A mobile platform docking system for electromagnetic compatibility testing

Abstract

The present invention provides a mobile platform docking system for electromagnetic compatibility testing, comprising a shielding room, a main control device, at least one replacement device, at least one mobile platform, at least two first light sensors, and at least two second light sensors; the mobile platform docking system for electromagnetic compatibility testing proposed in this scheme places a product to be tested and a test device on the mobile platform, and transports the product to be tested and the test device to the shielding room for replacement via the mobile platform, which greatly reduces the degree of human participation, improves the automation degree and utilization rate of electromagnetic compatibility testing, and reduces costs.

Description

Technical Field

[0001] The invention relates to the field of electromagnetic compatibility testing, and in particular to a mobile platform docking system for electromagnetic compatibility testing. Background Art

[0002] Electromagnetic compatibility test EMC (Electro Magnetic Compatibility) refers to the ability of a device or system to operate in accordance with requirements in its electromagnetic environment and not produce intolerable electromagnetic interference to any device in its environment. The quality of EMC design is measured by EMC testing. Only by predicting and evaluating EMC compatibility throughout the entire process of EMC design and development of the product can we discover possible electromagnetic interference early and take necessary suppression and protection measures to ensure the electromagnetic compatibility of the system.

[0003] However, in existing electromagnetic compatibility testing sites, manual methods are used to replace testing equipment and testing products. When the next product needs to be tested after the previous product is tested, staff often enter the shielded room to replace the testing equipment and the product to be tested, which adds additional labor costs. At the same time, the reliance on manual methods makes the shielded room's automation level low, reducing the shielded room's utilization efficiency. Summary of the invention

[0004] The present invention provides a mobile platform docking system for electromagnetic compatibility testing, which places the product to be tested and the test equipment on the mobile platform, and transports the product to be tested and the test equipment to a shielded room for replacement via the mobile platform. The mobile platform and the shielded room can also be accurately docked, which greatly reduces the degree of human participation, improves the degree of automation and utilization of electromagnetic compatibility testing, and reduces costs.

[0005] The present invention adopts the following technical solutions to achieve the above-mentioned purpose:

[0006] The present invention provides a mobile platform docking system for electromagnetic compatibility testing, comprising a shielding room, a main control device, at least one replacement device, at least one mobile platform, at least two first light sensors, and at least two second light sensors;

[0007] The shielding room comprises a top layer, a bottom layer, a first wall, a second wall, a third wall and a fourth wall, one corner of the bottom layer is provided with a first rectangular notch, the first wall is provided with a second rectangular notch matching the first rectangular notch, the second wall is provided with a third rectangular notch matching the first rectangular notch and the second rectangular notch, the bottom layer of the shielding room is provided with a support body, the support body is used to lift the shielding room for a distance so as to facilitate splicing with the replacement device, and the replacement device is provided on the mobile platform;

[0008] The replacement device comprises a first shielding wall matching the second rectangular notch, a second shielding wall matching the third rectangular notch, and a shielding bottom surface matching the first rectangular notch, the shielding bottom surface is detachably arranged on the mobile platform, the first shielding wall and the second shielding wall are both arranged on the shielding bottom surface, and are perpendicular to each other;

[0009] A first shielding device is provided at the edges of the first rectangular notch, the second rectangular notch and the third rectangular notch, a second shielding device is provided on the first shielding wall, the second shielding wall and the edge of the shielding bottom surface, a first auxiliary line parallel to the first wall is provided on the ground below the first rectangular notch, and a second auxiliary line is provided on the ground below the first rectangular notch and parallel to the second wall;

[0010] Further, the distance between the first auxiliary line and the second wall is preset, and the distance between the second auxiliary line and the first wall is also preset, and the first auxiliary line and the second auxiliary line are marked with different colors, and the color difference between the two is large;

[0011] The mobile platform includes a control device, the control device is connected to the main control device for communication, the control device is used to receive instructions from the main control device and then control the movement of the mobile platform, and the main control device is arranged outside the shielding room;

[0012] The mobile platform further comprises a first roller, a second roller, a third roller, a fourth roller, a steering wheel, a first driving device, a second driving device and a power supply device. The first driving device, the second driving device and the power supply device are all arranged under the mobile platform. The power supply device is respectively connected to the first driving device, the second driving device, the control device and the first light sensor. The first driving device and the second driving device are also connected to the control device. The first driving device is used to drive the first roller, the second roller, the third roller and the fourth roller to move. The second driving device is arranged at the center below the mobile platform and is used to drive the steering wheel to move. The at least two first light sensors are arranged between the second roller and the third roller and are arranged on the same straight line with the second roller and the third roller. The at least two second light sensors are arranged between the third roller and the fourth roller and are arranged on the same straight line with the third roller and the fourth roller.

[0013] The mobile platform also includes a first roller, a second roller, a third roller, a fourth roller, a steering wheel and a power supply device. The power supply device can be arranged at any position below the mobile platform. The first roller, the second roller, the third roller and the fourth roller are all driven wheels, which are respectively arranged at four corners below the mobile platform. The steering wheel is an active wheel, which is arranged in the middle below the mobile platform. The steering wheel is a double-wheel structure, including a first steering wheel, a second steering wheel, a first driving device and a second driving device. The first driving device and the second driving device are both connected to the control device and the power supply device. The output end of the first driving device is connected to the first steering wheel, and the output end of the second driving device is connected to the second steering wheel.

[0014] Specifically, the first drive device and the second drive device include motors. The rotation speeds of the first drive device and the second drive device are controlled by the control device, which can enable the differential rotation of the first steering wheel and the second steering wheel. Therefore, during the rotation process, the mobile platform can rotate. The first drive device and the second drive device are arranged on the same straight line.

[0015] The first light sensor is used to identify the first auxiliary line and send a first identification signal to the control device, and the second light sensor is used to identify the second auxiliary line and send a second identification signal to the control device;

[0016] The main control device is used to send a movement instruction to the control device, thereby dispatching the mobile platform equipped with the replacement device to dock with the shielding room;

[0017] The control device is used to receive the movement instruction issued by the main control device, and control the movement of the mobile platform according to the movement instruction;

[0018] The control device is further used to receive a first identification signal sent by the first light sensor and a second identification signal sent by the second light sensor, and control the mobile platform to move to the first station according to the first identification signal. The control device is also used to receive a second identification signal sent by the second light sensor, and control the mobile platform to move from the first station to the second station according to the second identification signal. When the mobile platform is at the second station, the control device controls the mobile platform to move a predetermined distance so that the docking device docks with the shielding room.

[0019] Specifically, when the center point line of the first light sensor coincides with the first auxiliary line, the position of the mobile platform is the first workstation; when the center point line of the second light sensor coincides with the second auxiliary line, the position of the mobile platform is the second workstation.

[0020] In an embodiment of the present invention, the first shielding device and the second shielding device both include beryllium copper springs, and the first shielding device and the second shielding device are both used to shield external interference.

[0021] In one embodiment of the present invention, a first laser alignment device and a second laser alignment device are further arranged under the mobile platform, the first laser alignment device is arranged below the corner where the second roller is located, the second laser alignment device is arranged below the corner where the fourth roller is located, the first laser alignment device forms a certain angle with the second shielding wall, the second laser alignment device forms a certain angle with the first shielding wall, the straight line where the laser emitted by the first laser alignment device is located is parallel to the straight line where the laser emitted by the second laser alignment device is located, and the first laser alignment device and the second laser alignment device are both connected to the control device and the power supply device; a third laser alignment device matching the first laser alignment device and a fourth laser alignment device matching the second laser alignment device are further arranged under the bottom layer of the shielding room, the angle between the third laser alignment device and the second wall is equal to the angle between the first laser alignment device and the second shielding wall, the angle between the fourth laser alignment device and the first wall is equal to the angle between the second laser alignment device and the first shielding wall, and the sum of the angle between the fourth laser alignment device and the first wall and the angle between the third laser alignment device and the second wall is 90°;

[0022] Further, the first laser alignment device and the second laser alignment device are laser emitting devices, the third laser alignment device and the fourth laser alignment device are laser receiving devices, the first laser alignment device is used to emit laser to the third laser alignment device and receive laser reflected by the third laser alignment device, thereby achieving alignment, the second laser alignment device is used to emit laser to the fourth laser alignment device and receive laser emitted by the fourth laser alignment device, thereby achieving alignment, and when the mobile platform reaches the first station and moves to the second station, the first laser alignment device and the second laser alignment device emit laser in real time, when the laser emitted by the first laser alignment device coincides with the laser reflected by the third laser alignment device, and the laser emitted by the second laser alignment device coincides with the laser reflected by the fourth laser alignment device, after the control device determines that the mobile platform has reached the preset third station, the control device controls the mobile platform to move in a predetermined direction;

[0023] Further, the third working position is the position of the mobile platform when the laser emitted by the first laser alignment device coincides with the laser reflected by the third laser alignment device, and the laser emitted by the second laser alignment device coincides with the laser reflected by the fourth laser alignment device;

[0024] Furthermore, the sum of the angle between the first laser alignment device and the second shielding wall and the angle between the second laser alignment device and the first shielding wall is 90°.

[0025] In one embodiment of the present invention, a first groove and a second groove are provided at the bottom layer of the shielding room near the first rectangular notch, a plurality of first pressure sensors are provided at equal intervals in the first groove, and a first shielding device is provided on the plurality of first pressure sensors; a plurality of second pressure sensors are provided at equal intervals in the second groove, and a first shielding device is provided on the plurality of second pressure sensors, and the first pressure sensor and the second pressure sensor are both communicatively connected to the control device;

[0026] Furthermore, the first pressure sensor and the second pressure sensor are used to detect the force values ​​generated when the mobile platform is in contact with the shielding room, and send them to the control device, so that the control device adjusts the positional relationship between the mobile platform and the shielding room to achieve the docking of the mobile platform and the shielding room;

[0027] Furthermore, the control device controls the mobile platform to approach the shielding room. When the two sides of the mobile platform away from the first shielding wall and the second shielding wall contact the shielding room, the control device obtains the values ​​of the several first pressure sensors and the several second pressure sensors, and adjusts the moving direction of the mobile platform according to the values ​​obtained by the several first pressure sensors and the values ​​obtained by the several second pressure sensors. When the values ​​of the data of the several first pressure sensors and the several second pressure sensors are consistent, it is determined that the docking of the mobile platform with the shielding room is complete.

[0028] Beneficial effects of the present invention:

[0029] The present invention provides a mobile platform docking system for electromagnetic compatibility testing, which places the product to be tested and the test equipment on the mobile platform, and transports the product to be tested and the test equipment to a shielded room for replacement via the mobile platform. The mobile platform and the shielded room can also be accurately docked, which greatly reduces the degree of human participation, improves the degree of automation and utilization of electromagnetic compatibility testing, and reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a structural schematic diagram of a mobile platform docking system for electromagnetic compatibility testing in one embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the steering wheel structure of a mobile platform docking system for electromagnetic compatibility testing in one embodiment of the present invention;

[0032] Figure 3 A top view of a docking state of a mobile platform docking system for electromagnetic compatibility testing in one embodiment of the present invention Figure 1 ;

[0033] Figure 4 A top view of a docking state of a mobile platform docking system for electromagnetic compatibility testing in one embodiment of the present invention Figure 2 . DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, wherein the illustrative embodiments and descriptions are only used to explain the present invention but are not intended to limit the present invention.

[0035] It should be noted that, in the present invention, the terms "first" and "second" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0036] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0038] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the present invention provides a mobile platform docking system for electromagnetic compatibility testing, including a shielding room 100, a main control device, at least one replacement device 200, at least one mobile platform 201, at least two first light sensors 300, and at least two second light sensors 310;

[0039] The shielding room 100 includes a top layer, a bottom layer, a first wall, a second wall, a third wall, and a fourth wall. A first rectangular notch is provided at one corner of the bottom layer, a second rectangular notch is provided at the first wall to match the first rectangular notch, and a third rectangular notch is provided at the second wall to match the first rectangular notch and the second rectangular notch. A support is provided at the bottom layer of the shielding room 100. The support is used to lift the shielding room 100 for a distance so as to facilitate splicing with the replacement device 200. The replacement device 200 is provided on the mobile platform 201.

[0040] The replacement device 200 comprises a first shielding wall 202 matching the second rectangular notch, a second shielding wall 203 matching the third rectangular notch, and a shielding bottom surface 204 matching the first rectangular notch, the shielding bottom surface 204 is detachably arranged on the mobile platform 201, the first shielding wall 202 and the second shielding wall 203 are both arranged on the shielding bottom surface 204, and are perpendicular to each other;

[0041] A first shielding device is provided at the edges of the first rectangular notch, the second rectangular notch and the third rectangular notch, a second shielding device is provided on the edges of the first shielding wall 202, the second shielding wall 203 and the shielding bottom surface 204, a first auxiliary line 101 parallel to the first wall is provided on the ground below the first rectangular notch, and a second auxiliary line 102 is provided on the ground below the first rectangular notch and parallel to the second wall;

[0042] Further, the distance between the first auxiliary line 101 and the second wall is preset, the distance between the second auxiliary line 102 and the first wall is also preset, and the first auxiliary line 101 and the first auxiliary line 102 are marked with different colors, and the color difference between the two is large;

[0043] The mobile platform 201 includes a control device, which is in communication with the main control device, and is used to receive instructions from the main control device to control the movement of the mobile platform 201. The main control device is arranged outside the shielding room 100;

[0044] The mobile platform 201 also includes a first roller 205, a second roller 206, a third roller 207, a fourth roller 208, a steering wheel 209, a first driving device, a second driving device and a power supply device. The first driving device, the second driving device and the power supply device are all arranged under the mobile platform 201. The power supply device is connected to the first driving device, the second driving device, the control device and the first light sensor 300 respectively. The first driving device and the second driving device are also connected to the control device. The first driving device is used to drive the first roller 205, the second driving device and the power supply device. The second roller 206, the third roller 207, and the fourth roller 208 move, the second driving device is arranged at the center below the mobile platform 201, and is used to drive the steering wheel 209 to move, the at least two first light sensors 300 are arranged between the second roller 206 and the third roller 207, and are arranged on the same straight line with the second roller 206 and the third roller 207, and the at least two second light sensors 310 are arranged between the third roller 207 and the fourth roller 208, and are arranged on the same straight line with the third roller 207 and the fourth roller 208;

[0045] The mobile platform 201 further includes a first roller 205, a second roller 206, a third roller 207, a fourth roller 208, a steering wheel 209 and a power supply device. The power supply device can be arranged at any position below the mobile platform 201. The first roller 205, the second roller 206, the third roller 207, and the fourth roller 208 are all driven wheels, which are respectively arranged at four corners below the mobile platform 201. The steering wheel 209 is a driving wheel, which is arranged in the middle below the mobile platform 201. The steering wheel 209 is a double-wheel structure, including a first steering wheel, a second steering wheel, a first driving device, and a second driving device. The first driving device and the second driving device are both connected to the control device and the power supply device. The output end of the first driving device is connected to the first steering wheel, and the output end of the second driving device is connected to the second steering wheel.

[0046] Specifically, the first driving device and the second driving device include motors, and the rotation speeds of the first driving device and the second driving device are controlled by the control device, so that the first steering wheel and the second steering wheel can rotate at a differential speed, so that the mobile platform 201 can rotate during the rotation process, and the first driving device and the second driving device are arranged on the same straight line;

[0047] The first light sensor 300 is used to identify the first auxiliary line 101 and send a first identification signal to the control device, and the second light sensor 310 is used to identify the second auxiliary line 102 and send a second identification signal to the control device;

[0048] The main control device is used to send a movement instruction to the control device, thereby dispatching the mobile platform 201 equipped with the replacement device 200 to dock with the shielding room 200;

[0049] The control device is used to receive the movement instruction issued by the main control device, and control the movement of the mobile platform 201 according to the movement instruction;

[0050] The control device is further used to receive a first identification signal sent by the first light sensor 300 and a second identification signal sent by the second light sensor 310, and control the mobile platform 201 to move to the first station according to the first identification signal. The control device is also used to receive a second identification signal sent by the second light sensor 310, and control the mobile platform 201 to move from the first station to the second station according to the second identification signal. When the mobile platform 201 is at the second station, the control device controls the mobile platform 201 to move a predetermined distance so that the docking device 200 docks with the shielding room 100.

[0051] Specifically, when the center point line of the first light sensor 300 coincides with the first auxiliary line 101, the position of the mobile platform 201 is the first workstation; when the center point line of the second light sensor 310 coincides with the second auxiliary line 102, the position of the mobile platform 201 is the second workstation.

[0052] Specifically, in an implementation scenario of the present invention, the first auxiliary line 101 is arranged at the edge of the first square notch close to the second shielding wall 202. For ease of description, as shown in FIG. Figure 3As shown, a rectangular coordinate system XOY is established with a straight line in the direction of the first auxiliary line 101 as the Y axis and a straight line perpendicular to the Y axis as the X axis. The shielding room 100 is a cubic structure consisting of a top layer, a bottom layer, a first wall, a second wall, a third wall, and a fourth wall. The main control device is arranged outside the shielding room 100 and is used to schedule the docking of the at least one replacement device 200 and the at least one mobile platform 201 with the shielding room 100. The main control device includes but is not limited to a computer, a microcomputer, etc. The main control device is connected to a control device arranged on the mobile platform 201 for communication, and sends a signal to the control device. Send instructions to control the movement of the mobile platform 201; a plurality of support bodies are arranged at the bottom layer of the shielding room 100, and the support bodies support the shielding room with paper, so that the mobile platform 201 carrying the replacement device 200 can be easily docked with the shielding room 100, therefore, the height of the support body should be consistent with the height of the mobile platform, one of the corners of the bottom layer is provided with a first rectangular notch, the first wall is provided with a second rectangular notch matching the first rectangular notch, the second wall is provided with a third rectangular notch matching the first rectangular notch and the second rectangular notch, the specific height of the second rectangular notch is consistent with the height of the third rectangular notch, the length of the second rectangular notch is consistent with the length of the first rectangular notch, the length of the third rectangular notch is consistent with the width of the first rectangular notch, the bottom layer of the shielding room 100 is provided with a support body, the replacement device 200 is arranged on the mobile platform 201, the replacement device 200 includes a first shielding wall 202 matching the second rectangular notch, a second shielding wall 203 matching the third rectangular notch, and a shielding bottom surface 204 matching the first rectangular notch, the shielding bottom The first shielding wall 202 and the second shielding wall 203 are both arranged on the edge of the shielding bottom surface 204, and the first shielding wall 202, the second shielding wall 203 and the shielding bottom surface 204 are perpendicular to each other. When docking, a corner gap formed by the first rectangular gap, the second rectangular gap and the third rectangular gap opened in the shielding room, and a corner block formed by the first shielding wall 202, the second shielding wall 203 and the shielding bottom surface 204 in the replacement device 200 can just dock with the corner gap in the shielding room;

[0053] The power supply device is arranged at the bottom of the mobile platform 201, and is connected to the control device, the first light sensor 300 and the second light sensor 310 which are also arranged at the bottom of the mobile platform 20, and provides power to them. The control device and the power supply device can be arranged at any position at the bottom of the mobile platform 201. The first roller 205, the second roller 206, the third roller 207 and the fourth roller 208 of the mobile platform 201 are arranged at the four corners of the mobile platform 201. At least two first light sensors 300 are arranged, and the two first light sensors 300 are arranged on the same straight line with the second roller 206 and the third roller 207, and the two first light sensors 300 are spaced a certain distance apart. The steering wheel 209 is arranged at the center below the mobile platform 201, and includes a first steering wheel, a second steering wheel, a first driving device, and a second driving device. The first driving device and the second driving device are both connected to the control device and the power supply device. The output end of the first driving device is connected to the first steering wheel, and the output end of the second driving device is connected to the second steering wheel. The first driving device and the second driving device include motors. The rotation speed of the first driving device and the second driving device is controlled by the control device, which can make the first steering wheel and the second steering wheel rotate at a differential speed. Therefore, during the rotation process, the mobile platform 201 can be rotated. The first driving device and the second driving device are arranged on the same straight line and docked. When the mobile platform 201 moves from the positive semi-axis to the negative semi-axis of the X-axis in the rectangular coordinate system XOY, the first light sensor 300 captures the first auxiliary line 101 on the ground in real time. In the first scenario of the present embodiment, the first auxiliary line 101 is set to be parallel to the first wall and the distance from the second wall is 5CM, and the color of the first auxiliary line 101 is red. When the two first light sensors 300 capture the first auxiliary line 101 at the same time, it means that the straight line where the second roller 206, the third roller 207 and the first light sensor 300 are located is parallel to the first wall in the shielding room 100. At this time, it means that the mobile platform 201 has been connected to the shielding room composed of the first rectangular gap, the second rectangular gap and the third rectangular gap. If the first corner gap is aligned, it means that the mobile platform 201 has reached the preset first station. At this time, the control device controls the mobile platform 100 to move toward the positive half axis of the Y axis of the rectangular coordinate system XOY. The second light sensor 310 captures the second auxiliary line 102 on the ground in real time. Specifically, the second auxiliary line 102 is parallel to the second wall, and the distance from the first wall is also set to 5CM. In order to distinguish the two auxiliary lines, the second auxiliary line 102 is set to yellow. When the two second light sensors 310 set by the mobile platform 201 collect the second auxiliary line 102 at the same time, it means that the mobile platform 201 has reached the preset second station. After the mobile platform 201 reaches the second station,Then the mobile platform is controlled to move 5CM toward the positive half axis of the Y axis and then 5CM toward the positive half axis of the X axis to achieve docking with the shielding room 100;

[0054] During the movement, when the two first light sensors 300 do not capture the first auxiliary line 101 at the same time, when the mobile platform 201 moves from the positive semi-axis to the negative semi-axis of the X-axis, it can be judged and adjusted based on the images obtained by the two first light sensors 300. When the first light sensor 300 near one end of the third roller 207 captures the first auxiliary line 101 first and the first light sensor 300 near the second roller 206 does not capture the first auxiliary line 101, it means that the mobile platform 201 is offset to the negative semi-axis of the Y-axis during the movement. At this time, the main control device sends an instruction to the control device, and the control device then sends an instruction to the first drive device and the second drive device. Send instructions and control the steering wheel 209 to rotate clockwise, and then adjust the movement of each driven wheel until the two first light sensors 300 can capture the first auxiliary line 101. Similarly, when the mobile platform 201 is offset to the positive half axis of the Y-axis during movement, the control setting can also be used to send instructions to the first drive device and the second drive device and control the steering wheel 209 to rotate clockwise, and control and adjust the movement of each driven wheel until the two first light sensors 300 can capture the first auxiliary line 101. When the mobile platform 201 is offset when moving from the first station to the second station, the same method is used for adjustment, which will not be repeated here.

[0055] In an embodiment of the present invention, the first shielding device and the second shielding device both include beryllium copper springs, and the first shielding device and the second shielding device are both used to shield external interference.

[0056] In one embodiment of the present invention, a first laser alignment device 401 and a second laser alignment device 402 are further provided under the mobile platform 201. The first laser alignment device 401 is provided below the corner where the second roller 206 is located, and the second laser alignment device 402 is provided below the corner where the fourth roller 208 is located. The first laser alignment device 401 forms a certain angle with the second shielding wall 203, and the second laser alignment device 402 forms a certain angle with the first shielding wall 202. The straight line where the laser emitted by the first laser alignment device 401 is located is parallel to the straight line where the laser emitted by the second laser alignment device 402 is located. The first laser alignment device 401 and the second laser alignment device 402 are both connected to the control device, The power supply device is connected; the bottom layer of the shielding room 100 is also provided with a third laser alignment device 403 matching the first laser alignment device 401 and a fourth laser alignment device 404 matching the second laser alignment device 402, the angle between the third laser alignment device 403 and the second wall is equal to the angle between the first laser alignment device 401 and the second shielding wall 203, the angle between the fourth laser alignment device 404 and the first wall is equal to the angle between the second laser alignment device 402 and the first shielding wall 202, and the sum of the angle between the fourth laser alignment device 404 and the first wall and the angle between the third laser alignment device 403 and the second wall is 90°;

[0057] Further, the first laser alignment device 401 and the second laser alignment device 402 are laser emitting devices, the third laser alignment device 403 and the fourth laser alignment device 404 are laser receiving devices, the first laser alignment device 401 is used to emit laser to the third laser alignment device 403 and receive laser reflected by the third laser alignment device 403, thereby achieving alignment, the second laser alignment device 402 is used to emit laser to the fourth laser alignment device 404 and receive laser emitted by the fourth laser alignment device 404, thereby achieving alignment, when the mobile platform 201 arrives at the first station and moves to the second station, the first laser alignment device 401 and the second laser alignment device 402 emit laser in real time, when the laser emitted by the first laser alignment device 401 coincides with the laser reflected by the third laser alignment device 403, and the laser emitted by the second laser alignment device 402 coincides with the laser reflected by the fourth laser alignment device 404, after the control device determines that the mobile platform has arrived at the preset third station, the control device controls the mobile platform 201 to move in a predetermined direction;

[0058] Further, the third working position is the position of the mobile platform when the laser emitted by the first laser alignment device 401 coincides with the laser reflected by the third laser alignment device 403, and the laser emitted by the second laser alignment device 402 coincides with the laser reflected by the fourth laser alignment device 404;

[0059] Furthermore, the sum of the angle between the first laser alignment device 401 and the second shielding wall 203 and the angle between the second laser alignment device 402 and the first shielding wall 202 is 90°.

[0060] Specifically, continuing with the above example, in the above example, only laser sensors are used to collect auxiliary lines on the ground to control and adjust the platform to dock with the shielding room 100. This method has little reliance on sensors, but is also relatively low in accuracy. Therefore, as a preferred embodiment of the present invention, a laser alignment device is introduced to achieve more accurate docking. The first laser alignment device 401 is arranged at the bottom of the mobile platform 201 at a right angle close to the second roller 206, the second laser alignment device 402 is arranged at the bottom of the mobile platform 201 at a right angle close to the fourth roller 208, the third laser alignment device 403 is arranged at a first wall of the shielding room 100 that is perpendicular to the bottom layer and close to the first square notch, the fourth laser alignment device 404 is arranged at a second wall of the shielding room 100 that is perpendicular to the bottom layer and close to the first square notch, and the laser emission directions of the first laser alignment device 401 and the second laser alignment device 402 are consistent, and the laser radiation directions of the third laser alignment device 403 and the fourth laser alignment device 404 are also consistent. In this scenario, the angle between the third laser alignment device 403 and the second wall is 45°, and the angle between the fourth laser alignment device 404 and the first wall is also 45°, that is, the laser reflection direction of the third laser alignment device 403 is parallel to the laser reflection direction of the fourth laser alignment device 404. Then, there is also an angle of 45° between the first laser alignment device 401 and the second shielding wall 203, and the angle between the second laser alignment device 402 and the first shielding wall 202 is also 45°, that is, the laser emission direction of the first laser alignment device 401 is parallel to the laser emission direction of the second laser alignment device 402, and the laser directions emitted by the first laser alignment device 401 and the second laser alignment device 402 are respectively relative to the laser directions reflected by the third laser alignment device 403 and the fourth laser alignment device 404, thereby ensuring that the third laser alignment device 403 and the fourth laser alignment device 404 can respectively receive and reflect the lasers emitted by the first laser alignment device 401 and the second laser alignment device 402;

[0061] After the mobile platform 201 moves from the positive semi-axis to the negative semi-axis of the X-axis in the rectangular coordinate system XOY to the first workstation, the control device continues to control the mobile platform 201 to move toward the positive semi-axis of the Y-axis in the rectangular coordinate system XOY. During the movement, the first laser alignment device 401 and the second laser alignment device 402 will emit lasers. When the lasers emitted by the first laser alignment device 401 and the second laser alignment device 402 are respectively irradiated to the third laser alignment device 403 and the fourth laser alignment device 404, and the lasers emitted by the first laser alignment device 401 and the second laser alignment device 402 coincide with the lasers reflected by the third laser alignment device 403 and the fourth laser alignment device 404, it means that the mobile platform 201 has reached the preset third workstation. At this time, the mobile platform 201 is controlled to move toward the shielding room 100 in the diagonal direction of the first quadrant in the rectangular coordinate system XOY, thereby achieving docking with the shielding room;

[0062] The possible deviation etc. generated in the process of the mobile platform 201 moving from the first station to the third station can be adjusted according to the alignment between the lasers emitted by the first laser alignment device 401 and the second laser alignment device 402 and the lasers reflected by the third laser alignment device 403 and the fourth laser alignment device 404. When the third laser alignment device 403 first receives the laser emitted by the first laser alignment device 401 and the fourth laser alignment device 404 does not receive the laser emitted by the second laser alignment device 402, it means that the mobile platform 201 is offset toward the negative half axis of the X-axis during the movement of the mobile platform 201. Then the control device controls the first drive device and the second drive device to rotate differentially, and drives the steering wheel 209 to rotate clockwise until the first and second laser alignment devices are aligned. The third laser alignment device 403 and the fourth laser alignment device 404 can respectively and simultaneously receive the lasers emitted by the first laser alignment device 401 and the second laser alignment device 402. Similarly, when the third laser alignment device 403 does not receive the laser emitted by the first laser alignment device 401 and the fourth laser alignment device 404 first receives the laser emitted by the second laser alignment device 402, it indicates that the mobile platform 201 is offset toward the positive half axis of the X-axis, and the control device controls the first drive device and the second drive device to rotate differentially, and drives the steering wheel 209 to rotate clockwise, until the third laser alignment device 403 and the fourth laser alignment device 404 can respectively and simultaneously receive the lasers emitted by the first laser alignment device 401 and the second laser alignment device 402.

[0063] When the mobile platform 201 moves to the third station, Figure 4As shown, for the convenience of description, at this time, the straight line where the second shielding wall 203 in the mobile platform 201 is located is the X' axis, and the straight line where the first auxiliary line 101 is located is the Y' axis to establish a rectangular coordinate system XOY'. After the mobile platform 201 moves to the third station, the control device controls the mobile platform 201 to move toward the shielding room in the diagonal direction of the first quadrant of the rectangular coordinate system XOY', thereby achieving docking with the shielding room 100;

[0064] It can be understood that, since the distance between the first auxiliary line 101 and the second wall is preset, that is, the distance between the first auxiliary line 101 and the second wall is known, and the angle between the first laser alignment device 401 and the second shielding wall 203 is also known, the distance that the mobile platform 201 needs to move toward the positive half axis of the Y' axis can be calculated by the Pythagorean theorem. Therefore, docking can be achieved based on the laser alignment device without using the second auxiliary line 102 to determine its moving distance, and the use of laser alignment can improve the alignment accuracy;

[0065] After the mobile platform 201 moves to the third workstation, the driving direction of the mobile platform 201 when approaching the shielding room 100 corresponds to the angle between the first laser alignment device 401 and the second shielding wall 203 and the angle between the second laser alignment device 402 and the first shielding wall 202. In other words, when the angle between the first laser alignment device 401 and the second shielding wall 203 and the angle between the second laser alignment device 402 and the first shielding wall 202 are 45°, the mobile platform 201 approaches the shielding room in the diagonal direction of the first quadrant of the rectangular coordinate system XOY'. When the angle between the first laser alignment device 401 and the second shielding wall 203 is 20° and the angle between the second laser alignment device 402 and the first shielding wall 202 is 70°, the control device controls the mobile platform 201 to approach the shielding room 100 in the direction of 20° with the X' axis.

[0066] In one embodiment of the present invention, a first groove and a second groove are provided at the bottom layer of the shielding room 100 near the first rectangular notch, a plurality of first pressure sensors 103 are provided at equal intervals in the first groove, and a first shielding device is provided on the plurality of first pressure sensors 103; a plurality of second pressure sensors 104 are provided at equal intervals in the second groove, and a first shielding device is provided on the plurality of second pressure sensors 104, and the first pressure sensors 103 and the second pressure sensors 104 are both communicatively connected to the control device;

[0067] Furthermore, the first pressure sensor 103 and the second pressure sensor 104 are used to detect the force generated when the mobile platform 201 is in contact with the shielding room 100, and send the force to the control device, so that the control device adjusts the positional relationship between the mobile platform 201 and the shielding room 100 to achieve the docking of the mobile platform 201 and the shielding room 100;

[0068] Furthermore, the control device controls the mobile platform 201 to approach the shielding room 100. When the two sides of the mobile platform 201 away from the first shielding wall 202 and the second shielding wall 203 are in contact with the shielding room 100, the control device obtains the values ​​of the several first pressure sensors 103 and the several second pressure sensors 104, and adjusts the moving direction of the mobile platform 201 according to the values ​​obtained by the several first pressure sensors 103 and the values ​​obtained by the several second pressure sensors 104. When the values ​​of the data of the several first pressure sensors 103 and the several second pressure sensors 104 are consistent, it is determined that the docking of the mobile platform 201 with the shielding room 100 is completed.

[0069] Specifically, continuing with the above example, after the main control device determines that the mobile platform 201 has reached the preset third workstation, it sends a command to the control device, and when the mobile platform 201 approaches the shielding room in the diagonal direction of the first quadrant of the rectangular coordinate system XOY', when the angle between the first laser alignment device 401 and the second shielding wall 203 and the angle between the second laser alignment device 402 and the first shielding wall 202 are 45°, during the contact between the mobile platform 201 and the shielding room 100, several first pressure sensors 103 and each second pressure sensor 104 arranged at equal intervals on the bottom layer of the shielding room 100 obtain the value generated when the replacement device 200 contacts the pressure sensor in real time. For the convenience of measurement, the first pressure sensor 103 and the second pressure sensor 104 are used to measure the value of the replacement device 200. The number of force sensors 104 should be as large as possible. For ease of description, the first pressure sensors 103 are numbered from left to right as 1 to 15, and the second pressure sensors 104 are numbered from top to bottom as 1 to 15. When values ​​are obtained from the first pressure sensors 103 No. 1 to 15 and the values ​​are equal, values ​​are obtained from the second pressure sensors 104 No. 1 to 15 and the values ​​are equal, and the values ​​of the first pressure sensors 103 and the second pressure sensors 104 are also equal, it can be determined that the replacement device 200 is connected to the shielding room. Of course, there may be misreading of the first pressure sensor 103 or the second pressure sensor 104, so it is allowed that the values ​​of individual sensors in each of the first pressure sensors 103 or the second pressure sensors 104 have errors;

[0070] Since the laser alignment device is used for docking, the moving direction of the mobile platform 200 moves according to the direction of the laser. Due to factors such as uneven ground or the acceptable accuracy range of the laser alignment device, the direction of the mobile platform 201 may deviate from the direction of the shielding room 100. For example, when the replacement device 200 contacts the shielding room 100 during movement, only one or more of the first pressure sensors 103 between No. 10 and No. 14 can obtain the value of the force generated during contact while the other first pressure sensors 103 have no value, and only one or more of the second pressure sensors 104 between No. 10 and No. 14 can obtain the value of the force generated during contact while the other second pressure sensors 104 have no value, it can be determined that the mobile platform 201 deflects to the left side of the Y' axis. Then, the control device can calculate the offset angle according to the values ​​between the sensors, and then control the mobile platform 201 to retreat a short distance and deflect to the right side of the Y' axis by a certain angle.

[0071] Similarly, when only one or more of the first pressure sensors 103 between No. 2 and No. 6 can obtain the value of the force generated during contact while the other first pressure sensors 103 have no values, and at the same time only one or more of the second pressure sensors 104 between No. 2 and No. 6 can obtain the value of the force generated during contact while the other second pressure sensors 104 have no values, it can be determined that the mobile platform 201 is deflected to the right side of the Y' axis; the control device can calculate the offset angle based on the values ​​between the sensors, and then control the mobile platform 201 to retreat a short distance and deflect to the left side of the Y' axis by a certain angle, thereby adjusting the docking angle between the mobile platform 201 and the shielding room 100 to achieve precise docking.

[0072] Obviously, the above embodiments are merely examples for more clearly expressing the technical solution of the present invention, rather than limiting the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made on the basis of the above description, and these all belong to the protection scope of the present invention without departing from the concept of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A mobile platform docking system for electromagnetic compatibility testing, characterized in that: It includes a shielding room, a main control device, at least one replacement device, at least one mobile platform, at least two first light sensors, and at least two second light sensors; The shielding room comprises a top layer, a bottom layer, a first wall, a second wall, a third wall and a fourth wall, one corner of the bottom layer is provided with a first rectangular notch, the first wall is provided with a second rectangular notch matching the first rectangular notch, the second wall is provided with a third rectangular notch matching the first rectangular notch and the second rectangular notch, the bottom layer of the shielding room is provided with a support body, the support body is used to lift the shielding room for a distance so as to facilitate splicing with the replacement device, and the replacement device is provided on the mobile platform; The replacement device comprises a first shielding wall matching the second rectangular notch, a second shielding wall matching the third rectangular notch, and a shielding bottom surface matching the first rectangular notch, the shielding bottom surface is detachably arranged on the mobile platform, the first shielding wall and the second shielding wall are both arranged on the shielding bottom surface, and are perpendicular to each other; A first shielding device is provided at the edges of the first rectangular notch, the second rectangular notch and the third rectangular notch, a second shielding device is provided on the first shielding wall, the second shielding wall and the edge of the shielding bottom surface, a first auxiliary line parallel to the first wall is provided on the ground below the first rectangular notch, and a second auxiliary line is provided on the ground below the first rectangular notch and parallel to the second wall; The distance between the first auxiliary line and the second wall is preset, and the distance between the second auxiliary line and the first wall is also preset. The first auxiliary line and the second auxiliary line are marked with different colors, and the color difference between the two is large. The mobile platform includes a control device, the control device is connected to the main control device for communication, the control device is used to receive instructions from the main control device and then control the movement of the mobile platform, and the main control device is arranged outside the shielding room; The mobile platform further comprises a first roller, a second roller, a third roller, a fourth roller, a steering wheel, a first driving device, a second driving device and a power supply device. The first driving device, the second driving device and the power supply device are all arranged under the mobile platform. The power supply device is respectively connected to the first driving device, the second driving device, the control device and the first light sensor. The first driving device and the second driving device are also connected to the control device. The first driving device is used to drive the first roller, the second roller, the third roller and the fourth roller to move. The second driving device is arranged at the center below the mobile platform and is used to drive the steering wheel to move. The at least two first light sensors are arranged between the second roller and the third roller and are arranged on the same straight line with the second roller and the third roller. The at least two second light sensors are arranged between the third roller and the fourth roller and are arranged on the same straight line with the third roller and the fourth roller. The mobile platform also includes a first roller, a second roller, a third roller, a fourth roller, a steering wheel and a power supply device. The power supply device can be arranged at any position below the mobile platform. The first roller, the second roller, the third roller and the fourth roller are all driven wheels, which are respectively arranged at four corners below the mobile platform. The steering wheel is an active wheel, which is arranged in the middle below the mobile platform. The steering wheel is a double-wheel structure, including a first steering wheel, a second steering wheel, a first driving device and a second driving device. The first driving device and the second driving device are both connected to the control device and the power supply device. The output end of the first driving device is connected to the first steering wheel, and the output end of the second driving device is connected to the second steering wheel. The first light sensor is used to identify the first auxiliary line and send a first identification signal to the control device, and the second light sensor is used to identify the second auxiliary line and send a second identification signal to the control device; The main control device is used to send a movement instruction to the control device, thereby dispatching the mobile platform equipped with the replacement device to dock with the shielding room; The control device is used to receive the movement instruction issued by the main control device, and control the movement of the mobile platform according to the movement instruction; The control device is further used to receive a first identification signal sent by the first light sensor and a second identification signal sent by the second light sensor, and control the mobile platform to move to the first station according to the first identification signal. The control device is also used to receive a second identification signal sent by the second light sensor, and control the mobile platform to move from the first station to the second station according to the second identification signal. When the mobile platform is at the second station, the control device controls the mobile platform to move a predetermined distance so that the replacement device is docked with the shielding room. A first laser alignment device and a second laser alignment device are also arranged under the mobile platform. The first laser alignment device is arranged below the corner where the second roller is located, and the second laser alignment device is arranged below the corner where the fourth roller is located. The first laser alignment device forms a certain angle with the second shielding wall, and the second laser alignment device forms a certain angle with the first shielding wall. The straight line where the laser emitted by the first laser alignment device is located is parallel to the straight line where the laser emitted by the second laser alignment device is located. The first laser alignment device and the second laser alignment device are both connected to the control device and the power supply device. A third laser alignment device matching the first laser alignment device and a fourth laser alignment device matching the second laser alignment device are also arranged under the bottom layer of the shielding room. The angle between the third laser alignment device and the second wall is equal to the angle between the first laser alignment device and the second shielding wall, the angle between the fourth laser alignment device and the first wall is equal to the angle between the second laser alignment device and the first shielding wall, and the sum of the angle between the fourth laser alignment device and the first wall and the angle between the third laser alignment device and the second wall is 90°.

2. A mobile platform docking system for electromagnetic compatibility testing as claimed in claim 1, characterized in that: When the center point line of the first light sensor coincides with the first auxiliary line, the position of the mobile platform is the first workstation; when the center point line of the second light sensor coincides with the second auxiliary line, the position of the mobile platform is the second workstation.

3. A mobile platform docking system for electromagnetic compatibility testing as claimed in claim 1, characterized in that: The first shielding device and the second shielding device both include beryllium copper spring sheets, and the first shielding device and the second shielding device are both used to shield external interference.

4. A mobile platform docking system for electromagnetic compatibility testing as claimed in claim 3, characterized in that: The first laser alignment device and the second laser alignment device are laser emitting devices, and the third laser alignment device and the fourth laser alignment device are laser receiving devices. The first laser alignment device is used to emit laser to the third laser alignment device and receive laser reflected by the third laser alignment device, thereby achieving alignment. The second laser alignment device is used to emit laser to the fourth laser alignment device and receive laser emitted by the fourth laser alignment device, thereby achieving alignment. When the mobile platform reaches the first station and moves to the second station, the first laser alignment device and the second laser alignment device emit laser in real time. When the laser emitted by the first laser alignment device coincides with the laser reflected by the third laser alignment device, and the laser emitted by the second laser alignment device coincides with the laser reflected by the fourth laser alignment device, after the control device determines that the mobile platform has reached the preset third station, the control device controls the mobile platform to move in a predetermined direction.

5. A mobile platform docking system for electromagnetic compatibility testing as claimed in claim 4, characterized in that: The third workstation is the position of the mobile platform when the laser emitted by the first laser alignment device coincides with the laser reflected by the third laser alignment device, and the laser emitted by the second laser alignment device coincides with the laser reflected by the fourth laser alignment device.

6. A mobile platform docking system for electromagnetic compatibility testing as claimed in claim 3, characterized in that: The sum of the angle between the first laser alignment device and the second shielding wall and the angle between the second laser alignment device and the first shielding wall is 90°.

7. A mobile platform docking system for electromagnetic compatibility testing as claimed in claim 1, characterized in that: A first groove and a second groove are arranged on the bottom layer of the shielding room near the first rectangular notch, a plurality of first pressure sensors are arranged at equal intervals in the first groove, and a first shielding device is arranged on the plurality of first pressure sensors; a plurality of second pressure sensors are arranged at equal intervals in the second groove, and a first shielding device is arranged on the plurality of second pressure sensors, and the first pressure sensor and the second pressure sensor are both communicatively connected to the control device.

8. A mobile platform docking system for electromagnetic compatibility testing as claimed in claim 7, characterized in that: The first pressure sensor and the second pressure sensor are used to detect the value of the force generated when the mobile platform is in contact with the shielding room, and send it to the control device, so that the control device adjusts the positional relationship between the mobile platform and the shielding room to achieve the docking of the mobile platform and the shielding room.

9. A mobile platform docking system for electromagnetic compatibility testing as claimed in claim 7, characterized in that: The control device controls the mobile platform to approach the shielding room. When the two sides of the mobile platform away from the first shielding wall and the second shielding wall contact the shielding room, the control device obtains the values ​​of the several first pressure sensors and the several second pressure sensors, and adjusts the moving direction of the mobile platform according to the values ​​obtained by the several first pressure sensors and the values ​​obtained by the several second pressure sensors. When the values ​​of the data of the several first pressure sensors and the several second pressure sensors are consistent, it is determined that the docking of the mobile platform with the shielding room is completed.

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