Intelligent engine preassembling vehicle

Abstract

The invention discloses an intelligent engine preassembling vehicle which comprises a vehicle body, a visual docking system arranged at one end of the vehicle body and connected with the vehicle body; the mechanical feedback system is arranged in the middle of the top end of the vehicle body and connected with the top end of the vehicle body; the visual alignment system is arranged between the visual docking system and the mechanical feedback system and is connected to the top end of the vehicle body; the visual centering system is arranged on one side of the vehicle body and used for adjusting the posture of the lifting mechanism. The system is simple in overall structure, high in intelligent degree and high in practicability, can better adapt to factory intelligent construction, depends on a magnetic conduction system, a visual docking system, a visual alignment system, a visual centering system and a mechanical feedback system, can meet scheduling of a workshop integrated scheduling system, and is high in practicability. Meanwhile, the vehicle body and the test bench or other devices can be in butt joint transfer in the horizontal direction and the vertical direction, the universality of overall use of the equipment is high, and the equipment can adapt to different working scenes.

Description

Technical Field

[0001] The invention relates to the field of intelligent engine testing, installation and equipment docking and transportation, and in particular to an intelligent engine pre-installation vehicle. Background Art

[0002] Common engine installation vehicles are mainly manual and have a low level of intelligence. Although there are vehicles with Mecanum wheel control and visual control, they have great limitations in application, such as single function, low degree of automation, uncontrollable engine stress conditions, overall accuracy that does not achieve the purpose of smooth assembly and disassembly, and cannot meet the scheduling of factory intelligent systems. Summary of the invention

[0003] The object of the present invention is to provide an intelligent engine pre-installed vehicle, thereby solving the above-mentioned problems existing in the prior art.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] An intelligent engine pre-installed vehicle, comprising:

[0006] Car body,

[0007] A visual docking system is arranged at one end of the vehicle body and connected to the vehicle body;

[0008] A mechanical feedback system is arranged in the middle of the top of the vehicle body and connected to the top of the vehicle body;

[0009] A visual alignment system, arranged between the visual docking system and the mechanical feedback system, and connected to the top of the vehicle body;

[0010] The visual centering system is arranged on one side of the vehicle body and is used for adjusting the posture of the lifting mechanism.

[0011] In some specific embodiments, the visual docking system includes: a docking visual camera and a target fixed on the docking device;

[0012] A docking platform is also installed on the top of the vehicle body, and the docking visual camera is fixed on a welding bracket of the docking platform by screws.

[0013] In some specific embodiments, it further includes: a right infrared distance measuring sensor and a left infrared distance measuring sensor, which are arranged at one end of the bracket and fixedly connected to the bracket;

[0014] The left front electric cylinder, the left rear electric cylinder, the right front electric cylinder and the right rear electric cylinder are installed on both sides of the bracket.

[0015] In some specific embodiments, the mechanical feedback system includes: a horn pressure sensor, a left front pressure sensor, and a right front pressure sensor;

[0016] The horn pressure sensor is connected to the horn through a screw and a nut;

[0017] The left front pressure sensor is connected to the left support seat through the lower part of the screw, and the upper part is connected to the left load-bearing fulcrum through the nut;

[0018] The lower part of the right front pressure sensor is connected to the right support seat, and the upper part is connected to the right load-bearing fulcrum through the nut; the engine is placed on the vehicle body, and the mechanical feedback system is used to sense the real-time force posture of the engine on the vehicle body.

[0019] In some specific embodiments, the visual alignment system includes: an alignment visual camera, an alignment target, an engine, a kingpin base, and a ball socket;

[0020] The centering visual camera is fixed to the kingpin base by quick-release screws, the centering target is inserted into the ball socket by clearance fit, and the ball socket is fixed to the engine by screws; the visual centering system reads the centering target by the centering visual camera, and analyzes the relative position relationship between the centering visual camera and the centering target through a visual algorithm to calibrate the position of the kingpin of the kingpin base and the ball socket.

[0021] In some specific embodiments, the visual alignment system includes: an alignment visual camera and an alignment target;

[0022] The alignment vision camera is screwed to the vehicle body;

[0023] The alignment target is fixed to the kingpin base by magnetic attraction, and the visual alignment system corrects the relative position relationship between the vehicle body and the kingpin base through the alignment visual camera and the visual algorithm analysis of the alignment target fixed to the kingpin base to achieve a predetermined relative position.

[0024] In some specific embodiments, it also includes:

[0025] A magnetic guide system, the magnetic guide system comprising: a magnetic guide module and a host computer control system; the magnetic guide module reads the geomagnetic strip information and feeds it back to the magnetic guide system, transmits it to the host computer control system and feeds back the real-time position of the vehicle body;

[0026] The right docking positioning pin and the left docking positioning pin are both controlled to extend and retract by an electric cylinder and are screwed to the docking platform. During the docking process of the visual docking system, the right docking positioning pin and the left docking positioning pin are extended by the electric cylinder for positioning and guiding;

[0027] A left rear pre-tightening handle, a left front pre-tightening handle, a right front pre-tightening handle and a right rear pre-tightening handle are fixed on the docking platform and are used to fix the third-party platform.

[0028] In some specific embodiments, the invention further comprises: a tilt sensor, a wire sensor, a right infrared distance sensor and a left infrared distance sensor;

[0029] The inclination sensor is screwed on the upper surface of the small platform to feedback the inclination angle of the small platform; the wire sensor is screwed on the upper surface of the vehicle body to feedback the telescopic value of the small platform; the right infrared ranging sensor and the left infrared ranging sensor are screwed on the front cross beam of the docking platform to feedback the distance information between the docking platform and the third-party platform.

[0030] In some specific embodiments, the small platform is screwed to the small platform lifting electric cylinder, and the pitch, roll, and lifting of the small platform are adjusted through the action of the electric cylinder, the interaction of the inclination sensor, and the wire sensor.

[0031] In some specific embodiments, the docking platform is fixed with screws to the left front electric cylinder, the left rear electric cylinder, the right front electric cylinder, and the right rear electric cylinder, and is lifted and lowered to dock with a third-party platform according to the distance feedback from the visual docking system, the right infrared ranging sensor, and the left infrared ranging sensor and the left front electric cylinder, the left rear electric cylinder, the right front electric cylinder, and the right rear electric cylinder.

[0032] The beneficial effects of the present invention are as follows: the present invention discloses an intelligent engine pre-assembly vehicle, comprising: a vehicle body, a visual docking system, which is arranged at one end of the vehicle body and connected to the vehicle body; a mechanical feedback system, which is arranged in the middle of the top of the vehicle body and connected to the top of the vehicle body; a visual alignment system, which is arranged between the visual docking system and the mechanical feedback system and connected to the top of the vehicle body; a visual centering system, which is arranged on one side of the vehicle body and is used to adjust the posture of the lifting mechanism. The overall structure of the present invention is simple, the degree of intelligence is high, and the practicality is strong. It can better adapt to the intelligent construction of factories. This equipment relies on the magnetic guide system, the visual docking system, the visual alignment system, the visual centering system and the mechanical feedback system to meet the scheduling of the integrated scheduling system of the workshop. At the same time, the vehicle body and the test bench or other devices can be docked and transported in the horizontal and vertical directions. The overall versatility of the equipment is strong and can adapt to different work scenes. At the same time, the visual docking system, visual alignment system, and visual centering system all have high-precision feedback adjustment, which can not only achieve high-precision and smooth cooperation between the stand pin and the engine's load-bearing pin hole, but also achieve accurate docking between the vehicle body docking platform and other vehicles or platforms. The above systems solve the problems of single function, low degree of automation, uncontrollable engine stress, overall accuracy that cannot achieve the purpose of smooth assembly and disassembly, and inability to meet the scheduling of the factory's intelligent system in actual application scenarios, resulting in low engine installation efficiency, high difficulty in operation, and a large number of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of an intelligent engine pre-installed vehicle of the present invention;

[0034] Figure 2 It is a structural schematic diagram of another embodiment of an intelligent engine pre-installed vehicle of the present invention;

[0035] Figure 3 It is a structural schematic diagram of another embodiment of an intelligent engine pre-installed vehicle of the present invention;

[0036] Figure 4 It is a structural schematic diagram of a visual alignment system of an intelligent engine pre-installation vehicle of the present invention;

[0037] Figure 5 It is a structural schematic diagram of a visual centering system of an intelligent engine pre-installation vehicle of the present invention;

[0038] Figure 6 The present invention discloses a work flow chart of an intelligent engine pre-installation vehicle.

[0039] In the figure: 1-car body, 2-visual docking system, 3-mechanical feedback system, 4-visual alignment system, 6-magnetic guide system, 7-magnetic guide module, 8-docking visual camera, 9-right docking positioning pin, 10-left docking positioning pin, 11-ram horn pressure sensor, 12-left front pressure sensor, 13-right front pressure sensor, 14-right load-bearing fulcrum, 15-left load-bearing fulcrum, 16-ram horn, 17-left rear preload handle, 18-left front preload handle, 19-right front preload handle, 20- Right rear preload handle, 21-tilt sensor, 22-pull wire sensor, 23-right infrared ranging sensor, 24-left infrared ranging sensor, 25-alignment visual camera, 26-alignment target, 27-centering visual camera, 28-centering target, 29-engine, 30-left front electric cylinder, 31-left rear electric cylinder, 32-right front electric cylinder, 33-right rear electric cylinder, 34-small platform, 35-docking platform, 36-kingpin base, 37-ball socket, 38-left support seat, 39-right support seat. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation methods described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6The intelligent engine pre-installed vehicle shown includes:

[0042] Car body 1,

[0043] The visual docking system 2 is arranged at one end of the vehicle body 1 and connected to the vehicle body 1;

[0044] The mechanical feedback system 3 is arranged in the middle of the top of the vehicle body 1 and connected to the top of the vehicle body 1;

[0045] The visual alignment system 4 is arranged between the visual docking system 2 and the mechanical feedback system 3 and connected to the top of the vehicle body 1;

[0046] The visual centering system is arranged on one side of the vehicle body 1 and is used to adjust the posture of the lifting mechanism.

[0047] In some specific embodiments, the visual docking system 2 includes: a docking visual camera 8 and a target fixed on the docking device;

[0048] A docking platform 35 is also installed on the top of the vehicle body 1, and a docking visual camera 8 is fixed to a welding bracket of the docking platform 35 by screws.

[0049] In some specific embodiments, a right infrared distance measuring sensor 23 and a left infrared distance measuring sensor 24 are further included, which are arranged at one end of the bracket and fixedly connected to the bracket;

[0050] The left front electric cylinder 30, the left rear electric cylinder 31, the right front electric cylinder 32 and the right rear electric cylinder 33 are installed on both sides of the bracket.

[0051] In some specific embodiments, the mechanical feedback system 3 includes: a horn pressure sensor 11, a left front pressure sensor 12, and a right front pressure sensor 13;

[0052] The horn pressure sensor 11 is connected to the horn 16 via a screw and a nut;

[0053] The left front pressure sensor 12 is connected to the left support seat 38 through the lower part of the screw, and the upper part is connected to the left load-bearing fulcrum 15 through the nut;

[0054] The lower part of the right front pressure sensor 13 is connected to the right support seat 39 , and the upper part is connected to the right load-bearing fulcrum 14 through a nut; the engine is placed on the vehicle body 1 , and the mechanical feedback system 3 is used to sense the real-time force posture of the engine on the vehicle body 1 .

[0055] In some specific embodiments, the visual centering system 5 includes: a centering visual camera 27, a centering target 28, an engine 29, a kingpin base 36, and a ball socket 37;

[0056] The centering vision camera 27 is fixed to the kingpin base 36 by quick-release screws, the centering target 28 is inserted into the ball socket 37 by clearance fit, and the ball socket 37 is fixed to the engine 29 by screws; the visual centering system reads the centering target 28 through the centering vision camera 27, and analyzes the relative position relationship between the centering vision camera 27 and the centering target 28 through a visual algorithm to calibrate the position of the kingpin of the kingpin base 36 and the ball socket 37.

[0057] In some specific embodiments, the visual alignment system includes: an alignment vision camera 25 and an alignment target 26;

[0058] Align the vision camera 25 and fix it on the vehicle body with screws;

[0059] The alignment target 26 is fixed to the kingpin base 36 by magnetic attraction, and the visual alignment system corrects the relative position relationship between the vehicle body 1 and the kingpin base 36 by aligning the visual camera 25 and the visual algorithm analysis of the alignment target 26 fixed to the kingpin base 36 to achieve a predetermined relative position.

[0060] In some specific embodiments, it also includes:

[0061] The magnetic guide system includes: a magnetic guide module and a host computer control system; the magnetic guide module 7 reads the geomagnetic strip information and feeds it back to the magnetic guide system 6, transmits it to the host computer control system and feeds back the real-time position of the vehicle body 1;

[0062] The right docking positioning pin 9 and the left docking positioning pin 10 are both extended and retracted by electric cylinders and fixed on the docking platform with screws. During the docking process of the visual docking system 2, the right docking positioning pin 9 and the left docking positioning pin 10 are extended by the electric cylinders for positioning and guiding;

[0063] The left rear pre-tightening handle 17 , the left front pre-tightening handle 18 , the right front pre-tightening handle 19 and the right rear pre-tightening handle 20 are fixed to the docking platform 35 for fixing the third-party platform.

[0064] In some specific embodiments, it further includes: a tilt sensor 21, a wire sensor 22, a right infrared distance sensor 23 and a left infrared distance sensor 24;

[0065] The inclination sensor 21 is screwed to the upper surface of the small platform 34 to feedback the inclination angle of the small platform 34; the wire sensor 22 is screwed to the upper surface of the vehicle body 1 to feedback the telescopic value of the small platform 34; the right infrared ranging sensor 23 and the left infrared ranging sensor 24 are screwed to the front cross beam of the docking platform 35 to feedback the distance information between the docking platform 35 and the third-party platform.

[0066] In some specific embodiments, the small platform 34 is fixed to the small platform lifting electric cylinder by screws, and the pitch, roll, and lifting of the small platform 34 are adjusted through the interaction of the action of the electric cylinder, the inclination sensor 21, and the pull-wire sensor 22.

[0067] In some specific embodiments, the docking platform 35 is screwed to the left front electric cylinder 30, the left rear electric cylinder 31, the right front electric cylinder 32, and the right rear electric cylinder 33, and is lifted and lowered to dock with a third-party platform according to the distance feedback from the visual docking system 2, the right infrared ranging sensor 23, and the left infrared ranging sensor 24, and the left front electric cylinder 30, the left rear electric cylinder 31, the right front electric cylinder 32, and the right rear electric cylinder 33.

[0068] Working methods of this application:

[0069] During use, the omnidirectionally mobile intelligent vehicle body 1, through the instructions of the scheduling system, moves from the designated position under the action of the magnetic guidance system 6, and the magnetic guidance module 7 reads the ground magnetic strip of the line and moves to the set position of other vehicles along the line. When the docking visual camera 8 reads the docking target, the magnetic guidance system 6 stops working and the visual docking system 2 starts.

[0070] The docking visual camera 8 reads the docking target. Under the action of the docking visual camera 8 and the right infrared ranging sensor 23 and the left infrared ranging sensor 24, the vehicle body 1 and the docking platform 25 adjust the horizontal posture of the vehicle body 1 and the height posture of the docking platform 25 under the action of the Mecanum wheel, the left front electric cylinder 30, the left rear electric cylinder 31, the right front electric cylinder 32, and the right rear electric cylinder 33 until the set docking preset value is reached, the vehicle body 1 moves, the right docking locating pin 9 and the left docking locating pin 10 are pinned into the docking positions of other vehicle bodies, and the docking pin installation is completed. The small platform 34 is lowered to the lower limit position, and the transport rack carrying the engine is slid and transferred to the docking platform 35 of the vehicle body 1 through the guide rail. The transport rack carrying the engine is locked to the vehicle body 1 through the left rear pre-tightening handle 17, the left front pre-tightening handle 18, the right front pre-tightening handle 19, and the right rear pre-tightening handle 20. The one-key lifting is started, and the small platform 34 is raised to the right load-bearing fulcrum 14 and the left load-bearing fulcrum 15 of the engine and contacts with the engine load-bearing fulcrum. The left front pressure sensor 12 and the right front pressure sensor 13 reach the preset pressure value and give an alarm and stop lifting. The connection point between the pin horn 16 and the engine is pinned, and the left rear pre-tightening handle 17, the left front pre-tightening handle 18, the right front pre-tightening handle 19, and the right rear pre-tightening handle 20 are released, and the transport rack is slid to the docking vehicle body and fixed. The visual docking system 2 is turned off and the magnetic guide system 6 is started. Under the command of the dispatching system, the vehicle body 1 moves to the test bench or other device. The alignment visual camera 25 can identify the alignment target 26 and give an alarm. The visual alignment system 3 is started, and the vehicle body 1 is driven by the visual algorithm. The relative position of the vehicle body 1 and the test bench is corrected by the Mecanum wheel until the preset value is reached and an alarm is given. The one-key lifting function is started, and the small platform 34 rises until it reaches the recognizable target area of ​​the visual alignment system. The one-key alignment is started, and the alignment visual camera 27 identifies the alignment target 28 and performs alignment correction. The vehicle body 1 and the small platform 34 are fed back by the visual alignment system algorithm. The platform 35 makes horizontal, pitch and roll posture adjustments until the visual centering reaches the preset value to complete automatic centering, and the various fixed points of the engine are installed. The values ​​of the ram horn pressure sensor 11, the left front pressure sensor 12, and the right front pressure sensor 13 when the various fixed points are installed in sequence are recorded and saved in the system as a reference for the next installation or disassembly. The connection point between the ram horn 16 and the engine is removed, and the small platform 35 is lowered to the lower limit, and the visual alignment system 4 and the visual centering system are turned off. A signal is sent to the scheduling system, and the magnetic guide system 6 is started. According to the instructions of the scheduling system, the intelligent engine pre-installed vehicle moves to the designated position to wait or continue working in other areas.

[0071] By adopting the above technical solution disclosed in the present invention, the following beneficial effects are obtained:

[0072] The overall structure of the present invention is simple, intelligent, and practical, and it can better adapt to the intelligent construction of factories. The equipment relies on the magnetic guide system, visual docking system, visual alignment system, visual centering system, and mechanical feedback system to meet the scheduling of the integrated scheduling system of the workshop. At the same time, the vehicle body and the test bench or other devices can be docked and transported in the horizontal and vertical directions. The overall versatility of the equipment is strong and can be adapted to different work scenes. At the same time, the visual docking system, the visual alignment system, and the visual centering system are all equipped with high-precision feedback adjustment, which can not only realize the high-precision and smooth coordination between the bench pin column and the load-bearing pin hole of the engine, but also realize the precise docking of the vehicle body docking platform with other vehicles or platforms. The above systems solve the problems of single function, low degree of automation, uncontrollable engine stress, overall accuracy that cannot achieve the purpose of smooth assembly and disassembly, and inability to meet the scheduling of the factory intelligent system in actual application scenarios, resulting in low engine installation efficiency, high difficulty in operation, and a large number of operators.

[0073] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An intelligent engine pre-installed vehicle, characterized in that: include: Car body 1, A visual docking system 2, arranged at one end of the vehicle body 1 and connected to the vehicle body 1; A mechanical feedback system 3 is arranged in the middle of the top of the vehicle body 1 and connected to the top of the vehicle body 1; A visual alignment system 4 is disposed between the visual docking system 2 and the mechanical feedback system 3 and connected to the top of the vehicle body 1; The visual centering system is arranged on one side of the vehicle body 1 and is used to adjust the posture of the lifting mechanism.

2. The intelligent engine pre-installed vehicle according to claim 1, characterized in that: The visual docking system 2 comprises: a docking visual camera 8 and a target fixed on the docking device; A docking platform 35 is also installed on the top of the vehicle body 1, and the docking visual camera 8 is fixed to the welding bracket of the docking platform 35 by screws.

3. The intelligent engine pre-installed vehicle according to claim 2, characterized in that: It also includes: a right infrared distance measuring sensor 23 and a left infrared distance measuring sensor 24, which are arranged at one end of the bracket and fixedly connected to the bracket; The left front electric cylinder 30, the left rear electric cylinder 31, the right front electric cylinder 32 and the right rear electric cylinder 33 are installed on both sides of the bracket.

4. The intelligent engine pre-installed vehicle according to claim 3, characterized in that: The mechanical feedback system 3 includes: a horn pressure sensor 11, a left front pressure sensor 12 and a right front pressure sensor 13; The horn pressure sensor 11 is connected to the horn 16 via a screw and a nut; The left front pressure sensor 12 is connected to the left support seat 38 through the lower part of the screw, and the upper part is connected to the left load-bearing fulcrum 15 through the nut; The lower part of the right front pressure sensor 13 is connected to the right support seat 39, and the upper part is connected to the right load-bearing fulcrum 14 through the nut; the engine is placed on the vehicle body 1, and the mechanical feedback system 3 is used to sense the real-time force posture of the engine on the vehicle body 1.

5. The intelligent engine pre-installed vehicle according to claim 4, characterized in that: The visual centering system 5 includes: a centering visual camera 27, a centering target 28, an engine 29, a kingpin base 36 and a ball socket 37; The centering visual camera 27 is fixed to the kingpin base 36 by quick-release screws, and the centering target 28 is inserted into the ball socket 37 by clearance fit, and the ball socket 37 is fixed to the engine 29 by screws; the visual centering system 5 reads the centering target 28 through the centering visual camera 27, and analyzes the relative position relationship between the centering visual camera 27 and the centering target 28 through a visual algorithm to calibrate the position of the kingpin of the kingpin base 36 and the ball socket 37.

6. The intelligent engine pre-installed vehicle according to claim 5, characterized in that: The visual alignment system comprises: an alignment visual camera 25 and an alignment target 26; The alignment vision camera 25 is fixed on the vehicle body by screws; The alignment target 26 is fixed to the kingpin base 36 by magnetic attraction, and the visual alignment system corrects the relative position relationship between the vehicle body 1 and the kingpin base 36 through the alignment visual camera 25 and the visual algorithm analysis of the alignment target 26 fixed to the kingpin base 36 to achieve a predetermined relative position.

7. The intelligent engine pre-installed vehicle according to claim 6, characterized in that: Also includes: The magnetic guide system includes: a magnetic guide module and a host computer control system; the magnetic guide module 7 reads the geomagnetic strip information and feeds it back to the magnetic guide system 6, transmits it to the host computer control system and feeds back the real-time position of the vehicle body 1; The right docking positioning pin 9 and the left docking positioning pin 10 are both controlled to extend and retract by an electric cylinder and are screwed to the docking platform. During the docking process of the visual docking system 2, the right docking positioning pin 9 and the left docking positioning pin 10 are extended by the electric cylinder for positioning and guiding; The left rear pre-tightening handle 17 , the left front pre-tightening handle 18 , the right front pre-tightening handle 19 and the right rear pre-tightening handle 20 are fixed to the docking platform 35 for fixing the third-party platform.

8. The intelligent engine pre-installed vehicle according to claim 7, characterized in that: It also includes: a tilt sensor 21, a wire sensor 22, a right infrared distance sensor 23 and a left infrared distance sensor 24; The inclination sensor 21 is screwed to the upper surface of the small platform 34 to feedback the inclination angle of the small platform 34; the wire sensor 22 is screwed to the upper surface of the vehicle body 1 to feedback the telescopic value of the small platform 34; the right infrared ranging sensor 23 and the left infrared ranging sensor 24 are screwed to the front cross beam of the docking platform 35 to feedback the distance information between the docking platform 35 and the third-party platform.

9. The intelligent engine pre-installed vehicle according to claim 8, characterized in that: The small platform 34 is screwed to the small platform lifting electric cylinder. The pitch, roll and lifting of the small platform 34 are adjusted through the action of the electric cylinder, the interaction of the inclination sensor 21 and the wire sensor 22.

10. The intelligent engine pre-installed vehicle according to claim 9, characterized in that: The docking platform 35 is screwed to the left front electric cylinder 30, the left rear electric cylinder 31, the right front electric cylinder 32, and the right rear electric cylinder 33, and is lifted and lowered to dock with a third-party platform according to the distance feedback from the visual docking system 2, the right infrared ranging sensor 23, and the left infrared ranging sensor 24 and the left front electric cylinder 30, the left rear electric cylinder 31, the right front electric cylinder 32, and the right rear electric cylinder 33.

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