs to the field of cold box operation technology, specifically relating to a cold box plug-in and unplugging electrical operation system and method. Background Technology

[0002] With the increasing global demand for cold chain logistics and the continuous advancement of smart port construction, container terminals are increasingly introducing automated equipment and information-based scheduling systems in loading, unloading, storage, and transportation to improve operational efficiency, reduce labor costs, and enhance inherent safety. In refrigerated container (cold box) operation scenarios, cold boxes require a continuous and stable power supply to maintain refrigeration during storage in the yard. Therefore, plugging and unplugging cold boxes is a high-frequency, rigid demand-driven critical operation, and its reliability and response efficiency directly affect the quality of cold chain goods and the efficiency of terminal operations.

[0003] Existing technology typically employs multi-layered steel refrigerated container supports for centralized storage in refrigerated container yards. Dock power outlets or interfaces are placed at appropriate locations on the supports, and workers carry or drag cables to connect and disconnect the refrigerated container power plugs from the dock power supply. To meet the operational needs of different tiers and levels, current operational organization primarily relies on manual movement within the aisles to designated refrigerated container locations, followed by docking operations at the refrigerated container cable boxes.

[0004] The main problems with the existing technical solutions are as follows: First, the cold box supports are arranged in multiple layers with limited space between layers. The cold box cable boxes are small in size and have limited operating space above them. The cables are bent and stacked inside the boxes, which makes the plugging and unplugging operations highly dependent on manual visual alignment and manual plugging in a confined space. This results in high labor intensity and efficiency that is significantly affected by the skill level of the personnel. Second, the yard operation area is large in span, with many rows and layers. The coverage capacity of a single fixed operation point is limited. While increasing the number of personnel can improve the coverage rate, it will lead to problems such as increased operating and management costs and poor work consistency. Summary of the Invention

[0005] This invention addresses the problems in the prior art by providing a cold box plug-in / plug-out electrical operation system and method. It solves the problems of the aforementioned background technology, where cold box supports are arranged in multiple layers with limited space between layers, cold box cable boxes are small in size with limited overhead operating space, and cables are bent and stacked inside the box. This results in plug-in / plug-out operations being highly dependent on manual visual alignment and manual insertion in confined spaces, leading to high labor intensity and efficiency significantly affected by personnel skill levels. Simultaneously, it solves the problems of large spans, numerous rows and layers in the yard operation area, limited coverage of a single fixed operation point, and the fact that while increasing personnel can improve coverage, it also leads to increased operating and management costs and poor operational consistency.

[0006] The technical solution adopted in this invention is as follows: In a first aspect, this application provides a cold box plug-in / plug-out power operation system, comprising: The cold box support has several layers in both the horizontal and vertical directions for placing cold boxes; The support track is set on the horizontal cold box support; The lifting mechanism is located on one side of the cold box support. The lifting mechanism includes a displacement unit that can move in a vertical plane and complete the corresponding setting with the support track. The telescopic mechanism has a fixed end mounted on the displacement unit and a telescopic end that can extend and retract, with a moving track mounted on the telescopic end. The actuator includes a moving unit and an execution unit. The moving unit is mounted on a moving track and can move on and between the moving track and the support track. The execution unit is fixedly mounted on the moving unit and is used to perform the plugging and unplugging of the cold box.

[0007] Furthermore, the fixed end of the telescopic mechanism is a base, and a power unit is installed inside the base. The power unit drives the telescopic end of the telescopic mechanism to move back and forth to extend and retract. The telescopic end of the telescopic mechanism is configured as a single-stage telescopic or multi-stage telescopic.

[0008] Furthermore, the telescopic end of the telescopic mechanism includes a primary telescopic unit and a secondary telescopic unit; The power unit includes a drive motor, a first coupling, a first pulley, a transmission belt, and a second pulley. The output shaft of the drive motor is connected to the first pulley via the first coupling, and the first pulley is connected to the second pulley via the transmission belt. The primary telescopic unit includes a drive shaft, a first gear, a first rack, and a primary platform. One end of the drive shaft is connected to a second pulley, and the other end is connected to the first gear. The first gear meshes with the first rack, and the first rack is fixedly connected to the primary platform. The secondary telescopic unit includes a connecting shaft, a second gear, a second rack, a third rack, and a secondary platform. The connecting shaft is axially rotatable on the primary platform. The second gear is sleeved on the connecting shaft. The second rack is fixedly mounted on the base. The lower end of the second gear meshes with the second rack. The third rack meshes with the upper end of the second gear. The third rack is fixedly connected to the secondary platform. The moving track is fixedly installed on the secondary platform.

[0009] Furthermore, the mobile unit includes a support platform and at least one walking component. The lower end of the walking component is limited to a moving track or a support track, and the upper end of the walking component is fixedly connected to the support platform. The execution unit is a robotic arm, which is fixedly mounted on the support platform. The robotic arm includes a gripping unit and a vision recognition unit.

[0010] Furthermore, the moving unit includes two symmetrically arranged walking components. Each walking component includes a walking motor, a second coupling, a gearbox, and two walking wheels. The walking motor is connected to one of the walking wheels in sequence through the second coupling and the gearbox.

[0011] Furthermore, the cold box support is equipped with several dock power plugs and electromagnetic charging sockets that are configured one-to-one. The dock power plugs are fixedly mounted on the cold box support, and the dock power plugs and electromagnetic charging sockets are connected by power lines. The electromagnetic charging sockets can be magnetically mounted on the cold box or the cold box support, and are used to connect to the power plug of the cold box.

[0012] Furthermore, the operating system also includes a mounting unit, which includes a connecting block for fixed connection with the power plug of the cold box. A hook is rotatably mounted on the connecting block for hanging on the cable box of the cold box.

[0013] Secondly, this application provides a method for cold box plug-in / plug-out electrical work, using the cold box plug-in / plug-out electrical work system as described in the first aspect, the method comprising the following steps: Step S1: Obtain the cold box plug-in / plug-out power scheduling data and obtain the corresponding cold box location; Step S2: Control the displacement unit to move the telescopic mechanism to the corresponding cold box operation position; Step S3: The telescopic mechanism extends to move the actuator to the side of the corresponding support track; The drive motor rotates according to the scheduling signal, and the power is transmitted to the drive shaft in sequence through the first coupling, the first pulley, the transmission belt and the second pulley. The drive shaft drives the first gear to rotate, and the first rack meshing with the first gear moves along the length direction. The first rack drives the first-stage platform to move towards the target direction. The first-level platform moves, driving the second gear to move in the target direction. The second gear rotates under the limit of the second rack. The third rack moves in the target direction with the first-level platform as the reference when the second gear rotates. The third rack drives the second-level platform to move in the target direction with the first-level platform as the reference. Step S4: The actuator moves from the moving track to the support track until it reaches the corresponding operating position of the cold box; Step S5: The actuator performs the power-on or power-off operation of the corresponding cold box according to the scheduling data.

[0014] Furthermore, step S5 includes the following steps: The visual recognition unit acquires data on the location of the dock's power plug, the location of the electromagnetic chuck socket, the location of the target cold container's cable box, and the location of the target cold container's mounting unit. The control gripping unit moves the electromagnetic chuck to the vicinity of the cable box of the target cold box or the vicinity of the dock power plug; The control gripping unit connects or disconnects the power plug of the target cold box from the electromagnetic suction socket.

[0015] Furthermore, based on the location data of the dock power plug, electromagnetic chuck socket, cable box of the target cold container, and mounting unit of the target cold container obtained by the visual recognition unit, the grasping unit is controlled, including the following steps: The image data collected by the visual recognition unit is subjected to target detection and feature extraction. Key feature points of the dock power plug, electromagnetic chuck socket, cable box and hanging unit are identified respectively, and the spatial pose information of each target in the visual coordinate system is established. Based on the pre-calibrated transformation relationship between the visual coordinate system and the motion coordinate system of the grasping unit, coordinate transformation is performed on the spatial pose information to obtain the target pose data of each target in the motion coordinate system of the grasping unit. The expected motion trajectory of the grasping unit is calculated based on the target pose data. The expected motion trajectory includes the approach path, the attitude alignment path, and the insertion path. In the attitude alignment stage, attitude error compensation is performed based on the axial direction deviation between the dock power plug and the electromagnetic suction socket. During the motion of the grasping unit, the target pose update data fed back by the visual recognition unit is acquired in real time. Based on the deviation between the current position and the target pose, a closed-loop control quantity is constructed to dynamically correct the motion speed, displacement and attitude angle of the grasping unit. When the target pose deviation is less than the preset docking threshold, the control gripping unit performs the insertion or separation action. After the insertion is completed, the connection status is confirmed again by the visual recognition unit to complete the control of the cold box insertion and removal operation.

[0016] As can be seen from the above technical solutions, the advantages of the present invention are: By constructing an integrated, interconnected structure comprising the cold box support, support rails, lifting mechanism, telescopic mechanism, and actuator, the operating system simultaneously possesses vertical inter-layer movement capabilities, horizontal cross-row movement capabilities, and forward extension capabilities, thus forming a three-dimensional coverage operating system. This structure allows the robotic arm to achieve coverage operations over multiple layers and rows of cold boxes without relying on multiple sets of distributed equipment, significantly improving the system's coverage range while ensuring efficient use of yard space and reducing the investment and maintenance costs associated with redundant equipment deployment.

[0017] By setting the fixed end of the telescopic mechanism as the base structure of the integrated power unit, and employing single-stage or multi-stage telescopic forms, the telescopic mechanism achieves controllable reciprocating displacement within a limited installation space. The power unit is built into the base, which helps shorten the power transmission path, improves transmission stability, and avoids interference from exposed drive units in the yard passageway space. The optional single-stage or multi-stage telescopic structure allows for flexible configuration according to different yard spans, which helps increase the forward operating stroke while maintaining structural compactness, thus enhancing system adaptability.

[0018] By combining belt pulley drive with rack and pinion gear transmission, the synchronous progressive extension of the primary and secondary platforms is achieved. This structure, through a "primary drive – secondary amplification" transmission path, enables the secondary platform to achieve a second displacement based on the primary platform's stroke, thus achieving a longer effective extension distance within a limited base length. Compared to single-stage linear extension, this secondary extension structure increases the operational coverage without significantly increasing the overall equipment length. Furthermore, the rack and pinion drive features clear force distribution and high positioning accuracy, which helps ensure the stability and repeatability of the robotic arm during remote operations.

[0019] By incorporating a mobile unit and a robotic arm execution unit, the actuator can switch its travel path between the mobile track and the support track, enabling cross-platform mobile operations. The robotic arm integrates a gripping unit and a vision recognition unit, transforming the plug-in / plug-out operation from a simple mechanical displacement into a precise docking process with environmental awareness. This structure improves docking accuracy, reduces the impact of human error, and enhances the system's adaptability in complex yard environments.

[0020] By setting up symmetrically arranged dual-walking components, along with a walking motor, gearbox, and dual-wheel drive structure, the stability and load-bearing capacity of the mobile unit on the track are improved. The dual-sided symmetrical drive reduces the impact of off-center loads on the track, improves operational smoothness and braking reliability, and effectively suppresses structural sway, especially when the telescopic platform is fully extended, ensuring safety during plugging and unplugging operations.

[0021] By incorporating a corresponding structure of dock power plug and electromagnetic chuck on the cold box support, a modular configuration of the power supply interface is achieved. The electromagnetic chuck can be magnetically fixed to the cold box, eliminating the need for the power supply device to rely entirely on the length of the cold box cable for connection, thus reducing the need for manual cable pulling. This structure reduces the intensity of manual operation and allows for more flexible placement of the power supply interface, facilitating gripping and positioning by the robotic arm.

[0022] By incorporating a hanging unit and a hook with a rotating structure, the electromagnetic socket can be hung at the cold box cable box location after the power-on operation is completed, maintaining a low-energy-consumption state. This structure not only helps reduce the continuous energizing time of the electromagnet, thereby reducing energy consumption, but also prevents the socket from dangling and swinging, improving system operational stability, and providing a stable initial position for power-off operations.

[0023] The visual recognition and grasping control processes in the plugging and unplugging method are defined. By acquiring the position data of the dock power plug, electromagnetic chuck, cable box, and mounting unit, operation control based on multi-target recognition is achieved. This method improves the accuracy of docking position determination and enables the grasping unit to dynamically adjust according to the target position, thereby improving the success rate and consistency of plugging and unplugging operations.

[0024] Further, coordinate transformation, trajectory planning, and closed-loop correction control based on visual recognition data are implemented, transforming the grasping unit from open-loop displacement control to visual feedback closed-loop control. By updating and compensating for the target pose in real time, precise docking can be achieved even with installation errors in the cold box bracket or changes in cable posture, significantly improving the stability and repeatability of plugging and unplugging operations and enhancing the system's adaptability to complex environments. Attached Figure Description

[0025] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the cold box plug-in and plug-out electrical operation system in an embodiment of the present invention; Figure 2 This is a partial structural schematic diagram of the cold box plug-in and plug-out electrical operation system in an embodiment of the present invention; Figure 3 This is a schematic diagram of the telescopic mechanism in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the moving unit in an embodiment of the present invention; Figure 5 This is the structure of the dock power plug and electromagnetic charging socket during operation in an embodiment of the present invention. Figure 1 ; Figure 6 This is the structure of the dock power plug and electromagnetic charging socket during operation in an embodiment of the present invention. Figure 2 ; Figure 7 This is a structural diagram of the mounting unit and the cold box power plug in an embodiment of the present invention; Figure 8 This is a flowchart illustrating the steps of the cold box plugging and unplugging electrical operation method in an embodiment of the present invention.

[0027] In the diagram: 1. Cold box support; 2. Support track; 3. Lifting mechanism; 4. Telescopic mechanism; 5. Moving track; 6. Base; 7. Drive motor; 8. First coupling; 9. First pulley; 10. Transmission belt; 11. Second pulley; 12. Transmission shaft; 13. First gear; 14. First rack; 15. Primary platform; 16. Connecting shaft; 17. Second gear; 18. Second rack; 19. Third rack; 20. Secondary platform; 21. Bearing platform; 22. Walking assembly; 23. Robotic arm; 24. Walking motor; 25. Second coupling; 26. Gearbox; 27. Walking wheel; 28. Dock power plug; 29. ​​Electromagnetic socket; 30. Hanging unit; 31. Connecting block; 32. Hook; 33. Grabbing unit. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figures 1-7 As shown, this application provides a cold box plug-in power operation system, including: The cold box support 1 has several layers in both the horizontal and vertical directions for placing cold boxes; Support track 2 is set on the cold box support 1 in the horizontal direction; The lifting mechanism 3 is located on one side of the cold box support 1. The lifting mechanism 3 includes a displacement unit, which can move in the vertical plane and complete the corresponding setting with the support track 2. The lifting mechanism 3 is a crane, which includes a horizontal moving motor and a vertical lifting motor. The horizontal moving motor and the vertical lifting motor work together to move the displacement unit. The telescopic mechanism 4 has a fixed end set on the displacement unit and a telescopic end that can be telescopically set. A moving track 5 is set on the telescopic end. The actuator includes a moving unit and an execution unit. The moving unit is mounted on the moving track 5 and can move on the moving track 5 and the support track 2 and can move between the moving track 5 and the support track 2. The execution unit is fixedly mounted on the moving unit and is used to perform the plugging and unplugging of the cold box.

[0030] In a specific implementation, the cold box support 1 can be arranged in the form of a multi-row, multi-layer steel structure frame. Each layer of the support has a horizontally arranged support beam structure for supporting the cold box, and a support rail 2 is set on one side of the support beam. The support rail 2 can be an I-beam or a dedicated guide rail structure, forming a limiting fit with the traveling component 22 of the moving unit. The lifting mechanism 3 is arranged on the side column structure of the cold box support 1. Its traveling mechanism is driven by a horizontal moving motor to move along the direction of the top crossbeam of the support, and by a vertical lifting motor to drive the displacement unit to rise and fall vertically, thereby achieving the corresponding positioning of cold boxes at different levels. In actual operation, the control system determines the row and level of the target cold box according to the scheduling instructions, controls the traveling mechanism to first move horizontally to the corresponding row, and then lowers the displacement unit to the corresponding level through a vertical lifting action, so that the telescopic mechanism 4 is at the same height as the support rail 2 of that level, achieving rail docking. Subsequently, the telescopic mechanism 4 extends towards the cold box, the moving unit runs along the moving rail 5 and transitions to the support rail 2, and finally reaches the cold box cable box area for plugging and unplugging operations. Through the above-mentioned structural coordination, continuous coverage operations for multi-layer and multi-row cold boxes can be achieved without the need to deploy independent equipment on each layer.

[0031] In some embodiments, the fixed end of the telescopic mechanism 4 is a base 6, and a power unit is provided in the base 6. The power unit drives the telescopic end of the telescopic mechanism 4 to move back and forth to extend and retract. The telescopic end of the telescopic mechanism 4 is configured as a single-stage telescopic or multi-stage telescopic.

[0032] In some embodiments, the telescopic end of the telescopic mechanism 4 includes a primary telescopic unit and a secondary telescopic unit; The power unit includes a drive motor 7, a first coupling 8, a first pulley 9, a transmission belt 10 and a second pulley 11. The output shaft of the drive motor 7 is connected to the first pulley 9 through the first coupling 8, and the first pulley 9 is connected to the second pulley 11 through the transmission belt 10. The first-stage telescopic unit includes a drive shaft 12, a first gear 13, a first rack 14 and a first-stage platform 15. One end of the drive shaft 12 is connected to the second pulley 11 and the other end is connected to the first gear 13. The first gear 13 is meshed with the first rack 14 and the first rack 14 is fixedly connected to the first-stage platform 15. The secondary telescopic unit includes a connecting shaft 16, a second gear 17, a second rack 18, a third rack 19, and a secondary platform 20. The connecting shaft 16 is axially rotatably mounted on the primary platform 15. The second gear 17 is sleeved on the connecting shaft 16. The second rack 18 is fixedly mounted on the base 6. The lower end of the second gear 17 is meshed with the second rack 18. The third rack 19 is meshed with the upper end of the second gear 17. The third rack 19 is fixedly connected to the secondary platform 20. The moving track 5 is fixedly installed on the secondary platform 20.

[0033] In a specific implementation, after the drive motor 7 starts, power is transmitted to the drive shaft 12 via belt drive. The drive shaft 12 drives the first gear 13 to rotate, and the first rack 14 moves along its length, thereby pushing the primary platform 15 forward. As the primary platform 15 moves forward, the connecting shaft 16 moves along with the primary platform 15 as a whole. The second gear 17 rotates under the limiting action of the second rack 18, thereby driving the third rack 19 to move, so that the secondary platform 20 continues to extend forward based on the primary platform 15. Through the linkage between the primary and secondary platforms, the forward stroke of the secondary platform 20 is greater than that of the primary platform 15, achieving a stroke amplification effect. This allows the robotic arm 23 to approach the cold box cable box area without increasing the length of the base 6, adapting to the environment of narrow and space-constrained storage yard passages.

[0034] In some embodiments, the moving unit includes a support platform 21 and at least one walking component 22. The lower end of the walking component 22 is limitedly connected to the moving track 5 or the support track 2, and the upper end of the walking component 22 is fixedly connected to the support platform 21. The execution unit is a robotic arm 23, which is fixedly mounted on the support platform 21. The robotic arm 23 includes a gripping unit 33 and a visual recognition unit.

[0035] In a specific implementation, the walking component 22 can adopt a wheel-rail structure, with the walking wheels 27 forming a rolling engagement with the track, and lateral limiting wheels preventing derailment. A robotic arm 23 is fixedly mounted on the support platform 21, with a gripping unit 33 at its end for holding the electromagnetic connector 29 or the cold box power plug. A vision recognition unit is installed at the end of the robotic arm 23 or on its side, used to acquire images of the cold box cable box area and identify the target location. During plugging-in operations, the robotic arm 23 adjusts its posture according to the recognition results, aligning the plug with the socket axis to complete the connection; during unplugging operations, the robotic arm 23 reverses the action to separate. Through the coordination of vision recognition and gripping, automated control of the plugging and unplugging process is achieved.

[0036] In some embodiments, the moving unit includes two symmetrically arranged walking components 22. Each walking component 22 includes a walking motor 24, a second coupling 25, a reduction gearbox 26, and two walking wheels 27. The walking motor 24 is connected to one of the walking wheels 27 in sequence through the second coupling 25 and the reduction gearbox 26. Each walking component 22 also includes a brake for braking the walking wheel 27.

[0037] In a specific implementation, two walking components 22 are respectively arranged on the left and right sides of the support platform 21, forming a symmetrical support structure. The walking motor 24 drives one of the walking wheels 27 to rotate, and the other walking wheel 27 rotates synchronously through a linkage structure, thereby achieving stable driving. The brake can be set on the high-speed shaft of the motor or the axle end of the walking wheel 27, and brakes immediately after the moving unit reaches the target position to prevent the platform from shifting when the telescopic mechanism 4 is fully extended. This structure can improve the overall anti-sway capability during remote operation and ensure that the robotic arm 23 maintains a stable posture during the insertion process.

[0038] In some embodiments, the cold box bracket 1 is provided with a plurality of dock power plugs 28 and electromagnetic sockets 29 that are arranged one-to-one. The dock power plugs 28 are fixedly installed on the cold box bracket 1. The dock power plugs 28 and electromagnetic sockets 29 are connected by power transmission lines. The electromagnetic sockets 29 can be magnetically installed on the cold box or the cold box bracket 1. The electromagnetic sockets 29 are used to connect to the power plug of the cold box.

[0039] In a specific implementation, the electromagnetic connector 29 is equipped with an electromagnet structure. During the power-on operation, the robotic arm 23 grips the electromagnetic connector 29 and moves it to a position near the cold box cable box. By energizing the electromagnet, a magnetic force is generated, causing the connector to adhere to the metal surface of the cold box or the corresponding part of the bracket. Subsequently, the robotic arm 23 inserts the cold box power plug into the electromagnetic connector 29 to establish a power connection. This electromagnetic adsorption method avoids dragging cables over long distances, reduces the length of manual cable pulling, and improves the flexibility of the connection position.

[0040] In some embodiments, the operating system further includes a mounting unit 30, which includes a connecting block 31 for fixed connection with the power plug of the cold box, and a hook 32 rotatably mounted on the connecting block 31 for hanging on the cable box of the cold box.

[0041] Please see Figure 8 As shown, this application provides a method for plugging and unplugging electrical work on a cold box. Using the aforementioned cold box plugging and unplugging electrical work system, the method includes the following steps: Step S1: Obtain the cold box plug-in / plug-out power scheduling data and obtain the corresponding cold box location; Step S2: Control the displacement unit to move the telescopic mechanism to the corresponding cold box operation position; Step S3: The telescopic mechanism extends to move the actuator to the side of the corresponding support track; The drive motor rotates according to the scheduling signal, and the power is transmitted to the drive shaft in sequence through the first coupling, the first pulley, the transmission belt and the second pulley. The drive shaft drives the first gear to rotate, and the first rack meshing with the first gear moves along the length direction. The first rack drives the first-stage platform to move towards the target direction. The first-level platform moves, driving the second gear to move in the target direction. The second gear rotates under the limit of the second rack. The third rack moves in the target direction with the first-level platform as the reference when the second gear rotates. The third rack drives the second-level platform to move in the target direction with the first-level platform as the reference. Step S4: The actuator moves from the moving track to the support track until it reaches the corresponding operating position of the cold box; Step S5: The actuator performs the power-on or power-off operation of the corresponding cold box according to the scheduling data.

[0042] In a specific implementation, in step S1, the scheduling data can be sent from the yard management system to the control system. The scheduling data includes the cold container number, its row position, layer, and operation type information. After parsing the scheduling information, the control system generates motion path instructions and calculates the horizontal movement distance and vertical lifting height of the crane based on the spatial coordinates of the cold container in the yard. In step S2, the crane moves along the direction of the top crossbeam of the support to the target row position, and the vertical lifting motor lowers the displacement unit to the corresponding layer, so that the telescopic mechanism is at the same height as the target layer support track. In step S3, after the drive motor starts, the belt drive and the gear rack meshing structure cause the primary platform and the secondary platform to extend forward synchronously until the moving track on the secondary platform approaches the support track area. Through the above extension method, a longer forward working stroke is obtained under the condition of limited base length. In step S4, the moving unit runs along the moving track and smoothly transitions to the support track at the track junction, finally moving to the front of the target cold container cable box. In step S5, the actuator performs plugging or unplugging actions according to the scheduling type to complete the power supply connection or disconnection operation.

[0043] In some embodiments, step S5 includes the following steps: The visual recognition unit acquires data on the location of the dock's power plug, the location of the electromagnetic chuck socket, the location of the target cold container's cable box, and the location of the target cold container's mounting unit. The control gripping unit moves the electromagnetic chuck to the vicinity of the cable box of the target cold box or the vicinity of the dock power plug; The control gripping unit connects or disconnects the power plug of the target cold box from the electromagnetic suction socket.

[0044] In a specific implementation, a vision recognition unit is installed at the end or side of the robotic arm, identifying the actual positions of plugs and sockets by acquiring images of the cold box cable box area. The control system determines the movement direction and attitude adjustment parameters of the gripping unit based on the recognition results. During plugging operations, the robotic arm first clamps the electromagnetic socket and moves it near the cold box cable box. After visually confirming the relative positions of the plug and socket, it completes the plugging. During unplugging operations, the robotic arm identifies the position of the connected plug, performs a separation action, and then moves the electromagnetic socket to a preset hanging position. Through vision-assisted control, the plugging and unplugging process is transformed from a fixed trajectory action into a dynamic control process based on actual position feedback, improving the success rate of operations.

[0045] In some embodiments, the gripping unit control is completed based on the dock power plug location data, electromagnetic chuck location data, target cold box cable box location data, and target cold box mounting unit location data acquired by the visual recognition unit, including the following steps: The image data collected by the visual recognition unit is subjected to target detection and feature extraction. Key feature points of the dock power plug, electromagnetic chuck socket, cable box and hanging unit are identified respectively, and the spatial pose information of each target in the visual coordinate system is established. Based on the pre-calibrated transformation relationship between the visual coordinate system and the motion coordinate system of the grasping unit, coordinate transformation is performed on the spatial pose information to obtain the target pose data of each target in the motion coordinate system of the grasping unit. The expected motion trajectory of the grasping unit is calculated based on the target pose data. The expected motion trajectory includes the approach path, the attitude alignment path, and the insertion path. In the attitude alignment stage, attitude error compensation is performed based on the axial direction deviation between the dock power plug and the electromagnetic suction socket. During the motion of the grasping unit, the target pose update data fed back by the visual recognition unit is acquired in real time. Based on the deviation between the current position and the target pose, a closed-loop control quantity is constructed to dynamically correct the motion speed, displacement and attitude angle of the grasping unit. When the target pose deviation is less than the preset docking threshold, the control gripping unit performs the insertion or separation action. After the insertion is completed, the connection status is confirmed again by the visual recognition unit to complete the control of the cold box insertion and removal operation.

[0046] In a specific implementation, the vision recognition unit first processes the image, extracting the plug end face contour, the electromagnetic socket opening position, and the cable box edge features to determine the spatial pose. The control system converts the recognized coordinates into robotic arm coordinates based on calibration parameters, generating a segmented motion path. The gripping unit first approaches the target area along the approach path, then aligns the axis through minor posture adjustments, and subsequently completes straight insertion along the insertion path. During the movement, the vision recognition unit continuously provides feedback on pose changes, and the system corrects the robotic arm's movement speed and posture in real time based on deviations to avoid insertion failures due to installation errors or slight swaying. When the system detects that the plug and socket are fully connected, it visually confirms changes in the plug end face position or socket status to determine a successful connection; during unplugging, it identifies the disconnection state by recognizing the separation gap. Through this phased, closed-loop control method, the insertion and unplugging operations maintain high accuracy and stability in complex yard environments.

[0047] In some embodiments, this application provides a terminal, including: The memory is used to store the cold box plugging and unplugging operation procedures; A processor is configured to execute the steps of the cold box plug-in power operation method when performing the cold box plug-in power operation system.

[0048] In some embodiments, this application provides a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the cold box plugging and unplugging power operation method.

[0049] The above description is merely a preferred embodiment of one or more embodiments of this specification and is not intended to limit the scope of one or more embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of this specification should be included within the protection scope of one or more embodiments of this specification.

Claims

1. A cold box plug-in power operation system, characterized in that, include: The cold box support (1) has several layers in both the horizontal and vertical directions for placing cold boxes; The support track (2) is set on the cold box support (1) in the horizontal direction; The lifting mechanism (3) is located on one side of the cold box support (1). The lifting mechanism (3) includes a displacement unit that can move in the vertical plane and complete the corresponding setting with the support track (2). The telescopic mechanism (4) has a fixed end set on the displacement unit, and the telescopic end can be telescopically set. A moving track (5) is set on the telescopic end. The actuator includes a moving unit and an execution unit. The moving unit is set on the moving track (5). The moving unit can move on the moving track (5) and the support track (2) and can move between the moving track (5) and the support track (2). The execution unit is fixedly set on the moving unit and is used to perform the plugging and unplugging of the cold box.

2. The cold box plug-in / plug-out electrical operation system according to claim 1, characterized in that, The fixed end of the telescopic mechanism (4) is the base (6), and a power unit is provided inside the base (6). The power unit drives the telescopic end of the telescopic mechanism (4) to move back and forth to extend and retract. The telescopic end of the telescopic mechanism (4) is a single-stage telescopic or multi-stage telescopic configuration.

3. The cold box plug-in / plug-out electrical operation system according to claim 2, characterized in that, The telescopic end of the telescopic mechanism (4) includes a primary telescopic unit and a secondary telescopic unit; The power unit includes a drive motor (7), a first coupling (8), a first pulley (9), a transmission belt (10) and a second pulley (11). The output shaft of the drive motor (7) is connected to the first pulley (9) through the first coupling (8), and the first pulley (9) is connected to the second pulley (11) through the transmission belt (10). The primary telescopic unit includes a drive shaft (12), a first gear (13), a first rack (14), and a primary platform (15). One end of the drive shaft (12) is connected to the second pulley (11), and the other end is connected to the first gear (13). The first gear (13) is meshed with the first rack (14), and the first rack (14) is fixedly connected to the primary platform (15). The secondary telescopic unit includes a connecting shaft (16), a second gear (17), a second rack (18), a third rack (19), and a secondary platform (20). The connecting shaft (16) is axially rotatably mounted on the primary platform (15). The second gear (17) is sleeved on the connecting shaft (16). The second rack (18) is fixedly mounted on the base (6). The lower end of the second gear (17) meshes with the second rack (18). The third rack (19) meshes with the upper end of the second gear (17). The third rack (19) is fixedly connected to the secondary platform (20). The moving track (5) is fixedly set on the secondary platform (20).

4. The cold box plug-in / plug-out electrical working system according to claim 3, characterized in that, The mobile unit includes a carrying platform (21) and at least one walking component (22). The lower end of the walking component (22) is limited to the moving track (5) or the support track (2), and the upper end of the walking component (22) is fixedly connected to the carrying platform (21). The execution unit is a robotic arm (23), which is fixedly mounted on the carrying platform (21). The robotic arm (23) includes a gripping unit (33) and a vision recognition unit.

5. The cold box plug-in / plug-out electrical working system according to claim 4, characterized in that, The moving unit includes two symmetrically arranged walking components (22). Each walking component (22) includes a walking motor (24), a second coupling (25), a gearbox (26), and two walking wheels (27). The walking motor (24) is connected to one of the walking wheels (27) in sequence through the second coupling (25) and the gearbox (26).

6. The cold box plug-in / plug-out electrical working system according to claim 1, characterized in that, The cold box support (1) is provided with several dock power plugs (28) and electromagnetic sockets (29) that are set one-to-one. The dock power plugs (28) are fixedly set on the cold box support (1). The dock power plugs (28) and electromagnetic sockets (29) are connected by power transmission lines. The electromagnetic sockets (29) can be magnetically set on the cold box or the cold box support (1). The electromagnetic sockets (29) are used to connect with the power plug of the cold box.

7. The cold box plug-in / plug-out electrical working system according to claim 6, characterized in that, The operating system also includes a mounting unit (30), which includes a connecting block (31). The connecting block (31) is used to fix the power plug of the cold box. A hook (32) is rotatably provided on the connecting block (31). The hook (32) is used to hang on the cable box of the cold box.

8. A method for plugging and unplugging electrical work on a cold box, using the cold box plugging and unplugging electrical work system as described in any one of claims 1-7, characterized in that, Includes the following steps: Step S1: Obtain the cold box plug-in / plug-out power scheduling data and obtain the corresponding cold box location; Step S2: Control the displacement unit to move the telescopic mechanism to the corresponding cold box operation position; Step S3: The telescopic mechanism extends to move the actuator to the side of the corresponding support track; The drive motor rotates according to the scheduling signal, and the power is transmitted to the drive shaft in sequence through the first coupling, the first pulley, the transmission belt and the second pulley. The drive shaft drives the first gear to rotate, and the first rack meshing with the first gear moves along the length direction. The first rack drives the first-stage platform to move towards the target direction. The first-level platform moves, driving the second gear to move in the target direction. The second gear rotates under the limit of the second rack. The third rack moves in the target direction with the first-level platform as the reference when the second gear rotates. The third rack drives the second-level platform to move in the target direction with the first-level platform as the reference. Step S4: The actuator moves from the moving track to the support track until it reaches the corresponding operating position of the cold box; Step S5: The actuator performs the power-on or power-off operation of the corresponding cold box according to the scheduling data.

9. The cold box plugging and unplugging electrical operation method according to claim 8, characterized in that, Step S5 includes the following steps: The visual recognition unit acquires data on the location of the dock's power plug, the location of the electromagnetic chuck socket, the location of the target cold container's cable box, and the location of the target cold container's mounting unit. The control gripping unit moves the electromagnetic chuck to the vicinity of the cable box of the target cold box or the vicinity of the dock power plug; The control gripping unit connects or disconnects the power plug of the target cold box from the electromagnetic suction socket.

10. The cold box plugging and unplugging electrical operation method according to claim 9, characterized in that, The grasping unit is controlled based on the location data of the dock power plug, electromagnetic chuck socket, cable box of the target cold container, and mounting unit of the target cold container, all obtained by the visual recognition unit. This includes the following steps: The image data collected by the visual recognition unit is subjected to target detection and feature extraction. Key feature points of the dock power plug, electromagnetic chuck socket, cable box and hanging unit are identified respectively, and the spatial pose information of each target in the visual coordinate system is established. Based on the pre-calibrated transformation relationship between the visual coordinate system and the motion coordinate system of the grasping unit, coordinate transformation is performed on the spatial pose information to obtain the target pose data of each target in the motion coordinate system of the grasping unit. The expected motion trajectory of the grasping unit is calculated based on the target pose data. The expected motion trajectory includes the approach path, the attitude alignment path, and the insertion path. In the attitude alignment stage, attitude error compensation is performed based on the axial direction deviation between the dock power plug and the electromagnetic suction socket. During the motion of the grasping unit, the target pose update data fed back by the visual recognition unit is acquired in real time. Based on the deviation between the current position and the target pose, a closed-loop control quantity is constructed to dynamically correct the motion speed, displacement and attitude angle of the grasping unit. When the target pose deviation is less than the preset docking threshold, the control gripping unit performs the insertion or separation action. After the insertion is completed, the connection status is confirmed again by the visual recognition unit to complete the control of the cold box insertion and removal operation.

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