阅读说明：本技术 一种岸船自动送缆连接系统及方法 (Automatic cable feeding connection system and method for shore ship ) 是由 黄益斌 刘源泂 蒋国忠 钱程 于 2021-07-15 设计创作，主要内容包括：本发明公开了一种岸船自动送缆连接系统及方法。该系统包括：岸基变电站、码头岸电箱、电缆收放装置、张力检测装置、提升送缆装置、机械手、船侧岸电箱、视觉识别装置、主控单元。本发明所述的岸船自动送缆连接系统及方法,适用于使用高压船舶岸电连接系统(HVSC)的码头；提供了一种智能化、自动化的船岸自动送缆连接方案,可实现一种无人值守的自动控制,为现有港口船岸自动送缆连接提供了一种高效率的控制和实现方案。(The invention discloses an automatic cable feeding connection system and method for a shore ship. The system comprises: the system comprises a shore-based transformer substation, a wharf shore power box, a cable winding and unwinding device, a tension detection device, a lifting cable feeding device, a manipulator, a ship side shore power box, a visual recognition device and a main control unit. The automatic cable feeding connection system and method for the shore ship are suitable for a wharf using a high-voltage ship shore power connection system (HVSC); the intelligent and automatic ship-shore automatic cable feeding connection scheme is provided, unattended automatic control can be achieved, and efficient control and implementation schemes are provided for automatic cable feeding connection of the existing port and the ship shore.)

1. An automatic cable feeding connection system for a shore vessel, comprising: the system comprises a shore-based transformer substation, a wharf shore power box, a cable winding and unwinding device, a tension detection device, a lifting cable feeding device, a manipulator, a ship side shore power box and a visual identification device; the ship-side shore power box comprises an auxiliary plugging device and a socket, the shore-based substation supplies power to the quay shore power box, and the main control unit is respectively in signal connection with the visual recognition device, the lifting cable feeding device, the manipulator and the cable winding and unwinding device; one end of a cable to be connected is connected into the quay power box, the cable winding and unwinding device controls the winding and unwinding of the cable, the tension detection device detects the tension of the cable and feeds the tension back to the main control unit in real time, the manipulator is arranged on the lifting cable feeding device, the lifting cable feeding device is matched with the visual recognition equipment and the main control unit to send the manipulator to a specified height, and the manipulator grabs a plug and inserts the plug into a socket of the quay power box on the side of the ship.

2. The shore craft automatic mooring connection system of claim 1, wherein: and the power supply voltage of the wharf shore power box is in a 380V-11 KV interval.

3. The shore craft automatic mooring connection system of claim 1, wherein: the tension detection device is arranged at the position of the guide pulley.

4. The shore craft automatic mooring connection system of claim 1, wherein: the visual recognition device is arranged on the manipulator, and a camera view field in the visual recognition device faces the ship-side shore power box.

5. An automatic cable feeding connection method for a shore vessel, which is characterized in that the automatic cable feeding connection system for the shore vessel of claim 1 is used for connection, and comprises the following steps:

when a ship stops at a shore power terminal, the manipulator grabs a cable plug, the cable feeding device is lifted, the manipulator starts to be lifted, the cable winding and unwinding device continuously discharges cables with corresponding lengths in the period, the tension detection device detects the tension on the cables in real time, and the main control unit adjusts the cable winding and unwinding speed of the cable winding and unwinding device according to the tension data detected by the tension detection device;

the lifting cable feeding device is matched with the visual recognition device and the main control unit, the manipulator is fed to the height corresponding to the ship-side shore power box, the manipulator places a plug on the auxiliary plugging device, and the auxiliary plugging device inserts the plug into the ship-side shore power box;

when the use of the wharf shore power box is finished, the manipulator takes away the plug on the ship side shore power box under the assistance of the visual recognition device and the main control unit, the lifting cable feeding device transfers the manipulator to the reset state, and the cable winding and unwinding device retracts the cable to the reset state.

Technical Field

The invention relates to the technical field of high-voltage shore power connection (HVSC), in particular to an automatic cable feeding connection system and method for a port shore ship.

Background

With the proportion of the shipping service in global trade resources being over 90%, China has become a world large country for shipbuilding and shipping trade, and the port cargo throughput is in the leading position in the world. But at the same time, the pollutants discharged by the marine diesel engine, the generated noise and the vibration bring huge pressure to the environmental pollution and the ecological control. Therefore, the port shore power charging technology (ship shore power) adopted when the ship stops becomes an important measure and development direction for energy conservation and emission reduction.

After boats and ships reachd the harbour, mainly sit the companion ladder by the manual work and insert on the ship side bank electronic box socket, when boats and ships left the port, withdraw the cable by the manual work again, this kind of artificial operation is wasted time and energy, still can seriously damage the cable if meet the misoperation, causes the potential safety hazard.

In the future, the port shore power will be developed towards high-voltage and extra-high voltage, and the manual operation mode is gradually replaced by automatic equipment. At present, in the technical field of high voltage shore power connection (HVSC), China is still lack of an automatic shore ship cable feeding connection system.

Disclosure of Invention

The invention aims to provide an automatic cable feeding and connecting system for a shore ship, aiming at the defects in the prior art.

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

an automatic cable feeding connection system for a shore vessel, comprising: the system comprises a shore-based transformer substation, a wharf shore power box, a cable winding and unwinding device, a tension detection device, a lifting cable feeding device, a manipulator, a ship side shore power box, a visual recognition device and a main control unit; the ship-side shore power box comprises an auxiliary plugging device and a socket, the shore-based substation supplies power to the quay shore power box, and the main control unit is respectively in signal connection with the visual recognition device, the lifting cable feeding device, the manipulator and the cable winding and unwinding device; one end of a cable to be connected is connected into the quay power box, the cable winding and unwinding device controls the winding and unwinding of the cable, the tension detection device detects the tension of the cable and feeds the tension back to the main control unit in real time, the manipulator is arranged on the lifting cable feeding device, the lifting cable feeding device is matched with the visual recognition device and the main control unit to send the manipulator to a specified height, and the manipulator grabs a plug and inserts the plug into a socket of the quay power box on the side of the ship.

Preferably, the power supply voltage of the wharf shore power box is in a 380V-11 KV interval.

Preferably, the system further comprises a guide pulley, and the tension detecting device is mounted at the guide pulley.

Further, the vision recognition device is arranged on the mechanical arm, and a camera view field in the vision recognition device faces the ship-side shore power box.

The shore ship automatic cable feeding connection method adopts the shore ship automatic cable feeding connection system for connection, and comprises the following steps:

when a ship stops at a shore power terminal, the manipulator grabs a cable plug, the cable feeding device is lifted, the manipulator starts to be lifted, the cable winding and unwinding device continuously discharges cables with corresponding lengths in the period, the tension detection device detects the tension on the cables in real time, and the main control unit adjusts the cable winding and unwinding speed of the cable winding and unwinding device according to the tension data detected by the tension detection device;

the lifting cable feeding device is matched with the visual recognition device and the main control unit, the manipulator is fed to the height corresponding to the ship-side shore power box, the manipulator places a plug on the auxiliary plugging device, and the auxiliary plugging device inserts the plug into the ship-side shore power box;

when the use of the wharf shore power box is finished, the manipulator takes away the plug on the ship side shore power box under the assistance of the visual recognition device and the main control unit, the lifting cable feeding device transfers the manipulator to the reset state, and the cable winding and unwinding device retracts the cable to the reset state.

After adopting the technical scheme, compared with the prior art, the invention has the following beneficial effects:

the invention provides an effective shore ship automatic cable feeding connection system which is suitable for a wharf using a high-voltage ship shore power connection system (HVSC). The system and the method for automatically connecting the cable feeding of the shore ship provide an intelligent and automatic scheme for automatically connecting the cable feeding of the shore ship, and the system realizes unattended automatic control due to the arrangement of a main control unit, a cable lifting and feeding device, a mechanical hand visual identification device, a tension detection device and a cable winding and unwinding device which are mutually communicated, thereby providing a high-efficiency control and realization scheme for the automatic cable feeding connection of the shore ship of the prior port.

Drawings

FIG. 1 is a schematic structural diagram of an automatic cable feeding connection system for a shore vessel according to the present invention;

FIG. 2 is a schematic diagram of connection control in an automatic cable feeding connection system and method for a shore vessel according to the present invention;

wherein the reference numbers are as follows:

1-shore-based substation; 2-quay power box; 3, a cable winding and unwinding device; 31-a cable take-up and pay-off motor; 4-guide rollers; 5, lifting the cable feeding device; 6, a mechanical arm; 7, a plug; 8, an auxiliary plugging device; 9-a socket; 10-ship side shore power box; 11-a cable; 12-a master control unit; 13-a tension detection device; 14-visual recognition means.

Detailed Description

In order that the invention may be more clearly understood, the following detailed description of the embodiments of the invention is given with reference to the accompanying drawings and examples.

As shown in fig. 1 and 2, the automatic cable feeding connection system for a shore ship of the present invention includes: the system comprises a shore-based transformer substation 1, a wharf shore power box 2, a cable winding and unwinding device 3, a tension detection device 13, a lifting cable feeding device 5, a manipulator 6 and a ship side shore power box 10; ship side bank electronic box 10 is including supplementary plug device 8 and socket 9, bank base transformer substation 1 is to the power supply of pier bank electronic box 2, and the one end of treating the cable 11 of connecting and keeping away from the hull inserts pier bank electronic box 2, 3 control cable 11 lines receive and release of cable winding and unwinding devices, and tension detection device 13 detects cable 11 tension and feeds back to main control unit 12 in real time, manipulator 6 is arranged in and is promoted on sending the cable device, promotes to send the cable device to cooperate with visual identification device, main control unit 12, sends specified height to manipulator 6, and manipulator 6 snatchs and inserts 7 heads and insert it in the socket of ship side bank electronic box 10.

The power supply parameter setting of the wharf shore power box 2 is determined according to the actual working condition, for example, the power supply voltage is in the 380V-11 KV range.

Further, the visual recognition device 14 is disposed on the manipulator 6, and the visual field of the camera in the visual recognition device 14 is directed to the ship-side shore power box 10.

The tension detection device 13 is used for detecting the tension applied to the cable 11 during the operation of the system, and the tension detection device 13 is installed at one or more positions of the connecting system according to requirements. For example, the system may further comprise a guide roller 4, and the tension detecting device 13 may be installed at the guide pulley 4.

The lifting and cable-feeding device 5 may be a lifting device in various forms in the prior art, and is responsible for lifting or lowering the robot 6 to a designated height.

The auxiliary plugging device is identified and positioned, the distance between the plug and the auxiliary plugging device is obtained by means of visual ranging, the manipulator 6 extends forwards until the plug can be placed on the auxiliary plugging device, and the manipulator 6 is disengaged.

The auxiliary plugging device is arranged on the ship-side shore power box, when a ship is in shore, the auxiliary plugging device 8 extends out of the ship-side shore power box, when the manipulator 6 puts a plug on the auxiliary plugging device, the device is retracted to insert the plug into the socket 9 of the ship-side shore power box 10, the auxiliary plugging device 8 is provided with a forced separation device, and in the charging process, if sudden conditions such as large sea waves are met, the stress of a cable is increased, and the plug is separated from the socket to protect the cable from being damaged by large tensile force. The auxiliary plugging device 8 is disclosed in the prior patent documents, belongs to the prior art, does not belong to the inventive focus of the present patent application, and is not described in detail herein.

The connection method related to the shore ship automatic cable feeding connection system mainly comprises the following steps:

when a ship stops at a shore power terminal, the manipulator 6 grabs the cable plug 7, the cable feeding device 5 is lifted, the manipulator 6 starts to be lifted, the cable winding and unwinding device continuously discharges a cable with a corresponding length in the period, the tension detection device detects the tension on the cable in real time, and the main control unit adjusts the cable winding and unwinding speed of the cable winding and unwinding device according to the tension data detected by the tension detection device;

the lifting cable feeding device 5 is matched with the visual recognition device 14 and the main control unit 12, the distance between a plug and the auxiliary plugging device 8 is obtained by means of visual ranging, the manipulator 6 is fed to the height corresponding to the ship-side shore power box 41, the manipulator 6 extends forwards, the manipulator 6 places the plug 7 on the auxiliary plugging device 8, and the auxiliary plugging device 8 inserts the plug 7 into the ship-side shore power box 10;

when the use of the quay electrical box 2 is finished, the manipulator 6 takes away the plug 7 on the ship-side quay electrical box 10 under the assistance of the visual identification device 14 and the main control unit 12, the lifting cable feeding device 5 lowers the manipulator 6 to a reset state, and the cable winding and unwinding device 3 retracts the cable 11 to the reset state. And finishing the automatic cable feeding and connecting process of the shore ship.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.