A ground compartment automatic docking device and method based on machine vision

Abstract

The present invention relates to the field of automation equipment technology, and in particular to a device and method for automatic docking of ground cabin sections based on machine vision. The present invention provides a device and method for automatic docking of ground cabin sections based on machine vision, which can automatically rotate and adjust when the cabin section docking angles are different. A device and method for automatic docking of ground cabin sections based on machine vision, comprising a mounting seat, a first sliding seat, a second sliding seat, etc. The upper left side of the mounting seat is slidably connected to a first sliding seat that slides left and right, and the top of the first sliding seat is slidably connected to a second sliding seat that slides back and forth. The present invention controls the pressing block by a cylinder to press and fix the ground cabin section, thereby avoiding the displacement of the ground cabin section during the adjustment process. Afterwards, the output shaft of the third motor drives the gear to rotate, so that the toothed rotating part drives the ground cabin section on the left to automatically rotate and adjust, so that the two ground cabin sections can ensure docking at the same angle, thereby avoiding abnormalities during the docking process and causing docking failure.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a ground compartment automatic docking device and method based on machine vision. Background Art

[0002] The launch technology product is assembled and spliced from multiple compartments, which are controlled and adjusted by manual operating devices so that the compartments can be accurately positioned and docked.

[0003] Patent publication number CN109367825A describes an automatic docking method for cabin sections. First, an automatic docking device for cabin sections is designed, which includes a first base, a control panel, a front support trolley for cabin section A, a rear support trolley for cabin section A, a front support trolley for cabin section B, and a rear support trolley for cabin section B. The base is fixed on the ground, the control panel is installed on the first base, the front support trolley for cabin section A is fixed at the front end of the first base, the rear support trolley for cabin section A is located behind the front support trolley for cabin section A and is fixedly installed on the first base, the front support trolley for cabin section B is installed on the first guide rail of the first base, and the rear support trolley for cabin section B is installed on the first guide rail of the first base and behind the front support trolley for cabin section B. Although the device can complete the positioning and docking of the cabin sections, if the docking angles between the cabin sections are different during the docking process, it is difficult to perform rapid rotation adjustment, which reduces the docking efficiency.

[0004] Therefore, in order to solve the above problems, a ground cabin automatic docking device based on machine vision is now developed, which can automatically rotate and adjust when the cabin docking angles are different. Summary of the Invention

[0005] In order to overcome the shortcomings of existing devices that if the docking angles between cabins are different during the docking process, it is difficult to perform rapid rotation adjustment, thereby reducing the docking efficiency, the present invention provides a ground cabin automatic docking device based on machine vision that can automatically perform rotation adjustment when the docking angles of the cabins are different.

[0006] The technical solution of the present invention is as follows: An automatic docking device for ground cabin sections based on machine vision, comprising a mounting seat, a first sliding seat, a second sliding seat, a mounting assembly, a lifting seat, a mounting ring, a docking mechanism and an adjustment mechanism, wherein the upper left side of the mounting seat is slidably connected to a first sliding seat that slides left and right, and the top of the first sliding seat is slidably connected to a second sliding seat that slides back and forth, and the top of the mounting seat and the top of the second sliding seat are both connected to the mounting assembly, the mounting assembly comprises a lifting seat and a mounting ring, the lifting seats on the left are slidably connected to the second sliding seat, and the lifting seats on the right are fixedly connected to the mounting seat, the top of the lifting seat on the left is rotatably connected to a mounting ring for fixing the ground cabin section, and the top of the lifting seat on the right is connected to the mounting ring, the first sliding seat and the second sliding seat are both provided with a docking mechanism for assisting the ground cabin section to perform precise docking and positioning, and the second sliding seat and the mounting seat are both provided with an adjustment mechanism for rotationally adjusting the positioning of the ground cabin section.

[0007] Optionally, the docking mechanism includes a binocular vision camera, a first motor, a motor protective cover, a first screw rod, a sliding member, a fixed slot plate, a second motor, a second screw rod and a pulley assembly. The left side of the upper part of the lifting seat on the right side near the second sliding seat is connected to a binocular vision camera for docking status detection. The front side of the right part of the second sliding seat is connected to the first motor, and the front side of the right part of the second sliding seat is connected to the motor protective cover. The output shaft of the first motor is rear-facing. The output shaft of the first motor and the leftmost lifting seat are both connected to the first screw rod. A pulley assembly is connected between the rear side of the first screw rod. The first screw rod is rotatably connected to the lifting seat. The sliding member is threadedly connected to the first screw rod. The bottom of the lifting seat on the left side is connected to two symmetrical fixed slot plates on the left and right. The two adjacent fixed slot plates on the left and right are slidably connected to the adjacent sliding members. The second motor is connected to the middle position of the front side of the first sliding seat. The output shaft of the second motor is rear-facing. The middle position of the front side of the first sliding seat is also connected to the motor protective cover. The second motor output shaft is connected to the second screw rod, and the second screw rod is threadedly connected to the second sliding seat.

[0008] Optionally, the adjustment mechanism includes a first fixing member, a second fixing member, a pressure block, a support member, a third motor, a gear, a toothed rotating member and a cylinder. The right part of the mounting seat is connected to the first fixing member for supporting the ground cabin section on the right side, the upper part of the second sliding seat is connected to the second fixing member, the upper right side of the second fixing member is connected to the third motor, the output shaft of the third motor is set to the left, and a gear is connected to the output shaft of the third motor. The top of the second fixing member is rotatably connected to a toothed rotating member for supporting the ground cabin section on the left, the toothed rotating member and the gear are engaged with each other, cylinders are connected between adjacent lifting seats, the cylinder telescopic rods are all set to face downward, and the bottoms of the cylinder telescopic rods are connected to pressure blocks for squeezing and fixing the ground cabin section, and support members are connected to the right side of the mounting seat and the left side of the second sliding seat.

[0009] Optionally, a pulling mechanism is also included, which includes a hydraulic cylinder, a fixed frame and a sliding roller. The hydraulic cylinder is connected to the right part of the mounting seat, the telescopic end of the hydraulic cylinder is set to the left, the telescopic end of the hydraulic cylinder is connected to the first sliding seat, and the upper left side of the mounting seat is connected to the fixed frame. There are multiple sliding rollers rotatably connected to the fixed frame for assisting the sliding of the first sliding seat.

[0010] Optionally, a clamping mechanism is also included, which includes a lifting frame, a sliding block, a pull rope, a clamping block, a third fixing part, a clamping part and a torsion spring. The upper sides of the left and right parts of the pressure block are connected to the lifting frame for guidance. The upper part of the lifting seat is slidably connected to the sliding block, and the sliding block is slidably connected to the adjacent lifting frame. The lifting seat is slidably connected to multiple clamping blocks. There are multiple third fixing parts evenly distributed in a circular shape inside the lifting seat. The third fixing part is rotatably connected to a clamping part for clamping and fixing the ground cabin section. A pull rope is connected between the clamping block and the sliding block on the same side, a torsion spring is connected between the clamping parts, and a torsion spring is also connected between the clamping part and the adjacent third fixing part.

[0011] Optionally, a positioning mechanism is also included, which includes a fixed plate, a rotating plate and a positioning piece. The front sides of the two mounting rings located in the middle position are connected to the fixed plate, the fixed plates are rotatably connected to the rotating plates, and the parts of the rotating plates that are close to each other are slidably connected to the positioning piece for blocking and positioning the ground compartment section.

[0012] Optionally, a protective mechanism is further included, which includes a fixing frame and a protective plate. The fixing frame is slidably connected to the binocular vision camera, and the fixing frame is connected to the protective plate for protecting the binocular vision camera.

[0013] Optionally, the pulley assembly includes a pulley and a transmission belt, the rear side of the first screw is connected to a pulley, and the transmission belt is wound between the pulleys.

[0014] Optionally, the bottom of the pressing block is an arc-shaped structure.

[0015] A method for automatically docking a ground compartment segment, the method comprising the following steps:

[0016] Step 1: The two ground cabin sections to be docked are supported and placed by the support member, the first fixing member, and the toothed rotating member. During the placement process, the positioning member positions and limits the placement of the ground cabin sections so that the distance between the two cabin sections does not exceed 120 mm.

[0017] Step 2: The first and second motors are used to control the corresponding first and second screw rods to rotate. The first motor drives the ground compartment to translate up and down, and the second motor drives the ground compartment to translate forward and backward, thereby performing preliminary positioning of the two ground compartments.

[0018] Step 3: After the initial positioning is completed, the third motor is controlled to rotate the toothed rotating member, which drives the ground cabin segment to rotate and adjust. During the adjustment process, the cylinder controls the pressure block to clamp the ground cabin segment. At the same time, the pressure block controls the lifting frame so that the clamping member performs secondary positioning on the ground cabin segment.

[0019] Step 4: After the ground cabin sections are completely and accurately aligned, the hydraulic cylinder is controlled to drive the first sliding seat to slide, so that the two ground cabin sections are close to each other, completing the automatic docking of the cabin sections.

[0020] Compared with the prior art, the present invention has the following advantages: 1. The present invention uses a cylinder-controlled pressure block to press and fix the ground cabin section, thereby preventing the ground cabin section from offsetting during the adjustment process. The output shaft of the third motor then drives the gear to rotate, so that the toothed rotating part drives the ground cabin section on the left to automatically rotate and adjust, allowing the two ground cabin sections to ensure docking at the same angle, avoiding abnormalities during the docking process and resulting in docking failure.

[0021] 2. The present invention drives the first sliding seat to slide automatically through the telescopic end of the hydraulic cylinder, controls the automatic docking of the two ground compartments, and at the same time, during the sliding process of the first sliding seat, the sliding roller guides the first sliding seat to reduce the sliding friction between the first sliding seat and the mounting seat.

[0022] 3. The present invention causes the sliding blocks to slide by moving the lifting frame downward, and pulls the pull rope to cause the clamping blocks to squeeze the clamping members, causing the clamping members to begin to close, thereby clamping and fixing the ground cabin section, preventing the ground cabin section from sliding during rotation and affecting normal docking.

[0023] 4. The present invention blocks and positions the ground compartment by means of positioning pieces, so that the ground compartment can be positioned accurately during placement, thus preventing the ground compartments from being too close to each other and affecting docking adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0025] Figure 2 It is a partial three-dimensional structural schematic diagram of the present invention.

[0026] Figure 3 It is a partial cross-sectional three-dimensional structural schematic diagram of the docking mechanism of the present invention.

[0027] Figure 4 It is a schematic cross-sectional structural diagram of the docking mechanism of the present invention.

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of the adjustment mechanism of the present invention.

[0029] Figure 6It is a partial cross-sectional three-dimensional structural diagram of the pulling mechanism of the present invention.

[0030] Figure 7 It is a schematic diagram of the three-dimensional structure of the clamping mechanism of the present invention.

[0031] Figure 8 This is a schematic diagram of a first partial three-dimensional structure of the clamping mechanism of the present invention.

[0032] Figure 9 This is a schematic diagram of a second partial three-dimensional structure of the clamping mechanism of the present invention.

[0033] Figure 10 It is a schematic diagram of the three-dimensional structure of the positioning mechanism of the present invention.

[0034] Figure 11 It is a schematic diagram of the three-dimensional structure of the protection mechanism of the present invention.

[0035] Markings in the accompanying drawings: 1: mounting base, 2: first sliding base, 3: second sliding base, 4: mounting assembly, 41: lifting base, 42: mounting ring, 5: docking mechanism, 51: binocular vision camera, 52: first motor, 53: motor protective cover, 54: first screw rod, 55: sliding member, 56: fixed groove plate, 57: second motor, 58: second screw rod, 59: pulley assembly, 6: adjustment mechanism, 61: first fixing member, 62: second fixing member, 63: pressing block, 64 : Support member, 65: Third motor, 66: Gear, 67: Toothed rotating member, cylinder, 7: Pulling mechanism, 71: Hydraulic cylinder, 72: Fixed frame, 73: Sliding roller, 8: Clamping mechanism, 81: Lifting frame, 82: Sliding block, 83: Pull rope, 84: Block, 85: Third fixed member, 86: Clamping member, 87: Torsion spring, 9: Positioning mechanism, 91: Fixed plate, 92: Rotating plate, 93: Positioning member, 10: Protective mechanism, 101: Fixed frame, 102: Protective plate. DETAILED DESCRIPTION

[0036] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0037] A ground compartment automatic docking device based on machine vision, such as Figure 1 and Figure 2As shown, it includes a mounting base 1, a first sliding base 2, a second sliding base 3, a mounting assembly 4, a lifting base 41, a mounting ring 42, a docking mechanism 5 and an adjustment mechanism 6. The upper left side of the mounting base 1 is slidably connected to the first sliding base 2, the top of the first sliding base 2 is slidably connected to the second sliding base 3, the top of the mounting base 1 and the top of the second sliding base 3 are both connected to the mounting assembly 4, the mounting assembly 4 includes a lifting base 41 and a mounting ring 42, the lifting bases 41 on the left are slidably connected to the second sliding base 3, the lifting bases 41 on the right are fixedly connected to the mounting base 1, the tops of the lifting bases 41 on the left are rotatably connected to the mounting ring 42, the tops of the lifting bases 41 on the right are welded with the mounting ring 42, the first sliding base 2 and the second sliding base 3 are both provided with a docking mechanism 5, and the second sliding base 3 and the mounting base 1 are both provided with an adjustment mechanism 6.

[0038] It should be noted that when docking and installing the ground compartment, due to the heavy weight of the ground compartment, mechanical equipment is required for automatic docking. First, the two ground compartments are placed on the installation components 4 respectively, and the ground compartments are supported and stabilized by the adjustment mechanism 6. Then, the first sliding seat 2 and the second sliding seat 3 are controlled by the docking mechanism 5 to adjust their positions so that the ground compartment on the left can be docked and positioned with the ground compartment on the right. If there is still a slight angle difference between the two ground compartments at this time, the adjustment mechanism 6 can be used to make the mounting ring 42 on the left drive the ground compartment on the left to rotate, so that the two ground compartments can be accurately docked.

[0039] like Figure 1 、 Figure 3 、 Figure 4 and Figure 6As shown, the docking mechanism 5 includes a binocular vision camera 51, a first motor 52, a motor protective cover 53, a first screw rod 54, a sliding member 55, a fixed slot plate 56, a second motor 57, a second screw rod 58 and a pulley assembly 59. The left side of the upper part of the lifting seat 41 on the right side near the second sliding seat 3 is connected to the binocular vision camera 51 by bolts. The binocular vision camera 51 is used to detect the docking state. The front side of the right part of the second sliding seat 3 is connected to the first motor 52 by bolts. The motor protective cover 53 is welded to the front side of the right part of the second sliding seat 3. The first motor 52 is located inside the motor protective cover 53. The first screw rod 54 is connected to the output shaft of the first motor 52 and the lifting seat 41 on the left side. The pulley assembly 59 is connected between the rear side of the first screw rod 54. The pulley assembly 59 includes a belt The first screw rod 54 is connected to the lifting seat 41 by a pulley and a transmission belt is wound around it. The first screw rod 54 is rotatably connected to the lifting seat 41. The first screw rod 54 is threadedly connected to a sliding member 55. The bottom of the lifting seat 41 on the left is connected to two symmetrical fixed slot plates 56 on the left and right. The two adjacent fixed slot plates 56 on the left and right are slidably connected to the adjacent sliding members 55 and guide the sliding members 55. The middle position of the front side of the first sliding seat 2 is connected to the second motor 57 by bolts. The middle position of the front side of the first sliding seat 2 is also welded with a motor protective cover 53. The second motor 57 is located inside the motor protective cover 53 on the front side of the first sliding seat 2. The second motor 57 is connected to the output shaft of the second motor 57. The second screw rod 58 is threadedly connected to the second sliding seat 3.

[0040] It should be noted that, during the docking process of the ground compartment sections, there may be inaccurate alignment between the two ground compartment sections. At this time, in order to accurately position the ground compartment sections, it is first necessary to control the output shaft of the first motor 52 to rotate, so that the corresponding first screw rod 54 rotates. At this time, the pulley assembly 59 starts to operate, so as to achieve the effect of simultaneous rotation of the two first screw rods 54. At this time, the sliding members 55 will start to move due to the rotation of the first screw rod 54. It should be noted that when the sliding members 55 move forward, the adjacent lifting seats 41 will start to slide upward and lift. When the sliding members 55 move backward, the adjacent lifting seats 41 will start to slide downward and lower. When the lifting seats 41 start to slide up and down, the mounting ring 42 will drive the adjacent ground compartment sections to adjust their height, so that the height of the ground compartment section on the left can match the height of the ground compartment section on the right, so that the two Then the second motor 57 output shaft is controlled to drive the second screw rod 58 to rotate, so that the two ground compartment sections can be in the same straight line in the horizontal direction. When the positioning is completed, the second motor 57 is turned off, and then the first sliding seat 2 is pushed to the right, so that the ground compartment section on the left is close to the ground compartment section on the right. When the two ground compartment sections are in contact, they are automatically docked. In summary, the first screw rod 54 is driven to rotate by the output shaft of the first motor 52, so that the lifting seat 41 starts to adjust the height, so that the two ground compartment sections can be at the same height. Then the output shaft of the second motor 57 is controlled to drive the second screw rod 58 to rotate, so that the two ground compartment sections can be in the same horizontal straight line, realizing the effect of automatic positioning and docking of the ground compartment sections.

[0041] like Figure 1 and Figure 5As shown, the adjustment mechanism 6 includes a first fixing member 61, a second fixing member 62, a pressure block 63, a support member 64, a third motor 65, a gear 66, a toothed rotating member 67 and a cylinder 68. The right part of the mounting seat 1 is connected to the first fixing member 61 by bolts. The first fixing member 61 is used to support the ground compartment on the right side. The upper part of the second sliding seat 3 is connected to the second fixing member 62 by bolts. The upper right side of the second fixing member 62 is connected to the third motor 65 by bolts. The output shaft of the third motor 65 is connected to a gear 66. The top of the second fixing member 62 is rotatably connected to the toothed rotating member 67. The toothed rotating member 67 is used to adjust the left The ground cabin section on the side is supported, the toothed rotating part 67 is meshed with the gear 66, and the adjacent lifting seats 41 are connected with a cylinder 68. The bottom of the telescopic rod of the cylinder 68 is connected with a pressure block 63, and the pressure block 63 is slidably connected to the adjacent first fixing member 61 and the toothed rotating member 67. The pressure block 63 is used to squeeze and fix the ground cabin section. The bottom of the pressure block 63 is an arc-shaped structure, which can fit the ground cabin section for compression. Support members 64 are welded on the right side of the mounting seat 1 and the left side of the second sliding seat 3. The support members 64 can cooperate with the adjacent first fixing member 61 and the toothed rotating member 67 to stably support and place the ground cabin section.

[0042] It should be noted that the ground compartment needs to be sent in horizontally during the placement process. At this time, the support member 64 cooperates with the adjacent first fixing member 61 and the toothed rotating member 67 to stably support and place the ground compartment to prevent the ground compartment from tilting. After the ground compartment is positioned, it may be difficult to accurately dock the two ground compartments due to the different placement angles of the ground compartment. At this time, it is necessary to rotate and adjust the ground compartment on the left. Since the ground compartment is heavy, it is difficult to manually adjust and rotate it. Therefore, before adjusting, it is necessary to start the cylinder 68 so that the telescopic rod of the cylinder 68 drives the pressure block 63 to move downward, so that the pressure block 63 can be squeezed and fitted with the ground compartment, and the ground compartment is pressed and fixed. Then start The third motor 65 is driven, and the output shaft of the third motor 65 drives the gear 66 to rotate, so that the toothed rotating member 67 drives the ground compartment section on the left to rotate, so that the mounting ring 42 on the left starts to rotate, so that the ground compartment section on the left can maintain the same angle as the ground compartment section on the right, making the docking more precise and avoiding docking anomalies. In summary, the cylinder 68 controls the pressure block 63 to press and fix the ground compartment section to avoid deviation of the ground compartment section during the adjustment process. Thereafter, the output shaft of the third motor 65 drives the gear 66 to rotate, so that the toothed rotating member 67 drives the ground compartment section on the left to rotate and adjust, so that the two ground compartment sections can ensure docking at the same angle, avoiding anomalies during the docking process and causing docking failure.

[0043] like Figure 1 and Figure 6As shown, it also includes a pulling mechanism 7, which includes a hydraulic cylinder 71, a fixed frame 72 and a sliding roller 73. The right part of the mounting seat 1 is connected to the hydraulic cylinder 71 by bolts, and the telescopic end of the hydraulic cylinder 71 is connected to the first sliding seat 2. The upper left side of the mounting seat 1 is connected to the fixed frame 72, and five sliding rollers 73 are rotatably connected to the fixed frame 72.

[0044] It should be noted that due to the heavy weight of the ground compartment itself, it is difficult to push it directly during the docking process. After the two ground compartments are fully positioned, the telescopic end of the hydraulic cylinder 71 is controlled to retract to the right, so that the first sliding seat 2 automatically slides to the right. It should be noted that in the process of the first sliding seat 2 sliding to the right, the sliding roller 73 will assist in guiding the first sliding seat 2, so that the first sliding seat 2 can slide stably and quickly, reducing the friction between the first sliding seat 2 and the mounting seat 1. In summary, the telescopic end of the hydraulic cylinder 71 drives the first sliding seat 2 to slide automatically, and controls the automatic docking of the two ground compartments. At the same time, in the process of the first sliding seat 2 sliding, the sliding roller 73 guides the first sliding seat 2 to slide, reducing the sliding friction between the first sliding seat 2 and the mounting seat 1.

[0045] like Figure 1 、 Figure 7 、 Figure 8 and Figure 9 As shown, it also includes a clamping mechanism 8, which includes a lifting frame 81, a sliding block 82, a pull rope 83, a clamping block 84, a third fixing member 85, a clamping member 86 and a torsion spring 87. The upper sides of the left and right parts of the pressure block 63 are connected to the lifting frame 81, the upper part of the lifting seat 41 is slidably connected to the sliding block 82, and the sliding block 82 is slidably connected to the adjacent lifting frame 81. Six clamping blocks 84 are slidably connected to the lifting seat 41. Three third fixing members 85 are evenly distributed in a circular shape inside the lifting seat 41. The third fixing members 85 are rotatably connected to the clamping members 86. The clamping members 86 can be pushed by the adjacent clamping blocks 84. A pull rope 83 is connected between the clamping block 84 and the sliding block 82 on the same side. A torsion spring 87 is connected between the clamping members 86, and a torsion spring 87 is also connected between the clamping member 86 and the adjacent third fixing member 85.

[0046] It should be noted that when the ground compartment is rotating and adjusting, the ground compartment may slide due to the gravity of the ground compartment itself. In order to avoid the above situation, when the pressure block 63 starts to move downward to press and fix the ground compartment, it will drive the lifting frame 81 to move downward, so that the sliding blocks 82 will slide under the guidance of the lifting frame 81. At this time, the sliding blocks 82 will pull the pull rope 83 to move, so that the clamping blocks 84 will start to slide. During the sliding process of the clamping blocks 84, the clamping members will be squeezed, so that the clamping members will start to close and clamp the ground compartment to prevent the ground compartment from rotating. In the event of unexpected sliding, the torsion springs 87 will be deformed under force. When the positioning and docking are completed, the lifting frame 81 will be moved upward and reset as the pressure block 63 drives the lifting frame 81. At this time, under the action of the torsion spring 87, the clamping parts will be expanded and reset, and push the adjacent clamping blocks 84 to slide and reset, so that the pull ropes 83 will pull the sliding blocks 82 to slide and reset. In summary, the lifting frame 81 moves downward to make the sliding blocks 82 slide, and pull the pull ropes 83 to make the clamping blocks 84 squeeze the clamping parts, so that the clamping parts begin to close, thereby clamping and fixing the ground cabin section, preventing the ground cabin section from sliding during rotation and affecting normal docking.

[0047] like Figure 1 and Figure 10 As shown, a positioning mechanism 9 is also included, and the positioning mechanism 9 includes a fixed plate 91, a rotating plate 92 and a positioning member 93. The front sides of the two mounting rings 42 located in the middle position are connected to the fixed plate 91, and the rotating plate 92 is rotatably connected to the fixed plate 91. The parts of the rotating plates 92 that are close to each other are slidably connected to the positioning member 93.

[0048] It should be noted that, in the process of placing the ground compartment, in order to avoid the ground compartment being placed too close and affecting the positioning adjustment, the ground compartment can be blocked and positioned by the positioning member 93. After the positioning is completed, the positioning members 93 are pulled forward and the rotating plate 92 is flipped downward so that the positioning member 93 does not affect the normal docking of the ground compartment. In summary, the ground compartment is blocked and positioned by the positioning member 93, so that the ground compartment can be accurately positioned during the placement process, avoiding the ground compartment being too close and affecting the docking adjustment.

[0049] like Figure 1 and Figure 11 As shown, a protection mechanism 10 is also included. The protection mechanism 10 includes a fixing frame 101 and a protection plate 102. The fixing frame 101 is slidably connected to the binocular vision camera 51, and the protection plate 102 is connected to the fixing frame 101.

[0050] It should be noted that the lens of the binocular vision camera 51 is made of fragile material. When it is not needed, the protective plate 102 is pushed to the right to make the fixing frame 101 slide to the right, thereby blocking and protecting the lens of the binocular vision camera 51 to prevent the binocular vision camera 51 from being damaged. When the binocular vision camera 51 needs to be used, it is only necessary to slide the protective plate 102 to the left to make the fixing frame 101 slide to the left, so that the binocular vision camera 51 is no longer blocked.

[0051] A method for automatically docking a ground compartment segment, the method comprising the following steps:

[0052] Step 1: The two ground compartments to be docked are supported and placed by the support member 64, the first fixing member 61 and the toothed rotating member 67. During the placement process, the positioning member 93 limits the placement of the ground compartments so that the distance between the two compartments does not exceed 120 mm.

[0053] Step 2: The first motor 52 and the second motor 57 control the corresponding first screw rod 54 and the second screw rod 58 to rotate. The first motor 52 drives the ground compartment to move up and down, and the second motor 57 drives the ground compartment to move forward and backward, so as to perform preliminary positioning of the two ground compartments.

[0054] Step 3: After the initial positioning is completed, the third motor 65 is controlled to rotate the toothed rotating member 67, which drives the ground compartment to rotate and adjust. During the adjustment process, the cylinder 68 controls the pressing block 63 to clamp the ground compartment. At the same time, the pressing block 63 controls the lifting frame 81 so that the clamping member 86 performs a secondary position limit on the ground compartment.

[0055] Step 4: After the ground cabin sections are completely and accurately aligned, the hydraulic cylinder 71 is controlled to drive the first sliding seat 2 to slide, so that the two ground cabin sections are close to each other, completing the automatic docking of the cabin sections.

[0056] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A ground compartment automatic docking device based on machine vision, comprising a mounting seat (1), wherein the upper left side of the mounting seat (1) is slidably connected to a first sliding seat (2) that slides left and right, and the top of the first sliding seat (2) is slidably connected to a second sliding seat (3) that slides forward and backward, and the top of the mounting seat (1) and the top of the second sliding seat (3) are both connected to a mounting assembly (4), and the mounting assembly (4) includes a lifting seat (41) and a mounting ring (42), the lifting seat (41) on the left side is slidably connected to the second sliding seat (3), and the lifting seat (41) on the right side is fixedly connected to the mounting seat (1), the top of the lifting seat (41) on the left side is rotatably connected to the mounting ring (42), and the top of the lifting seat (41) on the right side is connected to the mounting ring (42), characterized in that It also includes a docking mechanism (5) and an adjustment mechanism (6), wherein the first sliding seat (2) and the second sliding seat (3) are both provided with the docking mechanism (5), and the second sliding seat (3) and the mounting seat (1) are both provided with the adjustment mechanism (6); The docking mechanism (5) includes a binocular vision camera (51), a binocular vision camera (51) is connected to the left side of the upper part of the lifting seat (41) near the right side of the second sliding seat (3), a first motor (52) is connected to the front side of the right side of the second sliding seat (3), a motor protection cover (53) is connected to the front side of the right side of the second sliding seat (3), a first screw rod (54) is connected to the output shaft of the first motor (52) and the leftmost lifting seat (41), a pulley assembly (59) is connected between the rear side of the first screw rod (54), and the first screw rod (54) is rotatably connected to the lifting seat (41). , the first screw rod (54) is threadedly connected to a sliding member (55), the bottom of the left lifting seat (41) is connected to two symmetrical fixed slot plates (56), the two adjacent fixed slot plates (56) on the left and right are slidably connected to the adjacent sliding members (55), the middle position of the front side of the first sliding seat (2) is connected to a second motor (57), the middle position of the front side of the first sliding seat (2) is also connected to a motor protective cover (53), the output shaft of the second motor (57) is connected to a second screw rod (58), and the second screw rod (58) is threadedly connected to the second sliding seat (3); The adjustment mechanism (6) includes a first fixing member (61), the right part of the mounting seat (1) is connected to the first fixing member (61), the upper part of the second sliding seat (3) is connected to the second fixing member (62), the right side of the upper part of the second fixing member (62) is connected to the third motor (65), the output shaft of the third motor (65) is connected to a gear (66), the top of the second fixing member (62) is rotatably connected to a toothed rotating member (67), the toothed rotating member (67) and the gear (66) are engaged with each other, the adjacent lifting seats (41) are connected to a cylinder (68), the bottom of the telescopic rod of the cylinder (68) is connected to a pressure block (63), and the right side of the mounting seat (1) and the left side of the second sliding seat (3) are connected to a support member (64).

2. The ground compartment automatic docking device based on machine vision according to claim 1 is characterized in that: The invention also includes a pulling mechanism (7), which includes a hydraulic cylinder (71), a fixed frame (72) and a sliding roller (73). The right part of the mounting seat (1) is connected to the hydraulic cylinder (71), the telescopic end of the hydraulic cylinder (71) is set to the left, and the telescopic end of the hydraulic cylinder (71) is connected to the first sliding seat (2). The upper left side of the mounting seat (1) is connected to the fixed frame (72), and a plurality of sliding rollers (73) for assisting the first sliding seat (2) in sliding are rotatably connected to the fixed frame (72).

3. The ground compartment automatic docking device based on machine vision according to claim 2 is characterized in that: The clamping mechanism (8) further comprises a lifting frame (81), a sliding block (82), a pull rope (83), a clamping block (84), a third fixing member (85), a clamping member (86) and a torsion spring (87). The upper sides of the left and right parts of the pressing block (63) are both connected to the lifting frame (81) for guiding. The upper part of the lifting seat (41) is slidably connected to the sliding block (82). The sliding block (82) is slidably connected to the adjacent lifting frame (81). The upper part of the lifting seat (41) is There are multiple clamping blocks (84) in a sliding connection, and multiple third fixing members (85) are evenly distributed in a circular shape inside the lifting seat (41). The third fixing members (85) are rotatably connected with clamping members (86) for clamping and fixing the ground cabin section. A pull rope (83) is connected between the clamping blocks (84) and the sliding blocks (82) on the same side. A torsion spring (87) is connected between the clamping members (86), and a torsion spring (87) is also connected between the clamping members (86) and the adjacent third fixing members (85).

4. The ground compartment automatic docking device based on machine vision according to claim 3 is characterized in that: The invention also includes a positioning mechanism (9), which includes a fixed plate (91), a rotating plate (92) and a positioning member (93). The front sides of the two mounting rings (42) located in the middle are connected to the fixed plate (91), the rotating plate (92) is rotatably connected to the fixed plate (91), and the parts of the rotating plates (92) that are close to each other are slidably connected to the positioning member (93) for blocking and positioning the ground compartment.

5. The ground compartment automatic docking device based on machine vision according to claim 4 is characterized in that: The invention also includes a protection mechanism (10), which includes a fixing frame (101) and a protection plate (102). The fixing frame (101) is slidably connected to the binocular vision camera (51), and the left part of the fixing frame (101) is connected to the protection plate (102) for protecting the binocular vision camera (51).

6. The ground compartment automatic docking device based on machine vision according to claim 1 is characterized in that: The pulley assembly (59) comprises a pulley and a transmission belt. The rear side of the first screw rod (54) is connected to a pulley, and the transmission belt is wound between the pulleys.

7. The ground compartment automatic docking device based on machine vision according to claim 1 is characterized in that: The bottom of the pressing block (63) is an arc-shaped structure.

8. A method for automatic docking of ground compartments, based on the machine vision-based automatic docking device of any one of claims 1 to 7, characterized in that: The docking method comprises the following steps: Step 1: Two ground compartments to be docked are supported and placed by the support member (64), the first fixing member (61) and the toothed rotating member (67). During the placement process, the positioning member (93) limits the placement position of the ground compartment so that the distance between the two compartments does not exceed 120 mm. Step 2: The first motor (52) and the second motor (57) are used to control the corresponding first screw rod (54) and the second screw rod (58) to rotate. The first motor (52) drives the ground compartment to move up and down, and the second motor (57) drives the ground compartment to move forward and backward, so as to perform preliminary positioning of the two ground compartments. Step 3: After the initial positioning is completed, the third motor (65) is controlled to rotate the toothed rotating member (67), and the third motor (65) drives the ground compartment to perform rotation adjustment. During the adjustment process, the cylinder (68) controls the pressing block (63) to clamp the ground compartment, and at the same time, the pressing block (63) controls the lifting frame (81) so that the clamping member (86) performs secondary positioning on the ground compartment; Step 4: After the ground cabin sections are completely and accurately aligned, the hydraulic cylinder (71) is controlled to drive the first sliding seat (2) to slide, so that the two ground cabin sections are close to each other, completing the automatic docking of the cabin sections.

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