CN114619906A - Unmanned ship automatic charging device, charging control method and system - Google Patents
Unmanned ship automatic charging device, charging control method and system Download PDFInfo
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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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
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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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/62—Monitoring or controlling charging stations in response to charging parameters, e.g. current, voltage or electrical charge
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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
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- 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
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- 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
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- 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
Abstract
The invention discloses an unmanned ship automatic charging device, a charging control method and a charging control system, and relates to the technical field of ship automation. The charging control method comprises the following steps: when the real-time electric quantity data of the unmanned ship is smaller than a preset electric quantity threshold value, generating and sending a charging request; starting a multi-view industrial camera according to the charging request, and acquiring and sending the position coordinates of a charging port of the unmanned ship in real time; generating and sending a grabbing instruction to the multi-axis multi-degree-of-freedom industrial mechanical arm; generating and sending a path planning instruction, and controlling the multi-axis multi-degree-of-freedom industrial mechanical arm to butt the charging head with a charging port of the unmanned ship to realize automatic charging; and acquiring and generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the real-time charging electric quantity information of the unmanned ship and a preset power-off electric quantity threshold value, separating a charging head from a charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm, and ending charging. The invention can realize the high-efficiency automatic charging of the unmanned ship.
Description
Technical Field
The invention relates to the technical field of ship automation, in particular to an unmanned ship automatic charging device, a charging control method and a charging control system.
Background
The application of wireless and chip technologies promotes the rapid development of artificial intelligence and accelerates the development process of unmanned intelligent robots. Unmanned technology has become one of the most interesting application technologies in the field of artificial intelligence. The unmanned ship technology is rapidly combined with service scenes such as water quality detection, storage capacity detection, concealed pipe inspection, security inspection, emergency rescue, transportation, water performance and the like, and is currently in an industrial explosive cycle.
However, the unmanned ship charging mode in the industry is manual operation, namely, a charging plug is inserted into the unmanned ship charging socket in a manual intervention mode, and the charging plug is pulled out manually after the charging plug is fully charged. The manual operation mode seriously restricts the application of an ideal working mode of the unmanned ship which runs all weather, full automatically and uninterruptedly. Therefore, a scheme for rapidly and efficiently controlling the charging of the unmanned ship needs to be provided.
Disclosure of Invention
In order to overcome the above problems or at least partially solve the above problems, embodiments of the present invention provide an unmanned ship automatic charging apparatus, a charging control method, and a charging control system, which can implement efficient automatic charging of an unmanned ship, thereby meeting the requirement of an all-weather, full-automatic, and uninterrupted operation mode of the unmanned ship.
The embodiment of the invention is realized by the following steps:
in a first aspect, an embodiment of the present invention provides an unmanned ship automatic charging device, including a multi-view industrial camera, a positioning module, a multi-axis multi-degree-of-freedom industrial robot arm, and a charging head, where:
the multi-view industrial camera is used for acquiring and sending the position coordinates of the charging port of the unmanned ship to the multi-axis multi-degree-of-freedom industrial mechanical arm in real time;
the positioning module is used for acquiring and sending the position information of the charging head to the multi-axis multi-degree-of-freedom industrial mechanical arm in real time;
the multi-axis multi-degree-of-freedom industrial mechanical arm is used for grabbing the charging head according to the position information of the charging head and butting the charging head with the charging port of the unmanned ship according to the position coordinate of the charging port of the unmanned ship so as to realize automatic charging;
and the charging head is used for being connected with a charging port of the unmanned ship to charge the unmanned ship.
The working principle of the automatic charging device for the unmanned ship is as follows:
when the unmanned ship needs to be charged, a charging port of the unmanned ship is captured in real time through the multi-view industrial camera and is accurately positioned, and the position of the charging port is sent to the multi-axis multi-freedom-degree industrial mechanical arm in a specific space coordinate mode in a wireless or wired mode; meanwhile, the position information of the charging head is collected in real time through a positioning module and is sent to the multi-shaft multi-freedom-degree industrial mechanical arm; then the multi-axis multi-degree-of-freedom industrial mechanical arm is combined with the position of the multi-axis multi-degree-of-freedom industrial mechanical arm and the position information of the charging head to control the motor of the multi-axis multi-degree-of-freedom industrial mechanical arm to rotate, the charging head is grabbed, then the position of the unmanned ship charging port is combined, the charging head is moved to the corresponding position, the charging head is combined with the unmanned ship charging port, and the unmanned ship is charged. The device has a simple structure, can realize automatic and efficient charging of the unmanned ship, greatly saves labor cost, and can effectively meet the requirements of all-weather, full-automatic and uninterrupted operation modes of the unmanned ship.
In some embodiments of the present invention based on the first aspect, the charging head is a magnetic-attraction type charging head.
In a second aspect, an embodiment of the present invention provides an unmanned ship automatic charging control method, including the following steps:
the method comprises the steps of obtaining real-time electric quantity data of the unmanned ship, and generating and sending a charging request when the real-time electric quantity data of the unmanned ship is smaller than a preset electric quantity threshold value;
acquiring a fixed-point docking signal of the unmanned ship, starting a multi-view industrial camera according to a charging request, and acquiring and sending position coordinates of a charging port of the unmanned ship to the multi-axis multi-degree-of-freedom industrial mechanical arm in real time through the multi-view industrial camera;
acquiring and generating and sending a grabbing instruction to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the fixed position information of the charging head and the real-time position information of the multi-axis multi-degree-of-freedom industrial mechanical arm, and controlling the multi-axis multi-degree-of-freedom industrial mechanical arm to grab the charging head;
after the grabbing success signal is obtained, generating and sending a path planning instruction to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the position coordinate of the charging port of the unmanned ship and the real-time position information of the multi-axis multi-degree-of-freedom industrial mechanical arm, and controlling the multi-axis multi-degree-of-freedom industrial mechanical arm to butt the charging head with the charging port of the unmanned ship so as to realize automatic charging;
and acquiring and generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the real-time charging electric quantity information of the unmanned ship and a preset power-off electric quantity threshold value, separating a charging head from a charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm, and ending charging.
In order to solve the technical problem that the high-efficiency automatic charging of the unmanned ship cannot be realized in the prior art, the method realizes the advance and accurate control of the automatic high-efficiency charging of the unmanned ship based on the device. The method comprises the steps that real-time electric quantity of an unmanned ship is detected in real time, when the real-time electric quantity data of the unmanned ship is smaller than a preset electric quantity threshold value, a charging request is generated and sent, after the unmanned ship stops at a fixed point, a multi-purpose industrial camera is started according to the charging request, a charging port of the unmanned ship is captured in real time through the multi-purpose industrial camera and is accurately positioned, and the position of the charging port is sent to the multi-axis multi-freedom-degree industrial mechanical arm in a specific space coordinate mode in a wireless or wired mode; then acquiring and generating and sending a grabbing instruction to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the fixed position information of the charging head and the real-time position information of the multi-axis multi-degree-of-freedom industrial mechanical arm, controlling a motor of the multi-axis multi-degree-of-freedom industrial mechanical arm to rotate, and further grabbing the charging head; and when the grabbing is successful, generating and sending a path planning instruction to the multi-axis multi-freedom-degree industrial mechanical arm according to the position coordinate of the charging port of the unmanned ship and the real-time position information of the multi-axis multi-freedom-degree industrial mechanical arm, controlling the multi-axis multi-freedom-degree industrial mechanical arm to move the charging head to a corresponding position, combining the charging head with the unmanned ship charging port, and starting to charge the unmanned ship. And combining the real-time charging electric quantity, generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm after the real-time charging electric quantity reaches a preset power-off electric quantity threshold value, separating a charging head from a charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm, and ending charging. The method can realize automatic and efficient charging control of the unmanned ship, and effectively meet the requirements of all-weather, full-automatic and uninterrupted operation working modes of the unmanned ship.
Based on the second aspect, in some embodiments of the present invention, the unmanned ship automatic charging control method further includes the steps of:
acquiring and calculating the length of a charging path according to the real-time unmanned ship position information and the designated charging point position information;
and importing the real-time electric quantity data and the charging path length of the unmanned ship into a preset charging analysis model to generate charging evaluation information.
Based on the second aspect, in some embodiments of the present invention, the unmanned ship automatic charging control method further includes the steps of:
and generating and sending a charging ending signal to the multi-shaft multi-freedom-degree industrial mechanical arm according to preset charging duration information, and separating a charging head from a charging port of the unmanned ship through the multi-shaft multi-freedom-degree industrial mechanical arm to end charging.
Based on the second aspect, in some embodiments of the present invention, the unmanned ship automatic charging control method further includes the steps of:
and acquiring and generating and sending regression path information to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the real-time position information of the charging head and the fixed position information of the charging head, and putting the charging head back to the corresponding fixed position through the multi-axis multi-degree-of-freedom industrial mechanical arm.
In a third aspect, an embodiment of the present invention provides an unmanned ship automatic charging control system, including a charging judgment module, a data acquisition module, a capture control module, a charging control module, and a power-off control module, where:
the charging judgment module is used for acquiring the real-time electric quantity data of the unmanned ship, and generating and sending a charging request when the real-time electric quantity data of the unmanned ship is smaller than a preset electric quantity threshold value;
the data acquisition module is used for acquiring a fixed-point docking signal of the unmanned ship, starting the multi-view industrial camera according to the charging request, and acquiring and sending the position coordinate of a charging port of the unmanned ship to the multi-axis multi-degree-of-freedom industrial mechanical arm in real time through the multi-view industrial camera;
the grabbing control module is used for acquiring and generating and sending grabbing instructions to the multi-axis multi-freedom-degree industrial mechanical arm according to the fixed position information of the charging head and the real-time position information of the multi-axis multi-freedom-degree industrial mechanical arm, and controlling the multi-axis multi-freedom-degree industrial mechanical arm to grab the charging head;
the charging control module is used for generating and sending a path planning instruction to the multi-axis multi-freedom-degree industrial mechanical arm according to the position coordinate of the charging port of the unmanned ship and the real-time position information of the multi-axis multi-freedom-degree industrial mechanical arm after acquiring the grabbing success signal, and controlling the multi-axis multi-freedom-degree industrial mechanical arm to butt the charging head with the charging port of the unmanned ship so as to realize automatic charging;
and the power-off control module is used for acquiring and generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the real-time charging electric quantity information of the unmanned ship and a preset power-off electric quantity threshold value, and the charging head is separated from a charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm to end charging.
In order to solve the technical problem that efficient automatic charging of the unmanned ship cannot be realized in the prior art, the system controls the automatic efficient charging of the unmanned ship through combination of a plurality of modules such as a charging judgment module, a data acquisition module, a grabbing control module, a charging control module and a power-off control module, and effectively meets the requirements of all-weather, full-automatic and uninterrupted operation working modes of the unmanned ship.
Based on the third aspect, in some embodiments of the present invention, the unmanned ship automatic charging control system further includes a homing control module, configured to acquire and generate and send regression path information to the multi-axis multi-degree-of-freedom industrial robot according to the real-time position information of the charging head and the fixing position information of the charging head, and place the charging head back to the corresponding fixing position through the multi-axis multi-degree-of-freedom industrial robot.
In a fourth aspect, an embodiment of the present application provides an electronic device, which includes a memory for storing one or more programs; a processor. The program or programs, when executed by a processor, implement the method of any of the second aspects as described above.
In a fifth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method according to any one of the above second aspects.
The embodiment of the invention at least has the following advantages or beneficial effects:
the embodiment of the invention provides an unmanned ship automatic charging device, a charging control method and a charging control system, solves the technical problem that the unmanned ship cannot be efficiently and automatically charged in the prior art, controls the automatic and efficient charging of the unmanned ship, and effectively meets the requirements of all-weather, full-automatic and uninterrupted operation working modes of the unmanned ship.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of an automatic charging device for an unmanned ship according to an embodiment of the present invention;
fig. 2 is a flowchart of an automatic charging control method for an unmanned ship according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating fixed-point charging evaluation in an unmanned ship automatic charging control method according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of an unmanned ship automatic charging control system according to an embodiment of the present invention;
fig. 5 is a block diagram of an electronic device according to an embodiment of the present invention.
Description of reference numerals: 1. a camera for the eye industry; 2. a positioning module; 3. a multi-axis multi-degree-of-freedom industrial mechanical arm; 100. a charging judgment module; 200. a data acquisition module; 300. a grabbing control module; 400. a charging control module; 500. a power-off control module; 600. a homing control module; 101. a memory; 102. a processor; 103. a communication interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Example (b):
as shown in fig. 1, in a first aspect, an embodiment of the present invention provides an unmanned ship automatic charging device, including a multi-view industrial camera 1, a positioning module 2, a multi-axis multi-degree-of-freedom industrial robot arm 3, and a charging head, where:
the multi-view industrial camera 1 is used for acquiring and sending the position coordinates of a charging port of the unmanned ship to the multi-axis multi-degree-of-freedom industrial mechanical arm 3 in real time;
the positioning module 2 is used for acquiring and sending the position information of the charging head to the multi-shaft multi-freedom-degree industrial mechanical arm 3 in real time;
the multi-axis multi-degree-of-freedom industrial mechanical arm 3 is used for grabbing the charging head according to the position information of the charging head, butting the charging head with the charging port of the unmanned ship according to the position coordinate of the charging port of the unmanned ship and realizing automatic charging;
and the charging head is used for being connected with a charging port of the unmanned ship to charge the unmanned ship. The above-mentioned head that charges is for magnetism to inhale the formula head that charges, and also for magnetism to inhale the formula port that charges with unmanned ship's of complex port that charges. Adopt magnetism to inhale formula material and can realize closely interior automatic actuation for the head that charges and unmanned ship's the port zonulae occludens that charges, and then charge automatically. Based on magnetism inhale the formula and charge the head and inhale the formula port of charging, can effectively offset the space positioning of unmanned ship interface that charges and the error that multiaxis multi freedom industrial robot arm 3 implemented space route planning and brought, and then the port connection that charges that leads to is inseparable, leads to the not good problem of charging effect.
The working principle of the automatic charging device for the unmanned ship is as follows:
when the unmanned ship needs to be charged, a charging port of the unmanned ship is captured in real time through the multi-view industrial camera 1 and is accurately positioned, and the position of the charging port is sent to the multi-axis multi-degree-of-freedom industrial mechanical arm 3 in a specific space coordinate mode in a wireless or wired mode; meanwhile, the position information of the charging head is collected in real time through the positioning module 2 and is sent to the multi-shaft multi-freedom-degree industrial mechanical arm 3; then the multi-axis multi-degree-of-freedom industrial mechanical arm 3 is combined with the position of the multi-axis multi-degree-of-freedom industrial mechanical arm 3 and the position information of the charging head to control the motor of the multi-axis multi-degree-of-freedom industrial mechanical arm 3 to rotate, the charging head is grabbed, then the position of the unmanned ship charging port is combined, the charging head is moved to the corresponding position, the charging head is combined with the unmanned ship charging port, and the unmanned ship is charged. The device has a simple structure, can realize automatic and efficient charging of the unmanned ship, greatly saves labor cost, and can effectively meet the requirements of all-weather, full-automatic and uninterrupted operation modes of the unmanned ship.
As shown in fig. 2, in a second aspect, an embodiment of the present invention provides an unmanned ship automatic charging control method, including the following steps:
s1, acquiring real-time electric quantity data of the unmanned ship, and generating and sending a charging request when the real-time electric quantity data of the unmanned ship is smaller than a preset electric quantity threshold value;
s2, acquiring a fixed-point docking signal of the unmanned ship, starting a multi-view industrial camera according to a charging request, and acquiring and sending the position coordinate of a charging port of the unmanned ship to the multi-axis multi-degree-of-freedom industrial mechanical arm in real time through the multi-view industrial camera;
s3, acquiring and generating and sending a grabbing instruction to the multi-axis multi-freedom-degree industrial mechanical arm according to the fixed position information of the charging head and the real-time position information of the multi-axis multi-freedom-degree industrial mechanical arm, and controlling the multi-axis multi-freedom-degree industrial mechanical arm to grab the charging head;
s4, after a grabbing success signal is obtained, generating and sending a path planning instruction to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the position coordinate of the charging port of the unmanned ship and the real-time position information of the multi-axis multi-degree-of-freedom industrial mechanical arm, and controlling the multi-axis multi-degree-of-freedom industrial mechanical arm to butt joint the charging head with the charging port of the unmanned ship to realize automatic charging;
and S5, acquiring and generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the real-time charging electric quantity information of the unmanned ship and a preset power-off electric quantity threshold value, separating a charging head from a charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm, and ending charging.
In order to solve the technical problem that efficient and automatic charging of the unmanned ship cannot be achieved in the prior art, the method achieves accurate control over automatic and efficient charging of the unmanned ship based on the device. The method comprises the steps that real-time electric quantity of an unmanned ship is detected in real time, when the real-time electric quantity data of the unmanned ship is smaller than a preset electric quantity threshold value, a charging request is generated and sent, after the unmanned ship stops at a fixed point, a multi-purpose industrial camera is started according to the charging request, a charging port of the unmanned ship is captured in real time through the multi-purpose industrial camera and is accurately positioned, and the position of the charging port is sent to the multi-axis multi-freedom-degree industrial mechanical arm in a specific space coordinate mode in a wireless or wired mode; then acquiring and generating and sending a grabbing instruction to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the fixed position information of the charging head and the real-time position information of the multi-axis multi-degree-of-freedom industrial mechanical arm, controlling a motor of the multi-axis multi-degree-of-freedom industrial mechanical arm to rotate, and further grabbing the charging head; and when the grabbing is successful, generating and sending a path planning instruction to the multi-axis multi-freedom-degree industrial mechanical arm according to the position coordinate of the charging port of the unmanned ship and the real-time position information of the multi-axis multi-freedom-degree industrial mechanical arm, controlling the multi-axis multi-freedom-degree industrial mechanical arm to move the charging head to a corresponding position, combining the charging head with the unmanned ship charging port, and starting to charge the unmanned ship. And combining the real-time charging electric quantity, generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm after the real-time charging electric quantity reaches a preset power-off electric quantity threshold value, separating a charging head from a charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm, and ending charging. The method can realize automatic and efficient charging control of the unmanned ship, and effectively meet the requirements of all-weather, full-automatic and uninterrupted operation working modes of the unmanned ship.
As shown in fig. 3, according to the second aspect, in some embodiments of the present invention, the unmanned ship automatic charging control method further includes the steps of:
a1, acquiring and calculating the length of a charging path according to the real-time unmanned ship position information and the designated charging point position information;
and A2, importing the real-time electric quantity data and the charging path length of the unmanned ship into a preset charging analysis model to generate charging evaluation information.
In order to further improve the control effect of automatic charging of the unmanned ship, the path length required by reaching the specified position is calculated by collecting the real-time position of the unmanned ship and the position of the specified charging point, and then whether return charging is needed or not is evaluated by combining the real-time electric quantity data of the unmanned ship and the charging path length through a preset charging analysis model. The charging analysis model is a historical model for evaluating whether return charging is needed or not by combining historical electric quantity data and corresponding electric quantity running path length information. The charging evaluation information includes information of remaining capacity, operable time, supportable operation path length, whether charging is required, and the like.
Based on the second aspect, in some embodiments of the present invention, the unmanned ship automatic charging control method further includes the steps of:
and generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm according to preset charging time length information, separating a charging head from a charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm, and ending charging.
In order to avoid excessive long-time charging of the unmanned ship, the charging time can be preset, when the charging time of the unmanned ship reaches the preset time, a charging end signal is immediately generated and sent to the multi-axis multi-degree-of-freedom industrial mechanical arm, and the charging head is separated from the charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm to finish charging.
Based on the second aspect, in some embodiments of the present invention, the unmanned ship automatic charging control method further includes the steps of:
and acquiring and generating and sending regression path information to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the real-time position information of the charging head and the fixed position information of the charging head, and putting the charging head back to the corresponding fixed position through the multi-axis multi-degree-of-freedom industrial mechanical arm.
After charging is completed, generating and sending regression path information to the multi-axis multi-degree-of-freedom industrial mechanical arm by combining real-time position information of the charging head and fixed position information of the charging head, putting the charging head back to a corresponding fixed position through the multi-axis multi-degree-of-freedom industrial mechanical arm, and further fixing and storing the charging head. The standby position of the multi-axis multi-degree-of-freedom industrial mechanical arm is returned after the fixed position is placed, and the multi-axis multi-degree-of-freedom industrial mechanical arm sends a charging plug separation command to the unmanned ship; the unmanned ship starts an automatic driving system, drives away from a barge site and starts autonomous work.
As shown in fig. 4, in a third aspect, an embodiment of the present invention provides an unmanned ship automatic charging control system, including a charging judgment module 100, a data acquisition module 200, a capture control module 300, a charging control module 400, and a power-off control module 500, where:
the charging judgment module 100 is configured to acquire real-time electric quantity data of the unmanned ship, and generate and send a charging request when the real-time electric quantity data of the unmanned ship is smaller than a preset electric quantity threshold;
the data acquisition module 200 is used for acquiring a fixed-point docking signal of the unmanned ship, starting the multi-view industrial camera 1 according to a charging request, and acquiring and sending the position coordinates of a charging port of the unmanned ship to the multi-axis multi-degree-of-freedom industrial mechanical arm 3 in real time through the multi-view industrial camera 1;
the grabbing control module 300 is used for acquiring and generating and sending grabbing instructions to the multi-axis multi-freedom-degree industrial mechanical arm 3 according to the fixed position information of the charging head and the real-time position information of the multi-axis multi-freedom-degree industrial mechanical arm 3, and controlling the multi-axis multi-freedom-degree industrial mechanical arm 3 to grab the charging head;
the charging control module 400 is used for generating and sending a path planning instruction to the multi-axis multi-degree-of-freedom industrial mechanical arm 3 according to the position coordinate of the charging port of the unmanned ship and the real-time position information of the multi-axis multi-degree-of-freedom industrial mechanical arm 3 after acquiring the grabbing success signal, and controlling the multi-axis multi-degree-of-freedom industrial mechanical arm 3 to butt joint the charging head with the charging port of the unmanned ship so as to realize automatic charging;
and the power-off control module 500 is used for acquiring and generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm 3 according to the real-time charging electric quantity information of the unmanned ship and a preset power-off electric quantity threshold, and separating the charging head from the charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm 3 to end charging.
In order to solve the technical problem that efficient and automatic charging of the unmanned ship cannot be achieved in the prior art, the system controls the advance of automatic and efficient charging of the unmanned ship through combination of a plurality of modules such as a charging judgment module 100, a data acquisition module 200, a grabbing control module 300, a charging control module 400 and a power-off control module 500. The real-time electric quantity of the unmanned ship is detected in real time, when the real-time electric quantity data of the unmanned ship is smaller than a preset electric quantity threshold value, a charging request is generated and sent, after the unmanned ship stops at a fixed point, the multi-view industrial camera 1 is started according to the charging request, a charging port of the unmanned ship is captured in real time through the multi-view industrial camera 1 and is accurately positioned, and the position of the charging port is sent to the multi-axis multi-freedom industrial mechanical arm 3 in a specific space coordinate mode in a wireless or wired mode; then, acquiring and generating and sending a grabbing instruction to the multi-axis multi-degree-of-freedom industrial mechanical arm 3 according to the fixed position information of the charging head and the real-time position information of the multi-axis multi-degree-of-freedom industrial mechanical arm 3, controlling a motor of the multi-axis multi-degree-of-freedom industrial mechanical arm 3 to rotate, and further grabbing the charging head; when the grabbing is successful, a path planning instruction is generated and sent to the multi-axis multi-degree-of-freedom industrial mechanical arm 3 according to the position coordinate of the charging port of the unmanned ship and the real-time position information of the multi-axis multi-degree-of-freedom industrial mechanical arm 3, the multi-axis multi-degree-of-freedom industrial mechanical arm 3 is controlled to move the charging head to the corresponding position, the charging head is combined with the charging port of the unmanned ship, and the unmanned ship starts to be charged. And combining the real-time charging electric quantity, generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm 3 after the real-time charging electric quantity reaches a preset power-off electric quantity threshold value, separating a charging head from a charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm 3, and ending charging. The system can realize automatic and efficient charging control on the unmanned ship, and effectively meets the requirements of all-weather, full-automatic and uninterrupted operation working modes of the unmanned ship.
As shown in fig. 4, according to the third aspect, in some embodiments of the present invention, the unmanned ship automatic charging control system further includes a homing control module 600 configured to acquire and generate and send regression path information to the multi-axis multi-degree-of-freedom industrial robot arm 3 according to the real-time position information of the charging head and the fixed position information of the charging head, and place the charging head back to the corresponding fixed position through the multi-axis multi-degree-of-freedom industrial robot arm 3.
After the charging is completed, the homing control module 600 generates and sends the homing path information to the multi-axis multi-degree-of-freedom industrial robot 3 in combination with the real-time position information of the charging head and the fixed position information of the charging head, and places the charging head back to the corresponding fixed position through the multi-axis multi-degree-of-freedom industrial robot 3, thereby fixedly storing the charging head.
In a fourth aspect, as shown in fig. 5, an embodiment of the present application provides an electronic device, which includes a memory 101 for storing one or more programs; a processor 102. The one or more programs, when executed by the processor 102, implement the method of any of the second aspects as described above.
Also included is a communication interface 103, and the memory 101, processor 102 and communication interface 103 are electrically connected to each other, directly or indirectly, to enable transfer or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 101 may be used to store software programs and modules, and the processor 102 executes the software programs and modules stored in the memory 101 to thereby execute various functional applications and data processing. The communication interface 103 may be used for communicating signaling or data with other node devices.
The Memory 101 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor 102 may be an integrated circuit chip having signal processing capabilities. The Processor 102 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
In the embodiments provided in the present application, it should be understood that the disclosed method and system and method can be implemented in other ways. The method and system embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In a fifth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which, when executed by the processor 102, implements the method according to any one of the second aspects described above. The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. The utility model provides an automatic charging device of unmanned ship, its characterized in that includes many meshes industry camera, orientation module, multiaxis multi freedom industry arm and the head that charges, wherein:
the multi-view industrial camera is used for acquiring and sending the position coordinates of the charging port of the unmanned ship to the multi-axis multi-degree-of-freedom industrial mechanical arm in real time;
the positioning module is used for acquiring and sending the position information of the charging head to the multi-axis multi-degree-of-freedom industrial mechanical arm in real time;
the multi-shaft multi-degree-of-freedom industrial mechanical arm is used for grabbing the charging head according to the position information of the charging head, butting the charging head with the charging port of the unmanned ship according to the position coordinate of the charging port of the unmanned ship and achieving automatic charging;
and the charging head is used for being connected with a charging port of the unmanned ship to charge the unmanned ship.
2. The unmanned marine vessel automatic charging device of claim 1, wherein the charging head is a magnetic-type charging head.
3. An automatic charging control method for an unmanned ship is characterized by comprising the following steps:
acquiring real-time electric quantity data of the unmanned ship, and generating and sending a charging request when the real-time electric quantity data of the unmanned ship is smaller than a preset electric quantity threshold value;
acquiring a fixed-point docking signal of the unmanned ship, starting a multi-view industrial camera according to a charging request, and acquiring and sending position coordinates of a charging port of the unmanned ship to the multi-axis multi-degree-of-freedom industrial mechanical arm in real time through the multi-view industrial camera;
acquiring and generating and sending a grabbing instruction to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the fixed position information of the charging head and the real-time position information of the multi-axis multi-degree-of-freedom industrial mechanical arm, and controlling the multi-axis multi-degree-of-freedom industrial mechanical arm to grab the charging head;
after the grabbing success signal is obtained, generating and sending a path planning instruction to the multi-axis multi-freedom-degree industrial mechanical arm according to the position coordinate of the charging port of the unmanned ship and the real-time position information of the multi-axis multi-freedom-degree industrial mechanical arm, and controlling the multi-axis multi-freedom-degree industrial mechanical arm to butt the charging head with the charging port of the unmanned ship so as to realize automatic charging;
and acquiring and generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the real-time charging electric quantity information of the unmanned ship and a preset power-off electric quantity threshold value, separating a charging head from a charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm, and ending charging.
4. The unmanned ship automatic charging control method according to claim 3, further comprising the steps of:
acquiring and calculating the length of a charging path according to the real-time unmanned ship position information and the designated charging point position information;
and importing the real-time electric quantity data and the charging path length of the unmanned ship into a preset charging analysis model to generate charging evaluation information.
5. The unmanned ship automatic charging control method according to claim 3, further comprising the steps of:
and generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm according to preset charging time length information, separating a charging head from a charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm, and ending charging.
6. The unmanned ship automatic charging control method according to claim 3, further comprising the steps of:
and acquiring and generating and sending regression path information to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the real-time position information of the charging head and the fixed position information of the charging head, and putting the charging head back to the corresponding fixed position through the multi-axis multi-degree-of-freedom industrial mechanical arm.
7. The utility model provides an automatic control system that charges of unmanned ship, its characterized in that, includes charge judgement module, data acquisition module, snatchs control module, charge control module and outage control module, wherein:
the charging judgment module is used for acquiring the real-time electric quantity data of the unmanned ship, and generating and sending a charging request when the real-time electric quantity data of the unmanned ship is smaller than a preset electric quantity threshold value;
the data acquisition module is used for acquiring a fixed-point docking signal of the unmanned ship, starting the multi-view industrial camera according to the charging request, and acquiring and sending the position coordinate of a charging port of the unmanned ship to the multi-axis multi-degree-of-freedom industrial mechanical arm in real time through the multi-view industrial camera;
the grabbing control module is used for acquiring and generating and sending grabbing instructions to the multi-axis multi-freedom-degree industrial mechanical arm according to the fixed position information of the charging head and the real-time position information of the multi-axis multi-freedom-degree industrial mechanical arm, and controlling the multi-axis multi-freedom-degree industrial mechanical arm to grab the charging head;
the charging control module is used for generating and sending a path planning instruction to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the position coordinate of the charging port of the unmanned ship and the real-time position information of the multi-axis multi-degree-of-freedom industrial mechanical arm after acquiring a grabbing success signal, and controlling the multi-axis multi-degree-of-freedom industrial mechanical arm to butt joint the charging head with the charging port of the unmanned ship so as to realize automatic charging;
and the power-off control module is used for acquiring and generating and sending a charging end signal to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the real-time charging electric quantity information of the unmanned ship and a preset power-off electric quantity threshold value, and the charging head is separated from a charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm to end charging.
8. The unmanned ship automatic charging control system of claim 7, further comprising a homing control module for acquiring and generating and sending regression path information to the multi-axis multi-degree-of-freedom industrial robot according to the real-time position information of the charging head and the fixed position information of the charging head, and returning the charging head to the corresponding fixed position through the multi-axis multi-degree-of-freedom industrial robot.
9. An electronic device, comprising:
a memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the method of any of claims 3-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 3-6.
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