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CN-122026202-A - Intelligent abutting device and abutting method for shore power cable plug

CN122026202ACN 122026202 ACN122026202 ACN 122026202ACN-122026202-A

Abstract

The invention relates to the technical field of ship shore power connection, and discloses an intelligent docking device and a docking method thereof for a shore power cable plug, wherein the intelligent docking device comprises a mechanical arm system, a visual positioning system, a secondary positioning jig and a control system, wherein the visual positioning system is arranged at the execution tail end of the mechanical arm system and is used for identifying the space pose of the shore power plug, and the secondary positioning jig is arranged at the execution tail end side of the mechanical arm system and is used for grabbing and adjusting the pose of the shore power plug; the control system is in communication connection with the mechanical arm system, the visual positioning system and the secondary positioning jig. According to the invention, through the cooperative control of the integrated high-precision 3D visual identification module and the six-axis mechanical arm, the system can automatically and rapidly complete the identification and the grabbing of the scattered cable plug under the condition of no manual intervention, the whole butt joint action time is shortened from more than 15 minutes of the traditional manual operation to within 3 minutes, and the port operation efficiency is remarkably improved.

Inventors

  • ZHENG PU
  • ZHAO RUI
  • LI ZONGZE
  • ZHOU TAO
  • WANG WEIZHOU
  • ZHANG ZENGLONG

Assignees

  • 连云港远洋流体装卸设备有限公司

Dates

Publication Date
20260512
Application Date
20260202

Claims (8)

  1. 1. The intelligent shore power cable plug docking device is characterized by comprising a mechanical arm system (1), a visual positioning system, a secondary positioning jig (3) and a control system (2), wherein the visual positioning system is arranged at the execution tail end of the mechanical arm system (1) and used for identifying the space pose of a shore power plug, the secondary positioning jig (3) is arranged at the execution tail end side of the mechanical arm system (1) and used for grabbing and adjusting the pose of the shore power plug, and the control system (2) is in communication connection with the mechanical arm system (1), the visual positioning system and the secondary positioning jig (3) and used for controlling the mechanical arm system (1) and the secondary positioning jig (3) to act cooperatively according to the identification result of the visual positioning system so as to dock the shore power plug to a socket of a shore power box (4).
  2. 2. The intelligent abutting device for the shore power cable plug is characterized in that the mechanical arm system (1) is a six-axis mechanical arm with 6 rotary joints, the repeated positioning precision is +/-1 mm, the rated load is 60kg, and the maximum movement range is 2080mm.
  3. 3. The intelligent docking device for the shore power cable plug according to claim 1, wherein the visual positioning system is a 3D visual identification module, is associated with a coordinate system of the mechanical arm system (1) through hand-eye calibration, and is used for acquiring six-degree-of-freedom position and angle information of the shore power plug.
  4. 4. The intelligent butt joint device for the shore power cable plug is characterized in that the secondary positioning jig (3) comprises a rotary driving mechanism and a clamping jaw mechanism, wherein the rotary driving mechanism is used for driving the grabbed shore power plug to rotate around the axis of the rotary driving mechanism, and the clamping jaw mechanism is arranged on the rotary driving mechanism and used for grabbing the shore power plug.
  5. 5. The intelligent docking device for the shore power cable plug is characterized in that the control system (2) comprises a motion controller and a visual processing unit, the motion controller is used for controlling motion tracks of the mechanical arm system (1) and the secondary positioning jig (3), the visual processing unit is used for processing image data collected by the visual positioning system, the control system (2) adopts a closed-loop control mode, and when the shore power plug is plugged into the socket, the control system is switched to a force-position hybrid control mode.
  6. 6. The intelligent abutting device of a shore power cable plug according to claim 1, further comprising a safety protection module, wherein the safety protection module comprises an emergency stop unit, a fault alarm and an audible and visual indicator, and the safety protection module is connected with the control system (2).
  7. 7. The intelligent abutting device for the shore power cable plug is characterized in that the overall abutting action time of the device is less than or equal to 3 minutes, and the abutting success rate is more than or equal to 95%.
  8. 8. The docking method of the shore power cable plug intelligent docking device according to claim 1, comprising the following steps: s1, identifying a shore power plug placed in a preset area through the visual positioning system to obtain an initial pose of the shore power plug; s2, the control system (2) plans a path and controls the mechanical arm system (1) to move so that the secondary positioning jig (3) grabs the shore power plug; s3, the control system (2) controls the secondary positioning jig (3) to adjust the angle direction of the shore power plug according to the preset pose of the socket of the shore power box (4); S4, the control system (2) controls the mechanical arm system (1) to transfer the adjusted shore power plug to the front of the socket, and inserts the shore power plug into the socket in a force-position mixed control mode; and S5, after the butt joint is finished, the secondary positioning jig (3) releases the shore power plug and sends out a confirmation signal.

Description

Intelligent abutting device and abutting method for shore power cable plug Technical Field The invention relates to the technical field of ship shore power connection, in particular to a ship end intelligent connection device and method for realizing automatic docking of shore power plugs. Background Under the development background of green low-carbon shipping, the ship needs to be switched to an on-shore power supply for power supply after approaching the port, so that the pollution of waste gas and noise generated by the operation of auxiliary machinery of the ship is reduced. Currently, the mainstream shore connection technology still highly relies on manual operation, a trained port operator or shipman manually drags a high-voltage cable and a plug with the weight of greatly more than 50 kg, the high-voltage cable and the plug are transported to a shipborne shore box in a complex deck environment, then the plug and the socket are tried to be aligned by means of human eye observation and hand experience, and finally physical connection and locking are completed by manual pushing and pulling and rotation. The purely manual operation mode has a series of remarkable defects that the operation efficiency is low, the time consumption of the connection process is long, the average connection time exceeds 15 minutes, precious berth window time is seriously occupied, the port operation efficiency is influenced, the labor intensity is high, operators need to carry heavy objects, the operation environment is complex, muscle strain is easily caused by manual operation of heavy cables, falling, mechanical injury and even high-voltage electric shock risks exist on a wet and slippery and swaying deck, and the docking success rate is unstable due to factors such as weather, ship body swaying and the like. Therefore, an intelligent device capable of realizing automatic, accurate and safe butt joint of shore power plugs is urgently needed. Disclosure of Invention Aiming at the defects in the butt joint process of the existing shore power cable plug provided in the background art, the invention provides an intelligent butt joint device and a butt joint method of the shore power cable plug, and solves the problems of low efficiency, poor safety, unstable success rate and the like of the traditional manual butt joint mode. The invention provides a technical scheme that the intelligent butt joint device for a shore power cable plug comprises a mechanical arm system, a visual positioning system, a secondary positioning jig and a control system, wherein the visual positioning system is arranged at the execution tail end of the mechanical arm system and is used for identifying the space pose of the shore power plug, the secondary positioning jig is arranged at the execution tail end side of the mechanical arm system and is used for grabbing and adjusting the pose of the shore power plug, and the control system is in communication connection with the mechanical arm system, the visual positioning system and the secondary positioning jig and is used for controlling the mechanical arm system and the secondary positioning jig to cooperatively act according to the identification result of the visual positioning system so as to butt joint the shore power plug to a socket of a shore power box. Preferably, the mechanical arm system is a six-axis mechanical arm with a rotary joint, the repeated positioning precision is +/-1 mm, the rated load is 60kg, and the maximum movement range is 2080mm. Preferably, the visual positioning system is a 3D visual recognition module, which is associated with a coordinate system of the mechanical arm system through hand-eye calibration, and is used for acquiring six-degree-of-freedom position and angle information of the shore power plug. Preferably, the secondary positioning jig comprises a rotary driving mechanism and a clamping jaw mechanism, wherein the rotary driving mechanism is used for driving the grabbed shore power plug to rotate around the axis of the rotary driving mechanism, and the clamping jaw mechanism is arranged on the rotary driving mechanism and used for grabbing the shore power plug. Preferably, the control system comprises a motion controller and a visual processing unit, wherein the motion controller is used for controlling motion tracks of the mechanical arm system and the secondary positioning jig, the visual processing unit is used for processing image data acquired by the visual positioning system, and the control system adopts a closed-loop control mode and is switched to a force-position hybrid control mode when the shore power plug is plugged into the socket. Preferably, the safety protection device further comprises a safety protection module, wherein the safety protection module comprises a scram unit, a fault alarm and an audible and visual indicator, and the safety protection module is connected with the control system. Preferably, the whole butt joint action time of th