Cooperative docking control method for double vehicles with fine adjustment mechanism

Abstract

The invention provides a double-vehicle cooperative docking control method comprising a fine adjustment mechanism, and relates to the technical field of cooperative control, and the method comprises the steps: obtaining a target parameter of a docking target, and carrying out the path driving planning of a first vehicle and a second vehicle which are in cooperative docking; adjusting the driving parameters of the first vehicle and the second vehicle for cooperative docking in real time so as to obtain an initial driving plan; real-time driving is carried out based on the initial driving plan, the real-time positions of the first vehicle and the second vehicle are monitored in real time based on cooperative control equipment, so that position comparison is carried out, meanwhile, real-time parameters of the first vehicle and the second vehicle are compared with planning parameters, and a double-vehicle comprehensive comparison result is obtained; and the comprehensive comparison result is analyzed, so that real-time high-precision docking control is carried out on the first vehicle and the second vehicle which are in cooperative docking. The first vehicle and the second vehicle which are in cooperative butt joint are subjected to cooperative planning, and five-degree-of-freedom cooperative adjustment is carried out in real time, so that the cooperative butt joint efficiency can be improved, and meanwhile, the cooperative butt joint precision is also improved.

Description

Technical Field

[0001] The present invention relates to the field of collaborative control technology, and in particular to a dual-vehicle collaborative docking control method including a fine-tuning mechanism. Background Art

[0002] At present, in the field of industrial automation and logistics transportation, with the development of heavy-duty transport vehicle merging technology, multi-vehicle collaborative transportation has broken through the limitations of transport tonnage, gradually replaced rail trolley transportation, reduced manufacturing costs, improved the flexibility of walking tracks, and achieved precise displacement control, becoming a common operating method.

[0003] However, the existing dual-vehicle docking control methods mainly rely on path planning and parameter control, but due to the influence of sensor accuracy, actuator response time and environmental factors, docking errors often exist and are not very practical.

[0004] Therefore, the present invention provides a dual-vehicle collaborative docking control method including a fine-tuning mechanism. Summary of the invention

[0005] The present invention provides a dual-vehicle cooperative docking control method including a fine-tuning mechanism, which is used to solve the problems of poor docking accuracy, long docking time, etc. in the prior art.

[0006] The present invention provides a dual-vehicle coordinated docking control method including a fine-tuning mechanism, comprising: Step 1: Obtain target parameters of the docking target, thereby performing path planning for the first vehicle and the second vehicle for collaborative docking, and obtaining a path planning result; Step 2: Based on the path driving planning result, the driving parameters of the first vehicle and the second vehicle for collaborative docking are adjusted in real time to obtain an initial driving plan; Step 3: Real-time driving is performed based on the initial driving plan, and the real-time positions of the first vehicle and the second vehicle for collaborative docking are monitored in real time based on the collaborative control device, so as to compare the positions with the planned positions. At the same time, the real-time parameters of the first vehicle and the second vehicle for collaborative docking are compared with the planned parameters, so as to obtain a comprehensive comparison result of the two vehicles for collaborative docking; Step 4: Analyze the comprehensive comparison results, and perform real-time high-precision docking control on the first vehicle and the second vehicle for collaborative docking based on the fine-tuning mechanism.

[0007] According to the present invention, the target parameters of the docking target are obtained, so as to perform path planning for the first vehicle and the second vehicle for collaborative docking, and obtain the path planning result, including: Step 11: Acquire target parameters of the docking target, and simultaneously acquire a first relative position of the first vehicle to be collaboratively docked from the docking target and a second relative position of the second vehicle to the docking target; Step 12: Determine a first initial path driving plan from the first vehicle to the docking target in combination with the target parameters of the docking target and the first relative position; Step 13: Determine a second initial path driving plan from the second vehicle to the docking target in combination with the target parameters of the docking target and the second relative position; Step 14: Based on the first initial path driving plan and the second initial path driving plan, the path driving planning results of the first vehicle and the second vehicle for collaborative docking are comprehensively determined.

[0008] According to the present invention, the driving parameters of the first vehicle and the second vehicle for coordinated docking are adjusted in real time based on the path driving planning result, so as to obtain the initial driving plan, including: Step 21: determining a first distance for the first vehicle to reach the docking target based on the first initial path driving plan, and determining a second distance for the second vehicle to reach the docking target based on the second initial path driving plan; Step 22: Determine a first relative ratio value set of driving parameters of the first vehicle and the second vehicle based on the relative ratio value of the first distance and the second distance; Step 23: Acquire a first initial driving parameter of the first vehicle, and determine a second initial driving parameter of the second vehicle based on the first relative ratio value set; Step 24: determining whether the first initial driving parameter and the second initial driving parameter meet the parameter safety requirement for collaborative docking, thereby determining the first driving parameter of the first vehicle and the second driving parameter of the second vehicle; Step 25: Obtain an initial driving plan based on the first driving parameter and the second driving parameter combined with the path driving planning results of the first vehicle and the second vehicle.

[0009] According to the present invention, determining a first driving parameter of a first vehicle and a second driving parameter of a second vehicle includes: If both the first initial driving parameter and the second initial driving parameter meet the parameter safety requirement for collaborative docking, the first initial driving parameter is used as the first driving parameter of the first vehicle, and the second initial driving parameter is used as the second driving parameter of the second vehicle; If there are driving parameters between the first initial driving parameters and the second initial driving parameters that do not meet the parameter safety requirements of collaborative docking, the first initial driving parameters and the second initial driving parameters are optimized based on the first relative ratio to obtain the first driving parameters of the first vehicle and the second driving parameters of the second vehicle.

[0010] According to the present invention, the real-time driving is performed based on the initial driving plan, and the real-time positions of the first vehicle and the second vehicle for collaborative docking are monitored in real time based on the collaborative control device, so as to compare the positions with the planned positions. At the same time, the real-time parameters of the first vehicle and the second vehicle for collaborative docking are compared with the planned parameters, so as to obtain a comprehensive comparison result of the two vehicles for collaborative docking, including: Step 31: The first vehicle and the second vehicle to be coordinated and docked drive in real time according to the initial driving plan; Step 32: monitoring a first real-time position of a first vehicle to be collaboratively docked and a second real-time position of a second vehicle to be collaboratively docked based on the collaborative control device; Step 33: Obtaining a first planned position of the first vehicle and a second planned position of the second vehicle corresponding to the current moment in the initial driving plan; Step 34: performing a first comparison between the first planned position and the first real-time position, and performing a second comparison between the second planned position and the second real-time position; Step 35: monitoring the first real-time parameter of the first vehicle for collaborative docking based on the collaborative control device, and performing a third comparison with the first planned parameter; monitoring the second real-time parameter of the second vehicle for collaborative docking based on the collaborative control device, and performing a fourth comparison with the second planned parameter; Step 36: Obtain a comprehensive comparison result of the two vehicles for collaborative docking based on the first comparison result, the second comparison result, the third comparison result and the fourth comparison result.

[0011] According to the present invention, the comprehensive comparison result is analyzed, so as to perform real-time high-precision docking control on the first vehicle and the second vehicle for coordinated docking based on the fine-tuning mechanism, including: Step 41: obtaining a first comprehensive error of the first vehicle and a second comprehensive error of the second vehicle based on a comprehensive comparison result of the two vehicles that are being coordinated and docked; Step 42: Acquire real-time external environmental parameters, thereby determining a first environmental parameter of the first vehicle and a second environmental parameter of the second vehicle; Step 43: respectively determining a first environmental impact error of the first environmental parameter on the first comprehensive error and a second environmental impact error of the second environmental parameter on the second comprehensive error; Step 44: obtaining a first error of the first vehicle based on the first environmental impact error and the first comprehensive error, and obtaining a second error of the second vehicle based on the second environmental impact error and the second comprehensive error; Step 45: determining a first adjustment strategy for five degrees of freedom corresponding to longitudinal movement, lifting and lowering, lateral movement, and asynchronous lifting and swinging of the left and right vehicles of the first vehicle based on the first error and the first real-time position of the first vehicle; Step 46: Determine a second adjustment strategy for five degrees of freedom corresponding to the longitudinal movement, lifting and lowering, lateral movement, and asynchronous lifting and swinging of the left and right vehicles of the second vehicle based on the second error and the second real-time position of the second vehicle; Step 47: obtaining a first adjustment time of a first adjustment strategy of five degrees of freedom and a second adjustment time of a second adjustment strategy of five degrees of freedom based on the adjustment response time of the target fine-tuning mechanism; Step 48: Compare the first adjustment time and the second adjustment time; If the time difference between the first adjustment time and the second adjustment time is less than the maximum error of fine-tuning, a first five-degree-of-freedom adjustment is performed on the first vehicle based on the first adjustment time, and a second five-degree-of-freedom adjustment is performed on the second vehicle based on the second adjustment time; If the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, the first adjustment time and the second adjustment time are optimized and then the corresponding first vehicle and second vehicle are adjusted with five degrees of freedom.

[0012] According to the present invention, if the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, the first adjustment time and the second adjustment time are optimized and then the corresponding first vehicle and the second vehicle are adjusted with five degrees of freedom, including: Step 481: When the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine adjustment, compare the first adjustment time and the second adjustment time, thereby extracting the longer adjustment time between the first adjustment time and the second adjustment time as the first reference time, and extracting the shorter adjustment time between the first adjustment time and the second adjustment time as the second reference time; Step 482: The first reference time is used as the standard time, and the second adjustment strategy corresponding to the second reference time is extended by an instruction so that the time required by the second adjustment strategy corresponding to the second reference time is consistent with the standard time; Step 483: Based on the adjusted standard time, a first five-degree-of-freedom adjustment is performed on the corresponding first vehicle, and a second five-degree-of-freedom adjustment is performed on the corresponding second vehicle.

[0013] After the real-time high-precision docking control is performed according to the present invention, the method further includes: verifying the corresponding docking control result, specifically including: Step 01: Obtain the first precision position of the first vehicle and the second precision position of the second vehicle after high-precision docking control; Step 02: Compare and determine a first accuracy difference between the first precision position and a first standard position preset for the first vehicle and a second accuracy difference between the second precision position and a second standard position preset for the second vehicle; Step 03: predetermine a maximum accuracy difference based on the error range of the docking target, and compare the first accuracy difference, the second accuracy difference and the maximum accuracy difference; If the first accuracy difference and the second accuracy difference are both smaller than the maximum accuracy difference, it is determined that the docking control result for the collaborative docking is qualified; If the first accuracy difference and the second accuracy difference are both less than the maximum accuracy difference, it is determined that the docking control result of the collaborative docking is unqualified and the docking control needs to be re-performed.

[0014] The present invention also provides a dual-vehicle coordinated docking control device with a fine-tuning mechanism, which is characterized by comprising: Driving planning module: used to obtain the target parameters of the docking target, so as to plan the path of the first vehicle and the second vehicle for collaborative docking and obtain the path planning result; Initial planning module: used to adjust the driving parameters of the first vehicle and the second vehicle for coordinated docking in real time based on the path driving planning results, so as to obtain the initial driving plan; Comprehensive comparison module: used for real-time driving based on the initial driving plan, and real-time monitoring of the real-time positions of the first vehicle and the second vehicle for collaborative docking based on the collaborative control device, so as to compare the positions with the planned positions, and at the same time, compare the real-time parameters of the first vehicle and the second vehicle for collaborative docking with the planned parameters, so as to obtain a comprehensive comparison result of the two vehicles for collaborative docking; Docking control module: used to analyze the comprehensive comparison results, so as to perform real-time high-precision docking control on the first vehicle and the second vehicle for collaborative docking based on the fine-tuning mechanism.

[0015] On the other hand, the present invention further provides a physical device, characterized in that it is used to execute any of the above-mentioned dual-vehicle collaborative docking control methods containing a fine-tuning mechanism.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: a dual-vehicle collaborative docking control method including a fine-tuning mechanism provided by the present invention can improve the collaborative docking efficiency and the collaborative docking accuracy by collaboratively planning the first vehicle and the second vehicle for collaborative docking respectively and performing five-degree-of-freedom collaborative adjustment in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of a dual-vehicle collaborative docking control method including a fine-tuning mechanism provided by an embodiment of the present invention; Figure 2It is a structural diagram of docking hardware for vertical docking between a carrier rocket and an erection and transfer system in an embodiment of the present invention; Figure 3 It is a general control diagram of vertical docking between a carrier rocket and an erection and transfer system in an embodiment of the present invention; Figure 4 It is a flow chart of docking a launch vehicle erection frame and a transport vehicle in a technical workshop in an embodiment of the present invention; Figure 5 It is a flow chart of docking a launch vehicle erection frame and a transport vehicle at a launch site in an embodiment of the present invention; Figure 6 It is a five-degree-of-freedom adjustment structure diagram for performing precise adjustment in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Embodiment 1: The embodiment of the present invention provides a dual-vehicle coordinated docking control method including a fine-tuning mechanism, such as Figure 1 As shown, including: Step 1: Obtain target parameters of the docking target, thereby performing path planning for the first vehicle and the second vehicle for collaborative docking, and obtaining a path planning result; Step 2: Based on the path driving planning result, the driving parameters of the first vehicle and the second vehicle for collaborative docking are adjusted in real time to obtain an initial driving plan; Step 3: Real-time driving is performed based on the initial driving plan, and the real-time positions of the first vehicle and the second vehicle for collaborative docking are monitored in real time based on the collaborative control device, so as to compare the positions with the planned positions. At the same time, the real-time parameters of the first vehicle and the second vehicle for collaborative docking are compared with the planned parameters, so as to obtain a comprehensive comparison result of the two vehicles for collaborative docking; Step 4: Analyze the comprehensive comparison results, and perform real-time high-precision docking control on the first vehicle and the second vehicle for collaborative docking based on the fine-tuning mechanism.

[0021] In this embodiment, the docking target refers to a target point or object that the two vehicles (the first vehicle and the second vehicle) need to approach or connect to together during the collaborative docking process. This can be a specific parking space, loading area, or other location that the two vehicles need to cooperate to reach.

[0022] In this embodiment, the target parameters refer to specific information or data about the docking target, such as position coordinates, size, shape and other parameters.

[0023] In this embodiment, collaborative docking refers to the process in which two vehicles cooperate and coordinate with each other to jointly complete a docking task. Collaborative docking involves precise time synchronization, path planning, and parameter control.

[0024] In this embodiment, the first vehicle and the second vehicle refer to two vehicles participating in the coordinated docking. They can be different types of vehicles, but they need to cooperate with each other during the docking process. There is no front-to-back correlation between the first vehicle and the second vehicle. For example, the first vehicle can be vehicle A, and the second vehicle can be vehicle B. The docking target is the launch vehicle. The docking work is the vertical docking of the launch vehicle with the erection and transportation system, and the horizontal docking of the launch vehicle with the erection and transportation system with the launch platform after being transported to the launch station. The corresponding docking hardware components are as follows: Figure 2 As shown, the overall control diagram is as follows Figure 3 shown.

[0025] In this embodiment, the path driving planning is to plan a driving path from the current position to the target position for the first vehicle and the second vehicle according to the docking target and the target parameters.

[0026] In this embodiment, the initial driving plan refers to a preliminary driving plan of the first vehicle and the second vehicle obtained based on the path driving planning result and taking into account the real-time adjustment of driving parameters.

[0027] In this embodiment, the collaborative control device is a device used to monitor and control the status of the first vehicle and the second vehicle in real time during the collaborative docking process, such as a GPS positioning system, a sensor, etc.

[0028] In this embodiment, the planned position refers to the theoretical position that the first vehicle and the second vehicle should reach at corresponding times according to the path driving plan.

[0029] In this embodiment, the comprehensive comparison result of the two vehicles is a comprehensive result obtained by comparing the real-time positions of the first vehicle and the second vehicle with the planned positions, and the real-time parameters with the planned parameters, and is used to evaluate the difference between the current driving state and the planned state.

[0030] In this embodiment, the fine-tuning mechanism is a device or system for making minute adjustments to the driving of the first vehicle and the second vehicle according to the comprehensive comparison results during the coordinated docking process to ensure high-precision docking.

[0031] In this embodiment, the real-time high-precision docking control refers to a process of accurately controlling the first vehicle and the second vehicle based on a fine-tuning mechanism to achieve high-precision docking.

[0032] In this embodiment, in the technical workshop, the launch vehicle is placed on the erection frame, and the erection frame is placed on the transport vehicle platform through a fine adjustment mechanism. The process of docking the erection frame and the transport vehicle is as follows: Figure 4 As shown. Assume that the first vehicle is vehicle A and the second vehicle is vehicle B. Vehicles A and B are controlled by the vehicle-side control system to drive to the marked area on the factory floor. The four corners correspond to the rear two vehicles parked. Use a ruler to measure the offset distance of vehicle A and vehicle B relative to the theoretical position of the X-axis (longitudinal) and Y-axis (lateral), and the offset angle of vehicle A and vehicle B relative to the theoretical centerline position. Disengage the fine-tuning mechanism of vehicle A, lock the fine-tuning mechanism of vehicle B, dock the tail of the erection frame with the fine-tuning mechanism of vehicle B, and dock the head of the erection frame with the fine-tuning mechanism of vehicle A. Adjust the relative position of the fine-tuning mechanism of vehicle A and vehicle B through the erection frame structure, and lock the fine-tuning mechanism of vehicle A. Measure the position and angle deviation of the two vehicles and complete the docking.

[0033] In this embodiment, at the launch site, if the first vehicle of the transport vehicle is vehicle A and the second vehicle is vehicle B, the process of docking the transport vehicle and the launch pad is as follows: Figure 5 First, the vehicle-side control system performs rough docking based on magnetic navigation, and then the ultrasonic sensor performs fine docking through the fine-tuning mechanism and the cooperation of the two vehicles.

[0034] The beneficial effect of the above technical solution is that by collaboratively planning the first vehicle and the second vehicle for collaborative docking respectively, and performing five-degree-of-freedom collaborative adjustment in real time, the efficiency of collaborative docking can be improved, and the accuracy of collaborative docking can also be improved.

[0035] Embodiment 2: Based on Example 1, path planning is performed to obtain path planning results, including: Step 11: Acquire target parameters of the docking target, and simultaneously acquire a first relative position of the first vehicle to be collaboratively docked from the docking target and a second relative position of the second vehicle to the docking target; Step 12: Determine a first initial path driving plan from the first vehicle to the docking target in combination with the target parameters of the docking target and the first relative position; Step 13: Determine a second initial path driving plan from the second vehicle to the docking target in combination with the target parameters of the docking target and the second relative position; Step 14: Based on the first initial path driving plan and the second initial path driving plan, the path driving planning results of the first vehicle and the second vehicle for collaborative docking are comprehensively determined.

[0036] In this embodiment, the docking target refers to a target point or object that the two vehicles (the first vehicle and the second vehicle) need to approach or connect to together during the collaborative docking process. This can be a specific parking space, loading area, or other location that the two vehicles need to cooperate to reach.

[0037] In this embodiment, the target parameters refer to specific information or data about the docking target, such as position coordinates, size, shape and other parameters.

[0038] In this embodiment, collaborative docking refers to the process in which two vehicles cooperate and coordinate with each other to jointly complete a docking task. Collaborative docking involves precise time synchronization, path planning, and parameter control.

[0039] In this embodiment, the first vehicle and the second vehicle refer to two vehicles participating in the collaborative docking. They may be vehicles of different types, but they need to cooperate with each other during the docking process. There is no front-to-back correlation between the first vehicle and the second vehicle.

[0040] In this embodiment, the first relative position refers to the relative position of the first vehicle from the docking target, and the second relative position refers to the relative position of the second vehicle from the docking target.

[0041] In this embodiment, the first initial path driving plan is a path planning for the first vehicle determined based on the target parameters of the docking target and the first relative position of the first vehicle, and the second initial path driving plan is a path planning for the second vehicle determined based on the target parameters of the docking target and the second relative position of the second vehicle.

[0042] In this embodiment, the path driving planning is to plan a driving path from the current position to the target position for the first vehicle and the second vehicle according to the docking target and the target parameters.

[0043] The beneficial effect of the above technical solution is: by performing path driving planning, the planning error can be determined more accurately, and more accurate collaborative planning adjustments can be made, which can improve the efficiency of collaborative docking and also improve the accuracy of collaborative docking.

[0044] Embodiment 3: Based on Example 2, an initial driving plan is obtained, including: Step 21: determining a first distance for the first vehicle to reach the docking target based on the first initial path driving plan, and determining a second distance for the second vehicle to reach the docking target based on the second initial path driving plan; Step 22: Determine a first relative ratio of the driving parameters of the first vehicle and the second vehicle based on the relative ratio set of the first distance and the second distance; Step 23: Acquire a first initial driving parameter of the first vehicle, and determine a second initial driving parameter of the second vehicle based on the first relative ratio value set; Step 24: determining whether the first initial driving parameter and the second initial driving parameter meet the parameter safety requirement for collaborative docking, thereby determining the first driving parameter of the first vehicle and the second driving parameter of the second vehicle; Step 25: Obtain an initial driving plan based on the first driving parameter and the second driving parameter combined with the path driving planning results of the first vehicle and the second vehicle.

[0045] In this embodiment, the first distance refers to the distance from the first vehicle to the docking target determined based on the first initial path driving plan, wherein the first distance is different from the first relative position. The first relative position refers to the straight-line distance from the current position of the first vehicle to the docking target, and the first distance is the driving distance of the first vehicle determined after taking into account the external environment.

[0046] In this embodiment, the second distance refers to the distance from the second vehicle to the docking target determined based on the second initial path driving plan, wherein the second distance is different from the second relative position, the second relative position refers to the straight-line distance from the current position of the second vehicle to the docking target, and the second distance is the driving distance of the second vehicle determined after taking into account the external environment.

[0047] In this embodiment, the first relative ratio is the inverse of the relative ratio of the first distance to the second distance.

[0048] In this embodiment, the first initial driving parameter and the second initial driving parameter refer to the real-time driving parameters of the first vehicle and the second vehicle.

[0049] In this embodiment, the parameter safety requirement refers to the maximum value of the parameter that meets the corresponding vehicle safety requirement. For example, the speed safety requirement in the parameter safety requirement of the first vehicle determined based on the vehicle type of the first vehicle is 40 km / h.

[0050] In this embodiment, the first driving parameter is obtained by optimizing the first initial driving parameter of the first vehicle based on the parameter safety requirement.

[0051] In this embodiment, the second driving parameter is obtained by optimizing the second initial driving parameter of the second vehicle based on the parameter safety requirement.

[0052] In this embodiment, the initial driving plan refers to a preliminary driving plan of the first vehicle and the second vehicle obtained based on the path driving planning result and taking into account the real-time adjustment of driving parameters.

[0053] The beneficial effect of the above technical solution is: by performing initial driving planning to carry out dual-vehicle driving, the difference between the planned position and the real-time position can be monitored in real time, so as to more accurately perform five-degree-of-freedom collaborative adjustment, which can improve the accuracy of collaborative docking.

[0054] Embodiment 4: Based on the third embodiment, determining the first driving parameter of the first vehicle and the second driving parameter of the second vehicle includes: If both the first initial driving parameter and the second initial driving parameter meet the parameter safety requirement for collaborative docking, the first initial driving parameter is used as the first driving parameter of the first vehicle, and the second initial driving parameter is used as the second driving parameter of the second vehicle; If there are driving parameters between the first initial driving parameters and the second initial driving parameters that do not meet the parameter safety requirements of collaborative docking, the first initial driving parameters and the second initial driving parameters are optimized based on the first relative ratio to obtain the first driving parameters of the first vehicle and the second driving parameters of the second vehicle.

[0055] The beneficial effect of the above technical solution is: by performing initial driving planning to carry out dual-vehicle driving, the difference between the planned position and the real-time position can be monitored in real time, so as to more accurately perform five-degree-of-freedom collaborative adjustment, which can improve the accuracy of collaborative docking.

[0056] Embodiment 5: Based on Example 3, a comprehensive comparison result of two vehicles for collaborative docking is obtained, including: Step 31: The first vehicle and the second vehicle to be coordinated and docked drive in real time according to the initial driving plan; Step 32: monitoring a first real-time position of a first vehicle to be collaboratively docked and a second real-time position of a second vehicle to be collaboratively docked based on the collaborative control device; Step 33: Obtaining a first planned position of the first vehicle and a second planned position of the second vehicle corresponding to the current moment in the initial driving plan; Step 34: performing a first comparison between the first planned position and the first real-time position, and performing a second comparison between the second planned position and the second real-time position; Step 35: monitoring the first real-time parameter of the first vehicle for collaborative docking based on the collaborative control device, and performing a third comparison with the first planned parameter; monitoring the second real-time parameter of the second vehicle for collaborative docking based on the collaborative control device, and performing a fourth comparison with the second planned parameter; Step 36: Obtain a comprehensive comparison result of the two vehicles for collaborative docking based on the first comparison result, the second comparison result, the third comparison result and the fourth comparison result.

[0057] In this embodiment, the collaborative control device is a device used to monitor and control the status of the first vehicle and the second vehicle in real time during the collaborative docking process, such as a GPS positioning system, a sensor, etc.

[0058] In this embodiment, the first real-time position refers to the real-time relative position of the first vehicle, and the second real-time position refers to the real-time relative position of the second vehicle.

[0059] In this embodiment, the first real-time parameter refers to the real-time parameter of the first vehicle at the current driving moment, and the second real-time parameter refers to the real-time parameter of the second vehicle at the current driving moment.

[0060] In this embodiment, the planned position refers to the theoretical position that the first vehicle and the second vehicle should reach at corresponding times according to the path driving plan.

[0061] In this embodiment, the comprehensive comparison result of the two vehicles is a comprehensive result obtained by comparing the real-time positions of the first vehicle and the second vehicle with the planned positions, and the real-time parameters with the planned parameters, and is used to evaluate the difference between the current driving state and the planned state.

[0062] The beneficial effect of the above technical solution is: by collaboratively planning the first vehicle and the second vehicle for collaborative docking respectively, and comparing the real-time parameters and real-time positions with the planned parameters and planned positions, a comprehensive comparison result is obtained, which can make the collaborative docking range wider, thereby greatly improving the collaborative docking accuracy.

[0063] Embodiment 6: Based on Example 5, the comprehensive comparison result is analyzed, so as to perform real-time high-precision docking control on the first vehicle and the second vehicle for collaborative docking based on the fine-tuning mechanism, including: Step 41: obtaining a first comprehensive error of the first vehicle and a second comprehensive error of the second vehicle based on a comprehensive comparison result of the two vehicles that are being coordinated and docked; Step 42: Acquire real-time external environmental parameters, thereby determining a first environmental parameter of the first vehicle and a second environmental parameter of the second vehicle; Step 43: respectively determining a first environmental impact error of the first environmental parameter on the first comprehensive error and a second environmental impact error of the second environmental parameter on the second comprehensive error; Step 44: obtaining a first error of the first vehicle based on the first environmental impact error and the first comprehensive error, and obtaining a second error of the second vehicle based on the second environmental impact error and the second comprehensive error; Step 45: determining a first adjustment strategy for five degrees of freedom corresponding to longitudinal movement, lifting and lowering, lateral movement, and asynchronous lifting and swinging of the left and right vehicles of the first vehicle based on the first error and the first real-time position of the first vehicle; Step 46: Determine a second adjustment strategy for five degrees of freedom corresponding to the longitudinal movement, lifting and lowering, lateral movement, and asynchronous lifting and swinging of the left and right vehicles of the second vehicle based on the second error and the second real-time position of the second vehicle; Step 47: obtaining a first adjustment time of a first adjustment strategy of five degrees of freedom and a second adjustment time of a second adjustment strategy of five degrees of freedom based on the adjustment response time of the target fine-tuning mechanism; Step 48: Compare the first adjustment time and the second adjustment time; If the time difference between the first adjustment time and the second adjustment time is less than the maximum error of fine-tuning, a first five-degree-of-freedom adjustment is performed on the first vehicle based on the first adjustment time, and a second five-degree-of-freedom adjustment is performed on the second vehicle based on the second adjustment time; If the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, the first adjustment time and the second adjustment time are optimized and then the corresponding first vehicle and second vehicle are adjusted with five degrees of freedom.

[0064] In this embodiment, the first comprehensive error refers to a comprehensive error including a position comparison error and a parameter comparison error of the first vehicle.

[0065] In this embodiment, the second comprehensive error refers to a comprehensive error including a position comparison error and a parameter comparison error of the second vehicle.

[0066] In this embodiment, the first environmental parameter and the second environmental parameter refer to the external environmental parameters of the first vehicle and the second vehicle, wherein the first environmental parameter and the second environmental parameter may be different. For example, when the first vehicle and the second vehicle are traveling towards each other, the corresponding wind directions and the corresponding resistances are different. At the same time, the road conditions may also be different.

[0067] In this embodiment, the first environmental impact error is an error value caused by the influence of external environmental factors determined based on the first environmental parameters on the position and other driving parameters of the first vehicle, and the second environmental impact error is an error value caused by the influence of external environmental factors determined based on the second environmental parameters on the position and other driving parameters of the second vehicle.

[0068] In this embodiment, the first error is a comprehensive error of the first vehicle obtained after eliminating the first environmental impact error, and the second error is a comprehensive error of the second vehicle obtained after eliminating the second environmental impact error.

[0069] In this embodiment, the five-degree-of-freedom adjustment is based on the five-degree-of-freedom adjustment of longitudinal movement, lifting and lowering, lateral movement, asynchronous lifting and swinging of the left and right vehicles.

[0070] In this embodiment, the fine-tuning mechanism is a device or system for making minute adjustments to the driving of the first vehicle and the second vehicle according to the comprehensive comparison results during the coordinated docking process to ensure high-precision docking.

[0071] In this embodiment, the first adjustment time is the adjustment time for the target fine-tuning mechanism to adjust the first vehicle with five degrees of freedom, and the second adjustment time is the adjustment time for the target fine-tuning mechanism to adjust the second vehicle with five degrees of freedom.

[0072] In this embodiment, the five-degree-of-freedom first adjustment refers to a five-degree-of-freedom adjustment of the first vehicle based on a first adjustment time, and the five-degree-of-freedom second adjustment refers to a five-degree-of-freedom adjustment of the second vehicle based on a second adjustment time.

[0073] In this embodiment, the precise adjustment diagram is as follows: Figure 6 As shown. Through the vehicle-side control system and the fine-tuning mechanism, the two vehicles work together to complete longitudinal movement, lifting, and lateral movement, and the left and right vehicles asynchronously lift and swing, achieving five degrees of freedom (X, Y, Z, RoX and RoZ) posture adjustment. The precise docking process is as follows: 1. First adjust the RoX directional freedom to make the axis of the hinged ear plate of the erection frame horizontal.

[0074] The rotation of RoX is achieved by differential lifting of the left and right suspension groups of car B to adjust the direction of RoX.

[0075] 2. Adjust the freedom in RoZ direction so that the axis of the articulated ear plate of the erection frame is parallel to the axis of the articulated ear plate of the launch platform.

[0076] The fine-tuning mechanism of vehicle A is locked, and the transverse cylinder of the fine-tuning mechanism of vehicle B is adjusted to achieve adjustment. The compensation mechanism of the fine-tuning mechanism has an arc-shaped sliding pair, which can release the degree of freedom in the rotation direction to avoid movement jamming of the mechanism.

[0077] 3. Adjust the Y-direction freedom to make the gap between the erection frame ear plate and the launch platform ear plate consistent to ensure that there is no interference between the two.

[0078] The adjustment is achieved by adjusting the transverse cylinders of the fine-tuning mechanism A and the fine-tuning mechanism B respectively.

[0079] 4. Adjust the X-direction degree of freedom.

[0080] The adjustment is achieved by adjusting the longitudinal cylinders of the fine-tuning mechanism A and the fine-tuning mechanism B respectively.

[0081] 5. The Z-direction degree of freedom can be adjusted by lowering the entire vehicle.

[0082] The control system at the vehicle end of vehicle A and the control system at the vehicle end of vehicle B are controlled in parallel to control the synchronous lifting of the two vehicles to realize the lifting of the erection frame.

[0083] The beneficial effect of the above technical solution is: by longitudinally moving, lifting and lateralizing the first and second vehicles for collaborative docking, and by making collaborative adjustments in the five degrees of freedom corresponding to the asynchronous lifting and swinging actions of the left and right vehicles, high-precision docking control can be achieved, which can greatly improve the docking accuracy.

[0084] Embodiment 7: Based on Example 6, if the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, the first adjustment time and the second adjustment time are optimized and then the corresponding first vehicle and the second vehicle are adjusted with five degrees of freedom, including: Step 481: When the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine adjustment, compare the first adjustment time and the second adjustment time, thereby extracting the longer adjustment time between the first adjustment time and the second adjustment time as the first reference time, and extracting the shorter adjustment time between the first adjustment time and the second adjustment time as the second reference time; Step 482: The first reference time is used as the standard time, and the second adjustment strategy corresponding to the second reference time is extended by an instruction so that the time required by the second adjustment strategy corresponding to the second reference time is consistent with the standard time; Step 483: Based on the adjusted standard time, a first five-degree-of-freedom adjustment is performed on the corresponding first vehicle, and a second five-degree-of-freedom adjustment is performed on the corresponding second vehicle.

[0085] In this embodiment, the first reference time refers to the longer adjustment time between the first adjustment time and the second adjustment time.

[0086] In this embodiment, the second reference time refers to the shorter adjustment time between the first adjustment time and the second adjustment time.

[0087] The beneficial effect of the above technical solution is that the docking accuracy can be greatly improved by performing five-degree-of-freedom coordinated adjustment on the first vehicle and the second vehicle for coordinated docking, thereby achieving high-precision docking control.

[0088] Embodiment 8: Based on Example 6, after performing real-time high-precision docking control, the method further includes: verifying the corresponding docking control result, specifically including: Step 01: Obtain the first precision position of the first vehicle and the second precision position of the second vehicle after high-precision docking control; Step 02: Compare and determine a first accuracy difference between the first precision position and a first standard position preset for the first vehicle and a second accuracy difference between the second precision position and a second standard position preset for the second vehicle; Step 03: predetermine a maximum accuracy difference based on the error range of the docking target, and compare the first accuracy difference, the second accuracy difference and the maximum accuracy difference; If the first accuracy difference and the second accuracy difference are both smaller than the maximum accuracy difference, it is determined that the docking control result for the collaborative docking is qualified; If the first accuracy difference and the second accuracy difference are both less than the maximum accuracy difference, it is determined that the docking control result of the collaborative docking is unqualified and the docking control needs to be re-performed.

[0089] In this embodiment, the first precision position refers to the real-time position of the first vehicle after high-precision docking control, and the second precision position refers to the real-time position of the second vehicle after high-precision docking control.

[0090] In this embodiment, the first standard position and the second standard position are predetermined based on the docking accuracy requirement of the docking target.

[0091] In this embodiment, the first accuracy difference refers to the position difference between the first accuracy position and the first standard position, and the second accuracy difference refers to the position difference between the second accuracy position and the second standard position.

[0092] In this embodiment, the maximum accuracy difference is predetermined based on the docking accuracy requirement of the docking target.

[0093] The beneficial effect of the above technical solution is: by verifying the collaborative docking control results, docking adjustment control can be carried out in a timely manner to improve the efficiency of collaborative docking.

[0094] Embodiment 9: The embodiment of the present invention provides a dual-vehicle coordinated docking control device with a fine-tuning mechanism, comprising: Driving planning module: used to obtain the target parameters of the docking target, so as to plan the path of the first vehicle and the second vehicle for collaborative docking and obtain the path planning result; Initial planning module: used to adjust the driving parameters of the first vehicle and the second vehicle for coordinated docking in real time based on the path driving planning results, so as to obtain the initial driving plan; Comprehensive comparison module: used for real-time driving based on the initial driving plan, and real-time monitoring of the real-time positions of the first vehicle and the second vehicle for collaborative docking based on the collaborative control device, so as to compare the positions with the planned positions, and at the same time, compare the real-time parameters of the first vehicle and the second vehicle for collaborative docking with the planned parameters, so as to obtain a comprehensive comparison result of the two vehicles for collaborative docking; Docking control module: used to analyze the comprehensive comparison results, so as to perform real-time high-precision docking control on the first vehicle and the second vehicle for collaborative docking based on the fine-tuning mechanism.

[0095] The beneficial effect of the above technical solution is that by collaboratively planning the first vehicle and the second vehicle for collaborative docking respectively, and performing five-degree-of-freedom collaborative adjustment in real time, the efficiency of collaborative docking can be improved, and the accuracy of collaborative docking can also be improved.

[0096] On the other hand, the present invention further provides a physical device for executing a dual-vehicle coordinated docking control method including a fine-tuning mechanism provided by the above methods, the method comprising: Step 1: Obtain target parameters of the docking target, thereby performing path planning for the first vehicle and the second vehicle for collaborative docking, and obtaining a path planning result; Step 2: Based on the path driving planning result, the driving parameters of the first vehicle and the second vehicle for collaborative docking are adjusted in real time to obtain an initial driving plan; Step 3: Real-time driving is performed based on the initial driving plan, and the real-time positions of the first vehicle and the second vehicle for collaborative docking are monitored in real time based on the collaborative control device, so as to compare the positions with the planned positions. At the same time, the real-time parameters of the first vehicle and the second vehicle for collaborative docking are compared with the planned parameters, so as to obtain a comprehensive comparison result of the two vehicles for collaborative docking; Step 4: Analyze the comprehensive comparison results, and perform real-time high-precision docking control on the first vehicle and the second vehicle for collaborative docking based on the fine-tuning mechanism.

[0097] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-vehicle coordinated docking control method with a fine-tuning mechanism, characterized in that: include: Step 1: Obtain target parameters of the docking target, thereby performing path planning for the first vehicle and the second vehicle for collaborative docking, and obtaining a path planning result; Step 2: Based on the path driving planning result, the driving parameters of the first vehicle and the second vehicle for collaborative docking are adjusted in real time to obtain an initial driving plan; Step 3: Real-time driving is performed based on the initial driving plan, and the real-time positions of the first vehicle and the second vehicle for collaborative docking are monitored in real time based on the collaborative control device, so as to compare the positions with the planned positions. At the same time, the real-time parameters of the first vehicle and the second vehicle for collaborative docking are compared with the planned parameters, so as to obtain a comprehensive comparison result of the two vehicles for collaborative docking; Step 4: Analyze the comprehensive comparison results, and perform real-time high-precision docking control on the first vehicle and the second vehicle for collaborative docking based on the fine-tuning mechanism.

2. A dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 1, characterized in that: Obtain target parameters of the docking target, so as to perform path planning for the first vehicle and the second vehicle for collaborative docking, and obtain path planning results, including: Step 11: Acquire target parameters of the docking target, and simultaneously acquire a first relative position of the first vehicle to be collaboratively docked from the docking target and a second relative position of the second vehicle to the docking target; Step 12: Determine a first initial path driving plan from the first vehicle to the docking target in combination with the target parameters of the docking target and the first relative position; Step 13: Determine a second initial path driving plan from the second vehicle to the docking target in combination with the target parameters of the docking target and the second relative position; Step 14: Based on the first initial path driving plan and the second initial path driving plan, the path driving planning results of the first vehicle and the second vehicle for collaborative docking are comprehensively determined.

3. A dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 2, characterized in that: Based on the path driving planning results, the driving parameters of the first vehicle and the second vehicle for coordinated docking are adjusted in real time to obtain an initial driving plan, including: Step 21: determining a first distance for the first vehicle to reach the docking target based on the first initial path driving plan, and determining a second distance for the second vehicle to reach the docking target based on the second initial path driving plan; Step 22: Determine a first relative ratio value set of driving parameters of the first vehicle and the second vehicle based on the relative ratio value of the first distance and the second distance; Step 23: Acquire a first initial driving parameter of the first vehicle, and determine a second initial driving parameter of the second vehicle based on the first relative ratio value set; Step 24: determining whether the first initial driving parameter and the second initial driving parameter meet the parameter safety requirement for collaborative docking, thereby determining the first driving parameter of the first vehicle and the second driving parameter of the second vehicle; Step 25: Obtain an initial driving plan based on the first driving parameter and the second driving parameter combined with the path driving planning results of the first vehicle and the second vehicle.

4. A dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 3, characterized in that: Determining a first driving parameter of the first vehicle and a second driving parameter of the second vehicle includes: If both the first initial driving parameter and the second initial driving parameter meet the parameter safety requirement for collaborative docking, the first initial driving parameter is used as the first driving parameter of the first vehicle, and the second initial driving parameter is used as the second driving parameter of the second vehicle; If there are driving parameters between the first initial driving parameters and the second initial driving parameters that do not meet the parameter safety requirements of collaborative docking, the first initial driving parameters and the second initial driving parameters are optimized based on the first relative ratio to obtain the first driving parameters of the first vehicle and the second driving parameters of the second vehicle.

5. A dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 3, characterized in that: Based on the initial driving plan, the real-time driving is performed, and the real-time positions of the first vehicle and the second vehicle for collaborative docking are monitored in real time based on the collaborative control device, so as to compare the positions with the planned positions. At the same time, the real-time parameters of the first vehicle and the second vehicle for collaborative docking are compared with the planned parameters, so as to obtain the comprehensive comparison results of the two vehicles for collaborative docking, including: Step 31: The first vehicle and the second vehicle to be coordinated and docked drive in real time according to the initial driving plan; Step 32: monitoring a first real-time position of a first vehicle to be collaboratively docked and a second real-time position of a second vehicle to be collaboratively docked based on the collaborative control device; Step 33: Obtaining a first planned position of the first vehicle and a second planned position of the second vehicle corresponding to the current moment in the initial driving plan; Step 34: performing a first comparison between the first planned position and the first real-time position, and performing a second comparison between the second planned position and the second real-time position; Step 35: monitoring the first real-time parameter of the first vehicle for collaborative docking based on the collaborative control device, and performing a third comparison with the first planned parameter; monitoring the second real-time parameter of the second vehicle for collaborative docking based on the collaborative control device, and performing a fourth comparison with the second planned parameter; Step 36: Obtain a comprehensive comparison result of the two vehicles for collaborative docking based on the first comparison result, the second comparison result, the third comparison result and the fourth comparison result.

6. A dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 5, characterized in that: The comprehensive comparison results are analyzed, so as to perform real-time high-precision docking control on the first vehicle and the second vehicle for coordinated docking based on the fine-tuning mechanism, including: Step 41: obtaining a first comprehensive error of the first vehicle and a second comprehensive error of the second vehicle based on a comprehensive comparison result of the two vehicles that are being coordinated and docked; Step 42: Acquire real-time external environmental parameters, thereby determining a first environmental parameter of the first vehicle and a second environmental parameter of the second vehicle; Step 43: respectively determining a first environmental impact error of the first environmental parameter on the first comprehensive error and a second environmental impact error of the second environmental parameter on the second comprehensive error; Step 44: obtaining a first error of the first vehicle based on the first environmental impact error and the first comprehensive error, and obtaining a second error of the second vehicle based on the second environmental impact error and the second comprehensive error; Step 45: determining a first adjustment strategy for five degrees of freedom corresponding to longitudinal movement, lifting and lowering, lateral movement, and asynchronous lifting and swinging of the left and right vehicles of the first vehicle based on the first error and the first real-time position of the first vehicle; Step 46: Determine a second adjustment strategy for five degrees of freedom corresponding to the longitudinal movement, lifting and lowering, lateral movement, and asynchronous lifting and swinging of the left and right vehicles of the second vehicle based on the second error and the second real-time position of the second vehicle; Step 47: obtaining a first adjustment time of a first adjustment strategy of five degrees of freedom and a second adjustment time of a second adjustment strategy of five degrees of freedom based on the adjustment response time of the target fine-tuning mechanism; Step 48: Compare the first adjustment time and the second adjustment time; If the time difference between the first adjustment time and the second adjustment time is less than the maximum error of fine-tuning, a first five-degree-of-freedom adjustment is performed on the first vehicle based on the first adjustment time, and a second five-degree-of-freedom adjustment is performed on the second vehicle based on the second adjustment time; If the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, the first adjustment time and the second adjustment time are optimized and then the corresponding first vehicle and second vehicle are adjusted with five degrees of freedom.

7. A dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 6, characterized in that: If the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine-tuning, the first adjustment time and the second adjustment time are optimized and then the corresponding first vehicle and second vehicle are adjusted with five degrees of freedom, including: Step 481: When the time error between the first adjustment time and the second adjustment time is not less than the maximum error of fine adjustment, compare the first adjustment time and the second adjustment time, thereby extracting the longer adjustment time between the first adjustment time and the second adjustment time as the first reference time, and extracting the shorter adjustment time between the first adjustment time and the second adjustment time as the second reference time; Step 482: The first reference time is used as the standard time, and the second adjustment strategy corresponding to the second reference time is extended by an instruction so that the time required by the second adjustment strategy corresponding to the second reference time is consistent with the standard time; Step 483: Based on the adjusted standard time, a first five-degree-of-freedom adjustment is performed on the corresponding first vehicle, and a second five-degree-of-freedom adjustment is performed on the corresponding second vehicle.

8. A dual-vehicle coordinated docking control method with a fine-tuning mechanism according to claim 6, characterized in that: After the real-time high-precision docking control is performed, the corresponding docking control results are verified, including: Step 01: Obtain the first precision position of the first vehicle and the second precision position of the second vehicle after high-precision docking control; Step 02: Compare and determine a first accuracy difference between the first precision position and a first standard position preset for the first vehicle and a second accuracy difference between the second precision position and a second standard position preset for the second vehicle; Step 03: predetermine a maximum accuracy difference based on the error range of the docking target, and compare the first accuracy difference, the second accuracy difference and the maximum accuracy difference; If the first accuracy difference and the second accuracy difference are both smaller than the maximum accuracy difference, it is determined that the docking control result for the collaborative docking is qualified; If the first accuracy difference and the second accuracy difference are both less than the maximum accuracy difference, it is determined that the docking control result of the collaborative docking is unqualified and the docking control needs to be re-performed.

9. A dual-vehicle coordinated docking control device with a fine-tuning mechanism, characterized in that: include: Driving planning module: used to obtain the target parameters of the docking target, so as to plan the path of the first vehicle and the second vehicle for collaborative docking and obtain the path planning result; Initial planning module: used to adjust the driving parameters of the first vehicle and the second vehicle for coordinated docking in real time based on the path driving planning results, so as to obtain the initial driving plan; Comprehensive comparison module: used for real-time driving based on the initial driving plan, and real-time monitoring of the real-time positions of the first vehicle and the second vehicle for collaborative docking based on the collaborative control device, so as to compare the positions with the planned positions, and at the same time, compare the real-time parameters of the first vehicle and the second vehicle for collaborative docking with the planned parameters, so as to obtain a comprehensive comparison result of the two vehicles for collaborative docking; Docking control module: used to analyze the comprehensive comparison results, so as to perform real-time high-precision docking control on the first vehicle and the second vehicle for collaborative docking based on the fine-tuning mechanism.

10. A physical device, characterized in that: A dual-vehicle collaborative docking control method containing a fine-tuning mechanism is used to execute any one of claims 1-8.

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