Connection control system, connection equipment and automatic connection control method

Abstract

The invention discloses a connection control system, connection equipment and an automatic connection control method. The automatic connection control method comprises the following steps: receiving a sensing signal corresponding to the position of the connection platform, generating a first action command according to the sensing signal, transmitting the first action command to a controller for controlling the connection platform, detecting the position of the connection platform at different detection positions to generate the sensing signal, and transmitting the sensing signal through a network, and the controller responds to the first action command to control the connection platform to move. According to the connection control system, the connection equipment and the automatic connection control method, automatic connection between two planes without mutual connection can be provided, and butt joint between the connection platform and the planes can be automatically calibrated; the connection control system or the automatic connection control method can control the moving time of the automatic guided vehicle, so that manual carrying is replaced to carry out goods transportation between two planes, and further operation carelessness is avoided.

Description

Technical Field

[0001] The invention relates to a docking platform for bridging a transport tool and a docking station, and in particular to a docking control system, a docking device and a method for controlling the docking control system. Background Art

[0002] The traditional manual loading and unloading process generally includes: opening the rear door of the truck after the truck stops at the dock, activating the docking platform to dock the truck, moving the cargo from the truck to the docking platform, activating the docking platform to dock the dock, and moving the cargo from the docking platform to the dock. This process uses the docking platform to bridge the truck and the dock to solve the inconvenience of cargo loading and unloading caused by the height difference between the two docking ends and the need to rely on specific manpower to lift the cargo. However, this process has many manual operation procedures, which increases the chance of operational errors and thus increases the risk of injury to personnel and / or cargo. For example, the force used by personnel to push / pull the container or trolley carrying the cargo may be improper, causing the cargo to fall or break, or even being hit or crushed by the container or trolley carrying the cargo; the docking platform control may be insufficient in accuracy; and / or personnel may be hit or crushed by body parts and / or cargo due to poor vision (e.g., in a dimly lit truck or the cargo is too large to block the view). Otherwise, each procedure must be performed slowly and accurately to avoid operational errors, which greatly increases the time required for the overall process.

[0003] Therefore, it is necessary to provide a docking control system, a docking device and a control method for automatic docking to solve the above problems. Summary of the invention

[0004] Based on the above reasons, the present invention provides a docking control system, a docking device and a control method for automatic docking, so as to solve the problems of inconvenient cargo loading and unloading, the need to lift cargo, high operational errors and / or time-consuming.

[0005] In some embodiments, the docking control system includes a first receiving unit, a processor, a first transmitting unit, a docking platform, a second receiving unit, a controller, a position sensing module, and a second transmitting unit. The first receiving unit is used to receive a sensing signal corresponding to the position of the docking platform. The processor is coupled to the first receiving unit and is used to generate a first action command based on the sensing signal. The first transmitting unit is coupled to the processor and is used to transmit the first action command. The second receiving unit is located on the docking platform and is used to wirelessly connect to the first transmitting unit. The controller is located on the docking platform and is used to receive the first action command via the second receiving unit and execute the first action command to control the movement of the docking platform. The position sensing module is used to generate a sensing signal. The second transmitting unit is coupled to the position sensing module and is used to wirelessly connect to the first receiving unit to send the sensing signal to the first receiving unit.

[0006] In some embodiments, the sensing signal includes distance information and a target image, the processor calculates the position difference according to the sensing signal, and generates a first action command indicating the moving position difference according to the position difference, the position difference includes translation information, lifting information and rotation information, and the position sensing module includes a distance measurement module and a camera module. The distance measurement module is coupled to the second transmitting unit to measure the distance between the distance measurement module and the target object to generate distance information representing the distance. The camera module is coupled to the second transmitting unit to capture a mark on the target object to generate a target image.

[0007] In some embodiments, the distance measurement module and the camera module are disposed on a docking platform.

[0008] In some embodiments, the sensing signal includes a target image, and the position sensing module includes a camera module. The camera module is used to capture the edge of the target object from different detection positions to generate the target image.

[0009] In some embodiments, the camera module is disposed at a periphery of the docking platform and has a preset distance from the docking platform, and the camera module is used to photograph the target object from different detection positions.

[0010] In some embodiments, the second transmitting unit and the camera module are disposed at different detection positions of the docking platform, and each camera module is used to photograph a mark on the target object from a different detection position.

[0011] In some embodiments, the docking control system further includes a mobile vehicle for wirelessly connecting to the first transmitting unit. The processor is further configured to generate a second motion command representing a path, and the mobile vehicle is configured to move the path according to the second motion command.

[0012] In some embodiments, the motion mechanism includes a plurality of electric cylinders controlled by a controller, wherein the controller is used to control the plurality of electric cylinders to adjust the position of the platform body according to a first motion command.

[0013] In some embodiments, the position of the platform body is adjusted by a position difference, and the motion mechanism includes a connecting body, a slide rail, a sliding part, a supporting body, and a support rod. The slide rail is located on the upper surface of the connecting body. The sliding part is fixed to the lower surface of the platform body and slidably connects the slide rail. The controller is used to control the translation information of the sliding part relative to the slide rail according to the first action command. The supporting body has a connecting part. The support rod matches the connecting part. The supporting body and one of the support rods are coupled to the lower surface of the connecting body. The controller is used to control the relative telescopic lifting information and relative rotation information of the support rod and the supporting body according to the first action command.

[0014] In some embodiments, a docking device includes a docking platform, a controller, a position sensing module, and a transmitting unit. The docking platform includes a platform body and a motion mechanism. The motion mechanism supports the platform body. The controller is coupled to the motion mechanism and is used to control the motion mechanism to adjust the position of the platform body according to a first action command. The position sensing module is used to sense a target object in front of the docking platform and generate a sensing signal. The transmitting unit is coupled to the position sensing module and is used to send the sensing signal.

[0015] In some embodiments, a control method for automatic docking includes: receiving a sensing signal corresponding to the position of a docking platform; generating a first action command based on the sensing signal; transmitting the first action command to a controller that controls the docking platform; detecting the position of the docking platform at different detection positions to generate a sensing signal; sending the sensing signal via a network; and controlling the movement of the docking platform by the controller in response to the first action command.

[0016] As described above, the docking control system, docking equipment, and automatic docking control method of any embodiment can provide automatic docking between two planes that are not connected to each other, and automatically calibrate the docking between the docking platform and the plane. In some embodiments, the docking control system or the automatic docking control method can also control the movement timing of the mobile vehicle, so that the mobile vehicle moves between the two planes. For example, the docking control system or the automatic docking control method of any embodiment can control the movement timing of the unmanned guided vehicle, thereby replacing manual transportation to transport goods between the two planes, thereby avoiding operational errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic block diagram of a docking control system according to the first embodiment.

[0018] Figure 2 It is a schematic block diagram of a docking control system according to the second embodiment.

[0019] Figure 3 yes Figure 2 A schematic diagram of a docking control system in an exemplary application scenario.

[0020] Figure 4 yes Figure 3 A rear view schematic diagram of an exemplary embodiment of the subject matter.

[0021] Figure 5 yes Figure 3 A three-dimensional schematic diagram of an exemplary embodiment of a docking device.

[0022] Figure 6 It is a schematic block diagram of a docking control system according to the third embodiment.

[0023] Figure 7 yes Figure 6A schematic diagram of a docking control system in an exemplary application scenario.

[0024] Figure 8 yes Figure 1 , Figure 2 or Figure 6 A three-dimensional schematic diagram of an exemplary docking platform.

[0025] Fig. 9 yes Figure 8 Exploded view of the docking platform.

[0026] Fig.10 yes Figure 3 or Figure 7 A schematic diagram of an exemplary embodiment of a mobile vehicle.

[0027] Fig.11 4 is a flow chart of the automatic docking control method according to the first embodiment.

[0028] Fig.12 yes Fig.11 A partial flow chart of a first exemplary embodiment of a control method for automatic docking.

[0029] Fig.13 yes Fig.11 A partial flow chart of a second exemplary embodiment of the automatic docking control method.

[0030] Fig.14 yes Fig.11 A partial flow chart of a third exemplary embodiment of the automatic connection control method.

[0031] Main component symbols:

[0032] 100, 100a, 100b connection control system

[0033] 110 Central Control Host

[0034] 200 First receiving unit

[0035] 300 processors

[0036] 400 First Transmitter Unit

[0037] 500, 600 Subject matter

[0038] 500A Truck

[0039] Container 510A

[0040] 520A Internal Space

[0041] 522, 622 plane

[0042] 522A inner bottom surface

[0043] 600A Stop

[0044] 622A Ground

[0045] 700, 700a, 700b Docking Equipment

[0046] 710 docking platform

[0047] 711 Platform

[0048] 711a, 711b Side

[0049] 712 Sports Organization

[0050] 713 Connection Body

[0051] 714 Slide Rail

[0052] 715 Sliding part

[0053] 716 Support body

[0054] 717 Connection

[0055] 718 Support rod

[0056] 720 Controller

[0057] 730 Second receiving unit

[0058] 740 Second Transmitter Unit

[0059] 750 Position Sensing Module

[0060] 750a Distance Measurement Module

[0061] 750b Camera Module

[0062] 800 Mobile Vehicles

[0063] 810 Vehicle Body

[0064] 812 Housing

[0065] 814 Mobile Mechanism

[0066] 820 Controller

[0067] 830 Positioning Module

[0068] 840 Transceiver

[0069] 900 mark

[0070] Dfb, Drf translation information

[0071] H Lift Information

[0072] Steps S101~S113, S201, S202, S301, S302, S401, S501, S601

[0073] θp, θr, θy rotation information DETAILED DESCRIPTION

[0074] As used herein, the term "coupled" or "connected", unless otherwise specified, refers to two or more elements being in direct physical or electrical contact with each other, or being in indirect physical or electrical contact with each other. The term "processor" or "controller" is not limited to a single device, but may also refer to one or more various processing circuits capable of performing corresponding functions. The processing circuit may be a microprocessor, a microcontroller, a digital signal processor, a central processing unit, a system on a chip (SOC), a programmable logic controller, a state machine, a logic circuit, an analog circuit, a digital circuit, or any analog and / or digital device that performs signal processing based on instructions.

[0075] Please refer to Figure 1 The docking control system 100 includes a central control host 110. The central control host 110 includes a receiving unit (hereinafter referred to as the first receiving unit 200), a processor 300, and a transmitting unit (hereinafter referred to as the first transmitting unit 400). The processor 300 is coupled to the first receiving unit 200 and the first transmitting unit 400.

[0076] In some embodiments, the central control host 110 can be implemented by electronic devices such as computer clusters, servers, mainframe computers, or supercomputers. In some embodiments, the first receiving unit 200 and the first transmitting unit 400 can be implemented by a single transceiver, or by independent receivers and transmitters.

[0077] In some embodiments, the central control host 110 is adapted to monitor a docking device 700, so as to control the docking device 700 to automatically dock with the plane 522 / 622 of one of the objects 500 / 600 when the docking device 700 provides a bridge path between the two planes 522 / 622 of the two objects 500 / 600, such as Figure 3 and Figure 4 As shown. The subject matter 500 may be a movable means of transport, and the subject matter 600 may be a station 600A (also called a dock or platform) that does not move. In some embodiments, the subject matter 500 may be various types of means of transport, such as a truck 500A, a MRT, a train, or an airplane.

[0078] For example, assume that the target object 500 is a truck 500A and the target object 600 is a docking station 600A. Here, the plane 522 is the inner bottom surface 522A of the container 510A of the truck 500A (i.e., the lower surface of the container 510A on the side of the internal space 520A), and the other plane 622 is the ground 622A of the docking station 600A. The central control host 110 can be used to monitor the docking device 700 docking the inner bottom surface 522A of the truck 500A.

[0079] In some embodiments, when the docking device 700 provides a bridge path between the two planes 522 and 622 of the two objects 500 and 600, the docking control system 100 can be designed so that only the docking operation of the object 500 that can move with the docking device 700 is performed through the monitoring operation of the docking device 700 by the central control host 110. In other words, the docking device 700 is normally in a setting state where one side of the docking device 700 is docked with the plane 622 of the immovable object 600. When it is necessary to pass to the object 500, the central control host 110 controls the docking device 700 to automatically dock the other side of the docking device 700 with the plane 522 of the object 500. In other embodiments, when the docking device 700 provides a bridge path between the two planes 522 and 622 of the two objects 500 and 600, the docking operation of the docking device 700 with the movable object 500 and the docking operation of the docking device 700 with the immovable object 600 are both performed through the monitoring operation of the docking device 700 by the central control host 110.

[0080] Specifically, refer to Figure 1 The docking control system 100 further includes a docking device 700, and the docking device 700 includes a docking platform 710, a controller 720, another receiving unit (hereinafter referred to as the second receiving unit 730), another transmitting unit (hereinafter referred to as the second transmitting unit 740), and at least one position sensing module 750. The controller 720 couples the second receiving unit 730, the second transmitting unit 740 and each position sensing module 750. The controller 720, the second receiving unit 730 and the second transmitting unit 740 are located on the docking platform 710. In some embodiments, the position sensing module 750 may be located on the docking platform 710. For example, the position sensing module 750 may be disposed on an edge of a platform body 711 of the docking platform 710 and facing the outside of the platform body 711 of the docking platform 710, such as Figure 3In other embodiments, the position sensing module 750 may be disposed around the docking platform 710 and have a preset distance from the docking platform 710. For example, the position sensing module 750 may be located on the upper side, left side, or right side of the edge of the platform body 711 of the docking platform 710, at a preset distance from the platform body 711 of the docking platform 710, and facing the edge of the docking platform 710, such as Figure 7 Here, the preset distance may be less than or equal to the sensing distance of the position sensing module 750. In an example, if the position sensing module 750 is a camera module 750b, the preset distance may be the focal length of the camera module 750b.

[0081] In some embodiments, the second receiving unit 730 and the second transmitting unit 740 may be implemented by a single transceiver, or by independent receivers and transmitters.

[0082] In some embodiments, the docking platform 710 includes a platform body 711 and a motion mechanism 712. Figure 5 See Figure 1 and Figure 5 The motion mechanism 712 supports the platform body 711. The controller 720 is coupled to the motion mechanism 712, the second receiving unit 730 and the second transmitting unit 740. Therefore, the second transmitting unit 740 can be electrically coupled to the position sensing module 750 via the controller 720.

[0083] In some embodiments, please refer to Figure 1 and Fig.11 When performing the monitoring operation of the docking device 700 (steps S101 to S108), the processor 300 sends a sensing request to the docking device 700 via the first transmitting unit 400. The controller 720 receives the sensing request from the central control host 110 via the second receiving unit 730, and enables the position sensing module 750 for detection in response to the sensing request. At this time, the position sensing module 750 detects the position of the target object 500 at different detection positions (for example, by detecting the relative position between the platform body 711 of the docking platform 710 and the target object 500 or by detecting the coordinates of the target object 500, the coordinates of the target object 500 may come from a positioning device optionally provided on the target object 500) to generate at least one sensing signal (step S101), such as Figure 3 or Figure 7 As shown. The position of the docking platform 710 mentioned in some embodiments herein refers to the position of the platform body 711 of the docking platform 710 relative to the target object 500. In other words, in some embodiments, the position sensing module 750 is arranged at different positions relative to the docking platform 710 to detect the edge of the platform body 711 adjacent to the target object 500 using the same or different sensing technologies, such as Figure 3and Figure 7 As shown, each sensing signal corresponds to the position of the docking platform 710 .

[0084] Please refer to the reply Figure 1 and Fig.11 Then, the docking device 700 sends the sensing signal to the central control host 110 via the network through the second transmitting unit 740 (step S102). Next, the first receiving unit 200 of the central control host 110 receives the sensing signal from the docking device 700 (step S103), and provides the received sensing signal to the processor 300 for signal processing.

[0085] After step S103, the processor 300 calculates the position difference according to the received sensing signal (step S104), and generates a first motion command instructing to move the position difference according to the calculated position difference (step S105). Then, the processor 300 transmits the first motion command to the docking device 700 through the first transmitting unit 400, so that the controller 720 of the docking device 700 receives the first motion command from the central control host 110 via the second receiving unit 730 (step S106).

[0086] After step S106, after the controller 720 receives the first motion command via the second receiving unit 730, the controller 720 controls the docking platform 710 to move the position difference in response to the first motion command (step S107). In other words, under the control of the controller 720, the motion mechanism 712 moves the position of the platform body 711 by the position difference. In some embodiments, the position difference may include one or more translation information Dfb, Drf, one or more lifting information H, one or more rotation information θp, θr, θy, or any combination thereof, such as Figure 5 or Fig. 9 shown.

[0087] In some embodiments of step S107, the position difference includes translation information Dfb, Drf, elevation information H, and rotation information θp, θr, θy, such as Figure 5 As shown. Under the control of the controller 720, the motion mechanism 712 will translate the docking platform 710 by the distance of the translation information Dfb and Drf, adjust the height of the lifting information H, and the angle of the rotation information θp, θr, θy. For example, referring to Figure 1 , Figure 3 as well as Figure 5Taking the position difference including translation information Dfb, Drf, lifting information H and rotation information θp, θr, θy as an example, the controller 720 obtains the translation direction and parallel movement amount (such as parallel movement vector) represented by the translation information Dfb and Drf, the lifting direction and vertical movement amount (such as vertical movement vector) represented by the lifting information H, and the rotation direction and rotation angle represented by the rotation information θp, θr, θy from the first action command, and then the motion mechanism 712 will move the platform body 711 in the translation direction by the distance of the parallel movement amount, move the platform body 711 in the lifting direction by the height of the vertical movement amount, and rotate the platform body 711 in the rotation direction by the rotation angle.

[0088] After step S107, that is, after the motion mechanism 712 has adjusted the position of the platform body 711 according to the position difference, the controller 720 transmits a completion signal to the central control host 110 through the second transmitting unit 740, so as to notify the central control host 110 that the position adjustment of the docking platform 710 has been completed. Here, the processor 300 receives the completion signal from the controller 720 through the first receiving unit 200 (step S108), so as to know that the docking device 700 has completed docking.

[0089] In some embodiments, after the processor 300 receives the completion signal (step S108), steps S101 to S104 can be executed again, and then based on the position difference calculated again, it is confirmed whether the position of the docking platform 710 has moved to the correct position. If it is confirmed that it has moved to the correct position, other operations can be continued. If it is confirmed that it has not moved to the correct position, step S105 and subsequent steps can be continued until it is confirmed that the docking platform 710 has moved to the correct position. In some embodiments, when all the information of the calculated position difference is 0, the processor 300 can confirm that the docking platform 710 has moved to the correct position. On the contrary, when any of the information of the calculated position difference is not 0, the processor 300 confirms that the docking platform 710 has not moved to the correct position.

[0090] In this way, under the monitoring of the central control host 110, the side edge 711a / 711b of the docking platform 710 can automatically and accurately dock with the plane 522 / 622 of the target object 500 / 600.

[0091] For example, the docking device 700 is used to bridge the truck 500A and the docking station 600A. The docking platform 710 has two opposite sides 711a and 711b and has two positions (hereinafter referred to as the first position and the second position, respectively). In the first position, the side 711b of the docking platform 710 docks with the ground 622A of the docking station 600A. In the second position, the side 711a of the docking platform 710 docks with the inner bottom surface 522A of the truck 500A.

[0092] In this example, the docking control system 100 can automatically dock the side 711a of the docking platform 710 with the inner bottom surface 522A of the truck 500A by executing the monitoring operation of the docking device 700 (steps S101 to S108). In addition, the docking control system 100 can also automatically dock the side 711b of the docking platform 710 with the ground 622A of the docking station 600A by executing the monitoring operation of the docking device 700 (steps S101 to S108). In another example, continuing the previous example, the docking control system 100 can be preset as "the first position of the docking platform 710 is the initial position", that is, the docking platform 710 is normally located in the first position. When the docking platform 710 is to be switched to the second position, the docking control system 100 again performs the monitoring operation of the docking device 700 (steps S101 to S108) to move the side edge 711a of the docking platform 710 closer to the truck 500A, thereby making the side edge 711a of the docking platform 710 contact the edge of the inner bottom surface 522A of the truck 500A (i.e., the second position).

[0093] Please refer to Figure 1 and Fig.11 In some embodiments, please refer to Figure 1 The central control host 110 is also adapted to monitor a mobile vehicle 800, so that the mobile vehicle 800 moves between the docking device 700 and a plane 522 / 622, such as Figure 3 In some embodiments, the mobile vehicle 800 may be an automatic guided vehicle (AGV) or the like.

[0094] In some embodiments, please refer to Figure 1 and Fig.10, the mobile vehicle 800 includes a vehicle body 810, a controller 820, a positioning module 830 and a transceiver 840. The controller 820, the positioning module 830 and the transceiver 840 are disposed on the vehicle body 810. Specifically, the controller 820, the positioning module 830 and the transceiver 840 are located in a housing 812 of the vehicle body 810. The controller 820 couples the positioning module 830, the transceiver 840 and the moving mechanism 814 of the vehicle body 810, and is used to control the operation of each component. Here, the transceiver 840 is used to wirelessly connect the first receiving unit 200 and the first transmitting unit 400, so as to communicate the first receiving unit 200 and the first transmitting unit 400. It should be clear that although a single transceiver 840 is used for explanation here, this component is not limited to being implemented by a single device, and it can also be implemented by a receiver and a transmitter that are independent of each other. In some embodiments, the moving mechanism 814 can be realized by a driver (e.g., an engine or a motor) and a transmission kit (e.g., wheels and axles, or tracks and gears, etc.), wherein the driver is connected to and enabled by the controller 820, and the transmission kit is coupled to and driven by the driver.

[0095] Please refer to Figure 1 and Fig.11 After the central control host 110 confirms that the docking platform 710 has moved to the correct position, the central control host 110 can further perform the monitoring operation of the mobile vehicle 800 (steps S109 to S113). When performing the monitoring operation of the mobile vehicle 800 (step S210), the processor 300 generates a second action command representing a path according to the completion signal (step S109) and wirelessly transmits the second action command to the mobile vehicle 800 through the first transmitting unit 400 (step S110). The controller 820 of the mobile vehicle 800 receives the second action command through the transceiver 840, and responds to the second action command to drive and control the moving mechanism 814 of the vehicle body 810 to move along this path (step S111), so that the mobile vehicle 800 moves along the path. When the mobile vehicle 800 arrives at the end of the path, the positioning module 830 of the mobile vehicle 800 generates activity information representing the location of the mobile vehicle 800 (step S112). In other words, the positioning module 830 generates activity information by detecting the current location. Then, the controller 820 transmits the activity information generated by the positioning module 830 to the central control host 110 via the transceiver 840 .

[0096] At this time, the processor 300 of the central control host 110 receives the activity information representing the location of the mobile vehicle 800 through the first receiving unit 200 (step S113), and confirms the current location of the mobile vehicle 800 through the activity information. In one example, the processor 300 can learn the current location of the mobile vehicle 800 from the activity information and confirm whether it is the end point of the path indicated by the second action command, so as to determine whether the mobile vehicle 800 has moved to the correct location. If the current location of the mobile vehicle 800 obtained by the processor 300 from the activity information matches the end point of the path indicated by the second action command, the processor 300 determines that the mobile vehicle 800 has moved to the correct location. If the current location of the mobile vehicle 800 obtained by the processor 300 from the activity information does not match the end point of the path indicated by the second action command, the processor 300 determines that the mobile vehicle 800 has not yet moved to the correct location.

[0097] In one example, when it is determined that the mobile vehicle 800 has not moved to the correct position, steps S109 to S113 can be repeatedly executed until the processor 300 determines that the mobile vehicle 800 has moved to the correct position. In another example, when it is determined that the mobile vehicle 800 has not moved to the correct position, the processor 300 can issue an event notification to inform the user that the mobile vehicle 800 is abnormal. In addition, after the user resolves the abnormal event, steps S109 to S113 can be returned and re-executed until the processor 300 determines that the mobile vehicle 800 has moved to the correct position. In another example, the mobile vehicle 800 can operate in the form of regularly returning activity information. At this time, when it is determined that the mobile vehicle 800 has not moved to the correct position, the processor 300 may not take any action or only record the received activity information, and then wait to receive the next activity information returned by the mobile vehicle 800.

[0098] In some embodiments, when it is determined that the mobile vehicle 800 has moved to the correct position, the processor 300 may issue a next action command to proceed to the next monitoring operation.

[0099] For example, refer to Figure 1 and Figure 3, following the previous example, after completing the monitoring operation of the docking device 700 (steps S101 to S108), the side 711a of the docking platform 710 docks with the inner bottom surface 522A of the truck 500A. Then, the docking control system 100 can perform the monitoring operation of the mobile vehicle 800 (steps S109 to S113) so that the mobile vehicle 800 located on the docking platform 710 responds to the second action command and leaves the side 711a of the docking platform 710, and then enters the container 510A of the truck 500A. Similarly, the docking control system 100 can also perform monitoring operations on the mobile vehicle 800 (steps S109 to S113), so that the mobile vehicle 800 located in the container 510A of the truck 500A leaves the container 510A of the truck 500A, and then moves to the docking platform 710, or travels back and forth between the dock and the truck's container via the docking equipment 700.

[0100] In this way, the docking control system 100 can sense the error distance between the docking platform 710 and the target object 500 / 600, and automatically control the docking platform 710 to move a corresponding distance according to the error distance between the docking platform 710 and the plane 522 / 622 of the target object 500 / 600, so as to minimize the error distance between the docking platform 710 and the plane 522 / 622 of the target object 500 / 600, thereby allowing the mobile vehicle 800 to move smoothly between the two planes 522, 622, and then use the mobile vehicle 800 to transport the designated target from one target object 500 / 600 to another target object 600 / 500, for example: for cargo loading and unloading.

[0101] In some embodiments, the activity information may represent not only the location of the mobile vehicle 800 but also the activity state of the mobile vehicle 800. Therefore, the central control host 110 may further utilize the activity information from the mobile vehicle 800 to confirm the activity state of the mobile vehicle 800 so as to automatically adjust the second action command in real time. Here, the activity state may be, for example but not limited to, the moving speed of the mobile vehicle 800, the load of the mobile vehicle 800, the time-varying location of the mobile vehicle 800 when it moves, or any combination thereof. In one example, after step S112, the controller 820 transmits the activity information generated by the positioning module 830 together with the activity state representing the mobile vehicle 800 obtained from other components (e.g., the speed of the mobile vehicle 800 obtained from the vehicle body 810 or the current load of the mobile vehicle 800 obtained from the pressure sensing device (not shown)) to the central control host 110 through the transceiver 840. In another example, in step S111 , during the movement of the mobile vehicle 800 , the controller 820 periodically obtains activity information representing the current position of the mobile vehicle 800 from the positioning module 830 and transmits it to the central control host 110 via the transceiver 840 to record the actual movement route of the mobile vehicle 800 .

[0102] In some embodiments, the central control host 110 can also enable the mobile vehicle 800 to move between the two planes 522 and 622 via the docking device 700 by alternately monitoring the mobile vehicle 800 and the docking device 700. Figure 3 In other words, the docking device 700 is used to bridge the two objects 500 and 600, and the mobile vehicle 800 can move from one object 500 / 600 to another object 600 / 500 via the docking device 700.

[0103] For example, refer to Figure 1 and Figure 3, following the previous example, when the docking platform 710 docks with the platform floor 622A of the docking station 600A, the docking control system 100 can perform the monitoring operation of the mobile vehicle 800 (steps S109 to S113) to control the mobile vehicle 800 on the platform floor 622A to move forward to the docking platform 710. Then, the docking control system 100 performs the monitoring operation of the docking device 700 (steps S101 to S108) to control the docking platform 710 to move its platform body 711 and the mobile vehicle 800 thereon toward the container 510A of the truck 500A until the side 711a of the platform body 711 docks with the inner bottom surface 522A of the container 510A of the truck 500A. Then, the docking control system 100 performs the monitoring operation of the mobile vehicle 800 (steps S109 to S113) to control the mobile vehicle 800 on the docking platform 710 to move forward to the container 510A of the truck 500A. In addition, the docking control system 100 can also perform the monitoring operation of the mobile vehicle 800 (steps S109 to S113), the monitoring operation of the docking device 700 (steps S101 to S108), and the monitoring operation of the mobile vehicle 800 (steps S109 to S113) in sequence again, so that the mobile vehicle 800 in the container 510A of the truck 500A moves to the docking platform 710 and then moves from the docking platform 710 to the platform floor 622A of the docking station 600A.

[0104] In some embodiments, reference Figure 2 , Figure 3 as well as Figure 5 , the position sensing module 750 of the docking device 700a of the docking control system 100a may include a plurality of distance measuring modules 750a and one or more camera modules 750b. The following description is made by taking two distance measuring modules 750a and two camera modules 750b as an example, but the present invention is not limited to the number of these components. In other words, the number of distance measuring modules 750a and camera modules 750b can be adjusted to other numbers according to actual needs (e.g., cost considerations, assembly convenience, installation space, accuracy or any combination thereof).

[0105] The distance measuring module 750a and the camera module 750b are disposed at the lower edge of the side 711a of the platform body 711 of the docking device 700a, and the sensing surface of the distance measuring module 750a and the sensing surface of the camera module 750b are both facing the other side opposite to the platform body 711. In other words, the sensing surface of the distance measuring module 750a and the platform body 711 are respectively located on two opposite sides of the body of the distance measuring module 750a, and the sensing surface of the camera module 750b and the platform body 711 are respectively located on two opposite sides of the body of the camera module 750b. Among them, the side 711a of the platform body 711 refers to the side of the platform body 711 adjacent to the target object 500 when the target object 500 is docked next to the platform body 711. For example, referring to Figure 3 A plurality of distance measuring modules 750a and a plurality of camera modules 750b are provided on the bottom side of a side 711a of the platform body 711 of the docking device 700a close to the truck 500A.

[0106] In some embodiments, the position sensing module 750 can be divided into two parts and respectively disposed at two corners of the side 711a of the platform body 711, such as Figure 5 For example, refer to Figure 5 A group of position sensing modules 750 consisting of a distance measuring module 750a and a camera module 750b is arranged at the lower edge of one end of the side 711a of the platform body 711, and another group of position sensing modules 750 consisting of another distance measuring module 750a and another camera module 750b is arranged at the lower edge of the other end of the side 711a of the platform body 711.

[0107] Please refer to Figure 2 , Figure 3 as well as Fig.12 In some embodiments, the position sensing module 750 includes a plurality of distance measuring modules 750a and one or more camera modules 750b. At this time, the sensing signal generated by the position sensing module 750 includes the distance information generated by each distance measuring module 750a and the target image generated by each camera module 750b. Here, the target object 500 has one or more marks 900 on one side adjacent to the docking platform 710, such as Figure 4 Specifically, refer to Figure 3 , Figure 4 as well as Figure 5 , the mark 900 corresponds to the camera module 750b one by one. A mark 900 is provided at the position corresponding to each camera module 750b at the adjacent position of the target object 500 and the docking platform 710. In some embodiments, each mark 900 can be, for example but not limited to, a pattern, a text, or a symbol. For example, the mark 900 can be a triangular pattern below the rear door of the container 510A of the truck 500A, such as Figure 5 As shown, but not limited to this shape.

[0108] At this time, refer to Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Fig.12 In step S101 of some embodiments, each distance measurement module 750a measures the distance between the docking platform 710 and the target object 500 and generates distance information representing the distance (i.e., the sensing signal generated by the distance measurement module 750a) (step S201), and each camera module 750b photographs the corresponding mark 900 on the target object 500 from the docking platform 710 to generate a target image (i.e., the sensing signal generated by the camera module 750b) (step S202). Therefore, the target image generated by each camera module 750b will have a mark image of its corresponding mark 900. Subsequently, in step S104, the processor 300 calculates the rotation information in the position difference using the distance information (step S301), and calculates the translation information and the lifting information in the position difference through image processing using the distance information and the position of the mark image in the target image (step S302).

[0109] In some embodiments, taking the two distance measurement modules 750a as an example, in step S301, the processor 300 obtains the data of the straight-line distance between the two ends of the side 711a of the docking platform 710 and the target object 500 (i.e., distance information) through the measurement value of the distance measurement module 750a, and compares the two data to confirm whether the difference between the two is greater than the allowable value (for example, but not limited to 0, that is, when the two are the same). Among them, greater than the allowable value indicates that the docking platform 710 has a yaw relative to the target object 500. On the contrary, not greater than the allowable value indicates that the docking platform 710 has not yawed relative to the target object 500. Therefore, when it is greater than the allowable value (e.g., the two data are different), the processor 300 generates a rotation direction according to the size of the two data and generates a rotation angle (yaw) according to the difference between the two data, so as to obtain the rotation information θy with the rotation direction and the rotation angle (yaw). On the contrary, when it is not greater than the allowable value (eg, the two data are the same), the processor 300 generates rotation information θy with a rotation angle of 0.

[0110] For example, taking two data as one large and one small, the rotation direction is to generate a rotation from one end of the vector of the large data to one end of the small data with the central axis of the surface of the vertical docking platform 710 as the axis, and the rotation angle is calculated by an algorithm on the difference between the two and the length of the side 711a. In another exemplary embodiment, the processor 300 can also generate the rotation direction (i.e., rotation information θy) only according to the size of the two data, without calculating the rotation angle (yaw). Instead, in the process of the docking platform 710 rotating in the rotation direction (step S107), steps S101 to S104 are repeatedly executed until the processor 300 confirms that the distance information measured by the two distance measurement modules 750a is the same data. In other words, the processor 300 determines that step S107 is completed by continuously obtaining the distance information. Here, the distance information of the same data can be regarded as a completion signal.

[0111] In some embodiments, taking the two distance measurement modules 750a as an example, in step S302, the processor 300 can also determine whether the docking platform 710 needs to be translated toward the target object 500 by comparing the two data. The same two data indicate that the docking platform 710 does not need to be translated toward the target object 500. In other words, the processor 300 generates translation information Dfb with a parallel movement amount of 0. An algorithm can be used to calculate the difference between the two data to obtain the parallel movement amount that makes the distance between the side 711a of the docking platform 710 and the target object 500 0, so as to obtain the translation information Dfb with the translation direction and parallel movement amount of the translation toward the target object 500.

[0112] In addition, after the processor 300 obtains the target image based on the sensing signal, it can perform edge processing on the target image, and then find the mark image in the target image by edge analysis, and obtain the position of the mark image in the target image. In step S302, the processor 300 compares the obtained position with a target position to determine whether the docking platform 710 needs to move vertically and the lifting direction, and generates a vertical movement amount according to the height difference between the obtained position and the target position, so as to obtain the lifting information H with the lifting direction and the vertical movement amount. Among them, the target position is pre-set and stored in the central control host 110. In some embodiments, the target position can be obtained by taking a target image taken when the platform body 711 of the docking platform 710 is docked with the target object 500, for example, the position of the mark image in the target image taken when the platform body 711 of the docking platform 710 is docked with the target object 500 is used as the target position.

[0113] In some embodiments, the plurality of distance measurement modules 750a are a plurality of infrared sensors, a plurality of sonar sensors, or any combination thereof.

[0114] Specifically, refer to Figures 2 to 5 as well as Fig.12 , multiple distance measurement modules 750a installed at different positions of the platform body 711 respectively use infrared or sonar (or other distance-measuring methods) to sense the distance of the target object 500 to obtain corresponding distance information. In some embodiments, each camera module 750b can be implemented by a combination of a lens and a photosensitive element, or a combination of a lens, a photosensitive element and a digital image processor. Among them, the photosensitive element can be a charge-coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS).

[0115] In some embodiments, please refer to Figure 3 and Figure 6 The position sensing module 750 of the docking device 700b of the docking control system 100b may also only retain the aforementioned one or more camera modules 750b, that is, the position sensing module 750 does not include the aforementioned distance measurement module 750a. The position of the camera module 750b and its relationship with other components are the same as those in the aforementioned embodiment, so they are not repeated here.

[0116] Please refer to Figure 3 , Figure 6 as well as Fig.13 In some embodiments, after the processor 300 receives the sensing signal (step S103), the processor 300 can obtain the target image generated by the camera module 750b from the sensing signal. Next, in step S104, the processor 300 calculates the translation information, the elevation information, and the rotation information using the position of each marker image in the target image (step S401).

[0117] In some embodiments, the processor 300 may also generate the position difference by analyzing the image distance between the platform image and the target image in the target image. Figure 3 and Figure 7 The position sensing module 750 includes one or more camera modules 750b. The camera modules 750b are arranged around the docking platform 710 and have a preset distance from the docking platform 710, and their sensing surfaces face the side edge 711a of the docking platform 710. Figure 7 In one example, the camera module 750b may be installed directly above the side 711a of the docking platform 710. In another example, the camera module 750b may also be installed on the left side or / and right side of the docking platform 710, and on the extension line of the side 711a of the docking platform 710 or focused on a place with a field of view covering the side 711a of the docking platform 710.

[0118] In one example, the camera module 750b can pull the signal to the docking platform 710 by routing, and then connect to the controller 720 set on the docking platform 710. In this way, the target image (i.e., the sensing signal) generated by the camera module 750b can be transmitted to the central control host 110 by the controller 720 through the second transmitting unit 740. In another example, the docking device 700 can also be additionally provided with another transmitting unit (i.e., another second transmitting unit 740) (not shown). This other second transmitting unit 740 is integrated on the camera module 750b, and is used to send the target image (i.e., the sensing signal) generated by the camera module 750b to the central control host 110.

[0119] In some embodiments, please refer to Figure 3 , Figure 7 as well as Fig.14 , the camera module 750b captures the adjacent parts of the target object 500 and the docking platform 710 from different detection positions to generate a plurality of target images (step S501). Here, each target image has two edge images of the adjacent edges of the target object 500 and the docking platform 710. In other words, the two edge images are respectively an image of a side edge (such as the side edge 711a) of the plane 522 of the target object 500 adjacent to the docking platform 710 and an image of the side edge 711a of the docking platform 710. After the processor 300 receives the sensing signal (step S103), the processor 300 can obtain the target image generated by the camera module 750b from the sensing signal, and use the target image to calculate the translation information, the lifting information and the rotation information through image processing (step S601).

[0120] In some embodiments, after the processor 300 obtains the target image based on the sensing signal, it can perform edge processing on the target image, and then find the marker image in the target image through edge analysis to obtain the location of the marker image in the target image.

[0121] For example, two camera modules 750b may be disposed around the docking platform 710 and at a preset distance from the docking platform 710. One of the camera modules 750b may shoot the docking platform 710 and the adjacent portion of the target object 500 from top to bottom (perpendicular to the ground 622A or the docking platform 710) to generate a target image, while the other camera module 750b may shoot the adjacent portion of the docking platform 710 and the target object 500 from the side 711a of the adjacent portion of the docking platform 710 and the target object 500 to generate a target image. The processor 300 can determine whether the target object 500 has been docked with the docking platform 710 based on the parallel image distance between the two ends of the edge image of the docking platform 710 and the edge image of the target object 500 in the target image generated from top to bottom (for example, the number of pixels between the extension line of the edge image of the two sides connecting the two ends of the side 711a at the edge image of the side 711a to the edge image of the side of the plane 522 of the target object 500), and then obtain the parallel movement amount, rotation direction and rotation angle (yaw) of the translation toward the target object 500 based on the size of the two parallel image distances, and generate rotation information θy with data such as the rotation direction and rotation angle and translation information Dfb with data such as the parallel movement amount of the translation toward the target object 500. The processor 300 can determine whether the plane 522 of the target object 500 is at the same height as the side 711a of the docking platform 710 based on the height difference between the edge image of the side 711a of the docking platform 710 and the edge image of the side 711a of the docking platform 710 in the target image generated by the docking platform 710 and the side of the target object 500 and the plane 522 of the target object 500 adjacent to the docking platform 710, and then calculate the vertical movement amount of the platform body 711 toward the target object 500 based on the height difference between the two, and generate the lifting information H containing the vertical movement amount toward the target object 500.

[0122] In some embodiments, the docking platform 710 may be an N-DOF platform or other adjustable platform. Wherein N is a positive integer. The N-DOF platform may be, for example, a single-DOF platform, a two-DOF platform, a three-DOF platform, a four-DOF platform, a five-DOF platform, a six-DOF platform, or a motion platform with more DOF. In other words, the docking platform 710 may select a motion platform with an equal or greater number of DOFs according to the number of adjustment directions required. Each adjustment direction may be up and down, left and right, front and back, pitch, yaw, or roll, etc.

[0123] Please refer to Figure 5In some embodiments, the motion mechanism 712 is a plurality of electric cylinders, and one end of each electric cylinder is coupled to the platform body 711. The controller 720 can control the lifting and lowering of each motion cylinder to adjust the position of the platform body 711 by a certain position difference. The number of electric cylinders can be determined according to actual needs. For example, the number of electric cylinders can be six, so that the docking platform 710 is a six-degree-of-freedom platform, such as Figure 5 shown.

[0124] Please refer to Figure 8 and Fig. 9 . In some embodiments, the motion mechanism 712 includes a connecting body 713, a slide rail 714, a sliding portion 715, a supporting body 716, and a supporting rod 718. The slide rail 714 is located on the upper surface of the connecting body 713. The sliding portion 715 is fixed to the lower surface of the platform body 711 and slidably connects the slide rail 714. The supporting body 716 has a connecting portion 717. The supporting rod 718 matches the connecting portion 717. One of the supporting body 716 and the supporting rod 718 is coupled to the lower surface of the connecting body 713. Here, the docking platform 710 has four degrees of freedom. In some embodiments, the connecting portion 717 may be, but is not limited to, a slot, a protrusion, or a latching device.

[0125] In some embodiments of step S107, taking the case where the position difference includes a translation information Dfb, a lifting information H, and a rotation information θy, the controller 720 controls the support rod 718 and the support body 716 to extend and retract the lifting information H and rotate the rotation information θy relative to each other according to the first action command, and controls the sliding part 715 to move the translation information Dfb relative to the slide rail 714.

[0126] In some embodiments, the positioning module 830 can obtain activity information using a preset mark (such as but not limited to a barcode, pattern, text, symbol or other type of mark). Here, the positioning module 830 can be but not limited to a barcode scanner, or a camera module.

[0127] Specifically, one or more designated positions are set on the path where the mobile vehicle 800 is expected to travel, so that when the mobile vehicle 800 moves to any designated position, its positioning module 830 can know that it has arrived at the designated position and obtain activity information by scanning the mark on the path. Each designated position is a position on the path where the mobile vehicle 800 needs to stop and wait for other actions to be performed first according to the application scenario and corresponds to the sensing surface of its positioning module 830. In some embodiments, this mark carries activity information, so that the positioning module 830 can generate activity information by scanning and decoding the mark.

[0128] For example, the user may pre-set a barcode at the end of the path and use a barcode scanner as the positioning module 830. At this time, while the mobile vehicle 800 is moving, the barcode scanner will continue to scan the road surface (step S111). When the barcode scanner scans the barcode, it means that the mobile vehicle 800 has moved to the specified position. In other words, when the mobile vehicle 800 arrives at the end of the path, the barcode scanner of the mobile vehicle 800 will just align with the barcode on the path, and then scan and decode the barcode on the path to obtain activity information (step S112).

[0129] In some embodiments, the positioning module 830 also uses wireless signals to obtain activity information. Here, the positioning module 830 can be a coordinate locator, and the coordinate locator can be but is not limited to a global positioning system (GPS), a Beidou locator, a location based service (LBS) locator, a Wifi locator, an RFID locator, or a Bluetooth locator.

[0130] For example, assume that a global positioning system is used as the positioning module 830. At this time, in step S112, when the mobile vehicle 800 reaches the end of the path, the global positioning system on the mobile vehicle 800 can generate the positioning coordinates of the current location (i.e., the end of the path) by detecting wireless satellite signals (i.e., recording the activity information of the location coordinates of the mobile vehicle 800). Then, the controller 820 transmits the positioning coordinates to the central control host 110 via the transceiver 840, so that the central control host 110 knows that the mobile vehicle 800 has reached the end of the path through the positioning coordinates.

[0131] For example, refer to Figures 2 to 5 , taking the application scenario of unloading from a truck 500A to a docking station 600A as an example. In this scenario, the target object 500 is a truck, the position sensing module 750 is two infrared sensors (i.e., distance measurement module 750a) and two camera modules 750b, the mobile vehicle 800 is an unmanned guided vehicle, and the positioning module 830 is a barcode scanner. The initial position of the docking platform 710 is that its side 711b docks with the platform floor 622A of the docking station 600A. In other words, the upper surface of the platform body 711 is aligned with the platform floor 622A. In addition, positioning barcodes are respectively affixed to the upper surface of the docking platform 710 and the inner bottom surface 522A below the shelf in the container 510A of the truck 500A.

[0132] When the truck 500A arrives at the docking station 600A, the central control host 110 controls the iron rolling door or gate (if any) stored on the docking station 600A to open. After the iron rolling door or gate is opened, the central control host 110 performs the monitoring operation of the mobile vehicle 800 (steps S109 to S113), so that the mobile vehicle 800 comes out of the warehouse to the docking station 600A and moves forward to the docking platform 710. When the mobile vehicle 800 scans the positioning barcode on the docking platform 710, it indicates that the mobile vehicle 800 has arrived at the docking platform 710. At this time, the mobile vehicle 800 obtains activity information by scanning the positioning barcode, and then transmits the activity information back to the central control host 110. After receiving the activity information, the central control host 110 performs the monitoring operation of the docking device 700 again (steps S101 to S108), docks the side 711a of the docking platform 710 with the inner bottom surface 522A of the truck 500A and notifies the truck 500A to open the door of the container 510A. After receiving the completion signal sent back by the docking platform 710, the central control host 110 performs the monitoring operation of the mobile carrier 800 again (steps S109 to S113), so that the mobile carrier 800 moves from the docking platform 710 to the inside of the container 510A of the truck 500A. When the mobile carrier 800 scans the positioning barcode in the container 510A, the mobile carrier 800 can determine that it has arrived under the shelf, and then lifts the shelf with goods. Then, the mobile carrier 800 moves the shelf with goods in the opposite direction to the docking platform 710. Similarly, when the mobile carrier 800 returns to the docking platform 710, the mobile carrier 800 obtains and transmits activity information to the central control host 110 by scanning the positioning barcode on the docking platform 710. At this time, the central control host 110 notifies the docking device 700 to return the docking platform 710 to the initial position, that is, docking with the docking station 600A. Finally, the central control host 110 notifies the mobile carrier 800 to move the shelf to the designated unloading position of the docking station 600A.

[0133] As described above, the docking control system 100, docking device 700 or automatic docking control method of any embodiment can provide automatic docking between two planes that are not connected to each other, and automatically calibrate the docking of the docking platform 710 and the plane. In some embodiments, the docking control system 100 or the automatic docking control method can also control the movement timing of the mobile vehicle 800, so that the mobile vehicle 800 moves between the two planes. For example, the docking control system 100 or the automatic docking control method of any embodiment can control the movement timing of the mobile vehicle 800, so as to replace manual handling to transport goods between the two planes, thereby avoiding operational errors.

[0134] Although the technical contents of the present invention have been disclosed as above in the form of preferred embodiments, they are not intended to limit the present invention. Any slight changes and modifications made by any technician in this field without departing from the spirit of the present invention should be included in the scope of the present invention. Therefore, the protection scope of the present invention should be based on the scope defined by the scope of the attached claims.

Claims

1. A docking control system, the docking control system comprising: a first receiving unit, the first receiving unit being used to receive at least one sensing signal; a processor, coupled to the first receiving unit, and configured to generate a first action command according to the at least one sensing signal; a first transmitting unit, coupled to the processor and configured to transmit the first action command; a docking platform; a second receiving unit, the second receiving unit being located on the docking platform and being used for wirelessly connecting to the first transmitting unit; a controller, the controller being located on the docking platform and configured to receive the first motion command via the second receiving unit and execute the first motion command to control the movement of the docking platform; At least one position sensing module, the at least one position sensing module is used to generate the at least one sensing signal; as well as A second transmitting unit is coupled to the at least one position sensing module and is used for wirelessly connecting to the first receiving unit to send the at least one sensing signal to the first receiving unit.

2. The docking control system as claimed in claim 1, wherein the at least one sensing signal comprises at least one distance information and a target image, the processor calculates a position difference according to the at least one sensing signal, and generates the first action command instructing to move the position difference according to the position difference, the position difference comprises a translation information, a lifting information and a rotation information, and the at least one position sensing module comprises: At least one distance measurement module, the at least one distance measurement module is coupled to the second transmitting unit, and is used to measure a distance between each distance measurement module and a target object to generate the at least one distance information representing the distance; as well as A camera module is coupled to the second transmitting unit and is used for photographing a mark on the target object to generate the target image. 3 . The docking control system as claimed in claim 2 , wherein the at least one distance measurement module and the camera module are disposed on the docking platform.

4. The docking control system as claimed in claim 1, wherein the at least one sensing signal comprises a plurality of target images, the processor calculates a position difference according to the at least one sensing signal, and generates the first action command instructing to move the position difference according to the position difference, the position difference comprises a translation information, a lifting information and a rotation information, and the at least one position sensing module comprises: A plurality of camera modules are coupled to the second transmitting unit and are used to shoot a target object to generate the target images. 5 . The docking control system as claimed in claim 4 , wherein the plurality of camera modules are disposed around the docking platform and have a preset distance from the docking platform, and the plurality of camera modules are used to photograph the target object and the docking platform. 6 . The docking control system as claimed in claim 4 , wherein the second transmitting unit and the plurality of camera modules are disposed on the docking platform, and each of the plurality of camera modules is used to photograph a mark located on the target object.

7. The docking control system according to claim 1, further comprising: A mobile vehicle is used to wirelessly connect to the first transmitting unit, wherein the processor is used to further generate a second motion command representing a path, and the mobile vehicle is used to move the path according to the second motion command.

8. A docking device, comprising: A docking platform, the docking platform comprising: a platform body; and a motion mechanism, the motion mechanism supporting the platform body; a controller coupled to the motion mechanism and configured to control the motion mechanism to adjust the position of the platform body according to a first motion command; At least one position sensing module, the at least one position sensing module is used to sense a target object in front of the docking platform to generate at least one sensing signal; and A transmitting unit is coupled to the at least one position sensing module and is used for sending the at least one sensing signal.

9. The docking device of claim 8, wherein the motion mechanism comprises: A plurality of electric cylinders are controlled by the controller, wherein the controller is used to control the plurality of electric cylinders to adjust the position of the platform body according to the first motion command.

10. The docking device as claimed in claim 8, wherein the position of the platform body is adjusted by a position difference, the position difference includes a translation information, a lifting information and a rotation information, and the motion mechanism includes: A connecting body; A slide rail, the slide rail is located on the upper surface of the connecting body; a sliding part, the sliding part being fixed on the lower surface of the platform body and slidably connected to the slide rail, wherein the controller is used to control the sliding part to move the translation information relative to the slide rail according to the first action command; a supporting body having a connecting portion; and A support rod is matched with the connecting part, wherein the support body and one of the support rods is coupled to the lower surface of the connecting body, and the controller is used to control the support rod and the support body to relatively extend and retract the lifting information and relatively rotate the rotation information according to the first action command.

11. The docking device as claimed in claim 8, wherein the at least one sensing signal comprises at least one distance information and a target image, and the at least one position sensing module comprises: At least one distance measurement module, the at least one distance measurement module is disposed on the docking platform and coupled to the transmitting unit, and is used to measure a distance between the docking platform and the target object to generate the at least one distance information representing the distance; as well as A camera module is coupled to the transmitting unit and is used to photograph a mark on the target object from the docking platform to generate the target image.

12. The docking device of claim 8, wherein the at least one sensing signal comprises a plurality of target images, and the at least one position sensing module comprises: A plurality of camera modules are coupled to the transmitting unit and are used for photographing the target object and the platform body to generate the plurality of target images. 13 . The docking device as claimed in claim 12 , wherein the plurality of camera modules are disposed around the docking platform and have a preset distance from the docking platform, and the plurality of camera modules are used to photograph the target object and the docking platform from different directions. 14 . The docking device as claimed in claim 12 , wherein the transmitting unit and the plurality of camera modules are disposed on the docking platform, and each of the plurality of camera modules is used to photograph a mark located on the target object.

15. A control method for automatic connection, the control method for automatic connection comprising: Receiving at least one sensing signal corresponding to a position of a docking platform; Generate a first action command according to the at least one sensing signal; Transmitting the first action command to a controller that controls the docking platform; The controller controls the movement of the docking platform in response to the first motion command; detecting a position of a target object at different detection positions to generate the at least one sensing signal; as well as The at least one sensing signal is sent via a network.

16. The control method of automatic docking as claimed in claim 15, further comprising calculating a position difference according to the at least one sensing signal, and generating the first action command instructing to move the position difference according to the position difference, wherein the at least one sensing signal comprises at least one distance information and a target image, and the position difference comprises a translation information, a lifting information and a rotation information; The step of detecting the position of the target object at different detection positions includes: measuring a distance between the docking platform and the target object to generate the at least one distance information representing the distance; and photographing a mark on the target object from the docking platform to generate the target image; and The step of calculating the position difference according to the at least one sensing signal comprises: Calculating the rotation information using the at least one distance information; and The translation information and the elevation information are calculated using the at least one distance information and the target image.

17. The control method of automatic docking as claimed in claim 15, further comprising calculating a position difference according to the at least one sensing signal, and generating the first action command instructing to move the position difference according to the position difference, wherein the at least one sensing signal comprises a plurality of target images, and the position difference comprises a translation information, a lifting information, and a rotation information; The step of detecting the position of the target object at different detection positions includes: Photographing the target object from the different detection positions to generate the plurality of target images; and The step of calculating the position difference according to the at least one sensing signal comprises: The translation information, the elevation information and the rotation information are calculated using the plurality of target images.

18. The control method of automatic docking as claimed in claim 15, further comprising calculating a position difference according to the at least one sensing signal, and generating the first action command instructing to move the position difference according to the position difference, wherein the at least one sensing signal comprises a plurality of target images, and the position difference comprises a translation information, a lifting information, and a rotation information; The step of detecting the position of the target object at different detection positions includes: photographing a plurality of marks on the target object from the different detection positions on the docking platform to generate the plurality of target images; and The step of calculating the position difference according to the at least one sensing signal comprises: The translation information, the elevation information and the rotation information are calculated using each of the target images.

19. A control method for automatic docking as described in claim 15, wherein the position difference includes a translation information, a lifting information and a rotation information, and in the step of the controller controlling the docking platform to move the position difference in response to the first action command, the docking platform translates the distance of the translation information, adjusts the height of the lifting information, and rotates the angle of the rotation information under the control of the controller.

20. The automatic docking control method according to claim 15, further comprising: receiving a completion signal from the controller; generating a second action command representing a path according to the completion signal; as well as The second action command is wirelessly transmitted to a mobile vehicle.

Images