A method for docking a skip

Abstract

The application discloses a kind of material car butt joint method, belong to the field of automation, establish material car, interface station and MSC system, material car and interface station are powered and communicate by electric slide and electric contact, solve the integration of data and power transmission between material car and interface station, the intelligent technical problem of production process, realize the accurate butt joint of material car and interface station.It improves the butt joint precision, also ensures the stability of connection, realizes the simultaneous transmission of data and energy.Combining MCS system, PLC control, AGV trolley and other intelligent equipment, realize the automation management of butt joint task, reduce maintenance cost and downtime.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automation, and particularly relates to a trolley docking method. BACKGROUND

[0002] In modern industrial production, the development of automated logistics and equipment docking technology is crucial for improving production efficiency and reducing operating costs. In the process of material transportation and equipment docking, traditional electrical connection methods often face many challenges. Although the traditional plug and socket structure can provide power transmission function, it has problems such as high docking accuracy requirement, easy damage, and only power supply but no data transmission.

[0003] In the prior art, the docking mechanism often uses a male-female head tapered groove structure, in which the plug assembly is installed on the docking device, and the socket assembly is installed on the transfer device. When the two are docked, the plug and the socket need to be accurately docked to ensure the reliability and stability of power transmission. However, this structure is easily affected by positional deviation, causing the plug tapered end to be easily damaged, thereby affecting the long-term stable operation of the equipment, and the traditional plug and socket structure can only provide power transmission function, but cannot provide data transmission. SUMMARY

[0004] The purpose of the present application is to provide a trolley docking method, which solves the technical problems of data and power supply transmission integration between the trolley and the docking table, and the intelligentization of the production process.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] A trolley docking method, comprising the following steps:

[0007] Step 1: Establishing a trolley, a docking table and a MSC system, the trolley communicates with the MSC system through wireless network connection, the docking table is provided with an electric sliding block, and the trolley is provided with an electric contact;

[0008] Step 2: The trolley sends its battery power information to the MCS system, the MCS system judges whether the battery power is sufficient to complete the docking task: if the power is sufficient, step 3 is executed; if not, the MCS system sends a charging request to the docking table and the trolley respectively, and enters the charging mode;

[0009] Step 3: The docking table transmits the call / discharging request sent by the machine table to the MCS system, the MCS receives and records the call / discharging request, and formulates a transportation material task list;

[0010] Step 4: The MCS sends a call task to the docking table according to the transportation material task list, after the docking table responds to the call task permission to the MCS, the MCS sends a call instruction to the AGV car of the transportation trolley, the AGV car approaches the docking table according to the call instruction, and prepares for docking;

[0011] Step 5: The trolley reaches the docking station, sends an entry request to the MCS, and the MCS determines whether to allow the trolley to enter: if yes, step 6 is performed; if not, an abnormal reason information is generated and sent to the docking station, and the docking station handles the abnormal situation;

[0012] Step 6: The AGV approaches the docking station, and the docking station pulls the trolley on the AGV into the docking position through the pulling device, so that the electric slide block and the electric contact are connected. After the trolley and the docking station are successfully docked, the electric slide block and the electric contact are in contact, the trolley and the docking station are electrically connected through the electric slide block and the electric contact, and the docking station and the MCS system are in communication through the Internet.

[0013] Step 7: The docking station establishes communication with the trolley and sends docking completion information to the MCS system. The trolley reads the basket information sent by the docking station and displays the basket information on the display screen.

[0014] Preferably, the trolley further comprises a 4G wireless module, a display screen, a main control module, a battery data acquisition module, a lithium battery and a motor set. The 4G wireless module, the display screen, the battery data acquisition module and the motor set are connected with the main control module, and the lithium battery is connected with the battery data acquisition module.

[0015] The electric slide block is provided with three pairs of metal contacts, which are motor set power supply electrodes, lithium battery charging electrodes and 485 communication electrodes respectively. The motor set power supply electrodes are connected with the motor set to provide power supply voltage for the motor set. The lithium battery charging electrodes are connected with the lithium battery to provide charging voltage for the lithium battery. The 485 communication electrodes are connected with the 485 interface of the main controller. The MCS system communicates with the 4G wireless module through wireless network.

[0016] Preferably, the docking station is provided with a PLC, a power module and a traction device. The docking station is used for parking the trolley. The electric contact is provided with three pairs of metal slides, which are motor power supply contacts, lithium battery charging contacts and 485 communication slides respectively. The motor power supply contacts and the lithium battery charging contacts are connected with the power module, and the 485 communication slides are connected with the 485 interface of the PLC.

[0017] The motor power supply contacts, the lithium battery charging contacts and the 485 communication slides correspond to the motor set power supply electrodes, the lithium battery charging electrodes and the 485 communication electrodes respectively.

[0018] Preferably, the main control module comprises a main controller and a 485 communication module. The 485 communication module is connected with the main controller. The model of the main controller is LPC1768, and the model of the 485 communication module is MAX485.

[0019] The material car butt joint method provided by the application solves the technical problems of data and power transmission integration between the material car and the docking station and intelligent production process, and realizes accurate butt joint of the material car and the docking station through the design of the electric sliding block and the electric contact. This design not only improves the butt joint accuracy, but also ensures the stability of the connection, and even in the case of slight position deviation, good electrical connection can be maintained. Multiple metal contacts are added on the electric sliding block and the sliding block, including motor group power supply, lithium battery charging and 485 communication electrodes, so that data and energy are transmitted at the same time. This integrated design greatly improves the efficiency and reliability of information exchange between devices. Combined with intelligent devices such as MCS system, PLC control and AGV trolley, the automatic management of the butt joint task is realized. The MCS system is responsible for battery power management, material request processing and task allocation, the PLC control is responsible for the action and data processing of the docking station, and the AGV trolley is responsible for the transportation of materials, so as to realize the intelligentization and efficient operation of the entire production process, reduce the possibility of system failure during operation, and reduce maintenance cost and downtime. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a flowchart of the application;

[0021] Figure 2 is a perspective view of the docking station 1 and the material car 8;

[0022] Figure 3 is a structural schematic view when the material car 8 is not pulled into the docking position;

[0023] Figure 4 is Figure 2 is an enlarged view of A in

[0024] Figure 5 is a structural schematic view when the pulling mechanism of the docking station 1 pulls the material car 8;

[0025] Figure 6 is a structural schematic view when the material car 8 is pulled into the docking position;

[0026] Figure 7 is a structural schematic view of the electric sliding block;

[0027] In the figure: docking station 1, air cylinder 2, electric contact 3, sliding arm 4, strip plate 5, hook plate 6, vertical plate 7, material car 8, sliding block 9, guide rail 10, linear guide rail 11, connecting plate 12, pin shaft 13, first strip-shaped extension 14, protruding part 15, protrusion 16, second strip-shaped extension 17, main connecting rod 18, pulling mechanism 19, fixed plate 20, butt joint support 21, metal sheet 22, base 23, electric sliding block 24. DETAILED DESCRIPTION

[0028] As Figures 1-7The illustrated one kind of dolly butt joint method includes the following steps:

[0029] Step 1: Establish the dolly, the docking station and the MSC system, the dolly communicates with the MSC system through wireless network connection, the dolly is provided with an electric slide 24, and the docking station is provided with an electric contact 3;

[0030] The dolly further comprises a 4G wireless module, a display screen, a main control module, a battery data acquisition module, a lithium battery and a motor set, the 4G wireless module, the display screen, the battery data acquisition module and the motor set are connected with the main control module, and the lithium battery is connected with the battery data acquisition module;

[0031] The electric slide is provided with three pairs of metal contacts, the three pairs of metal contacts are respectively a motor set power supply electrode, a lithium battery charging electrode and a 485 communication electrode, the motor set power supply electrode is connected with the motor set, used to provide a power supply voltage for the motor set, the lithium battery charging electrode is connected with the lithium battery, used to provide a charging voltage for the lithium battery, and the 485 communication electrode is connected with a 485 interface of the main controller; the MCS system communicates with the 4G wireless module through wireless network connection.

[0032] In this embodiment, the motor set comprises a plurality of motors, and the motor set is used for material handling and other operations of the dolly.

[0033] The docking station is provided with a PLC, a power module and a traction device, the docking station is used for parking the dolly, the electric contact is arranged on the platform, the electric contact is provided with three pairs of metal slides, the three pairs of metal slides are respectively a motor power supply contact, a lithium battery charging contact and a 485 communication slide, the motor power supply contact and the lithium battery charging contact are connected with the power module, and the 485 communication slide is connected with a 485 interface of the PLC;

[0034] The motor power supply contact, the lithium battery charging contact and the 485 communication slide correspond to the motor set power supply electrode, the lithium battery charging electrode and the 485 communication electrode respectively.

[0035] The metal contact and the metal slide are electrodes composed of metal sheets 22.

[0036] In this embodiment, the structure of the electric slide and the electric contact is the same, and both are as shown in Figure 7 The electric contact comprises a base 23, and a plurality of metal sheets 22 are arranged on the base 23, the metal sheets 22 on the electric slide are metal contacts, and the metal sheets 22 on the metal slide are metal slides, and in this embodiment, the metal sheets 22 are symmetrically and in pairs distributed, as shown in Figure 7As shown, the upper and lower metal sheets 22 on the left are a pair, the upper and lower metal sheets 22 in the middle are a second pair, and the upper and lower metal sheets 22 on the right are a third pair. The functional definition of the metal sheets 22 can be customized according to customer needs. In this embodiment, the three pairs of metal sliders or metal contacts are respectively used for motor group power supply electrodes, lithium battery charging electrodes, and 485 communication electrodes.

[0037] The base 23 is made of epoxy resin.

[0038] In this embodiment, first, the complete establishment and communication between the trolley, the docking station, and the manufacturing execution system (MCS) are ensured. The trolley is connected to the MCS system through the built-in wireless network module, which allows real-time exchange of data and instructions between the trolley and the MCS system. The trolley is equipped with an electric slider, and the docking station is equipped with an electric contact. In the entire system, the electrical connection mechanism between the devices ensures that after the trolley successfully docks to the docking station, the electric slider and the electric contact can be in close contact and establish an electrical connection. At the same time, the docking station communicates with the MCS system through the Internet, thereby realizing the exchange and management of production data and task instructions.

[0039] Step 2: The trolley sends its battery power information to the MCS system, and the MCS system determines whether the battery power is sufficient to complete the docking task: if the power is sufficient, step 3 is executed; if not, the MCS system sends a charging request to the docking station and the trolley respectively, and enters the charging mode;

[0040] In this embodiment, when the trolley is below the set threshold, the MCS system that monitors in real time will notify the AGV car to transport the trolley to the corresponding charging station for docking and charging.

[0041] After the trolley successfully establishes communication with the MCS system, the trolley will periodically send its battery power information to the MCS system. After receiving the power information, the MCS system will determine whether the battery is sufficient to complete the current docking task. If the battery power is sufficient, the MCS system will continue to send task instructions to the docking station, preparing for the next step. However, if the battery power is insufficient to support the docking task, the MCS system will send a charging request to the docking station and the trolley, requiring the docking station to charge the trolley to ensure that the device can continue to operate and complete the preparation work for the docking task.

[0042] Step 3: The docking station forwards the call / descaling request sent by the machine station to the MCS system, and the MCS receives and records the call / descaling request and formulates a transportation material task list;

[0043] The docking station receives the call or discharge requests sent by the manufacturing equipment (machines) and forwards them to the MCS system for processing. The MCS system is responsible for receiving and recording each call or discharge request and formulating detailed task lists for transporting materials based on the production plan and material requirements. These task lists include key information such as the type, quantity, source, and destination of the materials, providing accurate guidance and execution plans for subsequent material transportation and processing.

[0044] Step 4: The MCS sends a call task to the docking station based on the material transportation task list. After the docking station responds with permission for the call task, the MCS sends a call instruction to the AGV vehicle. The AGV vehicle approaches the docking station based on the call instruction and prepares for docking.

[0045] In this embodiment, the call task includes the call information number, the material vehicle ID, and the AGV vehicle ID. The call instruction includes the origin, buffer, and destination of the AGV vehicle.

[0046] According to the formulated material transportation task list, the MCS system sends specific call task instructions to the docking station. After receiving the task instructions, the docking station responds to the MCS system with permission confirmation for the call task. Subsequently, the MCS system communicates the call instruction to the AGV vehicle within the factory, instructing it to approach the docking station and prepare for material docking operations. This process ensures that the system can quickly respond and initiate material transportation processes when material requirements occur, improving production efficiency and response speed.

[0047] Step 5: Before the material vehicle arrives at the docking station, it sends an entry request to the MCS. The MCS determines whether to allow the material vehicle to enter: if allowed, proceed to Step 6; if not allowed, generate exception reason information and send it to the docking station for exception handling.

[0048] In this embodiment, the conditions for the MCS to determine whether to allow the material vehicle to enter include determining whether the request information is consistent with the call information.

[0049] Before the AGV vehicle with the material vehicle approaches the docking station, it sends an entry request to the MCS system through a wireless network. After receiving the request, the MCS system performs strict condition judgment and verification to determine whether to allow the material vehicle to enter the docking station area. If the conditions are met, the MCS system will send a confirmation signal to the material vehicle, allowing it to continue subsequent operations; if not, it will generate exception reason information and transmit it to the docking station, which needs to perform corresponding exception handling and safety measures.

[0050] In this embodiment, the exception handling and safety measures can be specified according to user requirements.

[0051] Step 6: The AGV approaches the docking station, and the docking station pulls the trolley on the AGV into the docking position through the pulling device, so that the electric slide block is connected with the electric contact;

[0052] The trolley obtains a confirmation signal for entering the docking station area, and the AGV starts to slowly approach the docking station position. The pulling device of the docking station starts to operate at this time, accurately guides the AGV, and pulls the trolley on the AGV into the docking position, so that the electric slide block can be tightly connected with the electric contact. This process is completed through the docking mechanism system, which can effectively ensure the accuracy and safety of the connection.

[0053] In this embodiment, the pulling device is, for example, Figures 2-6As shown, the material cart 8 is correspondingly located behind the connecting platform 1. An electric slider 24 is fixed to the front end of the material cart 8, and an electric contact 3 is correspondingly positioned with the electric slider 24. Two docking brackets 21 are spaced apart on the left and right sides of the front end of the material cart 8. The two docking brackets 21 are respectively spaced apart on both sides of the electric contact 24. Each docking bracket 21 includes two fixed plates 20 spaced apart on the left and right sides and a vertical plate 7 fixed between the front ends of the two fixed plates 20. The rear ends of the fixed plates 20 are fixedly connected to the front end of the material cart 8. Both the fixed plates 20 and the vertical plate 7 are vertically positioned. A pulling device is located on the upper side of the connecting platform 1. The pulling device includes a cylinder 2 mounted on the connecting platform 1 and two pulling mechanisms 19 driven by the cylinder 2. Mechanism 19 is arranged at intervals on the left and right. The pulling mechanism 19 includes a linear guide rail 11, a strip plate 5, a sliding arm 4, and a hook plate 6 hinged to the sliding arm 4. The linear guide rail 11 includes a guide rail 10 and a slider 9 slidably connected to the upper side of the guide rail 10. The strip plate 5 is located behind the guide rail 10. Both the guide rail 10 and the strip plate 5 extend horizontally back and forth and are fixed on the upper side of the docking platform 1. The sliding arm 4 also extends horizontally back and forth. The sliding arm 4 is spaced above the strip plate 5 and can move back and forth above the strip plate 5 under the drive of the cylinder 2. The front end of the sliding arm 4 extends forward to the upper front side of the strip plate 5 and is fixed on the upper rear end of the slider 9. The rear end of the sliding arm 4 is spaced to the left and right. Two protrusions 16 are fixedly provided, and the protrusions 16 are provided with shaft holes; the hook plate 6 includes a first strip-shaped protrusion 14 and a second strip-shaped protrusion 17 integrally fixed to the side of the end of the first strip-shaped protrusion 14. The end of the second strip-shaped protrusion 17 near the first strip-shaped protrusion is provided with shaft holes, and the end of the second strip-shaped protrusion 17 is provided with rounded corners. The first strip-shaped protrusion 14 and the second strip-shaped protrusion 17 are perpendicular to each other. The second strip-shaped protrusion 17 is located below the first strip-shaped protrusion 14. A protrusion 15 is fixedly provided on the side of the end of the first strip-shaped protrusion 14 away from the second strip-shaped protrusion. The first strip-shaped protrusion 14 and the protrusion 15 at its end are equivalent to a hook. The rear end of the sliding arm 4 is hinged to the hook plate 6 via a horizontally extending pin 13. The end of the second strip-shaped protrusion with a shaft hole is inserted between the two protrusions 16 at the rear end of the sliding arm 4. The pin 13 passes through the shaft hole of one of the protrusions 16, the shaft hole at one end of the second strip-shaped protrusion, and the shaft hole of the other protrusion 16 in sequence. The hook plate 6 can rotate around the pin 13. The hook plate 6 can be pulled forward from the front side of the strip plate 5 to the upper side of the strip plate 5 by the sliding arm 4. At this time, the second strip-shaped protrusion 17 is placed on the upper side of the strip plate 5, and the first strip-shaped protrusion 14 is rotated to a vertical state. The protrusion 15 of the first strip-shaped protrusion 14 is located in front of the top end of the first strip-shaped protrusion 14.The cylinder 2 drives the sliding arm 4 to move forward and backward, the cylinder body of the cylinder 2 is fixed on the upper side of the docking platform 1, the telescopic rod of the cylinder 2 extends horizontally backward and retracts forward, the rear side of the telescopic rod of the cylinder 2 is fixedly provided with a connecting plate 12, the rear side of the connecting plate 12 is fixedly provided with the electric contact 3, the connecting plate 12 and the electric contact 3 are fixedly connected through a plurality of bolts, the lower side of the electric contact 3 is fixedly provided with a main connecting rod 18 extending horizontally, the left and right ends of the main connecting rod 18 are respectively fixedly connected with the two sliding arms 4 of the two pulling mechanisms 19, so that when the telescopic rod of the cylinder 2 extends backward, the sliding arm 4 is driven to move backward on the strip-shaped plate 5, and when the telescopic rod of the cylinder 2 retracts forward, the sliding arm 4 is driven to move forward on the strip-shaped plate 5; the two hook plates 6 of the two pulling mechanisms 19 correspond to the two vertical plates 7 of the two butt joint supports 21 of the trolley 8 respectively, the cylinder 2 drives the two pulling mechanisms 19 to operate synchronously, when the telescopic rod of the cylinder 2 drives the sliding arm 4 to move forward, the hook plate 6 originally located on the rear side of the strip-shaped plate 5 is pulled to the upper side of the strip-shaped plate 5, at the same time, the hook plate 6 rotates around the pin shaft 13 until the first strip-shaped extension part 14 is turned to the vertical state, the second strip-shaped extension part 17 is located on the upper side of the strip-shaped plate 5, the bottom surface of the second strip-shaped extension part 17 is in contact with the top surface of the strip-shaped plate 5, at this time, the protruding part 15 is located on the front side of the top end of the first strip-shaped extension part 14 and abuts against the rear side of the corresponding vertical plate 7.

[0054] The specific working process of the pulling device is as follows:

[0055] Initially, as shown in Figure 3 and Figure 4 , the trolley 8 is located at intervals behind the docking platform 1, the rear end of the sliding arm 4 of the pulling mechanism 19 extends to the rear side above the strip-shaped plate 5, the hook plate 6 and the pin shaft 13 are also located on the rear side of the strip-shaped plate 5, the second strip-shaped extension part 17 of the hook plate 6 extends downward vertically, the bottom end of the second strip-shaped extension part 17 is lower than the top surface of the strip-shaped plate 5, the pin shaft 13 is always higher than the strip-shaped plate 5, the first strip-shaped extension part 14 is located on the rear side of the pin shaft 13 and extends transversely backward, the protruding part 15 of the first strip-shaped extension part 14 is located on the upper side of the rear end part thereof, the hook plate 6 is lower than the corresponding vertical plate, and the second strip-shaped extension part 17 is located on the lower side of the pin shaft 13.

[0056] When the trolley 8 moves forward to the position where the protruding part 15 of the hook plate 6 is located below the rear side of the corresponding vertical plate, it stops, at this time, as shown in Figure 5As shown, the telescopic rod of the cylinder 2 drives the sliding arm 4 to move forward, and the sliding arm 4 drives the hook plate 6 to move forward. During this process, the second strip-shaped extension 17 of the hook plate 6 is rotated counterclockwise around the pin shaft 13 due to the collision with the top end of the rear end of the strip-shaped plate 5, the second strip-shaped extension 17 becomes inclined downward from front to back, and the bottom end of the second strip-shaped extension 17 is constantly rotated upward, the first strip-shaped extension 14 becomes inclined upward from front to back, and the rear end of the first strip-shaped extension 14 and the protrusion 15 are constantly rotated forward, until the first strip-shaped extension 14 is rotated to a vertical state, and the second strip-shaped extension 17 is rotated to a horizontal state. At this time, the front end of the second strip-shaped extension 17 is pulled to the upper side of the strip-shaped plate 5, the protrusion 15 on the first strip-shaped extension 14 contacts the rear end face of the corresponding vertical plate 7, and the hook plate 6 stops rotating. Then the telescopic rod of the cylinder 2 continues to drive the sliding arm 4 to move forward, and the sliding arm 4 continues to drive the hook plate 6 to move forward. The front end of the second strip-shaped extension 17 is constantly moved forward on the upper side of the strip-shaped plate 5, and the protrusion 15 on the first strip-shaped extension 14 pulls the corresponding vertical plate 7 forward and makes the whole dolly 8 move forward.

[0057] Until the whole hook plate 6 is pulled to the upper side of the strip-shaped plate 5, the whole second strip-shaped extension 17 is located on the upper side of the strip-shaped plate 5, the bottom surface of the second strip-shaped extension 17 contacts the top surface of the strip-shaped plate 5, the telescopic rod of the cylinder 2 stops running, the sliding arm 4 and the hook plate 6 stop moving, and the dolly 8 stops moving forward. The dolly 8 is pulled into the docking position, as shown. Figure 6 At this time, the electric sliding block 24 on the dolly 8 is connected with the electric contact 3, and the electric sliding block 24 and the electric contact 3 are in contact. The motor power supply contact, the lithium battery charging contact and the 485 communication sliding block are respectively in contact with the motor group power supply electrode, the lithium battery charging electrode and the 485 communication electrode.

[0058] After the dolly and the docking station are successfully connected, the electric sliding block and the electric contact are in close contact, the dolly and the docking station are electrically connected through the electric sliding block and the electric contact, and the docking station and the MCS system are in communication with each other through the Internet.

[0059] Step 7: The docking station establishes communication with the dolly and sends docking completion information to the MCS system. The dolly reads the flower basket information sent by the docking station and displays the flower basket information on the display screen.

[0060] The docking station and the dolly are connected, and a stable communication connection is established between them. The docking station sends the docking completion information to the MCS system through a wireless network, including detailed data and state updates during the docking process. At the same time, the dolly reads the relevant flower basket information from the docking station, and these information are displayed in real time on the display screen built-in the dolly, so as to manage and monitor the receiving and processing of materials by the operator.

[0061] In the embodiment, the flower basket is a rack type for storing photovoltaic silicon wafers, and the rack has a code to record information of each rack and his production process and Qtime time (production cycle).

[0062] In the embodiment, the main control module comprises a main controller and a 485 communication module, the 485 communication module is connected to the main controller, the model of the main controller is LPC1768, and the model of the 485 communication module is MAX485.

[0063] The cart docking method provided by the application solves the technical problems of data and power supply transmission integration between the cart and the docking station and intelligent production process, and realizes accurate docking of the cart and the docking station through the design of the electric sliding block and the electric contact. This design not only improves the docking accuracy, but also ensures the stability of the connection, and even in the case of slight position deviation, it can also maintain good electrical connection. A plurality of metal contacts are added on the electric sliding block and the sliding block, including motor group power supply, lithium battery charging and 485 communication electrodes, so that data and energy are transmitted at the same time. This integrated design greatly improves the efficiency and reliability of information exchange between devices. Combined with intelligent devices such as the MCS system, PLC control and AGV trolley, the application realizes automatic management of the docking task. The MCS system is responsible for battery power management, material request processing and task allocation, the PLC control is responsible for the action and data processing of the docking station, and the AGV trolley is responsible for the transportation of materials, so as to realize intelligent production process and efficient operation of the whole production process, reduce the possibility of system failure during operation, and reduce maintenance cost and downtime.

Claims

1. A method of car docking, characterized by: Comprising the following steps: Step 1: Establishing a trolley, a docking station and a MSC system, the trolley communicates with the MSC system through wireless network connection, and the trolley is provided with an electric sliding block, and the docking station is provided with an electric contact; Step 2: The trolley sends its battery power information to the MCS system, and the MCS system judges whether the battery power is sufficient to complete the docking task: if the power is sufficient, step 3 is executed; if not, the MCS system sends a charging request to the docking station and the trolley respectively, and enters the charging mode; Step 3: The docking station forwards the calling / discharging request sent by the machine station to the MCS system, and the MCS receives and records the calling / discharging request, and formulates a transportation material task list; Step 4: The MCS sends a calling task to the docking station according to the material transportation task list, and after the docking station responds to the calling task permission, the MCS sends a calling instruction to the AGV car of the transportation trolley, and the AGV car approaches the docking station according to the calling instruction and prepares for docking; Step 5: Before the trolley reaches the docking station, it sends an entry request to the MCS, and the MCS judges whether to allow the trolley to enter: if allowed to enter, step 6 is executed; if not allowed to enter, an abnormal reason information is generated and sent to the docking station, and the docking station processes the abnormal situation; Step 6: The AGV car approaches the docking station, and the docking station pulls the trolley on the AGV car into the docking position through the pulling device, so that the electric sliding block and the electric contact are connected, the trolley and the docking station are electrically connected through the electric sliding block and the electric contact, and the docking station and the MCS system are communicated through the Internet. The pulling device comprises a cylinder arranged on the docking platform and two pulling mechanisms driven by the cylinder, the two pulling mechanisms are arranged at intervals left and right, the pulling mechanism comprises a linear guide rail, a strip-shaped plate, a sliding arm and a hook plate hingedly connected with the sliding arm, the linear guide rail comprises a guide rail and a sliding block slidingly connected to the upper side of the guide rail, the strip-shaped plate is arranged on the rear side of the guide rail, the guide rail and the strip-shaped plate both extend horizontally front and back and are fixedly arranged on the upper side of the docking platform, the sliding arm also extends horizontally front and back, the sliding arm is arranged above the strip-shaped plate at intervals and can move front and back above the strip-shaped plate under the driving of the cylinder, the front end of the sliding arm extends to the upper side of the front side of the strip-shaped plate and is fixedly arranged on the rear end of the sliding block, two protrusions are fixedly arranged on the rear end of the sliding arm at intervals left and right, and the protrusions are provided with shaft holes; the hook plate comprises a first strip-shaped extension and a second strip-shaped extension fixedly arranged on the side edge of the end of the first strip-shaped extension, the end of the second strip-shaped extension close to the first strip-shaped extension is provided with a shaft hole, the end of the second strip-shaped extension is provided with a round corner, the first strip-shaped extension and the second strip-shaped extension are perpendicular to each other, the second strip-shaped extension is located on the lower side of the first strip-shaped extension, and the end of the first strip-shaped extension away from the second strip-shaped extension is fixedly provided with a protrusion, the first strip-shaped extension and the protrusion at the end thereof correspond to a hook; the rear end of the sliding arm is hingedly connected with the hook plate through a pin shaft extending horizontally left and right, the end of the second strip-shaped extension with the shaft hole is inserted between the two protrusions of the rear end of the sliding arm, the pin shaft is sequentially inserted through the shaft hole of one of the protrusions, the shaft hole of the end of the second strip-shaped extension and the shaft hole of the other protrusion, the hook plate can rotate around the pin shaft, the hook plate can be pulled forward from the front side of the strip-shaped plate to the upper side of the strip-shaped plate by the sliding arm, the second strip-shaped extension is arranged on the upper side of the strip-shaped plate, the first strip-shaped extension is turned to a vertical state, and the protrusion of the first strip-shaped extension is located on the front side of the top end of the first strip-shaped extension; the cylinder drives the sliding arm to move front and back, the cylinder body of the cylinder is fixedly arranged on the upper side of the docking platform, the telescopic rod of the cylinder extends horizontally backward and retracts forward, the rear side of the telescopic rod of the cylinder is fixedly provided with a connecting plate, the rear side of the connecting plate is fixedly provided with an electric contact, the connecting plate and the electric contact are fixedly connected through a plurality of bolts, the lower side of the electric contact is fixedly provided with a main connecting rod extending horizontally left and right, the left and right ends of the main connecting rod are respectively fixedly connected with the two sliding arms of the two pulling mechanisms, when the telescopic rod of the cylinder extends backward, the sliding arm is driven to move backward on the strip-shaped plate, and when the telescopic rod of the cylinder retracts forward, the sliding arm is driven to move forward on the strip-shaped plate; the two hook plates of the two pulling mechanisms correspond to the two vertical plates of the two butt joint supports of the dolly respectively, the cylinder drives the two pulling mechanisms to operate synchronously, when the telescopic rod of the cylinder drives the sliding arm to move forward, the hook plate originally located on the rear side of the strip-shaped plate is pulled to the upper side of the strip-shaped plate, at the same time, the hook plate rotates around the pin shaft until the first strip-shaped extension is turned to a vertical state, the second strip-shaped extension is located on the upper side of the strip-shaped plate, the bottom surface of the second strip-shaped extension is in contact with the top surface of the strip-shaped plate, at this time, the protrusion is located on the front side of the top end of the first strip-shaped extension and abuts against the rear side of the corresponding vertical plate; Step 7: The docking station establishes communication with the trolley and sends docking completion information to the MCS system, the trolley reads the basket information sent by the docking station and displays the basket information on the display screen.

2. A method of car docking as claimed in claim 1, characterized in that: The trolley further comprises a 4G wireless module, a display screen, a main control module, a battery data acquisition module, a lithium battery and a motor set, the 4G wireless module, the display screen, the battery data acquisition module and the motor set are connected with the main control module, and the lithium battery is connected with the battery data acquisition module; The electric sliding block is provided with three pairs of metal contacts, which are motor set power supply electrodes, lithium battery charging electrodes and 485 communication electrodes respectively, the motor set power supply electrodes are connected with the motor set for providing power supply voltage for the motor set, the lithium battery charging electrodes are connected with the lithium battery for providing charging voltage for the lithium battery, and the 485 communication electrodes are connected with the 485 interface of the main controller; The MCS system communicates with the 4G wireless module through wireless network connection.

3. A method of carrier docking as defined in claim 2, wherein: The docking station is provided with a PLC, a power module and a traction device, the electric contact is provided with three pairs of metal sliding blocks, which are motor power supply contacts, lithium battery charging contacts and 485 communication sliding blocks respectively, the motor power supply contacts and the lithium battery charging contacts are connected with the power module, and the 485 communication sliding blocks are connected with the 485 interface of the PLC; The motor power supply contacts, the lithium battery charging contacts and the 485 communication sliding blocks correspond to the motor set power supply electrodes, the lithium battery charging electrodes and the 485 communication electrodes respectively.

4. A method of coupling a hopper car as defined in claim 2, wherein: The main control module comprises a main controller and a 485 communication module, the 485 communication module is connected with the main controller, the model of the main controller is LPC1768, and the model of the 485 communication module is MAX485.

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