阅读说明：本技术 一种船岸自动送缆连接系统及方法 (Automatic ship-shore cable feeding connection system and method ) 是由 刘源泂 刘志远 蒋国忠 钱程 黄益斌 于 2021-06-29 设计创作，主要内容包括：本发明公开了一种船岸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、运载车、视觉识别装置、抓取装置、船侧岸电组件；所述船侧岸电组件包括：电缆收放装置、插头、导引滑轮、张力检测装置,船舶到达码头后将插头从船侧岸电组件上放下,抓取装置上的视觉识别装置识别到插头,完成路径规划,运载车根据规划的路径行驶到指定地点,抓取装置抓取到插头,返回码头岸电箱处,将插头插入码头岸电箱进行充电。本发明所述的船岸自动送缆连接系统及方法,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 ship-shore cable feeding connecting system and method. The system comprises: the system comprises a shore-based transformer substation, a wharf shore power box, a carrier loader, a visual recognition device, a grabbing device and a ship side shore power assembly; the ship side shore power assembly comprises: the cable winding and unwinding device, the plug, the guide pulley and the tension detection device are used for putting down the plug from the ship-side shore power assembly after the ship arrives at the wharf, the plug is recognized by the visual recognition device on the grabbing device, path planning is completed, the carrier vehicle runs to a specified place according to a planned path, the grabbing device grabs the plug, the carrier vehicle returns to the wharf shore power box, and the plug is inserted into the wharf shore power box for charging. The automatic cable feeding connection system and method for the ship shore can realize unattended automatic control and provide a high-efficiency control and realization scheme for the automatic cable feeding connection of the ship shore at the existing port.)

1. The utility model provides an automatic cable feeding connected system of ship bank which characterized in that: the system comprises a shore-based transformer substation, a wharf shore power box, a carrier loader, a main control unit, a visual recognition device, a gripping device and a ship side shore power assembly; the ship side shore power assembly comprises: the system comprises a cable winding and unwinding device, a plug, a guide pulley and a tension detection device, wherein the shore-based substation transmits electric power to a wharf shore power box, the gripping device is arranged on a carrier loader, the visual recognition device is arranged on the gripping device, and the main control unit is respectively in signal connection with the visual recognition device, the carrier loader, the gripping device and the cable winding and unwinding device; after the ship arrives at the wharf, the plug is put down from the ship side shore power assembly, the visual recognition device on the grabbing device recognizes the plug to complete path planning, the carrier vehicle runs to a designated place according to the planned path, the grabbing device grabs the plug, the carrier vehicle drives the plug to return to the wharf shore power box, and the plug is inserted into the wharf shore power box to be charged.

2. The automatic cable-feeding system for ships and ashore according to claim 1, wherein: and the power supply voltage of the wharf shore power box is in a 380V-11 KV interval.

3. The automatic cable-feeding system for ships and ashore according to claim 1, wherein: the tension detection device is installed at a guide pulley of the ship-side shore power assembly.

4. The automatic cable-feeding system for ships and ashore according to claim 1, wherein: the movement of the carrier includes, but is not limited to, wheeled and orbital.

5. The automatic cable-feeding system for ships and ashore according to claim 1, wherein: the main control unit is arranged on the carrying vehicle.

6. An automatic cable feeding connection method for a ship shore, which is used for connection by the automatic cable feeding connection system for the ship shore according to claim 1, and comprises the following steps:

when a ship stops at a shore power wharf, the ship-side shore power assembly puts down a plug through the cable winding and unwinding device;

after the visual recognition device on the grabbing device recognizes the plug, the main control unit plans a path from the grabbing device to the plug position, and the grabbing device grabs the plug after the carrier vehicle runs to the plug position;

the carrier loader returns the grabbing device and the plug to the wharf bank power box, and the plug is inserted into a socket on the wharf bank power box; during the period, the cable winding and unwinding device continuously releases the cable with the corresponding length, the tension detection device detects the tension applied to the cable in real time, and the main control unit adjusts the speed of winding and unwinding the cable by the cable winding and unwinding device according to the tension data detected by the tension detection device;

when the use of the quay electricity box is finished, the gripping device pulls down the plug on the quay electricity box, the carrier vehicle drives the gripping device and the plug to move to the position below the cable winding and unwinding device of the ship-side quay electricity assembly, and the cable winding and unwinding device retracts the plug upwards to a reset state.

7. The automatic cable feeding connection method for a ship shore according to claim 6, wherein: the visual identification device transmits a visual identification signal to the main control unit, the main control unit plans a route from the gripping device to the plug and a return route, and the route from the gripping device to the plug is selected on the condition that the gripping device can reach and grip the plug when being extended.

8. The automatic cable feeding connection method for a ship shore according to claim 6, wherein: the cable winding and unwinding device is internally provided with a cable winding and unwinding motor, the main control unit adjusts the cable winding and unwinding speed by controlling the rotating speed of the cable winding and unwinding motor, when the tension detected by the tension detection device is within a preset allowable range, the current cable winding and unwinding speed is maintained, and when the tension detected by the tension detection device exceeds the preset allowable range, the cable winding and unwinding speed is accelerated, so that the cable winding and unwinding speed is adaptive to the speed of the carrier loader, and the tension is reduced.

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 ship shore.

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 the ship arrives at a port, the cable put down from the side of the ship is mainly inserted into the wharf bank electric box manually, and when the ship leaves the port, the cable is withdrawn manually, so that the manual operation mode wastes time and labor, and the cable is seriously damaged if misoperation occurs, and potential safety hazards are caused. In the future, the port shore power is 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 ship shore cable feeding connection system.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides an effective ship shore automatic cable feeding connection system and method, which are suitable for a wharf using a high-voltage ship shore power connection system (HVSC).

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

an automatic cable feeding connection system for a ship shore comprises a shore-based transformer substation, a wharf shore power box, a carrier loader, a main control unit, a visual recognition device, a grabbing device and a ship side shore power assembly; the ship side shore power assembly comprises: the system comprises a cable winding and unwinding device, a plug, a guide pulley and a tension detection device, wherein the shore-based substation transmits electric power to a wharf shore power box, the gripping device is arranged on a carrier loader, the visual recognition device is arranged on the gripping device, and the main control unit is respectively in signal connection with the visual recognition device, the carrier loader, the gripping device and the cable winding and unwinding device; after the ship arrives at the wharf, the plug is put down from the ship side shore power assembly, the visual recognition device on the grabbing device recognizes the plug to complete path planning, the carrier vehicle runs to a designated place according to the planned path, the grabbing device grabs the plug, the carrier vehicle drives the plug to return to the wharf shore power box, and the plug is inserted into the wharf shore power box to be charged.

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

Preferably, the tension detecting device is mounted on a guide pulley of the ship-side shore power module.

Preferably, the movement mode of the carrier vehicle includes, but is not limited to, a wheel type and a rail type.

Preferably, the main control unit is arranged on the carrying cart.

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

when a ship stops at a shore power wharf, the ship-side shore power assembly puts down a plug through the cable winding and unwinding device;

after the visual recognition device on the grabbing device recognizes the plug, the main control unit plans a path from the grabbing device to the plug position, and the grabbing device grabs the plug after the carrier vehicle runs to the plug position;

the carrier loader returns the grabbing device and the plug to the wharf bank power box, and the plug is inserted into a socket on the wharf bank power box; during the period, the cable winding and unwinding device continuously releases the cable with the corresponding length, the tension detection device detects the tension applied to the cable in real time, and the main control unit adjusts the speed of winding and unwinding the cable by the cable winding and unwinding device according to the tension data detected by the tension detection device;

when the use of the quay electricity box is finished, the gripping device pulls down the plug on the quay electricity box, the carrier vehicle drives the gripping device and the plug to move to the position below the cable winding and unwinding device of the ship-side quay electricity assembly, and the cable winding and unwinding device retracts the plug upwards to a reset state.

Preferably, the visual recognition device transmits a visual recognition signal to the main control unit, the main control unit plans a route from the gripping device to the plug and back, and the route from the gripping device to the plug is selected on the condition that the gripping device can reach and grip the plug when being extended.

Preferably, a cable winding and unwinding motor is arranged in the cable winding and unwinding device, the main control unit adjusts the cable winding and unwinding speed by controlling the rotating speed of the cable winding and unwinding motor, when the tension detected by the tension detection device is within a preset allowable range, the current cable winding and unwinding speed is maintained, and when the tension detected by the tension detection device exceeds the preset allowable range, the cable winding and unwinding speed is increased, so that the cable winding and unwinding speed is adapted to the speed of the carrier loader, and the tension is reduced.

After adopting the technical scheme, compared with the prior art, the invention has the following beneficial effects: the invention provides an effective ship shore automatic cable feeding connection system which is suitable for a wharf using a high voltage ship shore power connection system (HVSC). The automatic cable feeding and connecting system and the method for the ship shore provide an intelligent and automatic cable feeding and connecting scheme for the ship shore, and the system realizes unattended automatic control due to the arrangement of the main control unit, the carrying vehicle, the gripping device, the visual recognition device, the tension detection device and the cable winding and unwinding device which are mutually communicated with each other, thereby providing a high-efficiency control and realization scheme for the automatic cable feeding and connecting of the ship shore of the prior port.

Drawings

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

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

wherein the reference numbers are as follows: 1-shore-based substation; 2-quay power box; 3-a gripping device; 4-a plug; 5-a guide pulley; 6-cable winding and unwinding devices; 61-a cable take-up and pay-off motor; 7-carrying vehicle; 8-a main control unit; 9-a visual recognition device; 10-tension detection 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 ship shore according to the present invention includes: the system comprises a shore-based transformer substation 1, a wharf shore power box 2, a carrier loader 7, a main control unit 8, a visual recognition device 9, a grabbing device 3 and a ship side shore power assembly; the ship side shore power assembly comprises: the system comprises a cable winding and unwinding device 6, a plug 4, a guide pulley 5 and a tension detection device 10, wherein a shore-based substation 1 transmits electric power to a wharf shore power box 2, a grabbing device 3 is arranged on a carrier loader 7, a visual recognition device 9 is arranged on the grabbing device 3, and a main control unit 8 is in signal connection with the visual recognition device 9, the carrier loader 7, the grabbing device 3 and the cable winding and unwinding device 6 respectively; after the ship arrives at the wharf, the plug 4 is put down from the ship side shore power assembly, the plug 4 is recognized by the visual recognition device 9 on the grabbing device 3, path planning is completed, the carrier vehicle 7 runs to a specified place according to a planned path, the plug 4 is grabbed by the grabbing device 3, the carrier vehicle 7 drives the plug 4 to return to the wharf shore power box 2, and the plug 4 is inserted into the wharf shore power box 2 for charging.

And the power supply voltage of the wharf shore power box 2 is in a 380V-11 KV interval.

The tension detecting device 10 is installed at the guide pulley 5 of the ship-side shore power module.

The movement of the carrier vehicle 7 includes, but is not limited to, a wheel type and a rail type.

The main control unit 8 is arranged on the carrying cart 7.

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

when the ship stops at a shore power wharf, the ship-side shore power assembly puts down the plug 4 through the cable winding and unwinding device 6;

after the visual recognition device 9 on the gripping device 3 recognizes the plug 4, the main control unit 8 plans a path from the gripping device 3 to the plug 4, and the gripping device 3 grips the plug 4 after the carrier vehicle 7 runs to the plug 4;

the carrier loader 7 returns to the wharf shore power box 2 with the gripping device 3 and the plug 4, and the plug 4 is inserted into a socket on the wharf shore power box 2; during the period, the cable winding and unwinding device 6 on the assembly continuously releases the cable with the corresponding length, the tension detection device 10 detects the tension on the cable in real time, and the main control unit 8 adjusts the speed of winding and unwinding the cable by the cable winding and unwinding device 6 according to the tension data detected by the tension detection device 10.

When the use of the wharf shore power box 2 is finished, the gripping device 3 pulls out the plug 4 on the wharf shore power box 2, the carrier vehicle 7 drives the gripping device 3 and the plug 4 to move to the position below the cable winding and unwinding device 6 of the ship side shore power assembly, and the plug 4 is upwards retracted to the reset state through the cable winding and unwinding device 6.

Furthermore, the visual recognition device 9 transmits a visual recognition signal to the main control unit 8, the main control unit 8 plans a route from the gripping device 3 to the plug 4 and back, and the route from the gripping device 3 to the plug 4 is selected as an end point so that the gripping device 3 can reach and grip the plug 4 when being extended.

The planning of the path by the main control unit 8, the visual recognition method of the visual recognition device 9, and the technical contents such as the algorithm related thereto belong to the known technologies in the field, do not belong to the innovative focus of the present invention, and are not described in detail herein.

Further, a cable winding and unwinding motor 61 is arranged in the cable winding and unwinding device 6, the main control unit 8 adjusts the cable winding and unwinding speed by controlling the rotating speed of the cable winding and unwinding motor 61, when the tension detected by the tension detection device 10 is within a preset allowable range, the current cable winding and unwinding speed is maintained, and when the tension detected by the tension detection device 10 exceeds the preset allowable range, the cable winding and unwinding speed is increased, so that the cable winding and unwinding speed is adapted to the speed of the carrier vehicle 7, and the tension is reduced.

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.