A double-cabin automatic docking system and docking method for a square cabin

Abstract

The present invention discloses a square cabin double-cabin automatic docking system and docking method, the system includes a docking cabin, square cabin transportation equipment and a target cabin; the target cabin and the docking cabin can be self-leveled, the docking cabin can be leveled left and right, and up and down with the target cabin, and when the distance angle between the target cabin and the docking cabin is within the error range, the target cabin and the docking cabin can dock. The square cabin double-cabin automatic docking system and docking method designed by the present invention are suitable for various venues, so that the two cabins are kept horizontal, at a preset distance, set up in parallel, aligned left and right, and at the same height, and can be fully automatically docked with one key, and no human intervention is required during the docking process, so that automatic docking between square cabins is realized, the structure is simple, easy to maintain, and the docking is reliable and firm.

Description

Technical Field

[0001] The invention belongs to the field of shelter equipment, and in particular relates to an automatic docking system and a docking method for two shelters. Background Art

[0002] Fangcang refers to a box-type workroom that is organically combined with various solid materials and can be used for various purposes such as command, medical treatment, and cooking. Fangcang Hospital is a combined application of medical Fangcang. By connecting multiple Fangcang to each other, Fangcang Hospital can be interconnected, expanding its usable space and meeting the work needs of Fangcang Hospital.

[0003] In the Fangcang hospitals at home and abroad, most of the Fangcang are connected by corridors. However, when connecting the Fangcang, the Fangcang needs to be set up on a relatively flat ground. The position accuracy of the Fangcang needs to be high during the connection. Lines need to be drawn to assist the Fangcang to be deployed in the correct position, and manual connection is required. At the same time, the corridor needs to be transported and loaded separately, and the interface between the Fangcang needs special design. This makes the existing Fangcang docking accuracy low, the degree of automation low, the deployment time long, and the need to consume a lot of manpower, which seriously restricts the speed of the Fangcang's field deployment, and cannot meet the use requirements of rapid deployment under field conditions. It increases the extra workload and pressure of medical staff and reduces the treatment capacity. Summary of the invention

[0004] The present invention proposes a system for automatically docking a double-cabin shelter, comprising:

[0005] Docking cabin, shelter transport equipment and target cabin;

[0006] The docking cabin and the target cabin are respectively equipped with a level sensor and a controller;

[0007] The four corners of the docking cabin and the target cabin are respectively provided with leveling legs;

[0008] A pressure sensor is installed at the bottom of the leveling leg;

[0009] The controllers of the docking cabin and the target cabin are respectively connected to their respective level sensors, pressure sensors and leveling leg circuits;

[0010] The controllers of the docking cabin and the target cabin can be communicatively connected with the shelter transport equipment;

[0011] The shelter transport equipment is capable of receiving signals and transporting the docking cabin or the target cabin to a preset position;

[0012] When the shelter transport equipment carries a docking cabin or the shelter transport equipment carries a target cabin, the bottoms of the four leveling legs of the docking cabin or the target cabin can be extended to the ground;

[0013] The pressure sensor can measure the corresponding force value of the leveling leg.

[0014] A pressure threshold is preset. When the pressure value is less than the pressure threshold, the pressure sensor can control the corresponding leveling leg to extend;

[0015] The horizontal sensor can measure the inclination angle of the corresponding cabin and transmit it to the corresponding controller;

[0016] The controller can receive the cabin inclination angle, determine the highest supporting leveling leg according to the cabin inclination angle, calculate the distance that other leveling legs need to extend and control the extension of other leveling legs;

[0017] The docking cabin is provided with a docking surface, and the target cabin is provided with a target surface;

[0018] The butt surface has the same cross section as the target surface;

[0019] A reflector is provided on the upper portion of the target surface, and the reflector includes left and right reflectors, upper and lower reflectors, a first plane reflector, and a second plane reflector;

[0020] A laser distance measuring sensor is correspondingly arranged on the upper part of the docking surface, and the laser distance measuring sensor includes a left and right laser distance measuring sensor, an upper and lower laser distance measuring sensor, a first plane laser distance measuring sensor and a second plane laser distance measuring sensor;

[0021] The controller in the docking cabin is connected to the laser ranging sensor circuit;

[0022] The first plane laser distance sensor and the second plane laser distance sensor can measure the distance between the docking cabin and the target cabin to obtain a distance value; the controller of the docking cabin can receive the distance value and control the cabin transport device to move forward or backward according to the distance value; the controller of the docking cabin can receive the distance value and control the cabin transport device to rotate according to the distance value;

[0023] The controller of the docking cabin can receive the left and right measurement values ​​of the left and right laser ranging sensors, and calculate the left and right offset values ​​of the docking cabin and the target cabin according to the left and right measurement values. The controller of the docking cabin can control the cabin transport equipment to move left or right according to the left and right offset values.

[0024] The controller of the docking cabin receives the upper and lower measurement values ​​of the upper and lower laser ranging sensors, and calculates the upper and lower offset values ​​of the docking cabin and the target cabin according to the upper and lower measurement values. The controller of the docking cabin can control the extension or shortening of the leveling legs of the docking cabin according to the upper and lower offset values;

[0025] The docking surface of the docking cabin is provided with a docking plate, the first end of the docking plate is connected to the bottom axis of the docking surface through a hinge, and the docking plate can rotate around the bottom of the docking surface;

[0026] A retractable docking assembly is provided in the docking cabin, and a docking surface frame is provided on a side of the retractable docking assembly away from the docking cabin;

[0027] The docking surface frame of the docking cabin is used to dock with the target surface on the target cabin;

[0028] The retractable docking assembly can be retracted into the docking cabin;

[0029] When the docking plate rotates around the bottom of the docking surface, the angle between the docking plate and the docking surface is equal to 90 degrees, and the telescopic docking assembly can be horizontally extended outside the cabin along the upper edge of the docking plate.

[0030] Furthermore, the left and right reflection plates, the upper and lower reflection plates, the first plane reflection plate and the second plane reflection plate are at the same horizontal height.

[0031] Furthermore, the first plane reflector and the second plane reflector are symmetrically arranged on the upper part of the target surface.

[0032] Furthermore, the left and right reflective plates are left and right 45-degree reflective plates, and the upper and lower reflective plates are upper and lower 45-degree reflective plates.

[0033] Further, a bottom plate support plate is provided under the target surface of the target cabin;

[0034] When the angle between the butt joint plate and the butt joint surface is equal to 90 degrees, the second end of the butt joint plate can be matched and placed on the bottom plate support plate.

[0035] Furthermore, the automatic docking system for the shelter further includes a first slide rail and a second slide rail;

[0036] The first slide rail is installed in the docking cabin body, and the second slide rail is installed on the docking plate;

[0037] When the angle between the butt joint plate and the butt joint surface is equal to 90 degrees, the first slide rail and the second slide rail cooperate to form a complete slide rail;

[0038] The telescopic docking assembly is capable of sliding along the first slide rail and the second slide rail.

[0039] Further, the telescopic docking assembly comprises two parallel scissor-type side walls and a plurality of frames;

[0040] A connecting portion is provided inside the docking cabin, and the first ends of the two scissor-type side walls are respectively fixedly connected to the connecting portion;

[0041] The frame is a hollow square structure;

[0042] Both sides of the plurality of frames are respectively fixedly connected to the two scissor-type side walls;

[0043] A plurality of the frames and two of the scissor-type side walls are combined to form a channel, and the channel is a cubic structure;

[0044] The channel can be extended or shortened;

[0045] The second ends of the two scissor-type side walls are respectively fixedly connected to the two sides of the docking surface frame;

[0046] A plurality of guide wheels are respectively arranged below the two sides of the plurality of frames;

[0047] The guide wheel can slide along the first slide rail and the second slide rail.

[0048] Furthermore, a channel tent is installed on the outer edge of the channel;

[0049] When the docking surface frame of the docking cabin is docked with the target surface on the target cabin, the passage tent forms a closed space between the docking cabin and the target cabin.

[0050] Furthermore, the docking surface frame is provided with a plurality of first docking locking mechanisms, and the target surface is provided with a plurality of second docking locking mechanisms in cooperation therewith, and the first docking locking mechanisms and the second docking locking mechanisms can cooperate and lock.

[0051] The present invention also proposes a method for automatically docking two cabins in a shelter, comprising the following steps:

[0052] S1: The cabin transport equipment receives the signal and transports the target cabin to the preset location;

[0053] S2: target cabin leveling;

[0054] S21: After the target cabin is placed, the corresponding four leveling legs are extended to touch the ground respectively, and the pressure sensor at the bottom of the leveling legs measures the force value of the leveling legs; a preset pressure threshold is set, and when the pressure value is less than the pressure threshold, the leveling leg is extended to perform pre-support;

[0055] S22: The horizontal sensor measures the inclination angle of the target cabin and transmits it to the target cabin controller; the controller determines the highest leveling leg of the cabin according to the inclination angle of the cabin;

[0056] S23: the controller calculates the height difference between the highest leveling leg and the other leveling legs, and controls the extension of the other leveling legs according to the difference;

[0057] S24: preset an angle threshold, repeat S22 and S23 until the horizontal sensor detects that the inclination angle of the target cabin is less than the preset angle threshold;

[0058] S3: The shelter transport equipment leaves the target cabin;

[0059] S4: The docking module and the target module are leveled left and right;

[0060] S41: After the target cabin is placed, the cabin transport equipment carries the docking cabin close to the target cabin so that the docking surface faces the target surface;

[0061] S42: a proximity distance threshold and a distance distance threshold are preset, and the first plane laser ranging sensor and the second plane laser ranging sensor respectively measure the distance between the docking cabin and the target cabin to obtain a distance value; when the distance values ​​are all greater than the proximity distance threshold, the controller controls the cabin transport equipment to carry the docking cabin to approach the target cabin; when the distance values ​​are all less than the distance distance threshold, the controller controls the cabin transport equipment to carry the docking cabin away from the target cabin; when a certain distance value is between the proximity distance threshold and the distance distance threshold, the controller controls the cabin transport equipment to stop moving;

[0062] S43: The controller receives the distance values ​​transmitted by the first plane laser distance measuring sensor and the second plane laser distance measuring sensor, and controls the rotation of the cabin transport device according to the distance values;

[0063] S44: The controller receives the left and right measurement values ​​transmitted by the left and right laser ranging sensors and calculates the left and right offset values, and controls the cabin transport device to move left or right according to the left and right offset values;

[0064] S5: The shelter transport equipment leaves the docking cabin;

[0065] S51: The leveling legs of the docking cabin are extended to the ground to support the docking cabin; the cabin transport equipment drives out from under the docking cabin;

[0066] S6: docking cabin leveling;

[0067] S61: The pressure sensor at the bottom of the docking cabin's leveling leg measures the force value of the leveling leg; a pressure threshold is preset, and when the pressure value is less than the pressure threshold, the leveling leg is extended to perform pre-support;

[0068] S62: The horizontal sensor measures the inclination angle of the docking cabin and transmits it to the controller of the docking cabin; the controller determines the highest leveling leg of the cabin according to the inclination angle of the cabin;

[0069] S63: the controller calculates the height difference between the highest leveling leg and the other leveling legs, and controls the other leveling legs to shorten according to the difference;

[0070] S64: Preset an angle threshold, repeat S72 and S73 until the horizontal sensor detects that the inclination angle of the docking cabin is less than the preset angle threshold;

[0071] S7: The docking module and the target module are leveled up and down;

[0072] S71: The controller receives the upper and lower measurement values ​​transmitted by the upper and lower laser distance measuring sensors and calculates the upper and lower offset values, and controls the extension or shortening of the leveling legs according to the upper and lower offset values;

[0073] S8: The docking module and the target module descend to the specified altitude simultaneously;

[0074] S9: docking module and target module dock;

[0075] S91: The docking plate of the docking cabin 1 is unfolded downward and overlapped on the bottom support plate of the target cabin;

[0076] S92: The passage extends forward out of the cabin for docking under the action of the electric transmission device;

[0077] S93: When the electric transmission device pushes the docking surface frame to be close to the target cabin, the first docking locking mechanism cooperates with the second docking locking mechanism to automatically lock, and the docking is completed.

[0078] The present invention designs a double-cabin automatic docking system and docking method for square cabins, which are adaptable to various venues, keep the two cabins level, at a preset distance, set up in parallel, aligned left and right, and at the same height, and can perform one-key full-automatic docking. No human intervention is required during the docking process, and automatic docking between square cabins is realized. The structure is simple, easy to maintain, and the docking is reliable and firm. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 A first stereoscopic effect diagram of a modular double-cabin automatic docking system according to an embodiment of the present invention is shown;

[0080] Figure 2 A second stereoscopic effect diagram of a modular cabin double-cabin automatic docking system according to an embodiment of the present invention is shown;

[0081] Figure 3 A rendering of a modular cabin transport device of a modular cabin double cabin automatic docking system according to an embodiment of the present invention is shown;

[0082] Figure 4 A schematic diagram of leveling a single cabin of a double-cabin automatic docking system for a square cabin according to an embodiment of the present invention is shown;

[0083] Figure 5 A schematic diagram of a laser ranging docking surface and a target surface of a square cabin double cabin automatic docking system according to an embodiment of the present invention is shown;

[0084] Figure 6 A front view of the leveling legs and a principle diagram of the transmission system of a square cabin double cabin automatic docking system according to an embodiment of the present invention are shown;

[0085] Figure 7 A schematic diagram showing the front-to-back distance and axis angle determination principle of a square cabin double-cabin automatic docking system according to an embodiment of the present invention is shown;

[0086] Figure 8A first principle diagram of double-cabin left-right error compensation of a double-cabin automatic docking system for a square cabin according to an embodiment of the present invention is shown;

[0087] Fig. 9 A second principle diagram of double-cabin left-right error compensation of a double-cabin automatic docking system for a square cabin according to an embodiment of the present invention is shown;

[0088] Fig.10 A schematic diagram of double-cabin height adjustment of a double-cabin automatic docking system for a square cabin according to an embodiment of the present invention is shown;

[0089] Fig.11 A plan view of a docking cabin of a double-cabin automatic docking system for a square cabin according to an embodiment of the present invention is shown;

[0090] Fig.12 A plan view of a target cabin of a square cabin double cabin automatic docking system according to an embodiment of the present invention is shown;

[0091] Fig.13 A three-dimensional effect diagram of a male buckle and a female buckle of a shelter double-cabin automatic docking system according to an embodiment of the present invention is shown;

[0092] Fig.14 The diagram shows the effect of unfolding and folding the docking cabin channel of a square cabin double cabin automatic docking system according to an embodiment of the present invention.

[0093] In the figure: 1. Docking cabin; 11. Docking surface; 2. Target cabin; 21. Target surface; 22. Left and right reflectors; 23. Upper and lower reflectors; 24. First plane reflector; 25. Second plane reflector; 3. Leveling legs; 301. Servo motor; 302. Reducer; 303. Ball screw; 304. Support mechanism; 31. Docking plate; 32. Electric support rod; 41. Scissor-type side wall; 42. Frame; 421. Guide wheel; 43. Docking surface frame; 441. First docking locking mechanism; 442. Second docking locking mechanism; 45. Rainproof frame; 46. Electric door lock; 47. Bottom plate support plate; 48. Electric transmission equipment. DETAILED DESCRIPTION

[0094] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0095] The present invention provides a double-cabin automatic docking system for a shelter, such as Figure 1 Figure 2 As shown, Figure 1 Figure 2The three-dimensional renderings of the automatic docking system of the modular cabins in two different directions (when not docked). The modular cabin automatic docking system includes a docking cabin 1, a target cabin 2 and a modular cabin transport device (a modular cabin transport device). Figure 1 Figure 2 not shown).

[0096] The shelter transport equipment is a heavy-duty AGV (Automated Guided Vehicle). Preferably, the shelter transport AGV adopts the "four-car splicing" technology, such as Figure 3 As shown, the AGV is composed of four AGV units, which are used to realize the transportation of the cabin. During transportation and storage, the AGV is divided into four AGV units for separate storage and transportation, with two AGV units stored in each of the target cabin 2 and the transport cabin 1. Each AGV unit has two sets of drives and can travel independently. During use, the four AGV units can be spliced ​​into a whole through the remote control.

[0097] Controllers are installed in the docking cabin 1 and the target cabin 2 respectively; the controllers of the docking cabin 1 and the target cabin 2 can be communicatively connected with the square cabin transportation equipment; the square cabin transportation equipment can receive signals and transport the docking cabin 1 or the target cabin 2 to a preset position.

[0098] In the present invention, during docking, the docking cabin 1 docks with the target cabin 2, and the target cabin 2 needs to be transported to a designated location first.

[0099] The operator controls the cabin transport device to place the target cabin 2 at a preset location by sending a signal to the cabin transport device, or by setting a global positioning system, such as Beidou or GPS, in the target cabin 2 or the cabin transport device; the cabin transport device transports the target cabin 2 to the designated location based on the positioning signal.

[0100] The present invention is applicable to various ground surfaces. Therefore, after the square cabin is placed, it may be placed on an uneven ground, and the square cabin may have a "false leg" phenomenon or tilt. This requires first leveling the target cabin 2 so that the target cabin 2 is stably placed on the ground and remains horizontal.

[0101] Level sensors are installed in the docking cabin 1 and the target cabin 2 respectively; leveling legs 3 are provided at the four corners of the docking cabin 1 and the target cabin 2 respectively; pressure sensors are installed at the bottom of the leveling legs 3; the controllers of the docking cabin 1 and the target cabin 2 are respectively connected to their own level sensors, pressure sensors and leveling legs 3 circuits.

[0102] When the modular cabin transport equipment carries the docking cabin 1 or the modular cabin transport equipment carries the target cabin 2 , the bottoms of the four leveling legs 3 of the docking cabin 1 or the target cabin 2 can be extended to the ground.

[0103] The pressure sensor can measure the force value of the corresponding leveling leg 3 and preset a pressure threshold. When the pressure value is less than the pressure threshold, the pressure sensor can control the corresponding leveling leg 3 to extend; the horizontal sensor can measure the inclination angle of the corresponding cabin and transmit it to the corresponding controller; the controller can receive the inclination angle of the cabin, and according to the inclination angle of the cabin, determine the highest supporting leg, calculate the distance that other leveling legs 3 need to extend, and control the shortening of other leveling legs 3.

[0104] The leveling legs 3 include a servo motor 301, a reducer 302, a ball screw 303 and a support mechanism 304. Figure 6 As shown, the output end of the servo motor 301 is connected to the input shaft of the reducer 302 ; the output shaft of the reducer 302 is connected to the ball screw 303 .

[0105] The controller determines the distance that the leveling leg 3 is extended or shortened, and sends a motion signal to the servo motor 301 corresponding to the leveling leg 3. The servo motor 301 drives the ball screw 303 to rotate through the gear pair mechanism of the reducer 302. Driven by the rotation torque of the screw, the nut and the sleeve perform reciprocating linear motion, so that the leveling leg 3 completes the extension or shortening linear motion.

[0106] The first end of the support mechanism 304 is fixedly connected to the outside of the shelter, and the second end of the support mechanism 304 is fixedly connected to the outer sleeve of the ball screw 303. The leveling leg 3 is fixedly connected to the outside of the shelter through the support mechanism 304. When the leveling leg 3 is shortened to the shortest, the bottom is higher than the lowest surface of the shelter. Preferably, the bottom is higher than the lowest surface of the shelter by more than 100 mm. This design can ensure that the leveling leg 3 does not contact the ground during the transportation of the shelter.

[0107] The level sensor is arranged at the center of the roof of the corresponding cabin. Preferably, the level sensor is a dual-axis inclination measurement sensor.

[0108] The following is an explanation of the leveling of any cabin. This method is used to level the docking cabin 1 and the target cabin 2. The leveling of the present invention adopts a "chasing" leveling method, using a dual-axis inclination angle measurement sensor to collect the inclination angle of the cabin. The signal is processed by the controller, and the relative coordinate position of each leveling leg 3 of the cabin is continuously provided. The three lower leveling legs 3 are collected and controlled in real time to approach the highest leveling leg 3 until they finally reach the same height.

[0109] When the shelter is transported to the designated location, the four leveling legs 3 are extended to touch the ground, and the pressure sensor at the bottom of the leveling legs 3 measures the force value transmitted by the leveling legs 3. A pressure threshold is preset, and when the pressure value is less than the pressure threshold, the leveling legs 3 continue to extend for pre-support.

[0110] The cabin of the present invention adopts four leveling legs 3. Since three points in space that are not on the same straight line can determine a plane, the top of the fourth leveling leg 3 may not be in the same plane as the tops of the other three leveling legs 3, resulting in a "virtual leg" phenomenon.

[0111] A pressure sensor is installed on the leveling leg 3. The pressure sensor detects the force on the leveling leg 3 in real time to determine whether the leveling leg 3 is a "false leg". This method can detect the force on the leveling leg 3 in real time and solve the "false leg" quickly. When the "false leg" is solved, all the leveling legs 3 can pre-support the cabin.

[0112] The horizontal sensor measures the inclination angle of the cabin and transmits it to the controller; the controller determines the highest leveling leg 3 of the cabin according to the inclination angle of the cabin.

[0113] The horizontal sensor measures the inclination angle of the cabin on two coordinate axes, such as Figure 4 As shown, A, B, C, and D are four supporting points, the coordinate axes of x, y, and z are the coordinate system in the horizontal state, and the coordinate axes of x', y', and z' are the dynamic coordinate system in the non-horizontal state. x ,θ y are the lateral and longitudinal inclination angles of the platform, Figure 3 The arrow indicates the direction θ x ,θ y The angle is positive. As shown by the current arrow, the direction θ x ,θ y The technician can also obtain the same final result when the angle is set to negative.

[0114] After adjusting the virtual leg, the horizontal sensor detects the x-axis angle θ x The angle θ with the y-axis y . Through two angles θ x ,θ y Determine the highest supporting leg of the platform. The determination method is shown in Table 1. x = 0 and θ y =0, the current shelter is level and does not need to be leveled.

[0115]

[0116] Table 1

[0117] The controller calculates the height difference between the highest leveling leg 3 and the other leveling legs 3, and controls the extension of the other leveling legs 3 according to the difference.

[0118] The height difference can be calculated using but not limited to the following methods. Figure 3As shown, the controller establishes a horizontal coordinate system O-XYZ according to the length and width of the cabin (assuming the length is a and the width is b). At this time, the coordinates of the four supporting points in the horizontal state can be obtained: A(-a / 2,-b / 2,0), B(a / 2,-b / 2,0), C(a / 2,b / 2,0), and D(-a / 2,b / 2,0). Before the cabin is leveled, the coordinates of the four supporting points in the non-horizontal coordinate system O-X'Y'Z' can be obtained through coordinate transformation theory, A'(xa,ya,za), B'(xb,yb,zb), C'(xc,yc,zc), and D'(xd,yd,zd). .

[0119] According to the highest leveling leg 3 determined previously, the z-axis coordinates of the remaining three support legs are subtracted from the z-axis coordinates of the leveling leg 3 to obtain the distance that each leveling leg needs to be adjusted. The controller controls each leveling leg 3 to extend a corresponding distance until the four leveling legs 3 are at the same height.

[0120] The angle threshold is preset, and the previous determination of the highest leveling leg 3 and the calculation of the height difference are repeated, and the other leveling legs 3 are adjusted until the horizontal sensor detects that the inclination angle of the cabin is less than the preset angle threshold.

[0121] The horizontal sensor 1 detects the tilt angle of the cabin in real time, and the controller controls each leveling leg 3 to adjust in real time according to the tilt angle. The angle threshold is preset, and the angle threshold includes the x-axis angle threshold and the y-axis angle threshold. When the horizontal sensor detects the tilt angle of the cabin, the x-axis angle θ x The angle θ of the y-axis is less than the x-axis angle threshold. y If the angle is less than the y-axis angle threshold, the cabin is considered to be level and no further leveling is performed on it.

[0122] After the target cabin 2 is leveled, the cabin transport device drives away from the target cabin 2, and then carries the docking cabin 1 to approach the target cabin 2, so that the docking surface 11 faces the target surface 21. The docking cabin 1 begins to be leveled left and right with the target cabin 2. The left and right leveling includes adjusting the distance between the two cabins, the angle between the two cabins, and the left and right offset between the two cabins.

[0123] like Figure 5 As shown, the docking cabin 1 is provided with a docking surface 11, and the target cabin 2 is provided with a target surface 21; the docking surface 11 and the target surface 21 have the same cross-section.

[0124] The present invention is applicable to the docking of two standard cubicles; if a cubicle includes both a docking surface 11 and a target surface 21, the present invention is also applicable to the docking of several such cubicles, that is, the docking surface of the second cubicle is docked with the first target surface, and the third docking surface is docked with the second target surface, until all the cubicles are successfully docked. In the cubicle double-cabin automatic docking system designed by the present invention, the cross-sections of the docking surfaces used for docking between the two cubicles must be the same. Therefore, the present invention can also be applicable to two different cubicles, in which the cross-sections of the docking surfaces used for docking must be the same.

[0125] like Figure 5 As shown, a reflector is arranged on the upper part of the target surface 21, and the reflector includes left and right reflectors 22, upper and lower reflectors 23, a first plane reflector 24, and a second plane reflector 25. A laser rangefinder is arranged on the upper part of the docking surface 11, and one laser rangefinder is arranged on each reflector, and the laser rangefinder includes left and right laser rangefinders, upper and lower laser rangefinders, a first plane laser rangefinder, and a second plane laser rangefinder. The controller in the docking cabin 1 is connected to the laser rangefinder circuit. For example, the left and right reflectors 22 correspond to left and right laser rangefinders, and the left and right in the left and right laser rangefinders only represent the names, and the left and right laser rangefinders have all the functions of the laser rangefinder. The left and right reflectors 22, the upper and lower reflectors 23, the first plane reflector 24, and the second plane reflector 25 are at the same horizontal height. The first plane reflector 24 and the second plane reflector 25 are symmetrically arranged on both sides of the axis of the target cabin 2. The plane reflectors are parallel to the target surface 21. The left and right reflectors 22 are left and right 45-degree reflectors, that is, the reflectors are perpendicular to the horizontal plane and form a 45-degree angle with the target plane 21. The upper and lower reflectors 23 are upper and lower 45-degree reflectors, that is, the reflectors form a 45-degree angle with the target plane 21 and the horizontal plane. The left and right reflectors 22 and the upper and lower reflectors 23 can also be set at other angles with the horizontal plane and the target plane 21, as long as the left and right reflectors 22 are perpendicular to the horizontal plane and the angle with the target plane 21 is between 0 and 90 degrees (excluding 0 and 90 degrees); the straight line at the contact point between the plane where the upper and lower reflectors 23 are located and the plane where the target plane 21 is located is parallel to the horizontal plane, and the angle between the upper and lower reflectors 23 and the target plane 21 is between 0 and 90 degrees (excluding 0 and 90 degrees).

[0126] Figure 5 In the embodiment, the left and right reflectors 22 and the upper and lower reflectors 23 are arranged between the first plane reflectors 24 and the second plane reflectors 25; from left to right, the order is the first plane reflectors 24, the left and right reflectors 22, the upper and lower reflectors 23 and the second plane reflectors 25. The left and right reflectors 22 can also be arranged on the right side of the upper and lower reflectors 23; the left and right reflectors 22 and the upper and lower reflectors 23 can also be arranged outside the first plane reflectors 24 and the second plane reflectors 25; this does not affect the use of the present invention.

[0127] The first planar laser rangefinder and the second planar laser rangefinder can measure the distance between the docking module 1 and the target module 2 to obtain a distance value. The controller of the docking module 1 can receive the distance value, calculate the distance that needs to move forward or backward based on the distance value, and send a command signal to the shelter transportation device, which carries the docking module 1 to move forward or backward.

[0128] The following methods can be used, but are not limited to, for ranging and controlling the forward or backward movement of the shelter transportation device, that is, adjusting the distance between the two shelters. For example, Figure 7 As shown, the first planar laser rangefinder and the second planar laser rangefinder measure distance values L1 and L2 respectively. Assuming their average value is L’, then L’ = (L1 + L2) / 2. A double-module distance value threshold and a distance error threshold are preset.

[0129] When L’ > the double-module distance value threshold and │L’ - the double-module distance value threshold│ > the distance error threshold, the controller controls the shelter transportation device to carry the docking module 1 closer to the target module 2.

[0130] When L’ < the double-module distance value threshold and │L’ - the double-module distance value threshold│ > the distance error threshold, the controller controls the shelter transportation device to carry the docking module 1 away from the target module 2.

[0131] When L’ > the double-module distance value threshold and │L’ - the double-module distance value threshold│ ≤ the distance error threshold, or L’ < the double-module distance value threshold and │L’ - the double-module distance value threshold│ ≤ the distance error threshold, the controller controls the shelter transportation device to stop moving.

[0132] When the shelter transportation device stops moving, the distance between the two modules is approximately equal to the double-module distance value threshold.

[0133] The controller can receive the distance value and judge the direction that the docking module 1 needs to adjust, and send a signal to the shelter transportation device, which carries the docking module 1 to rotate.

[0134] The following methods can be used, but are not limited to, for controlling the rotation of the shelter transportation device, that is, adjusting the angle between the two shelters. For example, Figure 7 As shown, the target module 2 is on the left and the docking module 1 is on the right; the first planar reflector 24 and the second planar reflector 25; the measured distance values are L1 and L2 respectively. Assuming L1 < L2, the docking module 1 rotates in the direction of the second planar reflector 25 (i.e., the side with the longer distance value) away from the target module 2, and the controller continuously receives the distance values L1 and L2 that are real-time feedback from the planar laser rangefinder. A rotation threshold is preset. When the difference between L1 and L2 is less than the rotation threshold, the rotation stops. At this time, the docking surface 11 is parallel to the target surface 21.

[0135] The controller can receive the left and right measurement values of the left and right laser range sensors, calculate the left and right offset values of the docking module 1 and the target module 2 based on the left and right measurement values, and send command signals to the cabin transportation equipment according to the left and right offset values. The cabin transportation equipment carries the docking module 1 and moves it left or right.

[0136] The left and right offsets between the two cabins can be adjusted by, but not limited to, the following methods. The distance between the two cabins has been adjusted, that is, it has been adjusted to the set value. As Figure 8 shown, the docking surface 11 is already parallel to the target surface 21. A preset L value is set. The L value is a fixed value. Preferably, the L value is the distance value that satisfies the docking of the two cabins. That is, when the two cabins are docked, the docking plate of the docking module needs to be lowered and placed on the bottom plate support of the target module. There needs to be a standard distance so that the docking plate can just be placed on the bottom plate support. This L is this standard distance value. The L1 or L2 value measured by the planar laser range sensor (at this time L1 = L2) is equal to the distance value between the cabins.

[0137] The docking module 1 has advanced or retreated so that the distance between the two cabins is within the set range. At this time, L1 = L2 = L.

[0138] As Fig. 9 shown, there is a horizontal difference between the target module 2 and the docking module 1. The reflecting surfaces of the left and right reflecting plates 22 face the left side of the docking module 1. The controller calculates the left and right offset values according to the left and right measurement values L measured by the left and right laser range sensors through the left and right reflecting plates 22. When L 22 is calculated for the left and right offset values, when L 22 < L, the cabin transportation equipment carries the docking module 1 and moves it left; when L 22 > L, the cabin transportation equipment carries the docking module 1 and moves it right.

[0139]

[0140] is the distance that the cabin needs to move. When moving to the right When moving to the left L is the preset value, and L 22 is the value obtained by actually measuring the left and right reflecting plates with the left and right laser range sensors, that is, the left and right measurement values.

[0141] When the docking module 1 moves left and right, continue to measure L 22 , and calculate the new 22 value according to the new L value. A preset left and right movement threshold is set. When the docking module 1 stops moving left and right.

[0142] When the reflecting surfaces of the left and right reflecting plates 22 face toward the right side of the docking cabin 1 , the left and right movements are opposite, and those skilled in the art can deduce the corresponding movement mode.

[0143] The left and right offset between the two cabins can also be adjusted using, but not limited to, the following methods. Figure 8 As shown, the docking surface 11 is parallel to the target surface 21, the first plane reflector 24 and the second plane reflector 25; the measured distance values ​​are L1 and L2 respectively, that is, the first plane laser ranging sensor measures the distance value L1 through the corresponding first plane reflector 24, and the second one measures L2, L1=L2. At this time, if the left and right laser ranging sensors measure the plane where the center positions of the left and right reflectors 22 are located, and this plane is perpendicular to the horizontal plane, it is also the same as L1 and L2. However, due to the left and right offset between the double cabins, when the left and right laser ranging sensors measure, the actual laser hits the left and right 45-degree reflectors 22 on both sides. Therefore, the left and right measurement values ​​L 22 To be larger or smaller than L1 or L2.

[0144] like Fig. 9 As shown, the reflective surfaces of the left and right reflective plates 22 face the left side of the docking cabin 1, that is, their protruding parts are close to the right side of the docking cabin 1. If the laser hits the protruding parts of the left and right 45-degree reflective plates 2, then L 22 If L1 or L2 is less than L1 or L2, the docking cabin 1 is controlled to move to the left. 22 If it is greater than L1 or L2, the docking cabin 1 is controlled to move to the right.

[0145]

[0146] is the distance the cabin needs to move, , move right , move left L is the value obtained by the plane laser ranging sensor measuring the corresponding plane reflector, such as L1 or L2, L 22 The actual left and right laser ranging sensors measure the left and right reflective plates, that is, the left and right measurement values.

[0147] When docking compartment 1 moves left and right, continue to measure L value and L 22 , and according to the new L value and L 22 Calculate new value. Preset left and right movement thresholds. Docking bay 1 no longer moves left or right.

[0148] When the reflecting surfaces of the left and right reflecting plates 22 face the right side of the docking cabin 1 , the left and right movements are opposite, and those skilled in the art can also deduce the corresponding movement mode.

[0149] During the left-right leveling process, the distance between the two cabins, the angle between the two cabins, and the left-right offset between the two cabins can be adjusted multiple times. For example, first adjust the distance between the two cabins, adjust the angle between the two cabins, adjust the left-right offset between the two cabins, and then adjust the distance between the two cabins; this can make the distance, angle, and left-right offset between the two cabins more accurate.

[0150] After the docking cabin 1 is leveled left and right, each leveling leg 3 of the docking cabin 1 is extended to the ground to support the docking cabin 1, and the cabin transport equipment drives out from under the docking cabin 1 and drives away from the docking cabin 1. The docking cabin 1 itself starts to be leveled.

[0151] The pressure sensor 2 at the bottom of the leveling leg 3 of the docking cabin 1 measures the force value of the leveling leg 3; a preset pressure threshold, when the pressure value is less than the pressure threshold, the leveling leg 3 extends to perform pre-support; the horizontal sensor 1 measures the inclination angle of the docking cabin 1 and transmits it to the controller of the docking cabin 1; the controller determines the highest leveling leg 3 of the cabin according to the inclination angle of the docking cabin; the controller calculates the height difference between the highest leveling leg 3 and other leveling legs 3, and controls the extension of other leveling legs 3 according to the difference.

[0152] The leveling method of the docking cabin 1 is the same as the leveling method of the target cabin 2 , and those skilled in the art can deduce the leveling method of the docking cabin 1 from the leveling method of the target cabin 2 .

[0153] After the docking cabin 1 is leveled itself, the docking cabin 1 begins to level itself up and down with the target cabin 2.

[0154] The controller can calculate the up and down offset values ​​of the docking cabin 1 and the target cabin 2 according to the up and down measurement values ​​of the up and down laser ranging sensors, and control the leveling legs 3 of the docking cabin 1 to extend or shorten according to the up and down offset values.

[0155] The height difference between the two cabins can be adjusted using, but not limited to, the following methods. Fig.10 As shown, the upper and lower laser distance measuring sensors measure the upper and lower measurement values ​​L through the upper and lower reflective plates 23. 23 value, and then find the corresponding The value is used similarly to adjust the left-right relationship of the two cabins. The height of the docking cabin 1 is adjusted by extending or shortening the leveling legs 3.

[0156] While the docking compartment 1 moves up and down, continue to measure L 23 value, and press the new L 23 Calculate the new value of value. Preset up and down moving thresholds. The docking bay 1 no longer moves up and down.

[0157] After the docking cabin 1 and the target cabin 2 are leveled up and down, the docking cabin 1 and the target cabin 2 are simultaneously lowered to the specified height, that is, the controller controls the leveling legs 3 of the docking cabin 1 and the target cabin 2 respectively, so that the respective leveling legs 3 are shortened by the same length. The shortened length should be less than or equal to the current height value between the cabin bottom and the ground surface.

[0158] After the two cabins descended to the specified height at the same time, the two cabins began to dock.

[0159] like Fig.11 As shown, the docking surface 11 of the docking cabin 1 is provided with a docking plate 31, and the docking plate 31 adopts a large plate structure, which is consistent with the other large plate structures of the square cabin. The first end of the docking plate 31 is connected to the beam axis at the bottom of one side of the docking surface 11 of the docking cabin 1 through a hinge, and the docking plate 31 can rotate around the bottom of the docking surface, and the rotation angle is greater than 90 degrees. In the present invention, the door of the docking cabin 1 is used as the docking plate 31. When the docking plate 31 is folded, that is, when the angle with the docking surface is equal to 0 degrees, the docking plate 31 cooperates to form the docking surface door. When the door is lowered and unfolded, the door forms the docking plate 31.

[0160] Preferably, an electric door lock 46 is also provided in the docking cabin 1, and the electric door lock 46 is provided at the docking door and cooperates with the docking plate 31. When the docking plate 31 is folded, the electric door lock 46 can lock the docking plate 31. When the electric door lock 46 is opened, the docking plate 31 can be lowered and unfolded. Further, the electric door lock 46 is a simple motor transmission mechanism with a simple structure and mature technology.

[0161] like Fig.12 As shown, a bottom plate support plate 47 is provided under the target surface of the target cabin 2; when the angle between the docking plate 31 and the docking surface is equal to 90 degrees, that is, when the docking plate 31 is lowered and unfolded, the second end of the docking plate 31 can be matched and placed on the bottom plate support plate 47, and the bottom plate support plate 47 supports the docking plate 31. Preferably, the bottom plate support plate 47 is made of steel plate and welded to the side beam of the target cabin to support the docking plate 31.

[0162] When the docking cabin 1 is not docked, the retractable docking assembly is in a retracted state and stored in the docking cabin 1. When the docking is completed, the two cabins are undocking, and the retractable docking assembly is retracted and retracted into the docking cabin 1. Figure 5 As shown, the retractable docking assembly is provided with a docking surface frame 43 at one side away from the docking cabin 1, i.e., at the front end of the retractable docking assembly; the docking surface frame 43 of the docking cabin 1 is used to dock with the target surface on the target cabin 2. During docking, the docking surface frame 43 is in close contact with the target surface.

[0163] When the docking plate 31 rotates around the bottom of the docking surface, the angle between the docking plate 31 and the docking surface is equal to 90 degrees, that is, after the docking plate 31 is unfolded downward, the retractable docking assembly can extend horizontally outside the cabin along the upper edge of the docking plate 31 until the docking surface frame 43 docks with the target surface.

[0164] like Figure 5 As shown, the docking surface frame 43 is provided with a plurality of first docking locking mechanisms 441 , and as shown, the target surface 21 is provided with a plurality of second docking locking mechanisms 442 , and the first docking locking mechanisms 441 and the second docking locking mechanisms 442 can cooperate and lock.

[0165] The first docking locking mechanism 441 and the second docking locking mechanism 442 are snap-on structures; Fig.13 As shown on the left side, the first docking locking mechanism 441 is a sub-buckle, such as Fig.13 As shown on the right side, the second docking locking mechanism 442 is a female buckle. Figure 5 The first docking locking mechanism 441 and the second docking locking mechanism 442 are composed of four snap fasteners. When the docking surface frame 43 is in close contact with the target surface, the snap fasteners are automatically locked. The appropriate insertion force and extraction force can be obtained by adjusting the spring stiffness in the snap fastener or the angle of the two conical surfaces of the snap fastener to ensure that the docking system will not be accidentally disengaged after docking.

[0166] like Figure 5 As shown, the automatic docking system for the cabin further includes an electric support rod 32, which is used to drive the docking plate 31 to be extended and retracted. There are two electric support rods 32, the first ends of the two electric support rods 32 are respectively fixedly connected to the two sides of the first end of the docking plate 31, and the second ends of the two electric support rods 32 are respectively connected to the two sides of the bottom plate of the docking cabin 1; when the two electric support rods 32 are extended or shortened, they can drive the docking plate 31 to rotate around the bottom of the docking surface.

[0167] Preferably, the controller is connected to the electric support rod 32 and the electric door lock 46 circuit, and is mainly used to receive various signals and information, and control the switch of the electric door lock 46 and the extension and retraction of the electric support rod 32 according to needs, so that the automatic docking system can proceed in an orderly manner.

[0168] The electric strut 32 is one of the main assisting components in the docking system. The electric strut 32 integrates components such as a motor, a planetary reduction gear set, a worm gear, and a Hall sensor. A telescopic portion is provided at the first end of the electric strut 32, and a motor is provided inside the electric strut 32, and the motor output is a rotational motion. A planetary reduction gear set and a worm gear are also provided inside the electric strut 32; the power output shaft of the motor is meshed with the sun gear in the planetary reduction gear set, and the planetary gear in the planetary reduction gear set is meshed with the worm gear to convert the rotational motion into a linear motion (up and down motion). The worm gear drives the electric strut 32 to extend and retract by moving up and down. The Hall sensor is provided inside the motor, and the Hall sensor is used to collect motor working information, such as rotation speed, rotation direction, etc. The motor reduces speed and increases torque through the planetary reduction gear set, and then converts the rotational motion into linear motion through the worm gear to promote the extension and retraction of each component. The Hall sensor collects the motor working information in a timely manner and feeds it back to the controller. The controller adjusts the current size and direction supplied to the motor according to this signal to solve the fluctuation of the extension and retraction speed caused by the change of resistance during the extension and retraction of the components, as well as the synchronization and coordination problem of the electric support rods 32 on both sides during the extension and retraction process. If the component is stuck during the extension and retraction process, reverse current is applied on both sides at the same time to make the component retreat a certain distance and then unfold again, so that the automatic docking system has a certain tolerance capability.

[0169] The automatic docking system for the cabin also includes a first slide rail and a second slide rail; the first slide rail is installed in the docking cabin 1, and the second slide rail is installed on the docking plate 31; when the angle between the docking plate 31 and the docking surface is equal to 90 degrees, the first slide rail and the second slide rail cooperate to form a whole slide rail; the telescopic docking assembly can slide along the first slide rail and the second slide rail. Preferably, the first slide rail and the second slide rail are made of aluminum alloy profiles, and the profile section is: 50×30mm.

[0170] The retractable docking assembly includes two parallel scissor-like side walls 41 and a plurality of frames 42; a connecting portion is provided inside the docking cabin 1, and the first ends of the two scissor-like side walls 41 are respectively fixedly connected to the connecting portion; the frame 42 is a hollow square structure; the two sides of a plurality of the frames 42 are respectively fixedly connected to the two scissor-like side walls 41; the spacing between the plurality of the frames 42 is the same; the plurality of the frames 42 and the two scissor-like side walls 41 are combined to form a channel, and the channel is a cubic structure, which is composed of the upper and lower sides of the plurality of frames 42, and the left and right sides of the plurality of frames 42 and the two scissor-like side walls 41. The channel can be extended or shortened. Fig.14The second ends of the two scissor-type side walls 41 are fixedly connected to the two sides of the docking surface frame 43; a plurality of guide wheels 42 are respectively arranged below the two sides of the frame 42; the guide wheels 421 can slide along the first slide rail and the second slide rail.

[0171] The channel is the main body of docking, telescopic and load-bearing. Preferably, the docking system has 8 frames 42, and the 8 frames 42 are connected together by pins by two scissor-type side walls 41. Preferably, the frame 42 and the scissor-type side wall 41 are made of aluminum alloy profiles.

[0172] The retractable docking assembly also includes an electric transmission device 48; the first end of the electric transmission device 48 is fixedly connected to the inner wall of the docking cabin 1, and the second end of the electric transmission device 48 is fixedly connected to the middle part of the outer side of the channel; the electric transmission device 48 can extend or shorten; when the electric transmission device 48 extends or shortens, the electric transmission device 48 can drive the channel to extend or shorten.

[0173] Preferably, the electric transmission device 48 is a second electric strut, which is slightly smaller than the electric strut 32. Figure 5 As shown, there are two electric transmission devices 48, the first ends of which are fixedly connected to the inner walls of the docking cabin 1, and the second ends of which are fixedly connected to the middle of the two sides of the outside of the channel. Furthermore, the second ends are fixedly connected to the two sides of a frame set in the middle of the channel. If there are 8 frames in total, they are fixedly connected to the two sides of the third or fourth frame. In this design, when the two electric transmission devices 48 are extended or shortened, the frames simultaneously apply thrust or pull to both ends of the channel, and the frames drive the scissor-type side walls 41 on both sides to deform, thereby extending or shortening the channel; and because the two sides of the channel are subjected to force at the same time, the channel can be extended and retracted more smoothly.

[0174] The channel tent is installed on the outside of the channel and moves with the channel. When the docking surface frame 43 of the docking cabin 1 docks with the target surface on the target cabin 2, the channel tent keeps the channel between the docking cabin 1 and the target cabin 2 as a closed space, providing heat insulation, thermal insulation, flame retardancy and other properties.

[0175] The target surface of the target cabin 2 is also provided with a rainproof frame 45; the rainproof frame is made of steel plate and riveted to the end plate of the target cabin. A sealing strip is provided inside the rainproof frame 45; when the docking surface frame 43 of the docking cabin 1 is docked with the target surface on the target cabin 2, the sealing strip can cooperate with the sealing to play the role of sealing and rainproofing.

[0176] Automatic docking uses the following methods.

[0177] After the relative positions of docking module 1 and target module 2 meet the docking accuracy and distance requirements, docking begins.

[0178] During the docking process, the controller controls the electric door lock 46 to open, and the docking plate 31 of the docking cabin 1 is unfolded under the action of the electric support rod 32 and overlapped on the bottom support plate 47 of the target cabin 2.

[0179] Subsequently, the passage is extended forward out of the cabin for docking under the action of the electric transmission device 48.

[0180] During the extension and retraction of the channel, the guide wheel 421 moves along the inner side of the first slide rail and the second slide rail to ensure the linear movement of the channel. When the electric transmission device pushes the docking surface frame 43 to close to the target surface of the target cabin 2, the snap fastener is automatically locked and the docking is completed.

[0181] The present invention also provides a method for automatically docking two cabins in a shelter, comprising the following steps:

[0182] S1: The cabin transport equipment receives the signal and transports the target cabin 2 to the preset location.

[0183] S2: Target cabin 2 is leveled.

[0184] S21: After the target cabin 2 is placed, the corresponding four leveling legs 3 are extended to touch the ground respectively, and the pressure sensor 2 at the bottom of the leveling leg 3 measures the force value of the leveling leg 3; a preset pressure threshold is set, and when the pressure value is less than the pressure threshold, the leveling leg 3 is extended to perform pre-support.

[0185] S22: The horizontal sensor 1 measures the inclination angle of the target cabin 2 and transmits it to the controller of the target cabin 2; the controller determines the highest leveling leg 3 of the cabin according to the inclination angle of the cabin.

[0186] S23: The controller calculates the height difference between the highest leveling leg 3 and the other leveling legs 3, and controls the extension of the other leveling legs 3 according to the difference.

[0187] S24: preset angle threshold, repeat S22 and S23 until the horizontal sensor 1 detects that the inclination angle of the target cabin 2 is less than the preset angle threshold.

[0188] S3: The shelter transport equipment leaves the target cabin 2.

[0189] S4: Docking cabin 1 and target cabin 2 are leveled left and right.

[0190] S41: After the target cabin 2 is placed, the modular cabin transport equipment carries the docking cabin 1 toward the target cabin 2 so that the docking surface 11 faces the target surface 21.

[0191] S42: A proximity distance threshold and a distance distance threshold are preset, and the first plane laser ranging sensor and the second plane laser ranging sensor respectively measure the distance between the docking cabin 1 and the target cabin 2 to obtain a distance value; when the distance values ​​are all greater than the proximity distance threshold, the controller of the docking cabin 1 controls the container transport equipment to carry the docking cabin 1 toward the target cabin 2; when the distance values ​​are all less than the distance distance threshold, the controller controls the container transport equipment to carry the docking cabin 1 away from the target cabin 2; when a certain distance value is between the proximity distance threshold and the distance distance threshold, the controller controls the container transport equipment to stop moving.

[0192] S43: The controller of the docking cabin 1 receives the distance values ​​transmitted from the first planar laser ranging sensor and the second planar laser ranging sensor respectively, and controls the rotation of the cabin transport device according to the distance values.

[0193] S44: The controller of the docking cabin 1 receives the left and right measurement values ​​from the left and right laser ranging sensors and calculates the left and right offset values, and controls the cabin transport equipment to move left or right according to the left and right offset values.

[0194] One or more of steps S42 to S44 may be repeated multiple times as needed to make the left-right leveling of the double cabins more precise.

[0195] When the distance between the two cabins needs to be strictly controlled, S44' can be used instead of S44.

[0196] S44': preset a dual-cabin distance value threshold and a distance error threshold; the first plane laser ranging sensor and the second plane laser ranging sensor respectively measure the distance between the docking cabin 1 and the target cabin 2 to obtain two distance values, and the average value of the two distance values ​​is the distance mean value;

[0197] When the distance from the mean value > the double-cabin distance value threshold, and |distance from the mean value - double-cabin distance value threshold| > distance error threshold,

[0198] The controller controls the cabin transport equipment to carry the docking cabin 1 closer to the target cabin 2;

[0199] When the distance from the mean < the double-cabin distance value threshold, and |distance from the mean - double-cabin distance value threshold|> the distance error threshold,

[0200] The controller controls the cabin transport equipment to carry the docking cabin 1 away from the target cabin 2;

[0201] When the distance from the mean value > the double-cabin distance value threshold, and |distance from the mean value - double-cabin distance value threshold|≤distance error threshold, or

[0202] When the distance from the mean is less than the double-cabin distance threshold, and |distance from the mean - double-cabin distance threshold|≤ the distance error threshold,

[0203] The controller controls the cabin transport equipment to stop moving.

[0204] S5: The shelter transport equipment leaves docking cabin 1.

[0205] S51: The leveling legs 3 of the docking cabin 1 are extended to the ground to support the docking cabin 1; and the container transport equipment drives out from under the docking cabin 1.

[0206] S6: Docking cabin 1 is leveled.

[0207] S61: The pressure sensor 2 at the bottom of the leveling leg 3 of the docking cabin 1 measures the force value of the leveling leg 3; a preset pressure threshold is set, and when the pressure value is less than the pressure threshold, the leveling leg 3 is extended to perform pre-support.

[0208] S62: The horizontal sensor 1 measures the inclination angle of the docking cabin 1 and transmits it to the controller of the docking cabin 1; the controller determines the highest leveling leg 3 of the cabin according to the inclination angle of the cabin.

[0209] S63: The controller calculates the height difference between the highest leveling leg 3 and the other leveling legs 3, and controls the extension of the other leveling legs 3 according to the difference.

[0210] S64: Preset an angle threshold, repeat S62 and S63 until the horizontal sensor detects that the inclination angle of the docking compartment 1 is less than the preset angle threshold.

[0211] S7: Docking cabin 1 and target cabin 2 are leveled up and down.

[0212] S71: The controller of the docking cabin 1 receives the up and down measurement values ​​transmitted by the up and down laser ranging sensors and calculates the up and down offset values, and controls the leveling legs 3 of the docking cabin 1 to extend or shorten according to the up and down offset values.

[0213] S8: Docking cabin 1 and target cabin 2 descend to the specified altitude simultaneously.

[0214] S9: Docking module 1 docks with target module 2.

[0215] S91: During the docking process, the controller controls the electric door lock 46 to open, and the docking plate 31 of the docking cabin 1 is unfolded under the action of its electric support rod and overlapped on the bottom plate support plate 47 of the target cabin 2.

[0216] S92: Under the action of the electric transmission device 48, the channel extends forward out of the cabin for docking.

[0217] S93: During the extension and retraction of the channel, the guide wheel 421 installed at the bottom of the frame 42 moves along the inner side of the first slide rail and the second slide rail to ensure the linear movement of the channel; when the electric transmission device 48 pushes the docking surface frame 43 to close to the target cabin 2, the male and female buckles are automatically locked and the docking is completed.

[0218] The present invention designs a double-cabin automatic docking system and docking method for square cabins, which are adaptable to various venues, keep the two cabins level, at a preset distance, set up in parallel, aligned left and right, and at the same height, and can perform one-key full-automatic docking. No human intervention is required during the docking process, and automatic docking between square cabins is realized. The structure is simple, easy to maintain, and the docking is reliable and firm.

[0219] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A double-cabin automatic docking system for a shelter, characterized in that: The automatic docking system for double cabins in the shelter includes: Docking cabin (1), shelter transport equipment and target cabin (2); A level sensor and a controller are installed in the docking cabin (1) and the target cabin (2) respectively; The four corners of the docking cabin (1) and the target cabin (2) are respectively provided with leveling legs (3); A pressure sensor is installed at the bottom of the leveling leg (3); The controllers of the docking cabin (1) and the target cabin (2) are respectively connected to their own level sensors, pressure sensors and leveling legs (3) circuits; The controllers of the docking cabin (1) and the target cabin (2) are capable of being communicatively connected with the cabin transport equipment; The cabin transport equipment is capable of receiving a signal and transporting the docking cabin (1) or the target cabin (2) to a preset position; When the modular cabin transport equipment carries a docking cabin (1) or the modular cabin transport equipment carries a target cabin (2), the bottoms of the four leveling legs (3) of the docking cabin (1) or the target cabin (2) can be extended to the ground; The pressure sensor is capable of measuring the force value of the corresponding leveling leg (3). A pressure threshold is preset, and when the pressure value is less than the pressure threshold, the pressure sensor can control the corresponding leveling leg (3) to extend; The horizontal sensor can measure the inclination angle of the corresponding cabin and transmit it to the corresponding controller; The controller is capable of receiving the cabin inclination angle, determining the highest supporting leveling leg (3) according to the cabin inclination angle, calculating the distance that the other leveling legs (3) need to extend, and controlling the extension of the other leveling legs (3); The docking cabin (1) is provided with a docking surface (11), and the target cabin (2) is provided with a target surface (21); The butt joint surface (11) and the target surface (21) have the same cross section; A reflector is provided on the upper part of the target surface (21), and the reflector comprises left and right reflectors (22), upper and lower reflectors (23), a first plane reflector (24) and a second plane reflector (25); A laser distance measuring sensor is correspondingly arranged on the upper part of the docking surface (11), and the laser distance measuring sensor comprises a left and right laser distance measuring sensor, an upper and lower laser distance measuring sensor, a first plane laser distance measuring sensor, and a second plane laser distance measuring sensor; The controller in the docking cabin (1) is connected to the laser ranging sensor circuit; The first plane laser distance measuring sensor and the second plane laser distance measuring sensor can measure the distance between the docking cabin (1) and the target cabin (2) to obtain a distance value; the controller of the docking cabin (1) can receive the distance value and control the cabin transport device to move forward or backward according to the distance value; the controller of the docking cabin (1) can receive the distance value and control the cabin transport device to rotate according to the distance value; The controller of the docking cabin (1) can receive the left and right measurement values ​​of the left and right laser distance measuring sensors, and calculate the left and right offset values ​​of the docking cabin (1) and the target cabin (2) according to the left and right measurement values, and the controller of the docking cabin (1) can control the cabin transport device to move left or right according to the left and right offset values; The controller of the docking cabin (1) receives the upper and lower measurement values ​​of the upper and lower laser ranging sensors, and calculates the upper and lower offset values ​​of the docking cabin (1) and the target cabin (2) according to the upper and lower measurement values. The controller of the docking cabin (1) can control the leveling legs (3) of the docking cabin (1) to extend or shorten according to the upper and lower offset values. The docking surface (11) of the docking cabin (1) is provided with a docking plate (31), a first end of the docking plate (31) is connected to the bottom axis of the docking surface (11) through a hinge, and the docking plate (31) can rotate around the bottom of the docking surface (11); A retractable docking assembly is arranged in the docking cabin (1), and a docking surface frame (43) is arranged on a side of the retractable docking assembly away from the docking cabin (1); The docking surface frame (43) of the docking cabin (1) is used for docking with the target surface (21) on the target cabin (2); The retractable docking assembly can be retracted into the docking compartment (1); When the docking plate (31) rotates around the bottom of the docking surface (11), the angle between the docking plate (31) and the docking surface (11) is equal to 90 degrees, and the telescopic docking assembly can be horizontally extended outside the cabin along the upper edge of the docking plate (31); The left and right reflection plates (22), the upper and lower reflection plates (23), the first plane reflection plate (24) and the second plane reflection plate (25) are at the same horizontal height; A bottom plate support plate (47) is provided below the target surface (21) of the target cabin (2); When the angle between the docking plate (31) and the docking surface (11) is equal to 90 degrees, the second end of the docking plate (31) can be matched and placed on the bottom plate support plate (47).

2. The automatic docking system for double cabins of a shelter according to claim 1 is characterized in that: The first plane reflection plate (24) and the second plane reflection plate (25) are symmetrically arranged on the upper part of the target surface (21).

3. The automatic docking system for double cabins of a shelter according to claim 2 is characterized in that: The left and right reflection plates (22) are left and right 45-degree reflection plates, and the upper and lower reflection plates (23) are upper and lower 45-degree reflection plates.

4. The automatic docking system for double cabins of a shelter according to claim 1, characterized in that: The automatic docking system for the shelter also includes a first slide rail and a second slide rail; The first slide rail is installed in the docking cabin (1), and the second slide rail is installed on the docking plate (31); When the angle between the docking plate (31) and the docking surface is equal to 90 degrees, the first slide rail and the second slide rail cooperate to form a complete slide rail; The telescopic docking assembly is capable of sliding along the first slide rail and the second slide rail.

5. The automatic docking system for double cabins of a shelter according to claim 4 is characterized in that: The telescopic docking assembly comprises two parallel scissor-type side walls (41) and a plurality of frames (42); A connecting portion is provided inside the docking cabin (1), and first ends of the two scissor-type side walls (41) are respectively fixedly connected to the connecting portion; The frame (42) is a hollow square structure; Both sides of the plurality of frames (42) are respectively fixedly connected to the two scissor-type side walls (41); A plurality of the frames (42) and the two scissor-type side walls (41) are combined to form a channel, and the channel is a cubic structure; The channel can be extended or shortened; The second ends of the two scissor-type side walls (41) are respectively fixedly connected to the two sides of the docking surface frame (43); A plurality of guide wheels (421) are respectively arranged below both sides of the plurality of frames (42); The guide wheel (421) is capable of sliding along the first slide rail and the second slide rail.

6. The automatic docking system for double cabins of the shelter according to claim 5 is characterized in that: A channel tent is installed on the outer edge of the channel; When the docking surface frame (43) of the docking cabin (1) is docked with the target surface (21) on the target cabin (2), the passage tent forms a closed space between the docking cabin (1) and the target cabin (2).

7. The automatic docking system for double cabins of a shelter according to claim 1, characterized in that: The docking surface frame (43) is provided with a plurality of first docking locking mechanisms (441), and the target surface (21) is provided with a plurality of second docking locking mechanisms (442) in cooperation therewith, and the first docking locking mechanisms (441) and the second docking locking mechanisms (442) can be locked in cooperation with each other.

8. A method for automatic docking of two cabins in a modular cabin, using the automatic docking system of two cabins in a modular cabin as defined in any one of claims 1 to 7, characterized in that: The following steps are involved: S1: The cabin transport device receives the signal and transports the target cabin (2) to a preset location; S2: target cabin (2) is leveled; S21: After the target cabin (2) is placed, the corresponding four leveling legs (3) are extended and touch the ground respectively, and the pressure sensors at the bottom of the leveling legs (3) measure the force values ​​of the leveling legs (3); A pressure threshold is preset, and when the pressure value is less than the pressure threshold, the leveling leg (3) is extended to provide pre-support; S22: The horizontal sensor measures the inclination angle of the target cabin (2) and transmits the measurement to the target cabin (2) controller; the controller determines the highest leveling leg (3) of the cabin according to the inclination angle of the cabin; S23: the controller calculates the height difference between the highest leveling leg (3) and the other leveling legs (3), and controls the extension of the other leveling legs (3) according to the difference; S24: preset an angle threshold, repeat S22 and S23 until the horizontal sensor detects that the inclination angle of the target cabin (2) is less than the preset angle threshold; S3: The shelter transport equipment leaves the target cabin (2); S4: The docking cabin (1) and the target cabin (2) are leveled left and right; S41: After the target cabin (2) is placed, the cabin transport equipment carries the docking cabin (1) toward the target cabin (2) so that the docking surface (11) faces the target surface (21); S42: a proximity distance threshold and a distance distance threshold are preset, and the first plane laser distance measuring sensor and the second plane laser distance measuring sensor respectively measure the distance between the docking cabin (1) and the target cabin (2) to obtain a distance value; when the distance values ​​are all greater than the proximity distance threshold, the controller controls the container transport device to carry the docking cabin (1) towards the target cabin (2); when the distance values ​​are all less than the distance distance threshold, the controller controls the container transport device to carry the docking cabin (1) away from the target cabin (2); when a certain distance value is between the proximity distance threshold and the distance distance threshold, the controller controls the container transport device to stop moving; S43: The controller receives the distance values ​​transmitted by the first plane laser distance measuring sensor and the second plane laser distance measuring sensor, and controls the rotation of the cabin transport device according to the distance values; S44: The controller receives the left and right measurement values ​​transmitted by the left and right laser ranging sensors and calculates the left and right offset values, and controls the cabin transport device to move left or right according to the left and right offset values; S5: The shelter transport equipment leaves the docking cabin (1); S51: Each leveling leg (3) of the docking cabin (1) is extended to the ground to support the docking cabin (1); the cabin transport equipment drives out from under the docking cabin (1); S6: Leveling the docking cabin (1); S61: The pressure sensor at the bottom of the leveling leg (3) of the docking cabin (1) measures the force value of the leveling leg (3); A pressure threshold is preset, and when the pressure value is less than the pressure threshold, the leveling leg (3) is extended to provide pre-support; S62: The horizontal sensor measures the inclination angle of the docking cabin (1) and transmits the measurement to the controller of the docking cabin (1); the controller determines the highest leveling leg (3) of the cabin according to the inclination angle of the cabin; S63: the controller calculates the height difference between the highest leveling leg (3) and the other leveling legs (3), and controls the other leveling legs (3) to shorten according to the difference; S64: preset an angle threshold, repeat S72 and S73 until the horizontal sensor detects that the inclination angle of the docking cabin (1) is less than the preset angle threshold; S7: The docking cabin (1) and the target cabin (2) are leveled up and down; S71: The controller receives the upper and lower measurement values ​​transmitted by the upper and lower laser distance measuring sensors and calculates the upper and lower offset values, and controls the leveling legs (3) to extend or shorten according to the upper and lower offset values; S8: The docking module (1) and the target module (2) simultaneously descend to a designated altitude; S9: the docking module (1) docks with the target module (2); S91: The docking plate (31) of the docking cabin 1 is unfolded downward and overlapped on the bottom support plate (47) of the target cabin (2); S92: The passage is extended forward out of the cabin for docking under the action of the electric transmission device (48); S93: When the electric transmission device (48) pushes the docking surface frame (43) to be close to the target cabin (2), the first docking locking mechanism (441) and the second docking locking mechanism (442) cooperate to automatically lock, and the docking is completed.

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