CN113989638A - Cable conveying control method and system for shore power piles - Google Patents

Abstract

The invention discloses a cable conveying control method for a shore power pile, which comprises the following steps: s1, setting a pre-marking pattern at a position on the ship corresponding to the charging interface, acquiring a large amount of image data containing the pre-marking pattern, and preprocessing the acquired image data; s2, constructing a neural network, inputting the preprocessed image data into the neural network for training to obtain a contour recognition model; s3, when the ship needs to be charged, the charging connector connected with the cable is lifted to a preset position right above the ship through the cable conveying device; s4, collecting the image data of the ship towards the lower part through a camera on the cable conveying device; s5, identifying the outline and the central point characteristic of the pre-marked pattern in the image through the outline identification model; s6, calculating the spatial position information of the actual pre-marked pattern on the ship relative to the camera; and S7, automatically conveying the charging connector to a position corresponding to the charging interface on the ship through the cable conveying device.

Description

Cable conveying control method and system for shore power piles

Technical Field

The invention belongs to the technical field of cable conveying control, and particularly relates to a cable conveying control method and system for a shore power pile.

Background

The shore power of ships in ports is an important part for building green energy-saving intelligent ports and is receiving more and more attention. In recent years, as ship shore power systems are increasingly applied to various large ports of different types, safe and fast docking of port shore power systems and harbor ship power systems becomes an important research topic. The shore power cable lifting and conveying device is used as an intermediate link for connecting a shore power pile with a berthing ship power receiving cabinet at a port to finish conveying/recovering a shore power cable to a berthing ship deck, and belongs to an important component in a shore power system of a port ship.

For a long time, the ships at the port of the berth adopt the fuel oil auxiliary engine to generate electricity by themselves, which brings high energy consumption and high pollution to ports and nearby areas, the country actively advocates a green economic development mode of energy conservation, emission reduction and low-carbon traffic, and in recent years, research on setting a ship shore power supply is also carried out in succession in each large port, so that clean energy (shore power) is provided for berthing the ships, and the aims of saving fuel oil cost, reducing port emission, reducing noise pollution and realizing green environmental protection are fulfilled.

With the increasing requirements of people on living environment, energy conservation and emission reduction become more and more urgent. The shore power supply is the most effective means for reducing the ship berthing pollution, and when a ship berths, the ship berthing power supply can supply power to realize zero emission. The development and the application of the port shore power technology can effectively reduce the pollution emission of ships in port and improve the greening level of the port. The introduction and application level of marine shore power technology also become one of the important indexes for building green ports.

The increasing number of different types of ships that are parked in large ports every day, and the pollution of large port areas is also a step that must be taken into account. In recent years, the technology of supplying power to shore power of ships is vigorously developed by virtue of great advocation of governments, so that a set of stable and reliable cable connection system is researched to meet the current urgent demand of ports, and the shore power cable lifting and conveying system plays a great role in shore power butt joint when ships stop at the ports. In the cable connection system, the transmission of shore power cables is an essential link. The traditional butt joint mode is that the workman drags the bank electricity cable to the bank and manual connection to bank power box or switch board from boats and ships on the bank, again by the manual work carry out the coiling operation to the cable when boats and ships leave the port, this kind of mode not only wastes time and energy, has the potential safety hazard moreover.

The existing port ship generally adopts two schemes when connecting a shore side and a ship side shore power system, one scheme is to use a shore power cable reel as special cable reeling and unreeling equipment, but the newly added shore power cable reel can further occupy the use space of a ship body and increase the load of the ship body, a cable reel and a cable lifting device are installed on a ship deck, the ship needs to be greatly transformed, the occupied deck space is large, the cost is high, and the use and the profit during the transformation of the ship are seriously influenced. Another cable lifting scheme is that a low-voltage shore power cable is conveyed to a ship by a crane, but the crane is required to be fixed to be difficult to transfer conveniently, wharf operation is influenced when the crane is moved, and the cable needs to be mounted and dismounted repeatedly when the crane is used every time. The cable needs to be lifted from the shore and pulled to be connected on the ship, and one connection or one disconnection operation can be completed in a long time, so that the workload of manual operation is large. Meanwhile, the cable is conveyed by using a crane or a crane, so that the operation difficulty and potential safety hazards are increased for operating personnel on the ship, and the cable is possibly bent to be damaged or broken, so that potential hazards are left for safe use and normal service life of the cable.

In order to realize safe and rapid butt joint of an onshore power system and a harbor ship power receiving system, the concept of a harbor shore power rapid butt joint technology is developed. The key equipment of the port shore power rapid docking technology mainly comprises: the shore power cable and the interface of standard, safe intelligent bank base electricity receiving pile and high-efficient reliable shore power cable promote conveyor, wherein, cable promotes conveyor mainly used realizes the safe quick butt joint of harbour shore power, improves harbour shore power's efficiency of service, is important partly in the harbour shore power system, and in boats and ships shore power system, shore power cable connection plays very crucial effect. The conventional ship and port shore power docking and dismounting work is very troublesome, the stability is poor, and improvement is urgently needed. The cable lifting and conveying device is used for conveying a cable with a standard shore power interface to a ship berthed at a port so as to replace the traditional operation mode that a crew takes the ship down and pulls the cable to go on the ship, and the port-berthing ship is more conveniently and quickly connected to a port shore power system.

Chinese patent with publication number CN111064255A provides a guide tracked boats and ships shore power charging device, including guide rail and the vehicle that can make a round trip to slide on two guide rails, install mechanical arm mechanism on the vehicle, charging structure is installed to mechanical arm mechanism's front end, charging structure includes the plug, infrared sensor, ultrasonic sensor, the uide bushing, stop collar and position sleeve, pass through the hose connection between stop collar and the plug, the position sleeve passes through the motor with the stop collar, the cooperation of cylinder realizes rotatory block connection or breaks away from, bury between two guide rails and use in the pre-buried hole that passes for the cable that supplies power for charging structure, install the cable winch that is used for receiving and releasing the cable at the one end termination point of guide rail, install the locating part that prevents the vehicle to rush out the guide rail respectively at the both ends termination point of guide rail. This patent has realized the automatic butt joint of the interface that charges on charging plug and the boats and ships, has promoted the degree of automation of harbour operation, has prevented that the surface of water acutely fluctuates when charging from giving the damage that charging plug and boats and ships charge the interface and cause.

Chinese patent with publication number CN111618835A provides an intelligent charging robot system for port shore power and an operation method, and relates to the field of shore power. Can carry out bank electricity at the harbour under man-machine interaction device's remote control or autonomous navigation control and get the electric operation, including power supply robot unit and work robot unit, can replace the manual work, carry out bank electricity at the pier and connect the electric operation, safe convenient realization will dock the cable at the boats and ships at harbour and fill electric pile on the port bank and link to each other, for the function of the high-efficient power supply of boats and ships. By the operation method, the intelligent port shore power charging robot power-taking equipment can be conveniently controlled, manual operation is replaced, and shore power charging operation is carried out at a wharf.

However, even if a rapid port shore power docking technology is introduced, the shore power docking efficiency and safety are improved, and the following defects still exist: firstly, the shore power lifting and conveying device needs manual operation, the efficiency of shore power butt joint is related to the proficiency of operators, and certain safety risks still exist; secondly, when shore power business is busy, an operator needs to be arranged at each cable lifting and conveying device, and the labor cost is high.

The artificial intelligence is the direction of the current industrial development and is also the hot point and the key direction of research and development in the industrial development. Intelligent vision is an important branch of artificial intelligence. The method is a science for researching how to make a machine look, and simply speaking, a camera is used for replacing human eyes, targets are identified, tracked and measured, and data are processed into images more suitable for human eyes to observe in a computer.

The artificial intelligent machine vision identification technology uses a machine to replace human eyes to make various measurements and judgments. The system integrates the technologies of optics, mechanics, electronics, computer software and hardware and the like, and relates to a plurality of fields of computers, image processing, mode recognition, artificial intelligence, signal processing, optical-mechanical-electrical integration and the like. The rapid development of image processing, pattern recognition and other technologies also greatly promotes the development of machine vision.

The profile characteristic value self-learning is an image texture enhanced supersampling algorithm combining profile template interpolation and local self-learning, and can effectively recover the lost detail texture of the interpolated image and inhibit the diffusion of the edge of the interpolated image. The method estimates high-frequency information in an original low-resolution image through local self-similarity and restores the detail texture of the interpolation image of the contour template. In order to make up for the defect that the interpolation of the contour template lacks prior knowledge, the self-learning takes the high-frequency information of the original low-resolution image as the prior knowledge. In order to ensure the optimal estimated high-frequency information, double matching is adopted in the self-learning matching process, and compared with global searching and small window searching, the efficiency is improved and the matching precision is ensured. In addition, the contour characteristic value uses Gaussian blur to replace a traditional method for extracting high-frequency information, so that the complexity of an algorithm is simplified, and the accuracy and the efficiency are improved.

Based on the above problems, it is urgently needed to provide an automatic shore power cable transmission system based on machine vision recognition to achieve the purpose of full-automatic and fast docking of port shore power.

Disclosure of Invention

The invention aims to provide a cable conveying control method and system for a shore power pile, aiming at the problems in the prior art.

In order to achieve the purpose, the invention adopts the technical scheme that:

a cable transport control method for a shore power pile, comprising the steps of:

s1, setting a pre-marking pattern at a position on the ship corresponding to the charging interface, acquiring a large amount of image data containing the pre-marking pattern, and preprocessing the acquired image data;

s2, constructing a neural network, inputting the preprocessed image data into the neural network for training to obtain a contour recognition model;

s3, when the ship needs to be charged, the charging connector connected with the cable is lifted to a preset position right above the ship through the cable conveying device;

s4, collecting the image data of the ship towards the lower part through a camera on the cable conveying device;

s5, inputting the collected image data into a contour recognition model, and recognizing the contour and central point characteristics of the pre-marked pattern in the image;

s6, calculating the spatial position information of the actual pre-marked pattern on the ship relative to the camera according to the size information of the outline and the position information of the central point in the image;

and S7, automatically conveying the charging connector to the position corresponding to the charging interface on the ship through the cable conveying device according to the spatial position information.

Specifically, in step S1, when the image data containing the pre-marked pattern is collected, the shooting position and angle of the camera correspond to those in step S4, so that consistency of image data used in model training and use is ensured, and difficulty in subsequent model identification is reduced.

Specifically, in step S1, the preprocessing the acquired image data includes: filtering, noise reduction, white balance and manual marking, namely marking the outline and the central point of the pre-marked pattern in the image for subsequent training and recognition.

Specifically, in step S6, the method for acquiring the size information and the center point position information of the contour includes: firstly, an image coordinate system is established by taking an image central point as an origin, and then coordinate data of a contour central point and size information of a contour are read according to the image coordinate system.

Further, in step S6, the formula for calculating the spatial position information of the actual pre-marked pattern on the ship relative to the camera is as follows:

wherein, (x, y) is the coordinate of the contour center point in the image coordinate system; f is the focal length of the camera; d is the size of the profile; d' is the size of the actual pre-marked pattern; (x ', y ', z ') is the spatial position of the actual pre-marked pattern on the ship relative to the camera, namely a three-dimensional rectangular coordinate system is established by taking the camera as an origin, and the coordinate is the coordinate of the actual pre-marked pattern in the three-dimensional rectangular coordinate system.

Furthermore, a distance measuring probe is further arranged on the cable conveying device and used for detecting the vertical distance z from the camera to the ship, the outline size is corrected by using the z/f as d '/d ', and the corrected outline size is d ', so that the problem of positioning error caused by image recognition error is avoided, and the reliability of data is guaranteed.

The invention also provides a cable conveying control system for the shore power pile, which corresponds to the cable conveying control system, and comprises a cable conveying device, an image acquisition module and a computer, wherein the image acquisition module is used for acquiring image data of the pre-marked patterns on the ship; the computer is used for preprocessing the acquired image data and constructing a neural network; the neural network is used for recognizing the outline and the central point characteristic of the pre-marked pattern in the image after training and learning; the computer calculates the space position information of the actual pre-marked pattern on the ship relative to the camera according to the recognized outline and the characteristics of the central point, and controls the cable conveying device to convey the charging connector connected with the cable to the ship charging interface according to the space position information, so that the quick butt joint of the charging connector and the charging interface is realized.

The cable conveying device comprises a base, wherein a rotary disc is mounted on the base through a first hydraulic driving mechanism, and the first hydraulic driving mechanism is used for driving the rotary disc to rotate around the vertical axis of the base; the rotary disc is provided with a supporting arm, the top end of the supporting arm is hinged with a telescopic arm seat, and the telescopic arm seat is provided with a multi-stage telescopic arm unit; the multistage telescopic arm unit is provided with a plurality of riding wheels, and the tail end of the multistage telescopic arm unit is provided with a guide wheel; the support arm is provided with a second hydraulic driving mechanism, two ends of the second hydraulic driving mechanism are respectively hinged with the support arm and the telescopic arm seat, and the second hydraulic driving mechanism is used for driving the telescopic arm seat to rotate up and down around the top end of the support arm; the rotary disc is also provided with a cable reel for winding or unwinding a cable; one end of the cable is connected with the shore-based charging pile, and the other end of the cable sequentially passes through the plurality of supporting wheels and the guide wheels after being wound by the cable reel; the camera is vertically installed at the tail end of the multi-stage telescopic arm unit downwards. According to the invention, the rotary disc is driven to rotate by the first hydraulic driving mechanism, the supporting arm and the multi-stage telescopic arm unit are driven to rotate in a horizontal plane, the multi-stage telescopic arm unit is driven to rotate in a pitching mode by the second hydraulic driving mechanism, the pitch angle of the multi-stage telescopic arm unit is adjusted, and the length of the telescopic arm is adjusted by the multi-stage telescopic arm unit, so that the automatic conveying of the charging connector and the cable is realized.

Furthermore, the distance measuring probe is further installed at the tail end of the multi-stage telescopic arm unit and used for detecting the vertical distance from the camera to the ship, and the distance obtained through computer calculation can be corrected by using the distance directly detected by the distance measuring probe, so that the reliability of data is guaranteed.

Furthermore, the cable conveying device also comprises a motor and a speed reducer, wherein the motor and the speed reducer are used for driving the cable reel to rotate forwards and unwind or rotate backwards and wind; the automatic winding and unwinding of the cable can be realized by arranging the motor and the speed reducer.

Compared with the prior art, the invention has the beneficial effects that: (1) according to the invention, through constructing the neural network and carrying out deep learning, the pre-marked pattern in the collected image can be automatically identified, and then the spatial position of the actual pre-marked pattern on the ship relative to the camera is calculated through constructing the image coordinate system, so that the position of the charging interface on the ship is accurately positioned, and a data basis is provided for realizing the full-automatic control of the cable conveying device; (2) the cable conveying device disclosed by the invention has the advantages that the occupied area is small, the connection is stable, manual hoisting is not needed, the adaptability is good, the cable can be protected, the operation efficiency is greatly improved, the fast docking cost of port shore power is saved, and the potential safety hazard of the traditional manual docking method is eliminated; (3) the cable conveying device does not need to be controlled by personnel, can realize full-intelligent control, saves labor cost, further eliminates potential safety hazards, and improves operation efficiency.

Drawings

Fig. 1 is a schematic block diagram of a flow of a cable transportation control method for a shore power pile according to embodiment 1 of the present invention.

Fig. 2 is a schematic diagram of establishing an image coordinate system in embodiment 1 of the present invention.

Fig. 3 is a schematic structural diagram of a cable transportation device in embodiment 2 of the present invention.

Fig. 4 is a schematic view of the range of the pitching operation of the cable transportation device according to embodiment 2 of the present invention.

In the figure: 1. a base; 2. a cable; 3. a rotary hydraulic cylinder; 4. a hydraulic motor; 5. a hydraulic control valve; 6. a hydraulic oil tank; 7. a control unit; 8. a support arm; 9. a telescopic arm seat; 10. a variable amplitude oil cylinder; 11. a multi-stage telescopic boom unit; 12. a cable reel; 13. a speed reducer; 14. a magnetic coupler; 15. an electric motor; 16. a riding wheel; 17. a guide wheel; 18. and a charging connector.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

As shown in fig. 1, the present embodiment provides a cable transportation control method for a shore power pile, including the steps of:

s1, setting a pre-marking pattern at a position on the ship corresponding to the charging interface, acquiring a large amount of image data containing the pre-marking pattern, and preprocessing the acquired image data;

s2, constructing a neural network, inputting the preprocessed image data into the neural network for training to obtain a contour recognition model;

s3, when the ship needs to be charged, the ship firstly sends a charging request to the system, and then the charging connector connected with the cable is lifted to a preset position right above the ship through the cable conveying device;

s4, collecting the image data of the ship towards the lower part through a camera on the cable conveying device;

s5, inputting the collected image data into a contour recognition model, and recognizing the contour and central point characteristics of the pre-marked pattern in the image;

s6, calculating the spatial position information of the actual pre-marked pattern on the ship relative to the camera according to the size information of the outline and the position information of the central point in the image;

and S7, automatically conveying the charging connector to the position corresponding to the charging interface on the ship through the cable conveying device according to the spatial position information.

Specifically, in step S1, when the image data containing the pre-marked pattern is collected, the shooting position and angle of the camera correspond to those in step S4, so that consistency of image data used in model training and use is ensured, and difficulty in subsequent model identification is reduced.

In a specific implementation process, when image data are collected, overlooking images of ships (different in height, length, pre-marked pattern position and the like) with different illuminations and different types need to be collected, and then the collected overlooking images are rotated and zoomed; in the training process, if the outline of the pre-marked pattern is identified to be wrong, manually marking and correcting; by collecting overlook images of ships with different illumination and different types, identification errors caused by different positions of weather, light and pre-marked patterns can be avoided; by rotating and zooming the image, the identification error caused by different ship heights or different berthing angles can be avoided.

Specifically, in step S1, the preprocessing the acquired image data includes: filtering, noise reduction, white balance and manual marking, namely marking the outline and the central point of the pre-marked pattern in the image for subsequent training and recognition.

Specifically, as shown in fig. 2, in step S6, the method for acquiring the size information and the center point position information of the contour includes: firstly, an image coordinate system is established by taking an image central point O as an origin, and then coordinate data of a contour central point P and size information of a contour are read according to the image coordinate system.

Further, in step S6, the formula for calculating the spatial position information of the actual pre-marked pattern on the ship relative to the camera is as follows:

wherein, (x, y) is the coordinate of the contour center point in the image coordinate system; f is the focal length of the camera; d is the size of the outline (in this embodiment, the pre-marked pattern is circular, i.e. the outline size corresponds to the diameter of the pre-marked pattern); d' is the size of the actual pre-marked pattern; (x ', y ', z ') is the spatial position of the actual pre-marked pattern on the ship relative to the camera, namely a three-dimensional rectangular coordinate system is established by taking the camera as an origin, and the coordinate is the coordinate of the actual pre-marked pattern in the three-dimensional rectangular coordinate system.

Furthermore, a distance measuring probe is further arranged on the cable conveying device and used for detecting the vertical distance z from the camera to the ship, the outline size is corrected by using the z/f as d '/d ', and the corrected outline size is d ', so that the problem of positioning error caused by image recognition error is avoided, and the reliability of data is guaranteed.

In the specific implementation process, if the vertical distance z detected by the ranging probe is not equal to the calculated vertical distance z', and the difference value is smaller than the preset value, the numerical value detected by the ranging probe and the numerical value calculated by the system are both in an acceptable error range; if the difference value is greater than the preset value, the fault of the ranging probe or the system calculation error may occur, at this time, the cable conveying device needs to be driven to vertically descend for a certain displacement, the steps S4 to S6 are executed again, if the difference between the vertical distance obtained by recalculation and the vertical distance obtained by last calculation is not equal to the descending displacement of the cable conveying device, the system calculation error is indicated, and the data detected by the ranging probe is taken as the standard; if the difference between the vertical distance obtained by recalculation and the vertical distance obtained by last calculation is equal to the descending displacement of the cable conveying device, the system is free of error, and the distance measuring probe fails, taking the vertical distance calculated by the system as the standard.

Example 2

As shown in fig. 3, the embodiment provides a cable transportation control system for a shore power pile, which includes a cable transportation device, an image acquisition module and a computer, where the image acquisition module is configured to acquire image data of the pre-marked pattern on a ship; the computer is used for preprocessing the acquired image data and constructing a neural network; the neural network is used for recognizing the outline and the central point characteristic of the pre-marked pattern in the image after training and learning; the computer calculates the spatial position information of the actual pre-marked pattern on the ship relative to the camera according to the recognized outline and the characteristics of the central point, and controls the cable conveying device to convey the charging connector 18 connected with the cable 2 to the ship charging interface according to the spatial position information, so that the quick butt joint of the charging connector 18 and the charging interface is realized.

Specifically, the cable conveying device comprises a base 1, wherein a rotary disc is mounted on the base 1 through a first hydraulic driving mechanism (implemented by a rotary hydraulic cylinder 3 and a hydraulic motor 4 in the embodiment) which is used for driving the rotary disc to rotate around the vertical axis of the base 1 (namely, to rotate in the horizontal direction, and the horizontal rotary range is 135 °); the rotary disc is provided with a supporting arm 8, the top end of the supporting arm 8 is hinged with a telescopic arm seat 9, and the telescopic arm seat 9 is provided with a multi-stage telescopic arm unit 11 (in the embodiment, five hydraulic cylinders which are telescopic step by step are adopted to drive a five-stage telescopic arm to perform telescopic action, and the multi-stage telescopic arm unit 11 can realize the working range of 1.9-7.8 m); a plurality of riding wheels 16 are arranged on the multistage telescopic arm unit 11 (the riding wheels 16 are arranged at the tail end of each stage of telescopic arm), and a guide wheel 17 is arranged at the tail end of the multistage telescopic arm unit 11; a second hydraulic driving mechanism (driven by a luffing cylinder 10 in this embodiment) is mounted on the support arm 8, two ends of the second hydraulic driving mechanism are respectively hinged to the support arm 8 and the telescopic arm seat 9, and the second hydraulic driving mechanism is used for driving the telescopic arm seat 9 to rotate up and down around the top end of the support arm 8 (so that a pitching motion of the multi-stage telescopic arm unit 11 in an angle of-10 to 65 degrees with the horizontal direction is realized); the rotary disc is also provided with a cable reel 12 for winding or unwinding the cable 2; one end of the cable 2 is connected with the shore-based charging pile, and the other end of the cable is wound by a cable reel 12 and then sequentially passes through a plurality of supporting wheels 16 and guide wheels 17; the camera is vertically installed at the tail end of the multi-stage telescopic arm unit 11 downwards. According to the invention, the first hydraulic driving mechanism drives the rotary disc to rotate, the supporting arm 8 and the multi-stage telescopic arm unit 11 are driven to rotate in a horizontal plane, the second hydraulic driving mechanism drives the multi-stage telescopic arm unit 11 to rotate in a pitching mode, the pitching angle of the multi-stage telescopic arm unit is adjusted, and the length of the telescopic arm is adjusted through the multi-stage telescopic arm unit 11, so that the automatic conveying of the charging connector 18 and the cable 2 is realized.

Further, the cable reel 12 mainly comprises a motor 15, a magnetic coupler 14, a speed reducer 13, a slip ring and a reel, and the motor is connected with the speed reducer 13 through the magnetic coupler 14. One side of the speed reducer 13 is provided with a cable reel 12, the other side of the speed reducer 13 is provided with a slip ring and an electromagnetic brake, and the cable 2 at one end of the slip ring side is butted to a shore base electric pile.

In this embodiment, the cable conveying device further includes a control unit 7, a hydraulic oil tank 6 and a power unit (hydraulic control valve 5), the control unit 7 is respectively connected with the computer, the power unit, the first hydraulic driving mechanism, the second hydraulic driving mechanism, the multistage telescopic arm unit 11 and the motor 15, the hydraulic oil tank 6 is respectively connected with the hydraulic oil cylinders of the first hydraulic driving mechanism, the second hydraulic driving mechanism and the multistage telescopic arm unit 11 through the power unit, and the control unit 7 controls the power unit to achieve the stretching, pitching adjustment and horizontal rotation adjustment of the multistage telescopic arm unit 11.

Further, the distance measuring probe is further installed at the tail end of the multi-stage telescopic arm unit 11 and used for detecting the vertical distance from the camera to the ship, and the distance obtained through computer calculation can be corrected by using the distance directly detected by the distance measuring probe, so that the reliability of data is guaranteed.

In the embodiment, in order to realize linkage control between the cable reel 12 and the first hydraulic driving mechanism, the second hydraulic driving mechanism and the multistage telescopic arm unit 11, tension change signals on the cable 2 are collected in real time by arranging a tension sensor, and the cable 2 is stably wound, unwound and operated by operating and analyzing a programmable controller; the motor 15 of the cable reel 12 adopts a variable frequency motor, and realizes variable speed linkage with the multi-stage hydraulic telescopic arm device through real-time speed change of a Siemens frequency converter.

Because the cable 2 quality is too big, the tight or redundant condition can appear in the in-process that makes it promoted, can aggravate the fatigue damage of cable 2 epidermis and inner structure like this, shortens cable 2 service life. Therefore, a tension sensor can be installed to collect the tension value of the cable 2 in a motion state in real time, the programmable controller is used for carrying out numerical analysis, the speed of the variable frequency motor is changed, the tension value of the cable 2 fluctuates within a reasonable range, the tightening or redundancy phenomenon of the cable 2 is eliminated, the service life cycle of the cable 2 is prolonged, and the reliability of the shore power cable 2 lifting device is improved.

When the multi-stage telescopic arm unit 11 is extended or contracted, it is required that the cable 2 is also moved in synchronization. In order to prevent the cable 2 from being abnormal, the speed of the asynchronous motor is changed by the frequency converter to match the speed of the multi-stage telescopic arm unit 11 to keep the telescopic speed of the multi-stage telescopic arm unit 11 and the cable unwinding speed of the cable reel 12 synchronous, so that the telescopic motion and the cable unwinding and unwinding of the cable reel 12 are synchronous.

When power is supplied to a harbor ship, the charging connector can move up and down along with the floating of a ship body, so that a certain pulling effect can be caused on a shore power cable, and the cable and a mechanical structure can be damaged in serious cases. In order to protect the shore power cable and the mechanical structure, the phenomenon needs to be avoided seriously, a tension sensor is adopted to detect the tension change on the cable during charging, and the test analysis shows that when the tension on the cable is more than 1600N, the cable starts to enter an abnormal working state. At the moment, the programmable controller obtains a tension feedback signal to control the variable frequency motor to perform self-protection cable laying action.

The functional parameters of the cable transportation device in this embodiment are as follows:

the wind power bearing range is as follows: 0-8 grade wind;

maximum lift height: 8 m;

up and down amplitude variation (pitch angle): 75 degrees;

maximum horizontal extension: 7-8 m;

horizontal rotation angle: 135 degrees;

the cable conveying speed is as follows: 5 m/min.

In the embodiment, the whole shore power cable conveying device adopts a 380V power supply-driven hydraulic power integrated unit to provide power, the power is about 2.2KW, and the rated working pressure of a hydraulic system is about 10 MPa. The arm extending time is 2-3 minutes, the arm contracting time is 1.5-2 minutes, the weight of the suspension arm (multi-stage telescopic arm unit) is about 350Kg, and the weight of the whole machine is about 800 Kg. The whole structure is compact, the occupied space is small, the installation is convenient, and the action is flexible. As shown in FIG. 4, the maximum lifting height of the cable can reach about 8.4m from the ground of the front edge of the port, the horizontal extending distance can exceed about 7.4m from the edge of the front edge of the port, and the cable reel 12 can automatically take up and pay off the cable along with the change of the deck height, so that the shore power cable can be conveyed to the lifting height required by the ship.

In the concrete implementation process, still can install pressure sensor on the guide pulley, if the perpendicular distance of boats and ships apart from the guide pulley is far away, need the longer distance of unwrapping wire, the pressure sensor real-time detection pressure value of installation on the accessible guide pulley, when pressure sensor perception arrived pressure when too big, can stop continuing the unwrapping wire, prevent that cable unwrapping wire distance overlength from resulting in the cable to break.

In the specific implementation process, a three-dimensional laser scanner and a sonic radar detector can be further installed at the tail end of the multi-stage telescopic arm unit, the three-dimensional laser scanner is used for acquiring three-dimensional image data right below the guide wheel in sunny weather, the sonic radar detector is used for acquiring three-dimensional image data right below the guide wheel in rainy and foggy weather or in an environment with large dust, the acquired three-dimensional image data are sent to a background monitoring center in a wireless communication mode, the image data of a site can be remotely watched, and the operation of the cable conveying device can be remotely controlled when needed, so that the operation reliability of the cable conveying device is further improved.

In this embodiment, the three-dimensional laser scanner may adopt an HD TLS360 type portable three-dimensional laser scanner, and the three-dimensional laser scanner may also be used to assist ranging, and the specific parameters are as follows:

maximum distance measurement: 150m

Minimum distance measurement: 0.2m

Distance measurement precision: 3cm

Scanning dot frequency: 320000pts/s

Scanning field angle (vertical): 280 degree

Scanning field angle (horizontal): 360 degree

Scanning speed: 4 DEG/s to 9 DEG/s

Panoramic resolution: 1800 ten thousand pixels (optional external camera)

Biaxial tilt compensation: plus or minus 5 degree

Data storage: 256G (MSATA) +128G (TF)

Data transmission: kilomega network/TF card

The control mode is as follows: support mobile terminal remote control

The harbour boats and ships shore connection cable conveyor of this embodiment has area is little, and is easy and simple to handle, has good adaptability, and connection stability is high, need not artifical hoist and mount, has the advantage of cable protection, has improved the operating efficiency greatly, has saved the transformation cost, has eliminated the potential safety hazard that traditional manual method exists. After the shore power cable conveying device is adopted, the cable reel is arranged on the cable conveying device base, so that ships do not need to be additionally installed and transformed; the position of a charging interface can be detected by a visual identification method only by arranging a pre-marking pattern at the position of the charging interface of the ship, the cable conveying device is automatically controlled to convey the charging connector to the charging interface on the ship, and the multi-stage telescopic arm can swing up and down, left and right by driving the luffing cylinder to reach the required conveying height and position; the multi-stage telescopic arm can realize the approach of the cable to the ship direction and basically reach a preset position; then, start shore connection cable conveying mechanism, can constantly carry the boats and ships deck assigned position with the cable on the cable reel in succession, supply with the cable of the required length of boats and ships distribution equipment overlap joint, realize that low pressure shore connection goes on board fast to high-efficient, swift, conveniently use the butt joint shore connection.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. A method of controlling cable transport for a shore power pile, comprising the steps of:

s1, setting a pre-marking pattern at a position on the ship corresponding to the charging interface, acquiring a large amount of image data containing the pre-marking pattern, and preprocessing the acquired image data;

s2, constructing a neural network, inputting the preprocessed image data into the neural network for training to obtain a contour recognition model;

s3, when the ship needs to be charged, the charging connector connected with the cable is lifted to a preset position right above the ship through the cable conveying device;

s4, collecting the image data of the ship towards the lower part through a camera on the cable conveying device;

s5, inputting the collected image data into a contour recognition model, and recognizing the contour and central point characteristics of the pre-marked pattern in the image;

s6, calculating the spatial position information of the actual pre-marked pattern on the ship relative to the camera according to the size information of the outline and the position information of the central point in the image;

and S7, automatically conveying the charging connector to the position corresponding to the charging interface on the ship through the cable conveying device according to the spatial position information.

2. The method as claimed in claim 1, wherein in step S1, when acquiring the image data including the pre-marked pattern, the shooting position and angle of the camera correspond to those in step S4.

3. The method for controlling cable transportation of a shore power pile according to claim 1, wherein the preprocessing of the acquired image data in step S1 includes: filtering, noise reduction, white balance and manual marking, namely marking the outline and the central point of the pre-marked pattern in the image for subsequent training and recognition.

4. The method for controlling cable transportation for a shore power pile according to claim 1, wherein in step S6, the method for acquiring the size information and the center point position information of the profile includes: firstly, an image coordinate system is established by taking an image central point as an origin, and then coordinate data of a contour central point and size information of a contour are read according to the image coordinate system.

5. The method for controlling cable transportation of a shore power pile according to claim 1, wherein in step S6, the formula for calculating the spatial position information of the actual pre-marked pattern on the ship relative to the camera is as follows:

wherein, (x, y) is the coordinate of the contour center point in the image coordinate system; f is the focal length of the camera; d is the size of the profile; d' is the size of the actual pre-marked pattern; (x ', y ', z ') is the spatial position of the actual pre-marked pattern on the ship relative to the camera, namely a three-dimensional rectangular coordinate system is established by taking the camera as an origin, and the coordinate is the coordinate of the actual pre-marked pattern in the three-dimensional rectangular coordinate system.

6. The method for controlling cable transportation of an electric shore pile according to claim 5, wherein a distance measuring probe is further provided on the cable transportation device, the distance measuring probe is used for detecting a vertical distance z from a camera to a ship, the profile dimension is corrected by using z/f ═ d'/d ", and d" is the corrected profile dimension.

7. A cable transport control system for a shore power pile, based on the cable transport control method for a shore power pile of any one of claims 1 to 6, characterized by comprising a cable transport device, an image acquisition module and a computer, wherein the image acquisition module is used for acquiring image data of the pre-marked pattern on the ship; the computer is used for preprocessing the acquired image data and constructing a neural network; the neural network is used for recognizing the outline and the central point characteristic of the pre-marked pattern in the image after training and learning; and the computer calculates the spatial position information of the actual pre-marked pattern on the ship relative to the camera according to the identified outline and the characteristics of the central point, and controls the cable conveying device to convey the charging connector connected with the cable to the ship charging interface according to the spatial position information.

8. The cable transportation control system for the shore power pile of claim 7, wherein the cable transportation device comprises a base on which a turn disc is mounted by a first hydraulic drive mechanism for driving the turn disc to rotate about a vertical axis of the base; the rotary disc is provided with a supporting arm, the top end of the supporting arm is hinged with a telescopic arm seat, and the telescopic arm seat is provided with a multi-stage telescopic arm unit; the multistage telescopic arm unit is provided with a plurality of riding wheels, and the tail end of the multistage telescopic arm unit is provided with a guide wheel; the support arm is provided with a second hydraulic driving mechanism, two ends of the second hydraulic driving mechanism are respectively hinged with the support arm and the telescopic arm seat, and the second hydraulic driving mechanism is used for driving the telescopic arm seat to rotate up and down around the top end of the support arm; the rotary disc is also provided with a cable reel for winding or unwinding a cable; one end of the cable is connected with the shore-based charging pile, and the other end of the cable sequentially passes through the plurality of supporting wheels and the guide wheels after being wound by the cable reel; the camera is vertically installed at the tail end of the multi-stage telescopic arm unit downwards.

9. The cable transportation control system for a shore power pile according to claim 8, wherein the end of the multi-stage telescopic arm unit is further provided with a distance measuring probe for detecting the vertical distance from the camera to the vessel.

10. The cable transportation control system for the shore power pile according to claim 8, wherein the cable transportation device further comprises a motor and a speed reducer, the motor and the speed reducer are used for driving the cable reel to wind in forward rotation or reverse rotation.

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