CN109649209A - A kind of ship charging method, device, equipment and computer readable storage medium - Google Patents
A kind of ship charging method, device, equipment and computer readable storage medium Download PDFInfo
- Publication number
- CN109649209A CN109649209A CN201811638125.1A CN201811638125A CN109649209A CN 109649209 A CN109649209 A CN 109649209A CN 201811638125 A CN201811638125 A CN 201811638125A CN 109649209 A CN109649209 A CN 109649209A
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- China
- Prior art keywords
- ship
- charging
- mouth
- location information
- power supply
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Classifications
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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
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
-
- 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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
Landscapes
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The embodiment of the invention discloses a kind of ship charging methods, device, equipment and computer readable storage medium, the location information of the female mouth of the charging being primarily based on power supply unit, the male mouth of charging on ship is carried out transfer to female mouth that charges by the shifting apparatus controlled on ship, so that the male mouth of charging is engaged with female mouth that charges, then when determining that the electrical storage device on ship is completed from power supply unit by electricity by the public mouth that charges, obtain the current location information for the public mouth that charges, current location information finally based on the public mouth that charges, the public mouth of first charging is carried out transfer and withdraws ship by control shifting apparatus.Charging head is docked and separated with the power supply port on power supply unit by the shifting apparatus on ship, and charging process is independently completed, it is not necessarily to manual intervention, simplifies charging implementation process, and offshore charging scenarios are applicable to, so that the remote job of ship be effectively ensured.
Description
Technical field
The present invention relates to computer memory technical field more particularly to a kind of ship charging method, device, equipment and calculating
Machine readable storage medium storing program for executing.
Background technique
Ship is a kind of surface platform navigated by water by the self-contained energy, is widely used in operation at sea, mesh
It is preceding water environment detection, hydrographic survey, security protection and in terms of all have indispensable role.
Ship such as unmanned boat in part is usually powered by boat-carrying battery at present, and the cruising ability that battery can be provided is
Limited, when the electric energy of battery soon exhausts, usual ship requires supplementation with electric energy.It is in the prior art usually to carry out ship
It makes a return voyage and pulls in shore, then battery is unloaded and is charged, this mode needs human intervention to dismount to battery, causes to charge
Implementation process is relatively complicated, and needs charging of making a return voyage, and the job area of ship is also more limited to.It can be seen that existing
Some ship charging schemes can't be met the needs of users well, cause user experience bad.
Summary of the invention
The main purpose of the embodiment of the present invention is to provide a kind of ship charging method, device, equipment and computer-readable
Storage medium is at least able to solve and needs make a return voyage pulling in shore by ship in the prior art, then unloads battery and charge,
The job area of caused ship more limits to, the relatively complicated problem of charging implementation process.
To achieve the above object, first aspect of the embodiment of the present invention provides a kind of ship charging method, applied to including
The ship charging system of ship and power supply unit, this method comprises:
Obtain the location information of the female mouth of the first charging on the power supply unit；
Based on the location information of the female mouth of the first charging, the shifting apparatus controlled on the ship will be on the ship
The first male mouth of charging carries out transfer to the female mouth of the first charging, so that the male mouth of first charging and the female mouth of the first charging
Engagement；
It controls the power supply unit and charges female mouth to the ship power transmission by described first；
Determining that the electrical storage device on the ship completed by electricity by the described first public mouth that charges from the power supply unit
When, obtain the current location information of the public mouth of the first charging；
Based on the current location information of the public mouth of the first charging, the shifting apparatus is controlled by the public mouth of the first charging
It carries out transfer and withdraws the ship.
To achieve the above object, second aspect of the embodiment of the present invention provides a kind of ship charging unit, applied to including
The ship charging system of ship and power supply unit, the device include:
First position obtains module, for obtaining the location information of the female mouth of the first charging on the power supply unit；
First control module controls the transfer on the ship for the location information based on the female mouth of the first charging
The first male mouth of charging on the ship is carried out transfer to the female mouth of the first charging by device, so that the public mouth of the first charging
It is engaged with the female mouth of the first charging；
Second control module charges female mouth to the ship power transmission by described first for controlling the power supply unit；
The second position obtains module, for determine the electrical storage device on the ship by described first charge public mouth from
When the power supply unit is completed by electricity, the current location information of the public mouth of the first charging is obtained；
Third control module controls the shifting apparatus for the current location information based on the public mouth of the first charging
The public mouth of first charging is subjected to transfer and withdraws the ship.
To achieve the above object, the third aspect of the embodiment of the present invention provides a kind of ship charging equipment, which includes:
Processor, memory and communication bus；
The communication bus is for realizing the connection communication between the processor and memory；
The processor is for executing one or more program stored in the memory, to realize any of the above-described ship
The step of oceangoing ship charging method.
To achieve the above object, fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the calculating
Machine readable storage medium storing program for executing is stored with one or more program, and one or more of programs can be handled by one or more
Device executes, the step of to realize any of the above-described ship charging method.
Ship charging method, device, equipment and the computer readable storage medium provided according to embodiments of the present invention, first
Based on the location information of the female mouth of charging on power supply unit, shifting apparatus on ship is controlled by the charging public affairs mouth on ship to filling
The goddess of lightning mouthful carries out transfer, so that the male mouth of charging is engaged with charging mother's mouth, is then determining that the electrical storage device on ship passes through charging
When public mouth is completed from power supply unit by electricity, the current location information for the public mouth that charges is obtained, the present bit finally based on the public mouth that charges
The public mouth of first charging is carried out transfer and withdraws ship by confidence breath, control shifting apparatus.By the shifting apparatus on ship by
Charging head is docked and is separated with the power supply port on power supply unit, and independently completes charging process, is not necessarily to manual intervention, is simplified
Charging implementation process, and offshore charging scenarios are applicable to, so that the remote job of ship be effectively ensured, improve user
Experience.
Other features of the invention and corresponding effect are described in the aft section of specification, and should be appreciated that
At least partly effect is apparent from from the record in description of the invention.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those skilled in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the flow diagram for the ship charging method that first embodiment of the invention provides；
Fig. 2 is a kind of structural schematic diagram for ship charging system that first embodiment of the invention provides；
Fig. 3 is the structural schematic diagram for another ship charging system that first embodiment of the invention provides；
Fig. 4 is the structural schematic diagram for the ship charging unit that second embodiment of the invention provides；
Fig. 5 is the structural schematic diagram for the ship charging equipment that third embodiment of the invention provides.
Specific embodiment
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described reality
Applying example is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
First embodiment:
In order to solve to need in the prior art make a return voyage pulling in shore by ship, then battery is unloaded and is charged, is led
The job area of the ship of cause more limits to, the relatively complicated technical problem of charging implementation process, as shown in Figure 1, the present embodiment
A kind of ship charging method is proposed, applied to the ship charging system including ship and power supply unit, is illustrated in figure 2 this reality
A kind of ship charging system of example offer is provided, wherein when ship is charged, the ship charging side of the present embodiment proposition
Method includes the following steps:
The location information of the female mouth of the first charging in step 101, acquisition power supply unit.
Specifically, the ship in the present embodiment can be the ship for arbitrarily providing by electric energy and running required power, example
Such as unmanned boat.And the power supply unit in the present embodiment can be the power supply unit of setting at an arbitrary position, be not limited in
It is arranged on the harbour of waterfront, in a kind of preferred embodiment of the present embodiment, power supply unit here can be on the water surface
Different zones radiation, also as ship provides offshore charging.Ship is when being charged in the present embodiment, to available mesh
Mark power supply unit is determined, and needs to obtain the location information of the female mouth of charging on identified power supply unit, to meet
Recharging.It should be noted that the female mouth of charging namely power supply unit here provides the interface of electric energy to external.
It should be understood that in practical applications, ship can propose charge request when electricity will be depleted,
It needs to guarantee when being also possible to face remote task to propose charge requirement in the case that electricity is sufficient, the present embodiment is not
Ship is defined to the concrete scene that power supply unit initiates charge request, it can be depending on actual use scene.
The location information of step 102, female mouth that charges based on first controls shifting apparatus on ship for first on ship
The male mouth of charging carries out transfer to the female mouth of the first charging, so that the first male mouth of charging is engaged with first charging mother's mouth.
Specifically, in the present embodiment, shifting apparatus is provided on ship, shifting apparatus here can be machinery
The device that the achievable material such as hand, transmission belt transports, shifting apparatus, can be by ships after the location information for knowing female mouth that charges
Charging public affairs mouth on oceangoing ship is transported to power supply unit, so that charging mother's mouth knot on the male mouth of charging and power supply unit of ship
It closes, so that ship can be carried out from power supply unit by electricity.It should be noted that set on charging public affairs mouth namely ship here
From external powered interface.It further should be understood that in practical applications, if the public mouth that charges is put always on ship
It sets in fixed position, then shifting apparatus can pick up the public mouth of charging according to the default location for the public mouth that charges every time, and if filling
Electric public affairs mouth randomly places on ship every time, then shifting apparatus can then obtain the current location information for the public mouth that charges in advance every time,
To find the public mouth that charges, and then the public mouth that charges is picked up.
Optionally, the male mouth of the first charging and the female mouth of the first charging are magnetic-type interface；Control the shifting apparatus on ship
First on ship is charged into male mouth to the female mouth progress transfer of the first charging, so that the first male mouth of charging connects with first charging mother's mouth
Conjunction includes: to control shifting apparatus on ship the first male mouth of charging on ship is transferred load to interval and preset to first female mouth that charges
Distance, so that the first male mouth of charging engages automatically with the female mouth of the first charging.
As previously described, because the male mouth of the first charging and the female mouth of the first charging are magnetic-type interface, therefore, the first charging is public
Mouth transfers load to interval pre-determined distance with the female mouth of the first charging and engages the male mouth of the charging that can be on ship and power supply unit automatically
On the female mouth of charging engaged by way of magnetic, namely the shifting apparatus on control ship is only needed the charging on ship
Charging mother mouth of the male mouth on power supply unit carry out it is close, when the two is close to within magnetic distance of reaction, the two can from
Dynamic engagement, relative to plug-type charging interface juncture is used, this accuracy engaged automatically is higher, avoids using slotting
Enter formula juncture need make repeated attempts brought by time and interface loss.
Optionally, female mouth is charged to before ship power transmission by first in control power supply unit, further includes: obtain power supply and set
The location information of standby upper fixation device；Based on the location information of fixed device, control shifting apparatus will be to be fixed on ship
Device transfers load to fixed device, and device to be fixed is fixed on the securing means.
Specifically, in practical applications, ship is when on the water surface, due to the impact of high wind, wave etc., in some cases
Ship can not usually be remain stationary on the water surface, to have certain positional shift, and be parked in somewhere in ship and charged
During, since the charging male connector on ship needs to keep connecting with the charging female on power supply unit, if in this case
Ship generates positional shift, then may cause the separation of charging male connector and the female that charges, and charging is caused to be interrupted, and is based on this, this
Device to be fixed is provided on ship in embodiment, device to be fixed here can be rope etc., and on power supply unit then
It is provided with fixed device, such as spud pile etc., by the location information of accessed fixation device, controlling shifting apparatus will be to
Fixed device is transported at fixed device, and is fixedly connected with the two, so that ship is fixed on the certain of power supply unit
In range, and then the charging public affairs mouth on ship is avoided to fall off from power supply unit.Equally, it should also be noted that if in reality
In, the riding position of the device to be fixed on ship is random site every time, then solid device to be fixed to be fixed on
Before determining on device, it is also necessary to be obtained to the initial position message of device to be fixed, to be controlled based on the location information
The shifting apparatus such as manipulator processed pick up device to be fixed.
Step 103, control power supply unit pass through the female mouth of the first charging to ship power transmission.
Specifically, in practical applications, in one case, power supply unit is Ship Open power supply, without to ship
Oceangoing ship carries out any certification, only after the male mouth of charging for determining ship is engaged with charging mother's mouth of power supply unit, just starts to control
Power supply unit carries out power transmission；In another case, charge request can also be initiated by ship, then by power supply unit to ship
Charge request authenticated, only when certification passes through, power supply unit just can be to ship power transmission.
Optionally, the ship charging method of the present embodiment further include: the position based on preset reference position on power supply unit
Information plans the static suitable exercise range of ship；The location information for obtaining ship in real time, based on the location information of ship by ship
Oceangoing ship controls within the scope of static suitable exercise.
Specifically, usually only ship is reasonable at one apart from power supply unit before power supply unit is ship charging
Range when, just can guarantee that the male mouth of charging can be engaged with charging mother's mouth；In addition, in the mistake that power supply unit is ship charging
Cheng Zhong can be caused positional shift to ship, ship can be made opposite when serious due to the influence of the stormy waves in waters where ship
Power supply unit is more and more remoter, so that the male mouth of charging separates from female mouth that charges and interrupts charging, is based on this, base in the present embodiment
In the motion range of the preset reference position planning ship on power supply unit, so that ship equal quilt in entire ship charging flow
Control obtains the location information of ship in the motion range, namely in real time, once the real-time position information of ship is
When will exceed or having exceeded the suitable exercise range, i.e., ship is controlled, kept it within the scope of the suitable exercise.
It should be noted that in the present embodiment to ship carry out control be driving unit based on ship and Inertial Measurement Unit (IMU,
Inertial Measurement Unit) it realizes, wherein driving unit is the forward or backward behavior for controlling ship, and IMU is then
It is to control the pose of ship.It is to be further understood that the suitable exercise range in the present embodiment is based on power supply unit
Position planned, since power supply unit is normally located at fixed position in practical applications, thus cooked up
Suitable exercise range is static suitable exercise range.
Step 104, determine the electrical storage device on ship by first charge public mouth completed from power supply unit by electricity when, obtain
Take the current location information of the first charging public affairs mouth.
Specifically, determining what whether the electrical storage device on ship was completed by electricity in an embodiment of the present embodiment
Mode can be, the electrical storage device on ship by first charge public mouth from power supply unit by electricity when, detect electrical storage device
Whether current electric quantity reaches default power threshold；If the current electric quantity of electrical storage device reaches default power threshold, it is determined that electric power storage
Device is completed by electricity.And in the another embodiment of the present embodiment, it can also be that the electrical storage device on determining ship continues
Whether powered duration reaches preset duration threshold value, if reaching preset duration threshold value, it is determined that electrical storage device is completed by electricity.At this
In another embodiment of embodiment, it is also possible to determine whether the remaining capacity of power supply unit is lower than default power threshold,
If lower than default power threshold, it is determined that electrical storage device is completed by electricity.It should be understood that in practical applications, according to application
The difference of scene, it is specific determine strategy can according to actual needs depending on, do not limit uniquely herein.
Optionally, the fixation device on power supply unit, this reality are fixed on corresponding to the aforementioned device to be fixed by ship
It applies in example and is determining that the electrical storage device on ship charges after public mouth completed by electricity from power supply unit by first, further includes: obtain
Take the current location information of device to be fixed；Based on the current location information of device to be fixed, controlling shifting apparatus will be to be fixed
Device carries out transfer and withdraws ship.
Specifically, after ship charging complete, it is also necessary to which the connection for releasing device to be fixed and fixed device is treated solid
Determine device to be withdrawn, the state so that ship affranchises, can smoothly leave execution task.
The current location information of step 105, the public mouth that charges based on first, control shifting apparatus carry out the public mouth of the first charging
Transfer and withdraw ship.
Specifically, needing to withdraw in the charging public affairs mouth of ship after ship charging complete, need at this time public to charging
Mouthful current location obtained, thus controlled based on acquired position shifting apparatus accurately picks up charging public affairs mouth and by its
It withdraws, in some embodiments, the current location information for the male mouth that charges can be equal to the female mouth of the charging on power supply unit
Location information, then acquisition here is charged, the current location information of public mouth does not imply that the public mouth of charging is positioned, but straight
The current location information for transferring the location information of the female mouth of charging of power supply unit as the male mouth that charges of ship is connect, and at other
In embodiment, if more demanding to operation precision, it can be and the public mouth that charges is positioned immediately, and obtain its present bit
Confidence breath.
Optionally, the ship of the present embodiment can also further include for the ship of powering with the female mouth of the second charging, system
Other ships to be charged are illustrated in figure 3 another ship charging system provided in this embodiment, thus the ship of the present embodiment
Charging method further include: obtain the initial position message of the public mouth of the second charging on ship to be charged；Based on the public mouth of the second charging
Initial position message, control the shifting apparatus that can power on ship and move the second male mouth of charging to second charging mother's mouth
It carries, so that the second male mouth of charging is engaged with the female mouth of the second charging；The control ship that can power by second charges female mouth to be charged
Ship power transmission；When determining that the electrical storage device on ship to be charged is completed from the ship that can power by electricity by the public mouth of the second charging,
Obtain the current location information of the public mouth of the second charging；The current location information for charging public mouth based on second, control can power ship
On shifting apparatus the second public mouth that charges is carried out transfer and sends ship to be charged back to.
Specifically, in practical applications, ship above-mentioned can not only be carried out by electricity, also from power supply unit in the present embodiment
It can be that the female mouth of charging is additionally provided on the power supply of other ships and ship above-mentioned, when other ships have charge requirement,
Based on the location information of the public mouth of charging on acquired ship to be charged, controlling this can be the shifting of the ship of other ships power supply
It carries to set and the male mouth of charging with charging ship is subjected to transfer to the charging mother's mouth of itself, so that the two engagement, and to be charged
Ship power transmission.It is similar with previous embodiment, in the present embodiment, the charging Gong Kou on ship to be charged and the filling on ship that can power
The goddess of lightning mouthful can also use magnetic-type interface.And when ship to be charged charging finishes, then the charging based on ship to be charged is public
The current location information of mouth, control shifting apparatus picks up the charging public affairs mouth, and backs into ship to be charged and terminate to charge.This
Outside, it is also contemplated that, in some embodiments of the present embodiment, ship to be charged here is also possible to can power supply boat
Oceangoing ship, i.e., all ships in the present embodiment are the ship with same hardware framework, be provided with to external ship power supply and
To the powered ability of power supply unit.
Further, the ship charging method in the present embodiment can also include: real-time to obtain the ship and wait fill of can powering
The location information of electric ship；Based on the location information of ship to be charged, the dynamic suitable exercise range of ship to be charged is planned；Base
In the location information for the ship that can power, ship control can be powered within the scope of dynamic suitable exercise.
Specifically, being different from the ship planning needs based on power supply unit location information and charging in aforementioned embodiments
Suitable exercise range, and will need the ship control that charges is based on to be charged in the motion range, in present embodiment
The location information of ship plans the suitable exercise range of the ship that can power, and the ship control that can power is in corresponding movement model
In enclosing；Also, the ship in present embodiment is due to being dynamic mobile, so that motion range is to advise in real time in present embodiment
The dynamic range drawn.
Ship charging method provided in this embodiment, the location information of the female mouth of the charging being primarily based on power supply unit, control
The male mouth of charging on ship is carried out transfer to female mouth that charges by the shifting apparatus on ship processed, so that the male mouth of charging and female mouth that charges
Engagement obtains the public mouth that charges then when determining that the electrical storage device on ship is completed from power supply unit by electricity by the public mouth that charges
Current location information, the current location information finally based on the public mouth that charges, control shifting apparatus carries out the first public mouth that charges
Transfer and withdraw ship.Charging head is docked and divided with the power supply port on power supply unit by the shifting apparatus on ship
From, and charging process is independently completed, it is not necessarily to manual intervention, simplifies charging implementation process, and be applicable to offshore charging scenarios,
To which the remote job of ship be effectively ensured, user experience is improved.
Second embodiment:
Present embodiment illustrates a kind of ship charging units, specifically refer to Fig. 4, in order to solve to need in the prior art by
Ship make a return voyage pulling in shore, and then unloads battery and charges, and the job area of caused ship more limits to, and charging is real
The relatively complicated technical problem of existing process, the ship charging unit of the present embodiment are applied to the ship including ship and power supply unit
Charging system, the ship charging unit include:
First position obtains module 41, for obtaining the location information of the female mouth of the first charging on power supply unit；
First control module 42, for the location information based on the female mouth of the first charging, the shifting apparatus controlled on ship will
First on ship charges male mouth to the female mouth progress transfer of the first charging, so that the first male mouth of charging connects with first charging mother's mouth
It closes；
Second control module 43 passes through the female mouth of the first charging to ship power transmission for controlling power supply unit；
The second position obtains module 44, for determining that the electrical storage device on ship set by the first charging public affairs mouth from power supply
When completing by electricity, the current location information of the public mouth of the first charging is obtained；
Third control module 45 controls shifting apparatus for first for the current location information based on the public mouth of the first charging
The public mouth that charges carries out transfer and withdraws ship.
Specifically, the power supply unit in the present embodiment can be the power supply unit of setting at an arbitrary position, it is not limited in
It is arranged on the harbour of waterfront, in a kind of preferred embodiment of the present embodiment, power supply unit here can be on the water surface
Different zones radiation, also as ship provides offshore charging.
In addition, being provided with shifting apparatus on ship, shifting apparatus here can be achieved for manipulator, transmission belt etc.
The device that material transports, shifting apparatus after the location information for knowing female mouth that charges, can by the charging public affairs mouth on ship to
Power supply unit is transported, so that the male mouth of charging of ship is in conjunction with charging mother's mouth on power supply unit, so that ship can be to
Power supply unit is carried out by electricity.It is corresponding, after ship charging complete, need to withdraw in the charging public affairs mouth of ship, at this time
It needs the current location to the public mouth that charges to obtain, is filled to control shifting apparatus based on acquired position and accurately pick up
Electric public affairs mouth and withdrawn.
In some embodiments of the present embodiment, the male mouth of the first charging and the female mouth of the first charging are magnetic-type interface；
First control module 42 is specifically used for the location information based on the female mouth of the first charging, and the shifting apparatus controlled on ship will be on ship
The first male mouth of charging transfer load to interval pre-determined distance to first female mouth that charges so that the male mouth of the first charging and first charging mother's mouth
Automatic engagement.
In some embodiments of the present embodiment, first position obtains module 41 and is also used to control in the second control module 43
Power supply unit processed charges female mouth to before ship power transmission by first, obtains the location information of the fixation device on power supply unit,
First control module 42 is also used to the location information based on fixed device, and control shifting apparatus moves the device to be fixed on ship
It is loaded onto fixed device, and device to be fixed is fixed on the securing means；Also, the second position obtains module 44 and is also used to true
Determine electrical storage device on ship by first charge public mouth completed from power supply unit by electricity when, obtain the present bit of device to be fixed
Confidence breath.
In some embodiments of the present embodiment, the concrete mode whether electrical storage device on ship is completed by electricity is determined
Are as follows: the electrical storage device on ship by first charge public mouth from power supply unit by electricity when, detect the current electric quantity of electrical storage device
Whether default power threshold is reached；If the current electric quantity of electrical storage device reaches default power threshold, it is determined that electrical storage device is by electricity
It completes.
In some embodiments of the present embodiment, ship charging unit further include: the first range planning module, the first model
Planning module is enclosed for the location information based on preset reference position on power supply unit, plans the static suitable exercise model of ship
It encloses；In real time obtain ship location information, based on the location information of ship by ship control within the scope of static suitable exercise.
In some embodiments of the present embodiment, ship above-mentioned is the ship of powering with the female mouth of the second charging,
And ship charging system above-mentioned further includes other ships to be charged, is also used to obtain wait fill so that first position obtains module 41
The initial position message of the public mouth of the second charging on electric ship；First control module 42 is also used to based on the first of the public mouth of the second charging
The second male mouth of charging is carried out transfer to the female mouth of the second charging by beginning location information, the shifting apparatus that controlling can power on ship, with
Engage the male mouth of the second charging with the female mouth of the second charging；Second control module 43 is also used to control the ship that can power and fills by second
The goddess of lightning mouthful is to ship power transmission to be charged；The second position obtains module 44 and is also used to determining that the electrical storage device on ship to be charged is logical
When crossing the second public mouth of charging and being completed from the ship that can power by electricity, the second second location information for charging public mouth is obtained；Third control
Module 45 is also used to the current location information based on the public mouth of the second charging, and the shifting apparatus that controlling can power on ship is filled second
Electric public affairs mouth carries out transfer and sends ship to be charged back to.
In some embodiments of the present embodiment, ship charging unit further include: the second range planning module, the second model
Enclosing planning module can power the location information of ship and ship to be charged for real-time acquisition；Position letter based on ship to be charged
Breath, plans the dynamic suitable exercise range of ship to be charged；Based on the location information for the ship that can power, can power ship control
Within the scope of dynamic suitable exercise.
It should be noted that the ship charging method in first embodiment can be charged based on ship provided in this embodiment
Device realizes that those of ordinary skill in the art can be clearly understood that, for convenience and simplicity of description, in the present embodiment
The specific work process of described ship charging unit, can refer to corresponding processes in the foregoing method embodiment, herein not
It repeats again.
Using ship charging unit provided in this embodiment, the position letter of the female mouth of the charging being primarily based on power supply unit
The male mouth of charging on ship is carried out transfer to female mouth that charges by breath, the shifting apparatus controlled on ship so that charge public mouth with fill
The goddess of lightning mouthful engagement, then when determining that the electrical storage device on ship is completed from power supply unit by electricity by the public mouth that charges, acquisition is filled
The current location information of electric public affairs mouth, the current location information finally based on the public mouth that charges, control shifting apparatus are public by the first charging
Mouth carries out transfer and withdraws ship.The power supply port on charging head and power supply unit is carried out pair by the shifting apparatus on ship
It connects and separates, and independently complete charging process, be not necessarily to manual intervention, simplify charging implementation process, and be applicable to offshore and fill
Electric field scape improves user experience so that the remote job of ship be effectively ensured.
3rd embodiment:
A kind of ship charging equipment is present embodiments provided, it is shown in Figure 5 comprising processor 501, memory 502
And communication bus 503, in which: communication bus 503 is for realizing the connection communication between processor 501 and memory 502；Processing
Device 501 is for executing one or more computer program stored in memory 502, to realize the side in above-described embodiment one
At least one step in method.
The present embodiment additionally provides a kind of computer readable storage medium, which, which is included in, is used for
Store any method or skill of information (such as computer readable instructions, data structure, computer program module or other data)
The volatibility implemented in art or non-volatile, removable or non-removable medium.Computer readable storage medium includes but not
It is limited to RAM (Random Access Memory, random access memory), ROM (Read-Only Memory, read-only storage
Device), EEPROM (Electrically Erasable Programmable read only memory, band electric erazable programmable
Read-only memory), flash memory or other memory technologies, (Compact Disc Read-Only Memory, CD is only by CD-ROM
Read memory), digital versatile disc (DVD) or other optical disc storages, magnetic holder, tape, disk storage or other magnetic memory apparatus,
Or any other medium that can be used for storing desired information and can be accessed by a computer.
Computer readable storage medium in the present embodiment can be used for storing one or more computer program, storage
One or more computer program can be executed by processor, with realize the method in above-described embodiment one at least one step
Suddenly.
The present embodiment additionally provides a kind of computer program, which can be distributed in computer-readable medium
On, by can computing device execute, to realize at least one step of the method in above-described embodiment one；And in certain situations
Under, at least one shown or described step can be executed using the described sequence of above-described embodiment is different from.
The present embodiment additionally provides a kind of computer program product, including computer readable device, the computer-readable dress
It sets and is stored with computer program as shown above.The computer readable device may include calculating as shown above in the present embodiment
Machine readable storage medium storing program for executing.
As it can be seen that those skilled in the art should be understood that whole or certain steps in method disclosed hereinabove, be
Functional module/unit in system, device may be implemented as the software (computer program code that can be can be performed with computing device
To realize), firmware, hardware and its combination appropriate.In hardware embodiment, the functional module that refers in the above description/
Division between unit not necessarily corresponds to the division of physical assemblies；For example, a physical assemblies can have multiple functions, or
One function of person or step can be executed by several physical assemblies cooperations.Certain physical assemblies or all physical assemblies can be by realities
It applies as by processor, such as the software that central processing unit, digital signal processor or microprocessor execute, or is implemented as hard
Part, or it is implemented as integrated circuit, such as specific integrated circuit.
In addition, known to a person of ordinary skill in the art be, communication media generally comprises computer-readable instruction, data knot
Other data in the modulated data signal of structure, computer program module or such as carrier wave or other transmission mechanisms etc, and
It and may include any information delivery media.So the present invention is not limited to any specific hardware and softwares to combine.
The above content is combining specific embodiment to be further described to made by the embodiment of the present invention, cannot recognize
Fixed specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs,
Without departing from the inventive concept of the premise, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention
Protection scope.
Claims (10)
1. a kind of ship charging method, which is characterized in that described applied to the ship charging system including ship and power supply unit
Ship charging method includes:
Obtain the location information of the female mouth of the first charging on the power supply unit；
The location information for charging female mouth based on described first controls shifting apparatus on the ship for first on the ship
The male mouth of charging carries out transfer to the female mouth of the first charging, so that the male mouth of first charging connects with the first charging mother's mouth
It closes；
It controls the power supply unit and charges female mouth to the ship power transmission by described first；
When determining that the electrical storage device on the ship is completed from the power supply unit by electricity by the public mouth of the first charging, obtain
Take the current location information of the public mouth of the first charging；
Based on the current location information of the public mouth of the first charging, controls the shifting apparatus and carry out the public mouth of the first charging
Transfer and withdraw the ship.
2. ship charging method as described in claim 1, which is characterized in that the first male mouth of charging and first charging mother's mouth
It is magnetic-type interface；
The shifting apparatus controlled on the ship carries out the first male mouth of charging on the ship to the female mouth of the first charging
Transfer, so that the first male mouth of charging is engaged with the first charging mother's mouth includes:
Shifting apparatus on the ship is controlled by the first male mouth of charging on the ship to the first charging mother's mouth transfer
To interval pre-determined distance, so that the male mouth of first charging engages automatically with the female mouth of the first charging.
3. ship charging method as described in claim 1, which is characterized in that pass through described first controlling the power supply unit
Female mouth charge to before the ship power transmission, further includes:
Obtain the location information of the fixation device on the power supply unit；
Based on the location information of the fixed device, controls the shifting apparatus and transfer load to the device to be fixed on the ship
The fixed device, and the device to be fixed is fixed on the fixed device；
Determining that the electrical storage device on the ship charges after public mouth completed by electricity from the power supply unit by described first,
Further include:
Obtain the current location information of the device to be fixed；
Based on the current location information of the device to be fixed, the shifting apparatus is controlled by the device to be fixed and carries out transfer
And withdraw the ship.
4. ship charging method as described in claim 1, which is characterized in that the electrical storage device on the determination ship is logical
The public mouth of the first charging is crossed from the power supply unit is included: by electricity completion
The electrical storage device on the ship by described first charge public mouth from the power supply unit by electricity when, detect the storage
Whether the current electric quantity of electric installation reaches default power threshold；
If the current electric quantity of the electrical storage device reaches the default power threshold, it is determined that the electrical storage device is completed by electricity.
5. ship charging method according to any one of claims 1 to 4, which is characterized in that further include:
Based on the location information of preset reference position on the power supply unit, the static suitable exercise range of the ship is planned；
The location information for obtaining the ship in real time, the location information based on the ship is by the ship control in the static state
Within the scope of suitable exercise.
6. ship charging method according to any one of claims 1 to 4, which is characterized in that the ship is with second
The ship of powering of the female mouth of charging, the system also includes other ships to be charged, the ship charging method further include:
Obtain the initial position message of the public mouth of the second charging on the ship to be charged；
The initial position message for charging public mouth based on described second, the shifting apparatus that can be powered on ship described in control is by described the
Two charge male mouths to the female mouth progress transfer of second charging, so that the male mouth of second charging connects with the second charging mother's mouth
It closes；
The ship that can power described in control by described second charges female mouth to the ship power transmission to be charged；
Determine the electrical storage device on the ship to be charged by described second charge public mouth from the ship of powering by electricity
When completion, the current location information of the public mouth of the second charging is obtained；
The current location information for charging public mouth based on described second, the shifting apparatus that can be powered on ship described in control is by described the
The public mouth of two chargings carries out transfer and sends the ship to be charged back to.
7. ship charging method as claimed in claim 6, which is characterized in that further include:
Can power the location information of ship and ship to be charged described in obtaining in real time；
Based on the location information of the ship to be charged, the dynamic suitable exercise range of the ship to be charged is planned；
Based on the location information of the ship of powering, ship control can be powered in the dynamic suitable exercise range by described in
It is interior.
8. a kind of ship charging unit, which is characterized in that the ship charging unit is applied to include ship and power supply unit
Ship charging system, the ship power supply unit include:
First position obtains module, for obtaining the location information of the female mouth of the first charging on the power supply unit；
First control module controls the shifting apparatus on the ship for the location information based on the female mouth of the first charging
The first male mouth of charging on the ship is subjected to transfer to the female mouth of the first charging, so that the public mouth of first charging and institute
State the engagement of first charging mother's mouth；
Second control module charges female mouth to the ship power transmission by described first for controlling the power supply unit；
The second position obtains module, for determining that the electrical storage device on the ship charges public mouth from described by described first
When power supply unit is completed by electricity, the current location information of the public mouth of the first charging is obtained；
Third control module controls the shifting apparatus for institute for the current location information based on the public mouth of the first charging
The first charging public affairs mouth is stated to carry out transfer and withdraw the ship.
9. a kind of ship charging equipment characterized by comprising processor, memory and communication bus；
The communication bus is for realizing the connection communication between the processor and memory；
The processor is for executing one or more program stored in the memory, to realize such as claim 1 to 7
Any one of described in ship charging method the step of.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage have one or
Multiple programs, one or more of programs can be executed by one or more processor, to realize such as claim 1 to 7
Any one of described in ship charging method the step of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811638125.1A CN109649209A (en) | 2018-12-29 | 2018-12-29 | A kind of ship charging method, device, equipment and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811638125.1A CN109649209A (en) | 2018-12-29 | 2018-12-29 | A kind of ship charging method, device, equipment and computer readable storage medium |
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| CN109649209A true CN109649209A (en) | 2019-04-19 |
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| CN201811638125.1A Pending CN109649209A (en) | 2018-12-29 | 2018-12-29 | A kind of ship charging method, device, equipment and computer readable storage medium |
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| CN110091963A (en) * | 2019-05-08 | 2019-08-06 | 重庆懿熙品牌策划有限公司 | A kind of concora crush component and its displaying ship and charging port with automatic charging function |
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| CN110775197A (en) * | 2019-11-19 | 2020-02-11 | 深圳市人工智能与机器人研究院 | Limiting device and ship mooring system |
| CN110797944A (en) * | 2019-11-07 | 2020-02-14 | 上海润通电动车技术有限公司 | Marine charging device |
| CN111055699A (en) * | 2019-12-09 | 2020-04-24 | 国网电动汽车服务有限公司 | Ship cascade T-connection box power supply method and device for ships alongside |
| CN114987728A (en) * | 2022-05-26 | 2022-09-02 | 广东逸动科技有限公司 | Ship charging method, ship charging device, ship charging equipment and storage medium |
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