A docking frame vehicle set benchmark calibration method, device and docking frame vehicle set

Abstract

The present invention discloses a docking frame vehicle set benchmark calibration method, which is applied to a docking frame vehicle set. The docking frame vehicle set includes a front frame vehicle, a plurality of middle frame vehicles and a rear frame vehicle. The front frame vehicle, the middle frame vehicle and the rear frame vehicle are placed on a frame vehicle track in sequence. The docking frame vehicle set benchmark calibration method includes: establishing left and right common benchmarks with the front frame vehicle and the rear frame vehicle; adjusting the left and right benchmarks of the middle frame vehicle according to the left and right common benchmarks; establishing a height common benchmark with the front frame vehicle and the rear frame vehicle; adjusting the height benchmark of the middle frame vehicle according to the height common benchmark. The docking frame vehicle set benchmark calibration method, device and docking frame vehicle set provided by the present invention effectively improve the calibration speed and accuracy of the benchmark.

Description

Technical Field

[0001] The invention relates to the field of aerospace vehicle assembly, and in particular to a docking frame vehicle assembly benchmark calibration method. Background Art

[0002] The docking frame vehicle group of the solid carrier is composed of multiple docking frames, which provide reliable support for the transport bodies of each level of the solid carrier, and adjust the precise docking of the transport bodies of each level of the solid carrier through the docking frames. The docking frame vehicle group generally has adjustment functions such as front and back, left and right, lifting, flipping, pitching, and yaw, but the adjustment range of each function is limited. Before placing the transport bodies of each level of the fixed carrier, it is necessary to adjust the horizontal and vertical benchmarks of each docking frame vehicle group to be consistent in order to meet the docking requirements of the transport bodies at each level, but the overall dimensions of each docking frame vehicle are large, and the distance between the docking frames is far, and the calibration, identification and confirmation of the benchmark of the docking frame vehicle group are difficult. Summary of the invention

[0003] The object of the present invention is to provide a docking frame vehicle set benchmark calibration method, device and docking frame vehicle set to solve the problem of difficult benchmark calibration of docking frame vehicle sets in the prior art.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A docking frame vehicle set benchmark calibration method is applied to the docking frame vehicle set, the docking frame vehicle set includes a front frame vehicle, a plurality of middle frame vehicles and a rear frame vehicle, the front frame vehicle, the middle frame vehicle and the rear frame vehicle are placed on a frame vehicle track in sequence, and the docking frame vehicle set benchmark calibration method includes: establishing left and right common benchmarks with the front frame vehicle and the rear frame vehicle; adjusting the left and right benchmarks of the middle frame vehicle according to the left and right common benchmarks; establishing a height common benchmark with the front frame vehicle and the rear frame vehicle; and adjusting the height benchmark of the middle frame vehicle according to the height common benchmark.

[0006] Before the front and rear trolleys establish the left and right common reference steps, the step also includes uniformly fitting the running wheels on one side of the front, middle and rear trolleys to one side of the corresponding trolley tracks, and roughly adjusting the degrees of freedom of the front, middle and rear trolleys to zero scale.

[0007] The front frame vehicle has a front left and right reference plane, and the rear frame vehicle has a rear left and right reference plane. The steps of establishing left and right common reference planes with the front frame vehicle and the rear frame vehicle include: controlling at least one of the front frame vehicle or the rear frame vehicle to adjust so that the front left and right reference planes and the rear left and right reference planes are coplanar; aligning the front left and right reference planes and the rear left and right reference planes; setting the planes where the front left and right reference planes and the rear left and right reference planes are located as the left and right common reference planes, and establishing the left and right common reference planes by connecting the front left and right reference planes and the rear left and right reference planes.

[0008] The mid-frame vehicle has a central left and right reference surface. The steps of adjusting the left and right reference surfaces of the mid-frame vehicle according to the left and right common reference surfaces include: fine-tuning the left and right moving mechanism of the mid-frame vehicle with reference to the left and right common reference surfaces; aligning the central left and right reference surfaces of the mid-frame vehicle with the left and right common reference surfaces; and locking the left and right automaticity of the mid-frame vehicle.

[0009] In the step of establishing the left and right common references with the front frame vehicle and the rear frame vehicle, the laser emitting device is aimed at the front left and right reference planes of the front frame vehicle and the rear left and right reference planes of the rear frame vehicle to establish the left and right common references.

[0010] The front frame car has a front height reference plane, and the rear frame car has a rear height reference plane. The steps of establishing a common height reference with the front frame car and the rear frame car include: controlling at least one of the front frame car or the rear frame car to adjust so that the front height reference plane and the rear height reference plane are coplanar; aligning the front height reference plane and the rear height reference plane; setting the plane where the front height reference plane and the rear height reference plane are located as the common height reference, and establishing the common height reference by connecting the front height reference plane and the rear height reference plane.

[0011] The mid-frame vehicle has a middle height reference surface. The steps of adjusting the height reference of the mid-frame vehicle according to the height common reference include: fine-tuning the height moving mechanism of the mid-frame vehicle with reference to the left and right common references; aligning the middle height reference surface of the mid-frame vehicle with the height common reference; and locking the height automaticity of the mid-frame vehicle.

[0012] In the step of establishing a common height reference for the front frame vehicle and the rear frame vehicle, a laser emitting device is aimed at a front height reference plane of the front frame vehicle and a rear height reference plane of the rear frame vehicle to establish a common height reference.

[0013] A docking frame vehicle set benchmark calibration device is applied to a docking frame vehicle set, the docking frame vehicle set includes a front frame vehicle, a plurality of middle frame vehicles and a rear frame vehicle, the front frame vehicle, the middle frame vehicle and the rear frame vehicle are placed on a frame vehicle track in sequence, and the docking frame vehicle set benchmark calibration device includes: a left and right common benchmark module, which is used to establish a left and right common benchmark with the front frame vehicle and the rear frame vehicle; a left and right adjustment module, which is used to adjust the left and right benchmark of the middle frame vehicle according to the left and right common benchmark; a height common benchmark module, which is used to establish a height common benchmark with the front frame vehicle and the rear frame vehicle; and a height adjustment module, which is used to adjust the height benchmark of the middle frame vehicle according to the height common benchmark.

[0014] A docking frame vehicle set includes: a memory and a processor, the memory is used to store computer programs, and the processor is used to execute the computer programs on the memory to implement the above-mentioned docking frame vehicle set benchmark calibration method.

[0015] The beneficial effect of a docking frame vehicle set benchmark calibration method disclosed in the present invention is: the front frame vehicle, the middle frame vehicle and the rear frame vehicle are placed on the frame vehicle track in sequence, the front frame vehicle and the rear frame vehicle respectively establish left and right common benchmarks and height common benchmarks, and then adjust the left and right benchmarks of the middle frame vehicle according to the left and right common benchmarks, and adjust the height benchmark of the middle frame vehicle according to the height common benchmark, so as to quickly and accurately realize the calibration of the docking frame vehicle set benchmark. Since the distance between the front frame vehicle and the rear frame vehicle is the largest, the accuracy of the left and right common benchmarks and the height common benchmarks established by the front frame vehicle and the rear frame vehicle is relatively high. The middle frame vehicle realizes the benchmark calibration of the docking frame vehicle set according to the left and right common benchmarks and the height common benchmark, which can effectively improve the overall benchmark accuracy of the docking frame vehicle set and provide a support platform for the reliable docking of various levels of transport bodies of the solid carrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0017] Figure 1 It is a flow chart of the benchmark calibration method of the docking frame vehicle group of the present invention;

[0018] Figure 2 It is a flowchart of the sub-steps of step S10 of the docking vehicle set benchmark calibration method of the present invention;

[0019] Figure 3 A flowchart of the sub-steps of step S20 of the docking vehicle set benchmark calibration method of the present invention;

[0020] Figure 4 A flowchart of the sub-steps of step S30 of the docking vehicle set benchmark calibration method of the present invention;

[0021] Figure 5 A flowchart of the sub-steps of step S40 of the docking vehicle set benchmark calibration method of the present invention;

[0022] Figure 6 It is a schematic diagram of the docking frame vehicle group of the present invention;

[0023] Figure 7 It is a schematic diagram of the front frame vehicle of the docking frame vehicle group of the present invention.

[0024] Figure numbers: 10 - front frame car; 11 - front left and right reference plane; 12 - front height reference plane; 20 - middle frame car; 30 - rear frame car; 40 - laser emitting device; 50 - frame car track; 60 - frame car connecting rod. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] The terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "installed", "connected", and "connected" 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 indirectly connected through an intermediate medium, or it can be the internal connection 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.

[0029] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that the description of the present disclosure will be more comprehensive and complete and the concepts of the example embodiments will be fully conveyed to those skilled in the art. The accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0030] The following is combined with the appendix of this manual Figure 1 and Figure 7 , the preferred implementation modes disclosed in the present invention are further elaborated in detail.

[0031] Please refer to Figure 1 , Figure 6 The embodiment of the present application provides a docking frame vehicle set benchmark calibration method, which can be applied to the benchmark calibration of a docking frame vehicle set. The front frame vehicle 10 and the rear frame vehicle 30 respectively establish a left and right common benchmark and a height common benchmark, and the left and right benchmarks and the height benchmark of the middle frame vehicle 20 are adjusted according to the left and right common benchmarks and the height common benchmark, so as to quickly and accurately complete the benchmark adjustment of the docking frame vehicle set, and provide a support platform for the reliable docking of the transport bodies of each level of the solid carrier.

[0032] In an embodiment of the present application, a docking frame vehicle set reference calibration method is applied to a docking frame vehicle set, which includes a front frame vehicle 10, a plurality of middle frame vehicles 20 and a rear frame vehicle 30. The front frame vehicle 10, the middle frame vehicle 20 and the rear frame vehicle 30 are placed in sequence on a frame vehicle track 50, and the front frame vehicle 10, the middle frame vehicle 20 and the rear frame vehicle 30 are separated by a frame vehicle connecting rod 60. The distance between the front frame vehicle 10, the middle frame vehicle 20 and the rear frame vehicle 30 is defined by the frame vehicle connecting rod 60, and the front and rear references of the frame vehicle set in the direction of the frame vehicle track 50 are calibrated by the frame vehicle connecting rod 60.

[0033] Please refer to Figure 1 , the docking frame vehicle group benchmark calibration method includes:

[0034] S10 , the front frame vehicle 10 and the rear frame vehicle 30 establish a left and right common reference.

[0035] S20, adjusting the left and right references of the mid-frame vehicle 20 according to the left and right common references.

[0036] S30, the front frame vehicle 10 and the rear frame vehicle 30 establish a common height reference.

[0037] S40, adjusting the height reference of the mid-frame vehicle 20 according to the common height reference.

[0038] The distance between the front frame vehicle 10 and the rear frame vehicle 30 is the largest. The front frame vehicle 10 and the rear frame vehicle 30 respectively establish the left and right common benchmarks and the height common benchmarks. The accuracy of the left and right common benchmarks and the height common benchmarks is high, which effectively ensures the benchmark accuracy of the entire docking frame vehicle group. The middle frame vehicle 20 adjusts its own left and right benchmarks and height common benchmarks respectively with the left and right common benchmarks and the height common benchmarks, so as to quickly realize the benchmark calibration of the docking frame vehicle group, which can effectively improve the benchmark calibration efficiency of the docking frame vehicle group. In this embodiment, there is no fixed order for establishing the left and right common benchmarks and the height common benchmarks, that is, the order of steps S10 and S30 can be adjusted according to the actual calibration needs.

[0039] Please refer to Figure 6, before step S10, the method further includes step S10A, S10A: uniformly fitting one side running wheel of the front frame vehicle 10, the middle frame vehicle 20 and the rear frame vehicle 30 to one side of the corresponding frame vehicle track 50, and roughly adjusting the degree of freedom of the front frame vehicle 10, the middle frame vehicle 20 and the rear frame vehicle 30 to zero scale. The front frame vehicle 10, the middle frame vehicle 20 and the rear frame vehicle 30 are first roughly adjusted based on the frame vehicle track 50, which effectively reduces the adjustment range of the subsequent steps and improves the efficiency of calibration.

[0040] Please refer to Figure 2 and Figure 7 The front frame vehicle 10 has a front left and right reference surface, and the rear frame vehicle 30 has a rear left and right reference surface. S10 includes:

[0041] S11, controlling at least one of the front frame vehicle or the rear frame vehicle to adjust so that the front left and right reference planes and the rear left and right reference planes are coplanar;

[0042] S12, aligning the front left and right reference planes and the rear left and right reference planes;

[0043] S13, setting the plane where the front left and right reference planes and the rear left and right reference planes are located as the left and right common references, and establishing the left and right common references by connecting the front left and right reference planes and the rear left and right reference planes.

[0044] One of the front frame 10 or the rear frame 30 is used as a reference, and then the other is adjusted. Taking the front frame 10 as a reference, the left and right moving mechanism of the rear frame 30 is adjusted to make the rear left and right reference plane of the rear frame 30 coplanar with the front left and right reference plane of the front frame 10, and then the front left and right reference plane and the rear left and right reference plane are connected to establish a left and right common reference, which provides a reference for the subsequent left and right reference calibration of the middle frame 20.

[0045] Please refer to Figure 3 The mid-frame vehicle 20 has a middle and left reference plane, and S20 includes:

[0046] S21, fine-tuning the left-right moving mechanism of the mid-frame vehicle 20 with reference to the left-right common reference;

[0047] S22, aligning the middle left and right reference surfaces and the left and right common reference surfaces of the mid-frame vehicle 20;

[0048] S23, locking the left and right automatic degree of the mid-frame vehicle 20.

[0049] With the left and right common datum as the reference, the left and right moving mechanism of the middle frame vehicle 20 is adjusted so that the middle left and right datum planes of the middle frame vehicle 20 are aligned with the left and right common datum, that is, the left and right datums of the front frame vehicle 10, the middle frame vehicle 20, and the rear frame vehicle 30 are aligned, thereby realizing the calibration of the left and right datums of the docking frame vehicle group.

[0050] In step S10, a laser emitting device is aimed at the front left and right reference surfaces of the front vehicle 10 and the rear left and right reference surfaces of the rear vehicle 30 to establish left and right common reference surfaces.

[0051] The laser emitting device 40 is a laser tracker or a theodolite. The laser tracker and the theodolite can emit a straight line. The straight line emitted by the laser tracker or theodolite is aligned with the front left and right reference planes and the rear left and right reference planes. The straight line emitted by the laser tracker or theodolite is used as the connecting line of the front left and right reference planes and the rear left and right reference planes to establish a left and right common reference. The left and right reference planes of the mid-frame vehicle 20 are aligned with the straight line emitted by the laser tracker or theodolite, and the left and right reference calibration of the mid-frame vehicle 20 can be achieved.

[0052] Please refer to Figure 4 The front frame vehicle 10 has a front height reference surface, and the rear frame vehicle 30 has a rear height reference surface. S30 includes:

[0053] S31, controlling at least one of the front frame car or the rear frame car to adjust so that the front height reference plane and the rear height reference plane are coplanar;

[0054] S32, aligning the front height reference plane and the rear height reference plane;

[0055] S33, setting the plane where the front height reference plane and the rear height reference plane are located as the height common reference, and establishing the height common reference by connecting the front height reference plane and the rear height reference plane.

[0056] One of the front frame 10 or the rear frame 30 is used as a reference to adjust the other. Taking the front frame 10 as a reference, the height moving mechanism of the rear frame 30 is adjusted to make the rear height reference plane of the rear frame 30 coplanar with the front height reference plane of the front frame 10, and then the front height reference plane and the rear height reference plane are connected to establish a common height reference, which provides a reference for the subsequent height reference calibration of the middle frame 20.

[0057] Please refer to Figure 5 The mid-frame vehicle 20 has a mid-height reference surface, and S40 includes:

[0058] S41, fine-tuning the height moving mechanism of the mid-frame vehicle 20 with reference to the common height reference;

[0059] S42, aligning the middle height reference surface and the height common reference of the mid-frame vehicle 20;

[0060] S43, locking the height automatic degree of the mid-frame vehicle 20.

[0061] With the common height reference as a reference, the height moving mechanism of the middle frame vehicle 20 is adjusted to make the middle height reference plane of the middle frame vehicle 20 flush with the common height reference, that is, the height references of the front frame vehicle 10, the middle frame vehicle 20, and the rear frame vehicle 30 are flush, thereby realizing the calibration of the height reference of the docking frame vehicle group.

[0062] In step S30, the laser emitting device 40 is aimed at the front height reference plane of the front frame vehicle 10 and the rear height reference plane of the rear frame vehicle 30 to establish a common height reference. The laser emitting device 40 is a laser tracker or a theodolite. The laser tracker and the theodolite can emit a straight line. The straight line emitted by the laser tracker or theodolite is aligned with the front height reference plane and the rear height reference plane. The straight line emitted by the laser tracker or theodolite is used as the connecting line of the front height reference plane and the rear height reference plane to establish a common height reference. The middle height reference plane of the middle frame vehicle 20 is aligned with the straight line emitted by the laser tracker or theodolite, and the height reference calibration of the middle frame vehicle 20 can be achieved.

[0063] In summary, the front frame car 10, the middle frame car 20 and the rear frame car 30 are placed on the frame car track 50 in sequence, and the front and rear references of the front frame car 10, the middle frame car 20 and the rear frame car 30 are calibrated through the frame car connecting rod 60. The left and right common references and the height common references are respectively established by the front frame car 10 and the rear frame car 30, and then the left and right references of the middle frame car 20 are adjusted according to the left and right common references, and the height reference of the middle frame car 20 is adjusted according to the height common reference, so as to quickly and accurately realize the calibration of the reference of the docking frame car group. Since the distance between the front frame car 10 and the rear frame car 30 is the largest, the accuracy of the left and right common references and the height common references established by the front frame car 10 and the rear frame car 30 is relatively high. The middle frame car 20 realizes the reference calibration of the docking frame car group according to the left and right common references and the height common references, which can effectively improve the overall reference accuracy of the docking frame car group and provide a support platform for the reliable docking of the transport bodies of each level of the solid carrier.

[0064] Before the fixed carrier is placed in the docking vehicle group, the front and rear references of the front vehicle 10, the middle vehicle 20 and the rear vehicle 30 are adjusted and defined by the vehicle connecting rod 60. The left and right reference calibration method of the front vehicle 10, the middle vehicle 20 and the rear vehicle 30 is as follows: the left and right common references are first established by the front vehicle 10 and the rear vehicle 30, and the left and right references of the front vehicle 10 and the rear vehicle 30 are first calibrated in this process, and then the left and right references of the middle vehicle 20 are calibrated, so as to achieve the left and right reference calibration of the front vehicle 10, the middle vehicle 20 and the rear vehicle 30 of the docking vehicle group. The height reference calibration method of the front vehicle 10, the middle vehicle 20 and the rear vehicle 30 is as follows: the height common reference is first established by the front vehicle 10 and the rear vehicle 30, and the height references of the front vehicle 10 and the rear vehicle 30 are first calibrated in this process, and then the height reference of the middle vehicle 20 is calibrated, so as to achieve the height reference calibration of the front vehicle 10, the middle vehicle 20 and the rear vehicle 30 of the docking vehicle group.

[0065] The docking frame vehicle set benchmark calibration device is applied to the docking frame vehicle set, the docking frame vehicle set includes a front frame vehicle 10, a plurality of middle frame vehicles 20 and a rear frame vehicle 30, the front frame vehicle 10, the middle frame vehicle 20 and the rear frame vehicle 30 are sequentially placed on the frame vehicle track 50, and the docking frame vehicle set benchmark calibration device includes:

[0066] The left-right common reference module is used to establish the left-right common reference with the front frame vehicle 10 and the rear frame vehicle 30. Step S10 of the reference calibration method for docking frame vehicles provided in this embodiment can be performed by the left-right common reference module.

[0067] The left-right adjustment module is used to adjust the left-right reference of the mid-frame vehicle 20 according to the left-right common reference. Step S20 of the docking frame vehicle assembly reference calibration method provided in this embodiment can be performed by the left-right adjustment module.

[0068] The height common reference module is used to establish a height common reference with the front frame vehicle 10 and the rear frame vehicle 30. Step S30 of the docking frame vehicle assembly reference calibration method provided in this embodiment can be performed by the height common reference module.

[0069] The height adjustment module is used to adjust the height reference of the mid-frame vehicle 20 according to the common height reference. Step S40 of the docking frame vehicle assembly reference calibration method provided in this embodiment can be performed by the height adjustment module.

[0070] The docking driving group includes: a memory and a processor, the memory is used to store computer programs, and the processor is used to execute the computer programs on the memory to implement the above-mentioned docking vehicle group benchmark calibration method, realize automatic control, and effectively improve the calibration efficiency and accuracy of the docking vehicle group benchmark.

[0071] In the description of the above embodiments, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0072] Although the present disclosure has been described with reference to several typical embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present disclosure can be embodied in a variety of forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A method for calibrating a docking frame vehicle set, characterized in that: Applicable to a docking carriage group, the docking carriage group includes a front carriage, a plurality of middle carriages, and a rear carriage, the front carriage, the middle carriage, and the rear carriage being placed in sequence on a carriage track, the front carriage, the middle carriage, and the rear carriage being separated by carriage connecting rods, the distances between the front carriage, the middle carriage, and the rear carriage being defined by the carriage connecting rods, and the front and rear references of the carriage group in the direction of the carriage track being calibrated by the carriage connecting rods; The docking frame vehicle group benchmark calibration method includes: Use the front and rear vehicles to establish a public benchmark on both sides; Adjust the left and right benchmarks of the mid-frame vehicle based on the left and right common benchmarks; Establish a common height benchmark for the front and rear vehicles; Adjust the height benchmark of the mid-frame vehicle based on the public height benchmark; Before the front and rear carriages establish a left and right common reference step, the steps include uniformly fitting one side of the running wheels of the front, middle, and rear carriages to one side of the corresponding carriage tracks, and roughly adjusting the degrees of freedom of the front, middle, and rear carriages to zero scale. The front vehicle has a front left and right reference plane, and the rear vehicle has a rear left and right reference plane. The step of establishing a left and right common reference plane for the front vehicle and the rear vehicle comprises: Controlling at least one of the front frame vehicle or the rear frame vehicle to adjust so that the front left and right reference planes and the rear left and right reference planes are coplanar; aligning the front left and right reference planes and the rear left and right reference planes; The planes where the front left and right reference planes and the rear left and right reference planes are located are set as the left and right common references, and the left and right common references are established by connecting the front left and right reference planes and the rear left and right reference planes; the mid-frame vehicle has a middle left and right reference plane, and the step of adjusting the left and right references of the mid-frame vehicle based on the left and right common references includes: Using the left and right common benchmarks as reference, fine-tune the left and right movement mechanism of the mid-frame vehicle; Align the left and right center reference planes and left and right common reference planes of the mid-frame vehicle; Lock the left and right automatic degree of the mid-frame vehicle; The front vehicle has a front height reference plane, and the rear vehicle has a rear height reference plane. The step of establishing a common height reference plane for the front vehicle and the rear vehicle comprises: Controlling at least one of the front frame vehicle or the rear frame vehicle to adjust so that the front height reference plane and the rear height reference plane are coplanar; Align the front height reference plane and the rear height reference plane; The plane where the front height reference plane and the rear height reference plane are located is set as the height common reference, and the height common reference is established by connecting the front height reference plane and the rear height reference plane; The mid-frame vehicle has a mid-height reference surface, and the step of adjusting the height reference of the mid-frame vehicle according to the common height reference includes: Using the left and right common benchmarks as a reference, fine-tune the height movement mechanism of the mid-frame vehicle; Flush the middle height reference plane and height common reference of the mid-frame vehicle; Lock the height automation of the mid-frame vehicle.

2. A docking frame vehicle set benchmark calibration method according to claim 1, characterized in that: In the step of establishing the left and right common references with the front vehicle and the rear vehicle, the laser emitting device is aimed at the front left and right reference planes of the front vehicle and the rear left and right reference planes of the rear vehicle to establish the left and right common references.

3. A docking frame vehicle set benchmark calibration method according to claim 2, characterized in that: In the step of establishing a common height reference for the front vehicle and the rear vehicle, a laser emitting device is aimed at a front height reference plane of the front vehicle and a rear height reference plane of the rear vehicle to establish the common height reference.

4. A docking frame vehicle set benchmark calibration device, the docking frame vehicle set benchmark calibration device is used to implement the docking frame vehicle set benchmark calibration method according to any one of claims 1 to 3, characterized in that: Applicable to a docking vehicle set, the docking vehicle set includes a front vehicle, a plurality of middle vehicles and a rear vehicle, the front vehicle, the middle vehicle and the rear vehicle are placed on the vehicle track in sequence, and the docking vehicle set reference calibration device includes: The left and right public reference module is used to establish the left and right public references with the front and rear vehicles; The left and right adjustment module is used to adjust the left and right references of the mid-frame vehicle based on the left and right common references; The height common reference module is used to establish a height common reference for the front and rear vehicles; The height adjustment module is used to adjust the height reference of the mid-frame vehicle according to the common height reference.

5. A docking frame vehicle group, characterized in that: The docking frame vehicle set includes: a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program on the memory to implement the docking frame vehicle set benchmark calibration method according to any one of claims 1-3.

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