CN109591631A - A kind of control method and system of unmanned boat automatic charging - Google Patents
A kind of control method and system of unmanned boat automatic charging Download PDFInfo
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- CN109591631A CN109591631A CN201811266587.5A CN201811266587A CN109591631A CN 109591631 A CN109591631 A CN 109591631A CN 201811266587 A CN201811266587 A CN 201811266587A CN 109591631 A CN109591631 A CN 109591631A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/32—Waterborne vessels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses the control methods and system of a kind of unmanned boat automatic charging, the described method comprises the following steps: obtaining the charge request of unmanned boat, issue approach signal to unmanned boat according to charge request, unmanned boat is made to drive into charging unit；Adjust the output power of charging unit；After receiving the chargeable signal of unmanned boat, charging instruction is issued to charging unit, charging unit is made to be closed charge circuit；The charge information that real-time reception unmanned boat uploads；After unmanned boat is completed to charge, cut-offing instruction is issued to charging unit, charging unit is made to disconnect charge circuit and disconnects the electrical connection with unmanned boat；After charging unit disconnects charge circuit and disconnects the electrical connection with unmanned boat, departure from port signal is issued to unmanned boat, unmanned boat is made to sail out of charging unit.The present invention realizes the automatic charging of unmanned boat, reduces artificial charging operation, improves the charge efficiency of unmanned boat, improves harbour charging intelligent level.The present invention can be widely applied to shipboard automation field.
Description
Technical field
The present invention relates to shipboard automation field, the especially a kind of control method and system of unmanned boat automatic charging.
Background technique
With the fast development of world economy and the fast development of intellectual technology, various types, unmanned boat for various purposes
Extensive reference, the especially unmanned boat using electric power as power source are obtained due to the attribute of its environmental protection, has been obtained extensively
Popularization.Currently, the charging realization of unmanned boat is required to manual intervention, working efficiency, reliability and safety cannot be ensured.
In order to which make unmanned boat can realize charging between harbour, someone develops the charging unit of unmanned boat, such as Patent No.
The Chinese patent of CN201610572632.4 discloses a kind of unmanned boat and berths automatically charging unit, enters harbour dress in unmanned boat
It postpones, charging equipment can be electrically connected and then be charged with unmanned boat.But also lack at present it is a set of can be perfect
Unmanned boat automatic charging control method.
Summary of the invention
In order to solve the above technical problems, it is an object of the invention to: a kind of control method of unmanned boat automatic charging is provided
And system.
The first technical solution adopted by the present invention is:
A kind of control method of unmanned boat automatic charging is used for control centre, comprising the following steps:
When unmanned boat sends charge request, approach signal is issued to unmanned boat according to charge request, drives into unmanned boat
Specified charging unit；
Adjustment instruction is sent to specified charging unit according to the charge request, specified charging unit is made to adjust output
Power；
The chargeable signal sent after electrical connection is being generated with specified charging unit etc. unmanned boat to be received；
After receiving the chargeable signal, according to the chargeable signal, the charging unit of Xiang Zhiding issues charging
Instruction makes specified charging unit be closed charge circuit；
The charge information that real-time reception unmanned boat uploads；
When the electricity for reaching setting charging time or unmanned boat reaches rated capacity, the charging unit of Xiang Zhiding is issued
Cut-offing instruction makes specified charging unit disconnect charge circuit and disconnects the electrical connection with unmanned boat；
After specified charging unit disconnects charge circuit and disconnects the electrical connection with unmanned boat, to unmanned boat issue from
Port signal makes unmanned boat sail out of specified charging unit.
Further, the setting charging time refers specifically to: unmanned boat charges to setting electricity under current charge condition
The charging time in required charging time or fixation.
Further, described that approach signal is issued to unmanned boat according to charge request, it specifically includes:
According to charge request, the model and/or charge parameter of unmanned boat are obtained；
It is judged whether there is according to the model of unmanned boat and/or charge parameter and meets the available of the unmanned boat charging requirement and fill
Electric installation；If so, issuing approach signal to unmanned boat, the approach signal includes the location information of specified charging unit；
Conversely, then issuing failure information to unmanned boat.
Further, the charge information includes the current electricity of unmanned boat, current charging voltage, current charging current
With current at least one of the operating temperature of battery modules.
Second of technical solution adopted by the present invention is:
A kind of control method of unmanned boat automatic charging is used for unmanned boat, comprising the following steps:
Judge whether current electric quantity is higher than given threshold, if so, terminating process；It is filled conversely, then being sent to control centre
Electricity request；
After receiving the approach signal that control centre issues, specified charging unit is driven into；
After generating electrical connection with specified charging unit, chargeable signal is sent to control centre, makes specified fill
Electric installation is closed charge circuit；
Charge information is sent to control centre in real time；
During the charging process, the departure from port signal for waiting control centre to be received to issue；
When receiving the departure from port signal that control centre issues, specified charging unit is sailed out of according to departure from port signal.
Further, the charge information includes the current electricity of unmanned boat, current charging voltage, current charging current
With current at least one of the operating temperature of battery modules.
The third technical solution adopted by the present invention is:
A kind of control system of unmanned boat automatic charging, including control centre, unmanned boat and several charging units；
The control centre, comprising:
Approach signal transmission unit, for being issued to unmanned boat according to charge request when unmanned boat sends charge request
Approach signal makes unmanned boat drive into specified charging unit；
Adjustment instruction transmission unit makes for sending adjustment instruction to specified charging unit according to the charge request
Specified charging unit adjusts output power；
Chargeable signal receiving unit, for etc. unmanned boat to be received after generating electrical connection with specified charging unit
The chargeable signal sent；
Charging instruction transmission unit, for after receiving the chargeable signal, according to the chargeable signal, to finger
Fixed charging unit issues charging instruction, and specified charging unit is made to be closed charge circuit；
Charge information receiving unit, the charge information uploaded for real-time reception unmanned boat；
Cut-offing instruction transmission unit, for reaching rated capacity when the electricity for reaching setting charging time or unmanned boat
When, the charging unit of Xiang Zhiding issues cut-offing instruction, so that specified charging unit is disconnected charge circuit and disconnects and unmanned boat
Electrical connection；
Departure from port signal transmitting unit, for disconnecting charge circuit in specified charging unit and disconnecting electrical with unmanned boat
After connection, departure from port signal is issued to unmanned boat, unmanned boat is made to sail out of specified charging unit.
Further, the setting charging time refers specifically to: unmanned boat charges to setting electricity under current charge condition
The charging time in required charging time or fixation.
Further, described that approach signal is issued to unmanned boat according to charge request, it specifically includes:
According to charge request, the model and/or charge parameter of unmanned boat are obtained；
It is judged whether there is according to the model of unmanned boat and/or charge parameter and meets the available of the unmanned boat charging requirement and fill
Electric installation；If so, issuing approach signal to unmanned boat, the approach signal includes the location information of specified charging unit；
Conversely, then issuing failure information to unmanned boat.
Further, the charge information includes the current electricity of unmanned boat, current charging voltage, current charging current
With current at least one of the operating temperature of battery modules.
The beneficial effects of the present invention are: the unmanned intervention formula between unmanned boat and charging unit that the present invention is suitable for charges
Control, realize the automatic charging of unmanned boat, reduce artificial charging operation, improve the charge efficiency of unmanned boat, improve harbour
Charge intelligent level.
Detailed description of the invention
Fig. 1 is the flow chart of the control method of the first specific embodiment unmanned boat automatic charging of the invention；
Fig. 2 is the flow chart of the control method of second of specific embodiment unmanned boat automatic charging of the invention.
Specific embodiment
The present invention is further detailed with specific embodiment with reference to the accompanying drawings of the specification.
In actual application scenarios, the type of unmanned boat may be it is diversified, the tonnage of unmanned boat may have very
It is a variety of.And the unmanned boat of different tonnages has different drafts, while length, width and height are also had nothing in common with each other.And it fills
It is influenced by geographical environment for the setting of electric installation, therefore different design standards is also likely to be present according to charging unit, defeated
Power bracket out is also had nothing in common with each other.Therefore, unmanned boat enters before harbour charged, and needs to be scheduled unmanned boat.
Referring to Fig.1, present embodiment discloses a kind of control methods of unmanned boat automatic charging, are used for control centre, described
Control centre can be server, the present embodiment the following steps are included:
S11, when unmanned boat send charge request when, approach signal is issued to unmanned boat according to charge request, makes unmanned boat
Drive into specified charging unit.Control centre can obtain when receiving the charge request of unmanned boat transmission from charge request
Take volume parameter and the tonnage parameter etc. of charge parameter required for the unmanned boat and ship.To find suitable charging dress
It sets.
S12, adjustment instruction is sent to specified charging unit according to the charge request, adjusts specified charging unit
Output power.The charge request that control centre can be sent by unmanned boat obtains the model or its charging ginseng of the unmanned boat
Then number adjusts output power according to the model of unmanned boat or charge parameter.For example, the acceptable charging voltage electricity of unmanned boat
Flowing source range is 12V~18V, 0~5A.Output power can be adjusted to 60W by charging unit, export the voltage and 5A of 12V
Electric current.The output power can also be adjusted according to the rated power of ship.
S13, etc. unmanned boat to be received generating the chargeable signal sent after electrical connection with specified charging unit.Nothing
People's ship is entering specified charging unit according to approach signal, and with after charging unit generation electrical connection, is notified that in control
The heart can start to charge.
S14, after receiving the chargeable signal, according to the chargeable signal, the charging unit of Xiang Zhiding is issued
Charging instruction makes specified charging unit be closed charge circuit.Although charging unit generates electrical connection with unmanned boat,
It is before being not received by the charging instruction that control centre issues, charge circuit is to disconnect.If under power-up state with
Unmanned boat docking, may generate the accidents such as short circuit.
The charge information that S15, real-time reception unmanned boat upload.Unmanned boat can constantly be sent out to control centre during the charging process
Send charge information, such as current electricity, charging current, the temperature of charging voltage and battery modules.To guarantee control centre
Grasp the current charged state of unmanned boat.
S16, when reaching the setting charging time or the electricity of unmanned boat reaches rated capacity, the charging unit of Xiang Zhiding
Cut-offing instruction is issued, specified charging unit is made to disconnect charge circuit and disconnects the electrical connection with unmanned boat.The setting is filled
The electric time, control centre can be charged according to unmanned boat before electricity, charging unit output power and unmanned boat it is specified
Capacity calculates.It is charged by the setting charging time, can preferably entire harbour be managed and be dispatched.Certainly control
Center can also judge whether unmanned boat has been charged to rated capacity according to the charge information that unmanned boat uploads in real time.As replacing
The embodiment in generation, the charging time can also be fixedly installed, for example the ship of certain model according to the model of ship in control centre, fixed
Charging 1 hour, regardless of whether the ship is fully charged.
S17, after specified charging unit disconnects charge circuit and disconnects the electrical connection with unmanned boat, under unmanned boat
Hair departure from port signal, makes unmanned boat sail out of specified charging unit.In this step, charging unit, can after disconnecting electrical connection
To send confirmation signal to control centre to determine to disconnect with unmanned boat and be electrically connected.Certainly, control centre can also be
It is electrically connected after sending cut-offing instruction after a period of time, defaulting charging unit and being disconnected with unmanned boat, then sends departure from port
Signal.
As preferred embodiment, this gives specific scheduling rule, facilitate the pipe to charge to unmanned boat
Reason.It is described that approach signal is issued to unmanned boat according to charge request, it specifically includes:
According to charge request, the model and/or charge parameter of unmanned boat are obtained；
It is judged whether there is according to the model of unmanned boat and/or charge parameter and meets the available of the unmanned boat charging requirement and fill
Electric installation；If so, issuing approach signal to unmanned boat, the approach signal includes the location information of specified charging unit；
Conversely, then issuing failure information to unmanned boat.Control centre can retransmit and approach until there is suitable charging unit can be used
Signal.
As preferred embodiment, the charge information includes the current electricity of unmanned boat, current charging voltage, current
Charging current and at least one of the current operating temperature of battery modules.The present embodiment facilitates control centre and slaps comprehensively
Hold the current charge condition of unmanned boat.
Referring to Fig. 2, present embodiment discloses a kind of control methods of unmanned boat automatic charging, are used for unmanned boat, this implementation
Example the following steps are included:
S21, judge whether current electric quantity is higher than given threshold, if so, terminating process；Conversely, then being sent out to control centre
Send charge request.When the electricity of unmanned boat is higher than given threshold, it may not be necessary to charge.The given threshold, can basis
Depending on task i.e. to be executed.For example, next being executed for task needs to consume 50% electricity, then can make with 60%
For given threshold.It does not charge if the electricity of unmanned boat is greater than 60%.
S22, after receiving the approach signal that control centre issues, drive into specified charging unit；
S23, after generating electrical connection with specified charging unit, send chargeable signal to control centre, make to specify
Charging unit be closed charge circuit；
S24, in real time to control centre send charge information；
S25, during the charging process, the departure from port signal for waiting control centre to be received to issue；In the present embodiment, unmanned boat is
It passively departs from port, needs to wait the departure from port signal of control centre.In some embodiments, unmanned boat can also voluntarily judge itself
Electricity meet demand actively sends to control centre and requests, it is desirable that departure from port.If control centre promises to request, same meeting
After notice charging unit disconnects electrical connection, departure from port signal is issued to unmanned boat.
S26, when receiving the departure from port signal that control centre issues, according to departure from port signal sail out of specified charging unit.
As preferred embodiment, the charge information includes the current electricity of unmanned boat, current charging voltage, current
Charging current and at least one of the current operating temperature of battery modules.The present embodiment facilitates control centre and slaps comprehensively
Hold the current charge condition of unmanned boat.
Present embodiment discloses a kind of control systems of unmanned boat automatic charging, and this system can be implemented as shown in Figure 1
Method, the present embodiment include control centre, unmanned boat and several charging units；
The control centre, comprising:
Approach signal transmission unit, for being issued to unmanned boat according to charge request when unmanned boat sends charge request
Approach signal makes unmanned boat drive into specified charging unit；
Adjustment instruction transmission unit makes for sending adjustment instruction to specified charging unit according to the charge request
Specified charging unit adjusts output power；
Chargeable signal receiving unit, for etc. unmanned boat to be received after generating electrical connection with specified charging unit
The chargeable signal sent；
Charging instruction transmission unit, for after receiving the chargeable signal, according to the chargeable signal, to finger
Fixed charging unit issues charging instruction, and specified charging unit is made to be closed charge circuit；
Charge information receiving unit, the charge information uploaded for real-time reception unmanned boat；
Cut-offing instruction transmission unit, for reaching rated capacity when the electricity for reaching setting charging time or unmanned boat
When, the charging unit of Xiang Zhiding issues cut-offing instruction, so that specified charging unit is disconnected charge circuit and disconnects and unmanned boat
Electrical connection；
Departure from port signal transmitting unit, for disconnecting charge circuit in specified charging unit and disconnecting electrical with unmanned boat
After connection, departure from port signal is issued to unmanned boat, unmanned boat is made to sail out of specified charging unit.
As preferred embodiment, the setting charging time refers specifically to: unmanned boat charges under current charge condition
To the charging time needed for setting electricity.
It is described that approach signal is issued to unmanned boat according to charge request as preferred embodiment, it specifically includes:
According to charge request, the model and/or charge parameter of unmanned boat are obtained；The charge parameter includes: current residual
Electricity, electric power storage rated capacity, charge voltage range, charging voltage rating, charging current range, charging rated current, electric power storage are set
It is a variety of in standby temperature range and unmanned boat charging terminal interface physical form；
It is judged whether there is according to the model of unmanned boat and/or charge parameter and meets the available of the unmanned boat charging requirement and fill
Electric installation；If so, issuing approach signal to unmanned boat, the approach signal includes the location information of specified charging unit；
Conversely, then issuing failure information to unmanned boat.
As preferred embodiment, the charge information includes the current electricity of unmanned boat, current charging voltage, current
Charging current and at least one of the current operating temperature of battery modules.
For the step number in above method embodiment, it is arranged only for the purposes of illustrating explanation, between step
Sequence do not do any restriction, the execution of each step in embodiment sequence can according to the understanding of those skilled in the art come into
Row is adaptively adjusted.
It is to be illustrated to preferable implementation of the invention, but the present invention is not limited to the embodiment above, it is ripe
Various equivalent deformation or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, this
Equivalent deformation or replacement are all included in the scope defined by the claims of the present application a bit.
Claims (10)
1. a kind of control method of unmanned boat automatic charging is used for control centre, it is characterised in that: the following steps are included:
When unmanned boat sends charge request, approach signal is issued to unmanned boat according to charge request, drives into unmanned boat specified
Charging unit；
Adjustment instruction is sent to specified charging unit according to the charge request, specified charging unit is made to adjust output work
Rate；
The chargeable signal sent after electrical connection is being generated with specified charging unit etc. unmanned boat to be received；
After receiving the chargeable signal, according to the chargeable signal, the charging unit of Xiang Zhiding issues charging instruction,
Specified charging unit is set to be closed charge circuit；
The charge information that real-time reception unmanned boat uploads；
When the electricity for reaching setting charging time or unmanned boat reaches rated capacity, the charging unit of Xiang Zhiding issues power-off
Instruction makes specified charging unit disconnect charge circuit and disconnects the electrical connection with unmanned boat；
After specified charging unit disconnects charge circuit and disconnects the electrical connection with unmanned boat, departure from port letter is issued to unmanned boat
Number, so that unmanned boat is sailed out of specified charging unit.
2. a kind of control method of unmanned boat automatic charging according to claim 1, it is characterised in that: the setting charging
Time refers specifically to: the charging of charging time needed for unmanned boat charges to setting electricity under current charge condition or fixation
Time.
3. a kind of control method of unmanned boat automatic charging according to claim 1, it is characterised in that: described according to charging
It requests to issue approach signal to unmanned boat, specifically include:
According to charge request, the model and/or charge parameter of unmanned boat are obtained；
The available charging dress for meeting the unmanned boat charging requirement is judged whether there is according to the model of unmanned boat and/or charge parameter
It sets；If so, issuing approach signal to unmanned boat, the approach signal includes the location information of specified charging unit；Conversely,
Then failure information is issued to unmanned boat.
4. a kind of control method of unmanned boat automatic charging according to claim 1, it is characterised in that: the charge information
Including the current electricity of unmanned boat, current charging voltage, the operating temperature of current charging current and current battery modules
At least one of.
5. a kind of control method of unmanned boat automatic charging is used for unmanned boat, it is characterised in that: the following steps are included:
Judge whether current electric quantity is higher than given threshold, if so, terminating process；It is asked conversely, then sending charging to control centre
It asks；
After receiving the approach signal that control centre issues, specified charging unit is driven into；
After generating electrical connection with specified charging unit, chargeable signal is sent to control centre, fills specified charging
Set closure charge circuit；
Charge information is sent to control centre in real time；
During the charging process, the departure from port signal for waiting control centre to be received to issue；
When receiving the departure from port signal that control centre issues, specified charging unit is sailed out of according to departure from port signal.
6. a kind of control method of unmanned boat automatic charging according to claim 5, it is characterised in that: the charge information
Including the current electricity of unmanned boat, current charging voltage, the operating temperature of current charging current and current battery modules
At least one of.
7. a kind of control system of unmanned boat automatic charging, it is characterised in that: including control centre, unmanned boat and several chargings
Device；
The control centre, comprising:
Approach signal transmission unit, for being issued and being approached to unmanned boat according to charge request when unmanned boat sends charge request
Signal makes unmanned boat drive into specified charging unit；
Adjustment instruction transmission unit makes to specify for sending adjustment instruction to specified charging unit according to the charge request
Charging unit adjust output power；
Chargeable signal receiving unit, for etc. unmanned boat to be received sent after generating electrical connection with specified charging unit
Chargeable signal；
Charging instruction transmission unit, for after receiving the chargeable signal, according to the chargeable signal, Xiang Zhiding's
Charging unit issues charging instruction, and specified charging unit is made to be closed charge circuit；
Charge information receiving unit, the charge information uploaded for real-time reception unmanned boat；
Cut-offing instruction transmission unit, for when reaching the setting charging time or the electricity of unmanned boat reaches rated capacity, to
Specified charging unit issues cut-offing instruction, so that specified charging unit is disconnected charge circuit and is disconnected and connects with the electrical of unmanned boat
It connects；
Departure from port signal transmitting unit, for disconnecting charge circuit in specified charging unit and disconnecting the electrical connection with unmanned boat
Afterwards, departure from port signal is issued to unmanned boat, unmanned boat is made to sail out of specified charging unit.
8. a kind of control system of unmanned boat automatic charging according to claim 7, it is characterised in that: the setting charging
Time refers specifically to: the charging of charging time needed for unmanned boat charges to setting electricity under current charge condition or fixation
Time.
9. a kind of control system of unmanned boat automatic charging according to claim 7, it is characterised in that: described according to charging
It requests to issue approach signal to unmanned boat, specifically include:
According to charge request, the model and/or charge parameter of unmanned boat are obtained；
The available charging dress for meeting the unmanned boat charging requirement is judged whether there is according to the model of unmanned boat and/or charge parameter
It sets；If so, issuing approach signal to unmanned boat, the approach signal includes the location information of specified charging unit；Conversely,
Then failure information is issued to unmanned boat.
10. a kind of control system of unmanned boat automatic charging according to claim 7, it is characterised in that: the charging letter
Breath includes the current electricity of unmanned boat, current charging voltage, the work temperature of current charging current and current battery modules
At least one of degree.
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| CN201811266587.5A CN109591631A (en) | 2018-10-29 | 2018-10-29 | A kind of control method and system of unmanned boat automatic charging |
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| CN201811266587.5A CN109591631A (en) | 2018-10-29 | 2018-10-29 | A kind of control method and system of unmanned boat automatic charging |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110377028A (en) * | 2019-06-11 | 2019-10-25 | 珠海云洲智能科技有限公司 | A kind of unmanned boat method, apparatus, terminal device and storage medium on duty |
| CN110435467A (en) * | 2019-07-02 | 2019-11-12 | 香港中文大学（深圳） | Vessel berth charging butt junction location method |
| CN113009915A (en) * | 2021-05-08 | 2021-06-22 | 广州小鲇智能科技有限公司 | Control method and system for unmanned ship |
| CN114802649A (en) * | 2022-04-18 | 2022-07-29 | 大连理工大学 | Offshore unmanned dock and unmanned ship docking and undocking method |
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| CN113009915A (en) * | 2021-05-08 | 2021-06-22 | 广州小鲇智能科技有限公司 | Control method and system for unmanned ship |
| CN114802649A (en) * | 2022-04-18 | 2022-07-29 | 大连理工大学 | Offshore unmanned dock and unmanned ship docking and undocking method |
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Application publication date: 20190409 |