The invention discloses an automatic charging device, a charging control method and a charging control system for an unmanned ship, and relates to the technical field of ship automation. The charging control method comprises the steps that when 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; starting a multi-view industrial camera according to the charging request, and collecting and sending position coordinates of a charging port of the unmanned ship in real time; a grabbing instruction is generated and sent to the multi-axis multi-degree-of-freedom industrial mechanical arm; a path planning instruction is generated and sent, the multi-axis multi-degree-of-freedom industrial mechanical arm is controlled to connect the charging head with the charging port of the unmanned ship, and automatic charging is achieved; and real-time charging electric quantity information of the unmanned ship and a preset power-off electric quantity threshold value are obtained, a charging ending signal is generated and sent to the multi-axis multi-degree-of-freedom industrial mechanical arm according to the real-time charging electric quantity information and the preset power-off electric quantity threshold value, the charging head is separated from the charging port of the unmanned ship through the multi-axis multi-degree-of-freedom industrial mechanical arm, and charging is ended. According to the invention, efficient and automatic charging of the unmanned ship can be realized.
本发明公开了一种无人船自动充电装置、充电控制方法及系统,涉及船舶自动化技术领域。该充电控制方法包括:当无人船的实时电量数据小于预置的电量阈值时,生成并发送充电请求;根据充电请求启动多目工业摄像头,实时采集并发送无人船的充电端口的位置坐标;生成并发送抓取指令给多轴多自由度工业机械臂;生成并发送路径规划指令,控制多轴多自由度工业机械臂将充电头与无人船的充电端口进行对接,实现自动充电;获取并根据无人船的实时充电电量信息和预置的断电电量阈值生成并发送充电结束信号给多轴多自由度工业机械臂,通过多轴多自由度工业机械臂将充电头与无人船的充电端口分离,结束充电。本发明可实现无人船的高效自动充电。
Unmanned ship automatic charging device, charging control method and system
一种无人船自动充电装置、充电控制方法及系统
2022-06-14
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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