Double-vehicle automatic docking mechanism, docking method and device

Abstract

The invention provides a double-vehicle automatic docking mechanism, a docking method and a device, and solves the technical problems of potential faults and dangers in existing double-vehicle docking. The mechanism comprises a matched butt-joint seat which comprises a driving vehicle butt-joint seat and a driven vehicle butt-joint seat which are arranged on a driving vehicle and a driven vehicle respectively, and the matched butt-joint seat is used for being controlled to sequentially unfold adaptive connecting parts to form fixed connection of the driving vehicle and the driven vehicle; and the matched attitude inductive sensor comprises an active signal transmitting and receiving device and a signal feedback device which are respectively arranged on the active vehicle and the passive vehicle, and is used for forming a group of ToF data related to the relative distance between the active vehicle and the passive vehicle. And a targeted attitude sensing and distance sensing mechanism is provided for accurate docking of the two vehicles. And meanwhile, a high-reliability butt joint structure is utilized, so that the tolerance to the environmental influence in the automatic butt joint process is ensured. And meanwhile, the bicycle is not influenced by the automatic docking mechanism when being used.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic guided vehicles (AGVs), and in particular to a dual-vehicle automatic docking mechanism, a docking method and a device. Background Art

[0002] AGV is currently widely used in industrial production. In order to meet the carrying capacity requirements and ensure the convenience of transportation, many manufacturers design two AGV vehicles to move synchronously to complete the carrying task together. However, most manufacturers currently adopt a manual docking strategy when docking two vehicles. They align the two vehicles by remotely controlling them separately and manually connect the two vehicles, which leads to low efficiency and increased manpower and material resources. At the same time, due to the visual deviation of the human eye, the vehicle alignment effect may be poor, and in severe cases, it may cause damage to the mechanism. Summary of the invention

[0003] In view of the above problems, the embodiments of the present invention provide a dual-vehicle automatic docking mechanism, a docking method and a device to solve the technical problems of potential errors and dangers in the existing dual-vehicle docking.

[0004] The dual-vehicle automatic docking mechanism of the embodiment of the present invention comprises:

[0005] Matching docking seats, including an active vehicle docking seat and a passive vehicle docking seat respectively deployed on the active vehicle and the passive vehicle, used to control and sequentially unfold the adapting connection parts to form a fixed connection between the active vehicle and the passive vehicle;

[0006] The supporting attitude sensing sensor includes an active signal transceiver and a signal feedback device respectively deployed on the active vehicle and the passive vehicle, which is used to form a set of ToF data related to the relative distance between the active vehicle and the passive vehicle.

[0007] In one embodiment of the present invention, the passive vehicle docking seat includes a connecting plate, a fixing frame and a fixing pin shaft; the connecting plate is a rectangular flat plate with smoothly transitioned corners, a matching through hole is provided at the front of the connecting plate, the side wall profile of the matching through hole is an elliptical runway shape, the upper and lower arc-shaped side walls of the matching through hole are close to the upper and lower end faces of the connecting plate, a fixing circular hole is provided at the rear of the connecting plate, and a support ear is respectively provided on the end face of the connecting plate above and behind the fixing circular hole, and a fixing through hole is provided on the support ear in the same direction as the extension direction of the end face; the fixing frame includes two parallel supporting vertical plates, a rotating through hole is provided along the axis of the supporting vertical plates, and the connecting plate is connected to the fixing plate. The plate is arranged in parallel between two supporting upright plates, and the two supporting upright plates are fixedly connected by a fixed upright plate arranged in parallel on the top of the supporting upright plates. A pin shaft through hole is opened on the front fixed upright plate, and the fixed frame also includes a rotating shaft, which is fixedly connected with the fixed circular hole of the connecting plate, and the rotating shaft is rotatably connected with the rotating through hole of the supporting upright plate; a rectangular deployment through hole is opened on the side wall of the passive AGV, and the two supporting upright plates of the fixed frame are fixed on the inner side of the side wall and flush with the side wall of the deployment through hole; the fixed pin shaft passes through the pin shaft through hole on the fixed upright plate and the fixed through hole on a support ear to fix the connecting plate.

[0008] In one embodiment of the present invention, the active vehicle docking seat comprises:

[0009] An electric motor is used to output rotational power through an output shaft.

[0010] A speed reducer is used to input rotational power to change the output shaft speed and increase the torque output.

[0011] A slider-crank mechanism is used to convert the rotational torque into a horizontal torque in the opposite direction.

[0012] A pair of guide connection channels are used to accommodate the connection plate of the passive vehicle docking seat and the action end of the crank slider mechanism to form a fixed connection between the passive vehicle docking seat and the active vehicle docking seat.

[0013] In one embodiment of the present invention, the crank slider mechanism includes a rotating pair and two groups of connecting rods; the rotating pair includes a column, a pair of parallel plates and a pair of vertical shafts, the column is coaxially fixed to the output shaft of the reducer, a pair of parallel plates are coaxially fixed at both ends of the column, a pair of vertical shafts are fixed between the parallel plates and are located on both sides of the column along the diameter direction, each group of connecting rods includes a connecting rod and a follower rod, a movable hinge is formed between one end of the connecting rod and the follower rod, and the other end of the connecting rod is rotatably connected to the vertical shaft, and the movement trajectories of the two groups of connecting rods are located in the same plane perpendicular to the column; the guide connection channel includes a hollow rectangular box body, and a side wall of the rectangular box body is provided with a plurality of connecting rods. A maximum opening is formed, and axial connecting through holes are opened on the opposite side walls on both sides of the opening; in the side wall of the active AGV where the active vehicle docking seat is installed, spaced pairs of deployment through holes are opened, the active vehicle docking seat is fixed on the inner side of the side wall, and the guide connecting channel is fixed in the deployment through hole; the output shaft of the reducer is coaxial with the column of the crank slider mechanism, and the two guide connecting channels are axially symmetrically located on both sides of the crank slider mechanism, and the axis of the connecting through hole of the guide connecting channel is in the same plane as the movement trajectory of the connecting rod; the two groups of connecting rods of the crank slider mechanism are located on both sides of the column, and the end of the follower rod of the connecting rod is located in the connecting through hole adjacent to the adjacent guide connecting channel.

[0014] In one embodiment of the present invention, inclined surfaces are provided at the front ends of the opposite side walls on both sides of the opening to form an insertion taper angle of the opening; a corresponding taper angle is formed at the front end of the connecting plate; a gap exists between the connecting plate and the side wall of the connecting channel; and a manual interface is provided at the top of the column of the rotating pair to form a fixed connection with the rotating handle.

[0015] In one embodiment of the present invention, the matching attitude sensing sensor includes a laser sensor as an active signal transceiver and an optical reflector as a signal feedback device. The laser sensor is deployed on the side wall of the active vehicle docking seat, and the optical reflector is deployed on the side wall of the passive vehicle docking seat. It includes three laser sensors and three corresponding optical reflectors arranged horizontally at intervals. The laser transmission paths of the three laser sensors remain parallel, the reflection surfaces of the side optical reflectors on both sides are perpendicular to the laser transmission paths of the side laser sensors on both sides, and the reflection surface of the middle optical reflector forms a fixed angle with the laser transmission path of the middle laser sensor.

[0016] The dual-vehicle automatic docking method according to an embodiment of the present invention includes:

[0017] Adjust the posture of the two vehicles to enter the automatic docking state;

[0018] The posture deviation data of the two workshops is obtained based on the ToF data of the side laser sensors and the middle laser sensors, and the driving correction data of the active AGV is formed based on the posture deviation data, and the active AGV is driven to form the posture alignment of the two vehicles;

[0019] The active AGV is driven to approach the passive AGV, and a fixed connection is formed between the active AGV and the passive AGV by combining the active vehicle docking seat with the passive vehicle docking seat.

[0020] In one embodiment of the present invention, when the distances measured by the two side road laser sensors are different, parallel error data is generated, and driving correction data of the active AGV is generated according to the parallel error data;

[0021] When the ranging distances of the two side road laser sensors are the same but different from the ranging distance of the middle road laser sensor, the centering error data is generated. According to α=45°, |d1-d2|=△d, the driving correction data of the active AGV is generated; α is the fixed angle between the reflection surface of the middle road optical reflector and the laser transmission path of the middle road laser sensor, d1 is the ranging distance of the side road laser sensor, d2 is the ranging distance of the middle road laser sensor, and △d is the lateral misalignment distance of the two vehicles;

[0022] When driving the active AGV to approach the passive AGV, the side laser sensors and the middle laser sensors continuously calculate the posture deviation data and form the driving correction data.

[0023] The dual-vehicle automatic docking device according to an embodiment of the present invention comprises:

[0024] A memory, used to store program codes in the process of the above-mentioned dual-vehicle automatic docking method;

[0025] The processor is used to execute the program code.

[0026] The dual-vehicle automatic docking device according to an embodiment of the present invention comprises:

[0027] The initial docking module is used to adjust the posture of the two vehicles to enter the automatic docking state;

[0028] The docking adjustment module is used to obtain the posture deviation data of the two workshops according to the ToF data of the side laser sensor and the middle laser sensor, form the driving correction data of the active AGV according to the posture deviation data, and drive the active AGV to form the posture alignment of the two vehicles;

[0029] The docking and fixing module is used to drive the active AGV to approach the passive AGV, and to form a fixed connection between the active AGV and the passive AGV by combining the active vehicle docking seat with the passive vehicle docking seat.

[0030] The dual-vehicle automatic docking mechanism, docking method and device of the embodiment of the present invention provide a targeted posture perception and distance perception mechanism for accurate docking of the two vehicles. At the same time, the high-reliability docking structure is used to ensure the tolerance of environmental impact during the automatic docking process. At the same time, the use of a single vehicle is not affected by the automatic docking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 FIG. 1 is a schematic diagram of the structure of an AGV used in a dual-vehicle automatic docking mechanism according to an embodiment of the present invention.

[0032] Figure 2 The figure shows a schematic diagram of the steering wheel driving method of the AGV used in the dual-vehicle automatic docking mechanism according to an embodiment of the present invention.

[0033] Figure 3 It is a structural schematic diagram of a passive vehicle docking seat in a recovered state in a dual vehicle automatic docking mechanism according to an embodiment of the present invention.

[0034] Figure 4 The figure is a schematic structural diagram of a passive vehicle docking seat in an extended state in a dual vehicle automatic docking mechanism according to an embodiment of the present invention.

[0035] Figure 5 The figure shows a schematic diagram of the assembly structure of the active vehicle docking seat and the passive vehicle docking seat in the dual vehicle automatic docking mechanism according to an embodiment of the present invention.

[0036] Figure 6 The figure shows a schematic diagram of the assembly structure of the posture sensing sensor in the automatic docking mechanism of two vehicles according to an embodiment of the present invention.

[0037] Figure 7 FIG. 1 is a schematic diagram of a flow chart of a method for automatic docking of two vehicles according to an embodiment of the present invention.

[0038] Figure 8 FIG. 1 is a schematic diagram of the initial posture of two vehicles during automatic docking according to an embodiment of the present invention.

[0039] Fig. 9 FIG. 1 is a schematic diagram of a parallel posture of two vehicles during automatic docking according to an embodiment of the present invention.

[0040] Fig.10 FIG. 1 is a schematic diagram of an alignment posture during the automatic docking process of two vehicles according to an embodiment of the present invention.

[0041] Fig.11 FIG. 1 is a schematic diagram of the structure of a dual-vehicle automatic docking device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only 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.

[0043] The AGV used in the dual-vehicle automatic docking mechanism according to one embodiment of the present invention is as follows: Figure 1 As shown. Figure 1 The AGV used in this embodiment is a general model equipped with the following functional modules that have been verified in practice:

[0044] The signal processing module is used to realize multi-sensor data fusion. Through the deployed laser scanning obstacle avoidance radar, proximity sensor, laser ranging sensor, emergency stop button, navigator, safety edge collision strip, etc., the basic status of the surrounding environment and the two vehicles is collected and perceived to form the environmental status input of the control system.

[0045] Wireless communication module, used for wireless communication between vehicles. Establishing inter-vehicle communication links, real-time and accurate exchange of information such as vehicle position, speed, acceleration, steering angle, etc.

[0046] The drive control module is used to control the rotation of the wheels. By controlling the steering wheel, the AGV can rotate forward and backward, left and right, and around the center of the vehicle body in the clockwise and counterclockwise direction, and can achieve controlled docking in any initial state in the horizontal plane at the same height.

[0047] The autonomous driving module is used to form a path trajectory planning based on the navigation task. It makes decision-making plans based on the surrounding environment perception and navigation purpose to form driving control data.

[0048] In one embodiment of the present invention, the signal processing module adopts a navigation controller with a preset navigation strategy. The laser scanning obstacle avoidance radar adopts a pulse laser ranging principle, and realizes two-dimensional area detection of an angle of 270° through rotation scanning, which can meet the needs of obstacle avoidance and measurement navigation. The proximity sensor is used to detect whether the two vehicles are docked in place. The laser ranging sensor is used to detect the distance between the tractor and the platform during docking. The emergency stop button can stop the AGV car immediately after being pressed. The safety touch edge anti-collision strip is used when the safety touch edge is under pressure, and the conductors of the internal induction belt contact each other, resulting in changes in inherent resistance and current to form a trigger signal of the contact state.

[0049] In one embodiment of the present invention, wireless communication modules are placed in the two cars to realize wireless communication. By adopting the SDR (Software Define Radio) platform, it has a multi-mode working mode and an editable frequency range. High-speed data transmission adopts a spread spectrum communication system, and completes the transparent transmission service of general data through polling networking. Using the FEC forward error correction algorithm, the cyclic interleaved convolution matrix encoding + unique data error correction algorithm can actively correct the interfered data packets, making the communication distance longer, the anti-interference ability stronger, and having low power consumption function. In the entire electrical design, the PLC controller is used as the main control of the car, and the communication interface of the main control is used to realize the communication between the upper computer and the lower computer, forming command issuance and status return.

[0050] In one embodiment of the present invention, the driving control module adopts a steering wheel driver, which can complete the steering wheel's forward and backward movement, left and right movement, and clockwise and counterclockwise rotation around the center of the vehicle body. Figure 2 As shown, when controlling the forward and backward movement of the vehicle, the wheels need to be turned to be consistent with the forward and backward direction of the vehicle body, and then the motor is controlled to control the vehicle forward; when controlling the left and right movement of the vehicle, the wheels need to be turned to 90° with the forward and backward direction of the vehicle body, and then the motor is controlled to control the vehicle forward; when controlling the vehicle to rotate clockwise and counterclockwise around the center of the vehicle body, the wheels need to be turned so that their normals pass through the center of the vehicle body, and then the motor is controlled to control the vehicle forward.

[0051] In one embodiment of the present invention, the automatic driving module adopts a laser navigation controller, which can be applied to professional controllers in the field of low-speed unmanned driving and autonomous mobile platforms, and has the characteristics of high performance, high integration, high reliability, etc. It is integrated with the AGV controller to form data interaction, obtain navigation information such as task status, location, waypoints, and paths, and form trajectory planning and control data.

[0052] In one embodiment of the present invention, the automatic driving module combines the linear velocity and angular velocity assigned by the laser navigation function block, and then calculates the steering angle and speed of the steering wheel in real time according to the heading angle, steering wheel position, mileage, steering wheel feedback angle, surrounding environment and the basic posture of the two vehicles, and outputs the angle and speed data for controlling the steering wheel driver to ensure that the steering wheel driver completes the target action.

[0053] like Figure 1 As shown, in one embodiment of the present invention, the dual-vehicle automatic docking mechanism includes:

[0054] The matching docking seat 100 includes an active vehicle docking seat and a passive vehicle docking seat respectively disposed on the active vehicle and the passive vehicle, and is used to controllably unfold the adapting connection parts in sequence to form a fixed connection between the active vehicle and the passive vehicle.

[0055] The supporting attitude sensing sensor 200 includes an active signal transceiver and a signal feedback device respectively deployed on the active vehicle and the passive vehicle, and is used to form a set of ToF (Time offlight) data related to the relative distance between the active vehicle and the passive vehicle.

[0056] The passive vehicle docking seat and the active vehicle docking seat are matched, and two sets are set for the stability of the fixed connection between the two workshops. The passive vehicle docking seat and the active vehicle docking seat are usually set on the opposite side walls of the two vehicle bodies, respectively, to ensure that the two vehicles can dock and form a fixed connection successfully. A set of passive vehicle docking seat and active vehicle docking seat are configured on an AGV at the same time, and they need to be installed on the opposite side walls of an AGV respectively, which can meet the fixed connection of three workshops. Correspondingly, the active signal transceiver is set accordingly with the active vehicle docking seat, and the signal feedback device is set accordingly with the passive vehicle docking seat.

[0057] The dual-vehicle automatic docking mechanism of the embodiment of the present invention provides a targeted posture perception and distance perception mechanism for accurate docking of the two vehicles. At the same time, the high-reliability docking structure is used to ensure the tolerance of environmental impact during the automatic docking process. At the same time, the use of a single vehicle is not affected by the automatic docking mechanism.

[0058] In the dual-vehicle automatic docking mechanism according to an embodiment of the present invention, the passive vehicle docking seat is as follows Figure 3 As shown. Figure 3 In the embodiment, the passive vehicle docking seat 101 includes a connecting plate 110 , a fixing frame 120 and a fixing pin 130 .

[0059] The connecting plate 110 is a rectangular flat plate with smoothly transitioned corners. A matching through hole 111 is provided at the front of the connecting plate 110. The side wall profile of the matching through hole 111 is an elliptical track shape. The upper and lower arc-shaped side walls of the matching through hole 111 are close to the upper and lower end faces of the connecting plate 110. A fixing circular hole 112 is provided at the rear of the connecting plate 110. A support ear 113 is provided on the end face of the connecting plate above and behind the fixing circular hole 112, respectively. A fixing through hole 114 is provided on the support ear 113 in the same direction as the end face extension.

[0060] The fixed frame 120 includes two parallel support plates 121, and a rotation through hole 124 is provided along the axis of the support plates 121. The connecting plate 110 is arranged in parallel between the two support plates 121. The two support plates 121 are fixedly connected by a fixed plate 122 arranged in parallel on the top of the support plates. A pin shaft through hole 123 is provided on the front fixed plate 122. The fixed frame 120 also includes a rotation shaft (not shown in the figure), which is fixedly connected to the fixed circular hole 112 of the connecting plate, and is rotationally connected to the rotation through hole 124 of the support plate.

[0061] A rectangular deployment hole 141 is provided on the side wall 140 of the passive AGV on which the passive vehicle docking seat is installed, and two support uprights 121 of the fixed frame 120 are fixed on the inner side of the side wall 140 and are flush with the side wall of the deployment hole 141 .

[0062] The fixing pin 130 passes through the pin through hole 123 on the fixing vertical plate 122 and the fixing through hole 114 on one of the supporting ears to fix the connecting plate 110 .

[0063] In actual application, the fixed pin 130 passes through the pin hole 123 in front of the fixed frame 120 and the fixed hole 114 of the ear 113 at the rear of the connecting plate 110, so that the connecting plate 110 remains drooping and hidden in the side wall of the passive AGV. The fixed pin 130 passes through the pin hole 123 in front of the fixed frame 120 and the fixed hole 114 of the ear 113 above the connecting plate 110, so that the connecting plate 110 remains horizontal and protrudes from the side wall of the passive AGV.

[0064] The active vehicle docking seat 102 includes:

[0065] A motor 150 is used to output rotational power through an output shaft.

[0066] A speed reducer 155 is used to input rotational power to change the output shaft speed and increase the output torque.

[0067] A crank slider mechanism 160 is used to convert the rotational torque into a horizontal torque in the opposite direction.

[0068] A pair of guide connection channels 170 are used to accommodate the connection plate of the passive vehicle docking seat and the action end of the crank slider mechanism to form a fixed connection between the passive vehicle docking seat and the active vehicle docking seat.

[0069] The assembly of the active vehicle docking seat and the passive vehicle docking seat in the dual vehicle automatic docking mechanism according to one embodiment of the present invention is as follows: Figure 5 As shown. Figure 5 In the figure, the crank slider mechanism 160 includes a revolving pair 161 and two sets of connecting rods 162. The revolving pair includes a column, a pair of parallel plates and a pair of vertical shafts. The column is coaxially fixed to the output shaft of the reducer, a pair of parallel plates are coaxially fixed to the two ends of the column, and a pair of vertical shafts are fixed between the parallel plates and located on both sides of the column along the diameter direction. Each set of connecting rods includes a connecting rod and a follower rod. One end of the connecting rod and the follower rod form a movable hinge, and the other end of the connecting rod forms a revolving connection with the vertical shaft. The movement trajectories of the two sets of connecting rods are located in the same plane perpendicular to the column.

[0070] The guide connection channel 170 comprises a hollow rectangular box body, with a maximum opening formed on one side wall of the rectangular box body, and axial connection through holes 171 formed on the opposite side walls on both sides of the opening. Inclined surfaces are formed on the front ends of the opposite side walls on both sides of the opening to form the insertion taper angle of the opening.

[0071] In the side wall of the active AGV where the active vehicle docking seat 102 is installed, a pair of deployment holes are arranged at intervals, the active vehicle docking seat is fixed on the inner side of the side wall, and the guide connection channel 170 is fixed in the deployment hole 141. The output shaft of the reducer 155 is coaxial with the column of the crank slider mechanism 160, and the two guide connection channels 170 are axially symmetrically located on both sides of the crank slider mechanism 160, and the axis of the connecting hole of the guide connection channel 170 is in the same plane as the movement trajectory of the connecting rod. The two sets of connecting rods of the crank slider mechanism 160 are located on both sides of the column, and the end of the follower rod of the connecting rod is usually located in the connecting hole 171 adjacent to the adjacent guide connection channel 170.

[0072] At the beginning of the docking of the two vehicles, the passive vehicle docking seat manually uses the pin shaft to keep the connecting plate 110 horizontally protruding from the side wall of the passive AGV, and the passive vehicle docking seat forms a docking state. When the two vehicles are close to docking, the connecting plate 110 of the passive vehicle docking seat is inserted into the guide connection channel 170, and the matching through hole 111 at the front of the connecting plate 110 is basically coaxial with the connecting through hole 171 of the guide connection channel 170, forming a basic docking state. The control motor 150 outputs rotational power, and the low-speed high-rotation torque output by the reducer 155 is converted by the connecting rod to form an opposite horizontal torque to drive the follower rod from the connecting through hole 171 to be inserted into the adjacent matching through hole 111 and the corresponding connecting through hole 171 in sequence and keep it fixed, forming a fixed connection between the passive vehicle docking seat and the active vehicle docking seat.

[0073] In one embodiment of the present invention, the contour area of ​​the matching through hole 111 is larger than the contour area of ​​the connecting through hole 171. When the connecting plate 110 is inserted into the guide connecting channel 170, the connecting through hole 171 is located within the projection range of the matching through hole 111. The front end of the connecting plate 110 forms a corresponding taper angle with the opening of the connecting channel. When the connecting plate 110 is inserted into the guide connecting channel 170, there is at least a 5 mm gap between the connecting plate and the side wall of the connecting channel.

[0074] like Figure 5 As shown, in one embodiment of the present invention, a manual interface is provided on the top of the column of the rotating pair, which is used to form a fixed connection with the rotating handle to realize manual output of the rotating torque.

[0075] The dual-vehicle automatic docking mechanism of the embodiment of the present invention forms a guiding structure with good docking redundancy to prevent the potential negative factors such as uneven ground and processing and welding errors from affecting the accuracy of dual-vehicle docking, thereby ensuring that the success rate of dual-vehicle automatic docking is improved within the range of reasonable errors in environmental conditions and vehicle postures.

[0076] The assembly of the posture sensing sensor in the dual-vehicle automatic docking mechanism according to an embodiment of the present invention is as follows: Figure 6 As shown. Figure 6 In the embodiment, the supporting posture sensing sensor includes a laser sensor 210 as an active signal transceiver and an optical reflector 220 as a signal feedback device. On the opposite side walls of the active AGV and the passive AGV, the laser sensor is deployed on the active AGV, and the optical reflector is deployed on the passive AGV. Inevitably, the laser sensor 210 and the active vehicle docking seat 102 are located on the same side wall, and the optical reflector 220 and the passive vehicle docking seat 101 are located on the same side wall.

[0077] like Figure 6As shown, in one embodiment of the present invention, three laser sensors 210 (two side roads and one middle road) and corresponding three optical reflectors 220 are arranged horizontally at intervals. At the design level, when the two vehicles are aligned to form an accurate docking state, the laser transmission paths of the three laser sensors 210 remain parallel, the reflection surfaces of the side road optical reflectors on both sides are perpendicular to the laser transmission paths of the side road laser sensors on both sides, and the reflection surface of the middle road optical reflector forms a fixed angle with the laser transmission path of the middle road laser sensor. In one embodiment of the present invention, 45 degrees is preferred.

[0078] The dual-vehicle automatic docking mechanism of the embodiment of the present invention utilizes the difference between the relevant laser sensor signals and the laser sensor signal transmission paths to form real-time posture judgment when the dual-vehicles are automatically docked, and utilizes the feedback accuracy of ToF data to ensure the error recognition and error correction accuracy in different dimensions.

[0079] A method for automatically docking two vehicles according to an embodiment of the present invention is as follows Figure 7 As shown. Figure 7 In this embodiment, the present invention comprises:

[0080] Step 310: Adjust the postures of the two vehicles to enter the automatic docking state.

[0081] In one embodiment of the present invention, the signal acquisition capability and data processing capability of the active AGV are used to sense the position and posture of the passive AGV, and then the active AGV is driven close to the passive AGV to form a rough alignment of the vehicles, that is, the laser sensor 210 is substantially parallel to the side wall where the optical reflector 220 is located, and the relative spacing is within a specified range. At this time, the laser sensor 210 is activated, the active vehicle docking seat is initialized, the connecting plate of the passive vehicle docking seat extends out of the side wall, and the two vehicles enter an automatic docking state.

[0082] Step 320: Acquire the posture deviation data of the two vehicles based on the ToF data of the side laser sensors and the middle laser sensors, generate the driving correction data of the active AGV based on the posture deviation data, and drive the active AGV to achieve dual-vehicle posture alignment.

[0083] The deviation of the ToF data of the two side laser sensors forms a quantification of the parallel deviation of the two vehicles. The deviation of the ToF data of the two side laser sensors and the middle laser sensor forms a quantification of the centering deviation of the two vehicles. After the two vehicles enter the automatic docking state, the active AGV obtains the posture deviation data of the two vehicles by continuously and slightly adjusting the relative posture with the passive AGV. And by forming drive correction data to overcome the posture deviation data, the posture of the active AGV relative to the passive AGV is changed to achieve the posture centering of the two vehicles.

[0084] Specific, combined Figures 8 to 10As shown, the ranging distances of the two side laser sensors are d1 and d3 respectively, the ranging distance of the middle laser sensor is d2, and the angle between the middle optical reflector 220 and the side wall is α, which is 45 degrees in this embodiment.

[0085] like Figure 8 As shown, when the distances d1 and d3 of the two side road laser sensors are different, parallel error data is generated, indicating that there is an angle β between the two workshops. The driving correction data of the active AGV is generated according to the parallel error data.

[0086] like Fig. 9 As shown in the figure, when the distances d1 and d3 of the two side laser sensors are the same but differ from the distance d2 of the middle laser sensor, the centering error data is generated, indicating that the two workshops are parallel but there is a lateral misalignment △d. The mapping relationship between the angle α and the lateral misalignment △d is used:

[0087] If α = 45°, then |d1-d2| = △d

[0088] Form the driving correction data of active AGV. Fig.10 As shown, when the ranging distances d1 and d3 of the two side road laser sensors are the same as the ranging distance d2 of the middle road laser sensor, the two vehicles are in the centering state.

[0089] Step 330: driving the active AGV to approach the passive AGV, and forming a fixed connection between the active AGV and the passive AGV by combining the active vehicle docking seat with the passive vehicle docking seat.

[0090] When driving the active AGV to approach the passive AGV, the side laser sensors and the middle laser sensors continuously calculate the posture deviation data and form the driving correction data. When the distance between the active AGV and the passive AGV is sensed by the proximity sensors on the two opposite side walls, it means that the docking is in place. After it is in place, the active vehicle docking seat completes the docking and fixation.

[0091] An automatic docking device for two vehicles according to an embodiment of the present invention comprises:

[0092] A memory, used to store program codes in the process of processing the method for automatic docking of two vehicles in the above embodiment;

[0093] The processor is used to execute the program code in the process of the automatic docking method of two vehicles in the above embodiment.

[0094] The processor may be a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0095] An automatic docking device for two vehicles according to an embodiment of the present invention is as follows Fig.11 As shown. Fig.11 In this embodiment, the present invention comprises:

[0096] The docking initial module 31 is used to adjust the posture of the two vehicles to enter the automatic docking state;

[0097] The docking adjustment module 32 is used to obtain the posture deviation data of the two workshops according to the ToF data of the side laser sensor and the middle laser sensor, form the driving correction data of the active AGV according to the posture deviation data, and drive the active AGV to form the posture centering of the two vehicles;

[0098] The docking and fixing module 33 is used to drive the active AGV to approach the passive AGV, and to form a fixed connection between the active AGV and the passive AGV by combining the active vehicle docking seat with the passive vehicle docking seat.

[0099] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A dual-vehicle automatic docking mechanism, characterized in that: include: Matching docking seats, including an active vehicle docking seat and a passive vehicle docking seat respectively deployed on the active vehicle and the passive vehicle, used to control and sequentially unfold the adapting connection parts to form a fixed connection between the active vehicle and the passive vehicle; The supporting attitude sensing sensor includes an active signal transceiver and a signal feedback device respectively deployed on the active vehicle and the passive vehicle, which is used to form a set of ToF data related to the relative distance between the active vehicle and the passive vehicle.

2. The double-vehicle automatic docking mechanism according to claim 1, characterized in that: The passive vehicle docking seat includes a connecting plate, a fixing frame and a fixing pin shaft; the connecting plate is a rectangular flat plate with smoothly transitioned corners, a matching through hole is provided at the front of the connecting plate, the side wall profile of the matching through hole is an elliptical runway shape, the upper and lower arc-shaped side walls of the matching through hole are close to the upper and lower end faces of the connecting plate, a fixing circular hole is provided at the rear of the connecting plate, and a support ear is respectively provided on the end face of the connecting plate above and behind the fixing circular hole, and a fixing through hole is provided on the support ear in the same direction as the extension direction of the end face; the fixing frame includes two parallel supporting vertical plates, a rotating through hole is provided along the axis of the supporting vertical plates, and the connecting plate is provided with a rotating through hole in parallel It is placed between two supporting uprights, and the two supporting uprights are fixedly connected by a fixed upright plate arranged parallel to the top of the supporting uprights. A pin shaft through hole is opened on the front fixed upright plate. The fixed frame also includes a rotating shaft, which is fixedly connected with the fixed circular hole of the connecting plate, and the rotating shaft is rotatably connected with the rotating through hole of the supporting upright plate. A rectangular deployment through hole is opened on the side wall of the passive AGV, and the two supporting uprights of the fixed frame are fixed on the inner side of the side wall and flush with the side wall of the deployment through hole. The fixed pin shaft passes through the pin shaft through hole on the fixed upright plate and a fixed through hole on a support ear to fix the connecting plate.

3. The double-vehicle automatic docking mechanism according to claim 1, characterized in that: The active vehicle docking seat comprises: An electric motor is used to output rotational power through an output shaft. A speed reducer is used to input rotational power to change the output shaft speed and increase the torque output. A slider-crank mechanism is used to convert the rotational torque into a horizontal torque in the opposite direction. A pair of guide connection channels are used to accommodate the connection plate of the passive vehicle docking seat and the action end of the crank slider mechanism to form a fixed connection between the passive vehicle docking seat and the active vehicle docking seat.

4. The double-vehicle automatic docking mechanism according to claim 3, characterized in that: The crank slider mechanism includes a rotating pair and two groups of connecting rods; the rotating pair includes a column, a pair of parallel plates and a pair of vertical shafts, the column is coaxially fixed to the output shaft of the reducer, a pair of parallel plates are coaxially fixed to the two ends of the column, a pair of vertical shafts are fixed between the parallel plates and are located on both sides of the column along the diameter direction, each group of connecting rods includes a connecting rod and a follower rod, a movable hinge is formed between one end of the connecting rod and the follower rod, and the other end of the connecting rod is rotatably connected to the vertical shaft, and the movement trajectories of the two groups of connecting rods are located in the same plane perpendicular to the column; the guide connection channel includes a hollow rectangular box body, and a maximum An open opening, with axial connecting through holes formed on opposite side walls on both sides of the opening; a pair of deployment through holes are formed in intervals in the side wall of the active AGV where the active vehicle docking seat is installed, the active vehicle docking seat is fixed on the inner side of the side wall, and the guide connecting channel is fixed in the deployment through hole; the output shaft of the reducer is coaxial with the column of the crank slider mechanism, and the two guide connecting channels are axially symmetrically located on both sides of the crank slider mechanism, and the axis of the connecting through hole of the guide connecting channel is in the same plane as the movement trajectory of the connecting rod; the two sets of connecting rods of the crank slider mechanism are located on both sides of the column, and the end of the follower rod of the connecting rod is located in the connecting through hole adjacent to the adjacent guide connecting channel.

5. The double-vehicle automatic docking mechanism according to claim 4, characterized in that: Inclined surfaces are provided at the front ends of the opposite side walls on both sides of the opening to form an insertion taper angle of the opening; a corresponding taper angle is formed at the front end of the connecting plate; a gap exists between the connecting plate and the side wall of the connecting channel; a manual interface is provided at the top of the column of the rotating pair to form a fixed connection with the rotating handle.

6. The double-vehicle automatic docking mechanism according to claim 1, characterized in that: The matching attitude sensing sensor includes a laser sensor as an active signal transceiver and an optical reflector as a signal feedback device. The laser sensor is deployed on the side wall of the active vehicle docking seat, and the optical reflector is deployed on the side wall of the passive vehicle docking seat. It includes three laser sensors and corresponding three optical reflectors arranged horizontally at intervals. The laser transmission paths of the three laser sensors remain parallel, the reflection surfaces of the side optical reflectors on both sides are perpendicular to the laser transmission paths of the side laser sensors on both sides, and the reflection surface of the middle optical reflector forms a fixed angle with the laser transmission path of the middle laser sensor.

7. A method for automatic docking of two vehicles, characterized in that: include: Adjust the posture of the two vehicles to enter the automatic docking state; The posture deviation data of the two workshops is obtained based on the ToF data of the side laser sensors and the middle laser sensors, and the driving correction data of the active AGV is formed based on the posture deviation data, and the active AGV is driven to form the posture alignment of the two vehicles; The active AGV is driven to approach the passive AGV, and a fixed connection is formed between the active AGV and the passive AGV by combining the active vehicle docking seat with the passive vehicle docking seat.

8. The method for automatic docking of two vehicles as claimed in claim 7, characterized in that: When the distances measured by the two side road laser sensors are different, parallel error data is generated, and the driving correction data of the active AGV is generated according to the parallel error data; When the ranging distances of the two side road laser sensors are the same but different from the ranging distance of the middle road laser sensor, the centering error data is generated. According to α=45°, |d1-d2|=△d, the driving correction data of the active AGV is generated; α is the fixed angle between the reflection surface of the middle road optical reflector and the laser transmission path of the middle road laser sensor, d1 is the ranging distance of the side road laser sensor, d2 is the ranging distance of the middle road laser sensor, and △d is the lateral misalignment distance of the two vehicles; When driving the active AGV to approach the passive AGV, the side laser sensors and the middle laser sensors continuously calculate the posture deviation data and form the driving correction data.

9. A dual-vehicle automatic docking device, characterized in that: include: A memory for storing program codes in the process of the method for automatic docking of two vehicles as claimed in claim 7 or 8; The processor is used to execute the program code.

10. A dual-vehicle automatic docking device, characterized in that: include: The initial docking module is used to adjust the posture of the two vehicles to enter the automatic docking state; The docking adjustment module is used to obtain the posture deviation data of the two workshops according to the ToF data of the side laser sensor and the middle laser sensor, form the driving correction data of the active AGV according to the posture deviation data, and drive the active AGV to form the posture alignment of the two vehicles; The docking and fixing module is used to drive the active AGV to approach the passive AGV, and to form a fixed connection between the active AGV and the passive AGV by combining the active vehicle docking seat with the passive vehicle docking seat.

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