Butt joint method and device for realizing automatic butt joint by adopting multi-pose regulation and control mechanism

Abstract

The invention provides a butt joint method and device for achieving automatic butt joint through a multi-pose regulation and control mechanism, the butt joint method is applied to a control system of butt joint equipment, and the butt joint equipment further comprises a rotating platform, the pose regulation and control mechanism provided with a mechanical arm, a butt joint mechanism and a camera control system. According to the docking method, when it is determined that a to-be-docked body needs to be supplied to a docking mechanism, a camera is controlled to shoot the docking mechanism, a shot image is analyzed, and position information of a positioning guide piece in the docking mechanism is determined; according to the position information, the pose regulation and control mechanism is controlled to drive the current to-be-butted body to be placed in the butting positioning frame under the guidance of the positioning guide piece, after it is determined that the to-be-butted body reaches the designated butting position, the locking positioning device is controlled to lock the current to-be-butted body, the mechanical arm is controlled to be disengaged from the current to-be-butted body, and then the current to-be-butted body is butted. And then the pose regulation and control mechanism is controlled to restore to the initial position. Therefore, the docking method can improve the replenishment efficiency while realizing rapid replenishment operation.

Description

Technical Field

[0001] This application relates to the field of weaponry technology, and in particular to a docking method and apparatus for achieving automatic docking using a multi-position control mechanism. Background Technology

[0002] With the evolution of modern warfare and the upgrading of special operations requirements, unmanned logistical support technology has become a key technology for enhancing the sustained combat capability of equipment. In military applications, new-generation high-intensity combat equipment is characterized by a doubling of ammunition consumption and an increased frequency of fuel replenishment. Taking main battle tanks as an example, the average ammunition consumption per combat mission has increased 3.8 times compared to ten years ago, and the fuel replenishment cycle has been shortened to 40% of the original standard. In the civilian emergency response field, the demand for disinfectant replenishment for biological and chemical contamination treatment equipment is growing exponentially, especially in nuclear, biological, and chemical (NBC) contamination environments where the surface contamination of equipment can reach 10... 6 CFU / cm 2 At this scale, traditional manual resupply methods pose significant safety risks.

[0003] However, current weapon systems require human intervention for ammunition and fuel replacement. During combat, it is extremely unsafe for personnel to change ammunition or refuel outside the equipment compartment, and the operation is complex, requiring extensive training to master. It is clear that existing docking technologies still require manual docking and locking to achieve automatic ammunition or fuel replacement. Summary of the Invention

[0004] This application provides a docking method and apparatus that uses a multi-position control mechanism to achieve automatic docking, so as to complete automatic docking accurately and quickly.

[0005] The technical solution provided in this application includes:

[0006] In a first aspect, embodiments of this application provide a docking method for automatic docking using a multi-positional adjustment mechanism. This docking method is applied to the control system of a docking device, which further includes a rotating platform, a positional adjustment mechanism, a docking mechanism, and a camera. One end of the positional adjustment mechanism is mounted on the rotating platform and can rotate under the drive of the rotating platform; the other end serves as an execution end and is equipped with a robotic arm for gripping the object to be docked. The docking mechanism includes a positioning mounting platform with multiple positioning labels affixed to predetermined positions, a docking positioning frame with a positioning guide plate, and a locking positioning device. The positioning mounting platform is mounted on the docking platform, and the docking positioning frame is mounted on the platform surface. The camera and the robotic arm are mounted at predetermined intervals on the execution end. The docking method includes:

[0007] When it is determined that the docking mechanism needs to be replenished with the object to be docked, the camera is controlled to film the docking mechanism.

[0008] The captured images are analyzed to determine the position information of the positioning guide in the docking mechanism;

[0009] Based on the location information, the pose adjustment mechanism is controlled to move the object to be docked into the docking positioning frame under the guidance of the positioning guide.

[0010] After determining that the current docking body has reached the designated docking position, control the locking and positioning device to lock the current docking body;

[0011] Control the robotic arm to detach from the object to be docked, and control the pose adjustment mechanism to return to the initial position.

[0012] Secondly, this application also provides a docking device that uses a multi-positional adjustment mechanism to achieve automatic docking. This docking device is applied to the control system of a docking equipment. The docking equipment further includes a rotating platform, a positional adjustment mechanism, a docking mechanism, and a camera 4. One end of the positional adjustment mechanism is mounted on the rotating platform and can rotate under the drive of the rotating platform; the other end serves as the execution end and is equipped with a robotic arm for gripping the object to be docked. The docking mechanism includes a positioning mounting platform with multiple positioning labels affixed to a set position, a docking positioning frame with a positioning guide plate, and a locking positioning device. The positioning mounting platform is mounted on the docking platform, and the docking positioning frame is mounted on the platform surface. The camera 4 and the robotic arm are mounted at a set distance from each other on the execution end. This docking device includes:

[0013] The shooting unit is used to control the camera to shoot the docking mechanism when it is determined that the docking mechanism needs to be replenished with the docking body;

[0014] The image analysis unit is used to analyze the captured images and determine the position information of the positioning guide in the docking mechanism;

[0015] The docking guidance unit is used to control the pose adjustment mechanism to drive the current docking body to be docked to be placed in the docking positioning frame under the guidance of the positioning guide according to the position information;

[0016] A locking unit is used to control a locking and positioning device to lock the current docking body after determining that the current docking body has reached the designated docking position;

[0017] The reset unit is used to control the robotic arm to detach from the current docking body and to control the posture adjustment mechanism to return to the initial position.

[0018] As can be seen from the above technical solutions, this application provides a docking method for automatic docking using a multi-position control mechanism. This docking method is applied to the control system of docking equipment. The docking equipment also includes a rotating platform, a position control mechanism equipped with a robotic arm, a docking mechanism, and a camera control system. The docking mechanism includes a positioning mounting platform with multiple positioning labels affixed to a set position, a docking positioning frame equipped with a positioning guide plate, and a locking positioning device. The positioning mounting platform is used to be installed on the docking platform, and the docking positioning frame is installed on the platform surface of the positioning mounting platform. When it is determined that a body to be docked needs to be added to the docking mechanism, the docking method controls the camera to capture images of the docking mechanism, analyzes the captured images, determines the position information of the positioning guide in the docking mechanism, and controls the position control mechanism to move the body to be docked under the guidance of the positioning guide to be placed in the docking positioning frame. After determining that the body to be docked has reached the designated docking position, the locking positioning device is controlled to lock the body to be docked, the robotic arm is controlled to disengage from the body to be docked, and then the position control mechanism is controlled to return to the initial position. As can be seen, this application eliminates the need for manual assistance during the docking process. Instead, it utilizes images captured by a camera of the docking mechanism with positioning tags affixed. Image analysis determines the position information of the positioning guide, and the control system then controls the posture adjustment mechanism to place the workpiece to be docked into the docking positioning frame under the guidance of the positioning guide. Once the workpiece has reached the designated docking position, the locking and positioning device locks it in place. Therefore, the technical solution provided in this application enables precise and rapid automatic docking, achieving both rapid replenishment operations and improved replenishment efficiency. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0020] Figure 1 A flowchart illustrating a docking method using a multi-pose control mechanism to achieve automatic docking, as provided in this application;

[0021] Figure 2 A schematic diagram of a docking device that uses a multi-position control mechanism to achieve automatic docking, provided for this application;

[0022] Figure 3 A schematic diagram of a posture control mechanism for using a robotic arm to grasp a body to be docked, provided in this application;

[0023] Figure 4 This application provides a structural schematic diagram of the first type of robotic arm.

[0024] Figure 5This application provides a structural schematic diagram of the second type of robotic arm.

[0025] Figure 6 This application provides a schematic diagram of the structure of a docking clamping mechanism when it docks with another docking mechanism;

[0026] Figure 7 A front structural diagram of a docking mechanism provided in this application;

[0027] Figure 8 A schematic diagram of a docking clamping mechanism provided in this application;

[0028] Figure 9 A schematic diagram of the rear structure of a docking mechanism provided in this application;

[0029] Figure 10 A schematic diagram of a docking device that uses a multi-position control mechanism to achieve automatic docking, provided for this application;

[0030] Figure 11 This is a schematic diagram of an electronic device structure provided in this application. Detailed Implementation

[0031] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0032] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0033] It should be understood that although the terms first, second, third, etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of this invention, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0034] See Figure 1 , Figure 1 This application provides a schematic diagram of a docking method for achieving automatic docking using a multi-position control mechanism. This docking method is applied to the control system of docking equipment, such as... Figure 2 As shown, the docking equipment also includes: a rotating platform 1, a posture control mechanism 2, a docking mechanism 3, and a camera 4.

[0035] The posture control mechanism 2 is mounted on the rotating platform 1 at one end and can rotate under the drive of the rotating platform 1; the other end is equipped with a robotic arm 21 for gripping the object to be docked 6 as the execution end; the docking mechanism 3 includes a positioning mounting platform 31 with multiple positioning labels affixed to a set position, a docking positioning frame 32 with a positioning guide plate 321 and a locking positioning device. The positioning mounting platform 31 is used to be mounted on the docking platform, and the docking positioning frame 32 is mounted on the table surface of the positioning mounting platform 31; the camera 4 and the robotic arm 21 are mounted on the execution end at a set distance.

[0036] In this embodiment, the rotating platform 1 is mounted on the vehicle platform 5 and can rotate independently relative to the vehicle platform 5. The rotating platform 1, the posture control mechanism 2, the docking mechanism 3, and the camera 4 are all electrically connected to the control system. The rotating platform is mounted on the vehicle platform 5 and can rotate independently relative to the vehicle platform 5.

[0037] The vehicle platform 5 can be electrically connected to the control system to control the movement of the vehicle platform 5, or it can be controlled by other external electronic devices, or it can be manually operated. This embodiment does not limit this.

[0038] like Figure 3 As shown, a robotic arm 21 is installed at the end of the posture control mechanism 2, which can adjust the position and posture of the robotic arm 21. The robotic arm 21 grasps the object to be docked 6, which can be a gunpowder box or a disinfection box. This embodiment does not limit it to this.

[0039] In this embodiment, as Figure 6 As shown, the docking mechanism 3 can rotate independently within a set range relative to the docking platform, so that when the docking mechanism 3 docks with the docking clamping mechanism 7, the snap-fit ​​guide component 34 in the docking mechanism 3 docks with each other under the guidance of the positioning guide and the push of the telescopic plate. The snap-fit ​​guide component 34 and the positioning guide component 71 are locked together, and the robot arm 21 is disengaged from the current docking body 6. Then the position and posture adjustment mechanism 2 is controlled to return to the initial position.

[0040] In some embodiments, the posture control mechanism 2 includes a mounting platform 22, multiple electric cylinders 23, a drive motor 24 for driving each electric cylinder 23, and a support platform 25.

[0041] Each of the electric cylinders 23 and each of the drive motors 24 is mounted on the mounting platform 22, and the input end of each electric cylinder 23 is electrically connected to the output end of its corresponding drive motor 24. The telescopic rod of each electric cylinder 23 is mounted on the bearing platform 25. The mounting platform 22 is mounted on the rotating platform 1. Each drive motor 24 is electrically connected to the control system, so that the control system controls each drive motor 24 and the rotating platform 1 to drive the docking clamping mechanism 7 to rotate and adjust the position of the docking clamping mechanism 7 according to the docking position information.

[0042] In this embodiment, each electric cylinder 23 corresponds to one drive motor 24, and each drive motor 24 drives its corresponding electric cylinder 23. Each electric cylinder 23 has a telescopic rod, which can perform telescopic movement along the axial direction of the telescopic rod under the drive of the drive motor 24. In addition, each electric cylinder 23 is hinged to the mounting platform 22, and each telescopic rod can realize six degrees of freedom of movement. If there are six electric cylinders 23, the six-bar parallel six-degree-of-freedom platform structure can realize a large range of attitude angle adjustment.

[0043] In some embodiments, the positioning guide serves to guide the workpiece 6 to be docked into the docking positioning frame 32. The positioning guide may include a first plate and a second plate. The first plate is installed on the edge of the docking positioning frame 32 away from the docking mechanism 3, and the second plate is installed at an angle to the first plate at its edge. In this embodiment, the name "first plate" is used only to distinguish it from other plates mentioned later and is not intended to limit any particular plate. The name "second plate" is also used only to distinguish it from other plates mentioned earlier and is not intended to limit any particular plate. The positioning guide can be used to guide the workpiece 6 to be docked into the docking positioning frame 32, helping the workpiece 6 to successfully enter the docking positioning frame 32 along a set path. In other embodiments, the docking positioning frame 32 has tracks symmetrically positioned within its inner surface adjacent to the docking mechanism 3. The workpiece 6 has protruding edges on opposite sides adjacent to the docking side for traveling along the tracks, achieving accurate positioning of the workpiece 6 under the guidance of the tracks.

[0044] like Figure 1 As shown, the docking method includes the following steps:

[0045] Step 101: When it is determined that the docking body 6 needs to be replenished to the docking mechanism 3, control the camera to film the docking mechanism 3.

[0046] The camera can capture images of the docking mechanism 3 within its field of view. After capturing images of the docking mechanism 3, the camera will send the captured images to the control system for further processing.

[0047] Step 102: Analyze the captured images to determine the position information of the positioning guide in the docking mechanism 3.

[0048] The control system is equipped with a position recognition model for identifying the position information of the positioning guide in the image. In other words, the position recognition module can identify the position information of the positioning guide from the captured image.

[0049] Step 103: Based on the position information, control the pose adjustment mechanism 2 to move the current docking body to be docked into the docking positioning frame 32 under the guidance of the positioning guide.

[0050] After knowing the location information of the positioning guide, the pose control mechanism 2 can be controlled to move the current docking body 6 to the positioning guide and fix the current docking body 6 within the docking positioning frame 32 under the guidance of the positioning guide.

[0051] Step 104: After determining that the current docking body 6 has reached the designated docking position, control the locking and positioning device to lock the current docking body 6.

[0052] After the locking and positioning device locks the body 6 to be docked, the body 6 to be docked is firmly locked onto the docking mechanism 3.

[0053] Step 105: Control the robotic arm 21 to detach from the current docking body 6, and control the pose adjustment mechanism 2 to return to the initial position.

[0054] After the docking body 6 is securely and firmly locked to the docking mechanism 3, the robot arm 21 completes its task and can then detach from the docking body 6 and reset under the action of the position control mechanism 2.

[0055] Each docking body 6 is labeled with a code and placed on the vehicle platform 5 in the order of the codes. One way the control system determines that the current docking body needs to be grasped is by taking a picture of the current docking body 6 with the camera 4, identifying the code of the current docking body 6 and the location of the docking interface in the captured image, and controlling the robotic arm to drive the robotic hand 21 to grasp the docking interface based on the location information of the docking interface of the current docking body 6, and recording that the docking body 6 corresponding to the code has been used.

[0056] Therefore, in the technical solution provided in this application embodiment, the docking method is applied to the control system of the docking equipment. The docking equipment also includes a rotating platform 1, a posture control mechanism 2 with a robot arm 21, a docking mechanism 3, and a camera 4 control system. The docking mechanism 3 includes a positioning mounting platform 31 with multiple positioning labels affixed to a set position, a docking positioning frame 32 with a positioning guide plate 321, and a locking positioning device 33. The positioning mounting platform 31 is used to be installed on the docking platform, and the docking positioning frame 32 is installed on the table surface of the positioning mounting platform 31. When it is determined that the docking body 6 needs to be replenished to the docking mechanism 3, the docking method controls the camera to capture images of the docking mechanism 3, analyzes the captured images, determines the position information of the positioning guide in the docking mechanism 3, and controls the posture control mechanism 2 to drive the current docking body 6 to be placed in the docking positioning frame 32 under the guidance of the positioning guide. After determining that the docking body 6 has reached the specified docking position, the locking positioning device 33 is controlled to lock the current docking body 6, the robot arm 21 is controlled to disengage from the current docking body 6, and then the posture control mechanism 2 is controlled to return to the initial position. As can be seen, this application eliminates the need for manual assistance during the docking process. Instead, it utilizes images captured by a camera of the docking mechanism 3 with positioning tags affixed. Image analysis determines the position information of the positioning guide, and the control system then controls the posture adjustment mechanism 2 to place the docking body 6 into the docking positioning frame 32 under the guidance of the positioning guide. Once the docking body 6 has reached the designated docking position, the locking positioning device 33 locks the docking body 6 in place. Therefore, the technical solution provided in this application enables precise and rapid automatic docking, achieving rapid replenishment operations while improving replenishment efficiency.

[0057] In some embodiments, the implementation of step 102 includes the following steps:

[0058] Step A1: Identify the positioning tags in the image and obtain the first position camera coordinate information of each positioning tag in the camera coordinate system as position information.

[0059] In this embodiment, the first position camera coordinate information is a name given only to facilitate differentiation from the position camera coordinate information mentioned later, and is not intended to limit the position camera coordinate information to a specific position.

[0060] Step A2: Based on the positional relationship between the positioning guides in each positioning labeling and docking mechanism 3 and the coordinate information of the first position camera.

[0061] In this embodiment, the positional relationship between the positioning guides in each positioning label and docking mechanism 3 is fixed. Based on this, after determining the position camera coordinate information, the second position camera coordinate information of the docking point in the camera coordinate system can be determined according to the position camera coordinate information and the fixed relationship between them. The camera 4 is fixedly installed at the preset position of the pose control mechanism 2. That is to say, the positional relationship between the camera 4 and the pose control mechanism 2 is fixed. After determining the second position camera coordinate information.

[0062] Step A3: Determine the second position camera coordinate information of the positioning guide in the camera coordinate system.

[0063] In this embodiment, the second position camera coordinate information is a name given only to distinguish it from the position camera coordinate information mentioned above, and is not intended to limit the position camera coordinate information to a specific position.

[0064] Step A4: Based on the positional relationship between camera 4 and pose control mechanism 2 and the coordinate information of the second position camera, determine the position information of the positioning guide in the docking mechanism 3.

[0065] In this embodiment, based on the positional relationship between the camera 4 and the pose control mechanism 2, the position information of the positioning guide in the docking mechanism 3 in the coordinate system of the pose control mechanism 2 (origin of the pose control mechanism 2) can be determined. After determining the position information, the pose control mechanism 2 can be controlled to place the object to be docked 6 into the docking positioning frame 32 along the positioning guide in the docking mechanism 3.

[0066] In some embodiments, the bottom of the docking positioning frame is further provided with a telescopic plate and a telescopic drive device. One end of the telescopic plate is installed on the telescopic drive device, and the other end is provided with a snap-fit ​​plate perpendicular to the telescopic plate. The docking mechanism 3 is installed on the docking platform in a rotatable connection manner. The telescopic drive device is installed on the docking platform. The docking device further includes a docking clamping mechanism 7 with a positioning guide component 71. The positioning guide component 71 is disposed on the docking side of the body to be docked 6 for docking. The docking mechanism 3 is also provided with a snap-fit ​​guide component 34. The snap-fit ​​guide component 34 is disposed circumferentially on the positioning mounting platform 31 facing the body to be docked 6 in a one-to-one correspondence with the positioning guide component 71.

[0067] The implementation of step 103 includes the following steps:

[0068] Step D1: Based on the position information, control the pose adjustment mechanism 2 to move the current docking body 6 to be docked to be placed on the telescopic plate in the docking positioning frame 32 under the guidance of the positioning guide plate.

[0069] The reason for making the positioning frame large is to facilitate the prevention of contact between the object to be docked (6).

[0070] Step D2: Control the telescopic drive device to pull the telescopic plate toward the direction of the snap-fit ​​guide component 34, so that the docking clamping mechanism 7 docks with the snap-fit ​​guide component 34 under the positioning guidance of the positioning guide component 71 guided by the snap-fit ​​guide component 34.

[0071] The telescopic plate inside the positioning frame is designed to hold the object to be docked, 6.

[0072] Step D3: After confirming that the engagement guide component 34 and the positioning guide component 71 have fully engaged, control the robotic arm 21 to detach from the current docking body 6, and then control the pose control mechanism 2 to return to the initial position.

[0073] In some embodiments, the docking device further includes a position sensor located at a designated position at the bottom of the docking positioning frame 32. This position sensor is electrically connected to the control system. The method for determining that the current docking body 6 has reached the designated docking position may include the following steps: when a position feedback signal indicating that the body 6 has reached the designated docking position is received from the position sensor, it is determined that the current docking body 6 has reached the designated docking position. In this embodiment, when the control system receives the position feedback signal indicating that the body 6 has reached the designated position, it controls the locking positioning device 33 to lock the current docking body 6. In this embodiment, after detecting that the body 6 has reached the designated position, the position sensor sends a position signal to the control system. Upon receiving the position signal, the control system indicates that the position of the body 6 is a suitable position for locking and positioning. Based on this, it controls the locking positioning device 33 to lock the current docking body 6.

[0074] In some embodiments, the locking and positioning device 33 includes a motion drive device and a telescopic positioning abutment. The telescopic positioning abutment includes a telescopic rod, a first bearing, and an abutment plate. One end of the telescopic rod is installed at the output end of the motion drive device, and the other end is installed at the abutment plate through the first bearing. The input end of the motion drive device is connected to the control system. The control of the locking and positioning device 33 to lock the current docking body 6 includes the following steps: driving the telescopic rod to move the abutment plate to abut the current docking body 6 until the current docking body 6 is fixed in the docking positioning frame 32.

[0075] In this embodiment, the first bearing is named only for the purpose of distinguishing it from the bearings mentioned later, and is not intended to limit a specific bearing.

[0076] In this embodiment, the abutment plate and the docking positioning frame 32 work together to fix the body to be docked within the docking positioning frame 32, so that the docking mechanism 3 can stably move the body to be docked 6 to any position.

[0077] The telescopic rod is controlled to move the landlord's current docking body 6, so that the current docking body 6 is firmly locked into the docking positioning frame 32.

[0078] In other embodiments, such as Figure 4 As shown, the robotic arm 21 includes a rotating device 211, a second bearing, a support tube 212, a support plate 213, and a rotating component 214. The input end of the rotating device 211 is installed at the execution end, and the output end is connected to the support tube 212 and the rotating component 214 via the second bearing. The support plate 213 passes through the rotating component 214 and is installed at the end of the support tube 212, so that the rotating component 214 can rotate independently relative to the support plate 213. The control system is electrically connected to the rotating device 211.

[0079] In this embodiment, the term "second bearing" is used merely to distinguish it from the bearings mentioned earlier, and is not intended to limit a specific bearing.

[0080] The second bearing is located between the support tube 212 and the output end of the rotating device 211, so that the output end of the rotating device 211 can rotate independently of the support tube 212. That is, the rotating component 214 installed at the output end of the rotating device 211 can rotate independently relative to the support plate 213 installed at the end of the support tube 212. After the rotating component 214 rotates in the set direction, the rotating component 214 is exposed outside the support plate 213, so that the rotating component 214 can just lock the interface. After the rotating component 214 rotates in the opposite direction, the rotating component 214 is hidden inside the support plate 213, so that the support plate 213 can be detached from the interface.

[0081] It should be noted that the rotation direction of the rotating device 211 when it needs to detach from the current docking body 6 is opposite to the rotation direction when it needs to grasp the current docking body.

[0082] Based on this embodiment, when it is determined that the current docking object 6 needs to be grasped, before controlling the camera to capture the docking mechanism 3, the docking method further includes the following steps:

[0083] Step B1: Control the output end of the rotating device 211 to drive the rotating component 214 to rotate and hide it within the surface of the support plate 213.

[0084] The fact that the rotating part 214 is hidden inside the surface of the support plate 213 means that the support plate 213 can enter the interface.

[0085] 2. Based on the above embodiments, when it is determined that it is necessary to detach from the current docking body 6, controlling the robotic arm 21 to detach from the current docking body 6 includes the following steps:

[0086] Step B3: Control the rotation device 211 to rotate, so that the output end of the rotation device 211 drives the rotating component 214 to rotate and hide it in the surface of the support plate 213, and control the posture adjustment mechanism 2 to drive the robot arm 21 to disengage from the interface.

[0087] When the robotic arm 21 needs to detach from the current docking body 6, the rotating device 211 can be controlled to rotate, so that the rotating part 214 is hidden under the support plate 213. The position adjustment mechanism 2 is controlled to drive the robotic arm 21 to detach from the docking interface, so that the robotic arm 21 detaches from the docking interface.

[0088] As can be seen, the robotic arm 21 provided in this embodiment is not only simple in structure but also flexible in its design, and can complete the loading and unloading of the object to be docked 6 in cooperation with the control system and the camera 4.

[0089] In other embodiments, the rotating device 211 includes a rotating motor and a rotating shaft. The rotating motor is mounted on the actuating end, and the rotating shaft is mounted on the output end of the rotating motor. The rotating shaft and the support tube 212 are connected by the bearing. One end of the support tube 212 is mounted on the mounting bracket of the rotating motor, and the other end is mounted on the support plate 213. The rotating shaft passes through the support plate 213 and is fitted with the rotating component 214. The rotating motor is electrically connected to the control system to control the rotation of the rotating motor when it is necessary to grasp or detach the current docking body 6. In this embodiment, when the control system determines that it needs to grasp the current docking body 6, it controls the output end of the rotary motor to drive the rotary shaft to rotate clockwise, so that the rotating component 214 rotates and is hidden inside the surface of the support plate 213. The control system then controls the robotic arm to drive the robotic hand 21 into the docking interface and controls the rotary motor to rotate counterclockwise, so that the rotating component 214 rotates and is exposed outside the surface of the support plate 213 and engaged in the docking interface 51. When it determines that it needs to detach from the current docking body 6, the control system controls the output end of the rotary motor to drive the rotary shaft to rotate clockwise, so that the rotating component 214 rotates and is hidden inside the surface of the support plate 213. Then, the control system controls the robotic arm to drive the robotic hand 21 to detach from the docking interface.

[0090] In other embodiments, such as Figure 5As shown, the top of the object to be docked 6 is symmetrically provided with four docking interfaces. The robotic arm 21 includes an opening and closing mounting frame 215, multiple docking rods 216, and multiple mounting housings 217. One end of each docking rod 216 is provided with a groove facing outward, and the other end is mounted on the corresponding mounting housing 217 with their respective grooves facing away from each other. The mounting housing 217 is mounted on the opening and closing mounting frame 215, and each docking rod 216 can be inserted into its corresponding docking interface when the opening and closing mounting frame 215 is in the closed state. When the opening and closing mounting frame 215 is in the extended state, the groove is precisely engaged with the edge of the docking interface. The opening and closing mounting frame 215 is mounted on the posture control mechanism 2. Each of the opening and closing mounting frames 215 is electrically connected to the control system. When it is determined that the current object to be docked 6 needs to be grasped, the docking method includes the following steps:

[0091] Step C1: Control the opening and closing mounting bracket 215 to be in the closed state, and control the position adjustment mechanism 2 to drive the docking rod 216 into the docking interface.

[0092] When the opening and closing mounting bracket 215 is in a closed state, the contact area between the opening and closing mounting bracket 215 and the mating interface is smaller than the area of ​​the mating interface, allowing the opening and closing mounting bracket 215 to enter the mating interface.

[0093] Step C2: Control the opening and closing mounting bracket 215 to be in the extended state, so that the grooves of each docking rod 216 are just engaged with the edge of the interface.

[0094] In this step, the opening and closing mounting bracket 215 is in the unfolded state, that is, the size of the unfolded opening and closing mounting bracket 215 is larger than the size of the interface, so the safety opening mounting bracket cannot detach from the interface, thus enabling the robotic arm 21 to grasp the body 6 to be docked.

[0095] Based on the above embodiments, when it is determined that the current docking body 6 needs to be released, the docking method further includes:

[0096] Step C3: Control the opening and closing mounting bracket 215 to be in the closed state, and control the position adjustment mechanism 2 to drive the docking rod 216 to disengage from the docking interface.

[0097] In this embodiment, the four docking interfaces are symmetrically arranged on the docking body 6 to balance the gripping and releasing of the docking body 6.

[0098] The opening and closing mounting bracket 215 can be opened and closed under the control of the control system. When it needs to be merged, the distance between the opposite docking rods 216 in the lateral direction is reduced, and they just enter the corresponding docking interface. Alternatively, the docking rods 216 can be disengaged from the docking interface. When it needs to be unfolded, the distance between the opposite docking rods 216 in the lateral direction is increased. At this time, the groove of the docking rod 216 just engages with the edge of the docking interface. At this time, the robot arm 21 is in the state of grasping the body 6 to be docked.

[0099] In other embodiments, the docking clamping mechanism 7 is provided with a first signal connection end 73, and the docking mechanism 3 further includes a second signal connection end 35 and a signal docking drive mechanism 36. The second signal connection end 35 is installed at the output end of the signal docking drive mechanism 36, and the docking drive mechanism is installed on the positioning mounting platform 31. The signal docking drive mechanism 36 is electrically connected to the control system. After the positioning and locking are confirmed, the docking clamping mechanism 7 docks with the positioning guide component 71 under the positioning guidance of the snap-fit ​​guide component 34. This includes the following steps: driving the signal docking drive mechanism 36 to start, so that the second signal connection end 35 is electrically connected to the first signal connection end under the drive of the signal docking drive mechanism 36.

[0100] In this embodiment, the name "first signal connection terminal 73" is used only to distinguish it from the signal connection terminals described later, and is not intended to define a specific signal connection terminal. Similarly, the name "second signal connection terminal 35" is used only to distinguish it from the signal connection terminals described later, and is not intended to define a specific signal connection terminal.

[0101] As one embodiment, the method for controlling the pose adjustment mechanism 2 to drive the docking rod 216 into the docking interface can be as follows: the control system has an interface recognition model. This interface recognition model is a training model obtained by training a spiking neural network model multiple times on historically captured image samples containing the docking object 6. It is capable of recognizing the docking interface 51 and its precise location. The input of the interface recognition model is the captured image, and the output is the docking interface 51 recognition result indicating whether the docking interface 51 exists and the location information of the docking interface 51. In other embodiments, this spiking neural network model is a spiking neural network model based on the YOLOv5 architecture. This YOLOv5-based spiking neural network model borrows the idea of ​​residual enhancement in artificial neural networks and extracts multi-scale features of the input image through multi-layer stacking to achieve low-power, high-performance target detection.

[0102] In some embodiments, such as Figure 7 and 8As shown, the positioning guide assembly 71 includes multiple positioning rods 711 and multiple U-shaped mounting seats 712. The docking clamping mounting platform 22 has an outwardly protruding disc boss 721 at its center. One end of each positioning rod 711 is circumferentially mounted to the edge of the docking clamping mounting platform 22 through the U-shaped mounting seat 712, and the other end is circumferentially mounted to the disc boss 721 through the U-shaped mounting seat 712. The snap-fit ​​guide assembly 34 includes an annular body 341 and a positioning mounting plate 342. A V-shaped groove 3411 is circumferentially provided on one side edge of the annular body 341, and a snap-fit ​​groove 3412 that precisely snaps into the positioning rod 711 is provided at the bottom of the V-shaped groove 3411. The other side edge is mounted on the positioning mounting plate 342, and the positioning mounting plate 342 is mounted on the positioning mounting platform 31.

[0103] The control system controls the robotic arm to drive the docking clamping mechanism 7 so that the positioning rod 711 is fully embedded in the snap-fit ​​groove 3412 under the guidance of the V-groove 3411. After confirming that the positioning rod 711 is fully snapped into the snap-fit ​​groove 3412, the control system starts the locking and positioning device 33 to complete the positioning and locking and then stop.

[0104] In this embodiment, the positioning rod 711 is circumferentially mounted on the edge of the disc boss 721 and the positioning mounting plate 342 via U-shaped mounting bases 712; one positioning rod 711 corresponds to two U-shaped mounting bases 712. For each positioning rod 711, one U-shaped mounting base 712 abuts against one end of the positioning rod 711 and is engaged with the edge of the positioning mounting plate 342, and the other U-shaped mounting base 712 abuts against the other end of the positioning rod 711 and is engaged with the disc boss 721. The height of the U-shaped mounting base 712 is set according to the assembly position of the positioning rod 711 and the V-groove 3411.

[0105] The width of the locking groove 3412 is related to the diameter of the positioning rod 711. The locking groove 3412 can precisely lock the positioning rod 711, so that the positioning rod 711 is securely installed in the locking groove 3412. It should be noted that when the positioning rod 711 is securely installed in the locking groove 3412, the locking positioning device 33 can lock the docking clamping mechanism 7 and the docking mechanism 3.

[0106] After the positioning rod 711 contacts the V-groove 3411, the docking clamping mechanism 7 is in the process of moving. Guided by the V-groove 3411, the positioning rod 711 gradually embeds into the locking groove 3412, so that the docking clamping mechanism 7 and the docking mechanism 3 are successfully positioned and docked. In this application, the V-groove 3411 is set because the V-groove 3411 has a large opening, which can easily contact the positioning rod 711, that is, contact the positioning rod 711 with coarse precision. Guided by the groove wall of the V-groove 3411, it is fully embedded into the locking groove 3412 in a high-precision manner, achieving accurate positioning.

[0107] In this embodiment, the positioning rod 711 can be fixedly connected to the U-shaped mounting base 712, or it can be rotatably connected to the U-shaped mounting base 712. As one embodiment, the positioning rod 711 is slidably connected to the U-shaped mounting base 712, allowing the positioning rod 711 to rotate independently relative to the U-shaped mounting base 712. In this embodiment, the positioning rod 711 acts as a sliding pin, rapidly rolling along the groove wall of the V-groove 3411 into the bottom of the V-groove 3411 to improve the docking speed and smoothness.

[0108] As an example, such as Figure 9 As shown, the docking clamping mounting table 22 has multiple threaded positioning holes circumferentially, the positioning mounting plate 342 has multiple first through holes axially, and the locking positioning device 33 further includes a torque motor 331, a motor mounting plate with multiple second through holes, a screw 332, and a protective sleeve 333; the protective sleeve 333 is installed between the positioning mounting plate 342 and the motor mounting plate in a manner that connects the first through holes and the second through holes, the screw 332 is installed at the output end of the torque motor 331, and the torque motor 331 is installed on the surface of the motor mounting plate away from the protective sleeve 333 in a manner that the screw 332 passes through the second through hole;

[0109] The torque motor 331 is electrically connected to the control system so that when the control system determines that the positioning rod 711 is fully engaged in the engagement slot 3412, it drives the torque motor 331 so that the screw 332 passes through the protective sleeve 333 and drills into the threaded positioning hole. During the drilling process of the screw 332, the body to be docked 6 moves axially. After detecting that the torque motor 331 has reached the set stall torque, the torque motor 331 stops rotating.

[0110] In this embodiment, the first through hole is named only for ease of distinction from the through holes mentioned later, and is not intended to define a specific through hole. Similarly, the second through hole is named only for ease of distinction from the through holes mentioned later, and is not intended to define a specific through hole.

[0111] Multiple torque motors 331 are arranged circumferentially on the motor mounting plate inside the cavity of the docking mechanism 3. Each torque motor 331 corresponds to a screw 332. Each torque motor 331 has a screw 332 installed at its output end. In practical applications, the robotic arm transports the body 6 to be docked to the designated interface position. The control system controls the torque motor 331 to start, and pulls the body 6 to be docked to move by rotating the bolt and guiding it into the thread on the side of the docking clamping mechanism 7. The docking mechanism 3 is provided with a preset number of V-grooves 3411. The docking clamping mechanism 7 on the other side has a matching positioning rod 711. As the torque motor 331 rotates, the body 6 to be docked moves axially. At the same time, the docking mechanism 3 and the docking clamping mechanism 7 are respectively equipped with mutually paired electrical interfaces. When the control system receives an electrical signal, it indicates that the mechanical and electrical connection is completed after the body 6 to be docked is installed in place. The robotic arm returns to the initial position, and the docking body replenishment and locking operation is completed.

[0112] In some embodiments, the first signal connection terminal 73 is a signal socket with a signal jack, the second signal connection terminal 35 is a signal connector that is connected to the signal socket, and the signal docking drive mechanism 36 is a feed drive motor.

[0113] The output end of the feed drive motor is connected to the signal connector. Both the signal connector and the feed drive motor are electrically connected to the control system, so that the control system controls the feed drive motor to drive the signal connector to plug into the signal socket. After confirming that the signal socket is connected to the signal connector, the feed drive motor stops rotating.

[0114] In this embodiment, one way to determine that the signal socket and the signal connector are connected is that the control system receives electrical signals from the signal socket and the signal connector, and then determines that the connection is successful.

[0115] In some embodiments, such as Figure 7 and 8 As shown, the outer surface of the V-groove 3411 is configured as an outer conical surface. The positioning guide assembly 71 also includes a positioning ring with a conical surface. The positioning ring is mounted on the docking clamping mounting table 22 in a mounting manner between the U-shaped mounting base 712 and the disc boss 721. The control system controls the feed drive motor to drive the signal connector to be inserted into the signal socket until the inner conical surface of the positioning ring matches the outer conical surface of the V-groove 3411, and then stops the feed drive motor from rotating.

[0116] In this embodiment, another way to determine the connection between the signal socket and the signal connector is that the control system controls the feed drive motor to drive the signal connector to be inserted into the signal socket until the outer conical surface of the V-groove 3411 docking device end matches the inner conical surface of the positioning ring, and then stops the feed drive motor from rotating.

[0117] Therefore, in the technical solution provided in this application, the docking equipment includes a rotating platform 1, a posture control mechanism 2 equipped with a robotic arm 21, a docking mechanism 3, a camera 4, and a control system. The docking mechanism 3 includes a positioning mounting platform 31 with multiple positioning labels affixed to a set position, a docking positioning frame 32 equipped with a positioning guide plate 321, and a locking positioning device. The positioning mounting platform 31 is used to be installed on the docking platform, and the docking positioning frame 32 is installed on the table surface of the positioning mounting platform 31. When the control system determines that it needs to replenish the docking body 6 to be docked into the docking mechanism 3, it controls the camera to capture images of the docking mechanism 3, analyzes the captured images, determines the position information of the positioning guide in the docking mechanism 3, and controls the posture control mechanism 2 to drive the current docking body 6 to be docked to be placed in the docking positioning frame 32 under the guidance of the positioning guide. After determining that the docking body 6 has reached the designated docking position, it controls the locking positioning device to lock the current docking body 6, controls the robotic arm 21 to disengage from the current docking body 6, and then controls the posture control mechanism 2 to return to the initial position. As can be seen, this application eliminates the need for manual assistance during the docking process. Instead, it utilizes images captured by a camera of the docking mechanism 3 with positioning tags affixed. Image analysis determines the position information of the positioning guide, and the control system then controls the posture adjustment mechanism 2 to guide the workpiece 6 to be docked into the docking positioning frame 32. Once the workpiece 6 has reached the designated docking position, the locking positioning device locks it in place. Therefore, the technical solution provided in this application enables precise and rapid automatic docking, achieving both rapid replenishment and improved replenishment efficiency.

[0118] Secondly, such as Figure 10As shown, this application also provides a docking device that uses a multi-positional adjustment mechanism to achieve automatic docking 200. This docking device is applied to the control system of docking equipment. The docking equipment also includes a rotating platform 1, a positional adjustment mechanism, a docking mechanism 3, and a camera 4. One end of the positional adjustment mechanism is mounted on the rotating platform 1 and can rotate under the drive of the rotating platform 1. The other end serves as the execution end and is equipped with a robotic arm 21 for gripping the object to be docked 6. The docking mechanism 3 includes a positioning mounting platform 31 with multiple positioning labels affixed to a set position, a docking positioning frame 32 with a positioning guide plate 321, and a locking positioning device. The positioning mounting platform 31 is mounted on the docking platform, and the docking positioning frame 32 is mounted on the platform surface of the positioning mounting platform 31. The camera 4 and the robotic arm 21 are mounted at a set distance from each other on the execution end. This docking device includes:

[0119] The shooting unit 201 is used to control the camera to shoot the docking mechanism 3 when it is determined that the docking body 6 needs to be replenished to the docking mechanism 3;

[0120] Image analysis unit 202 is used to analyze the captured images and determine the position information of the positioning guide in the docking mechanism 3;

[0121] The docking guidance unit 203 is used to control the pose adjustment mechanism 2 to drive the current docking body 6 to be docked to be placed in the docking positioning frame 32 under the guidance of the positioning guide according to the position information;

[0122] The locking unit 204 is used to control the locking and positioning device to lock the current docking body 6 after determining that the current docking body 6 has reached the designated docking position;

[0123] The reset unit 205 is used to control the robotic arm 21 to detach from the current docking body 6 and to control the posture adjustment mechanism 2 to return to the initial position.

[0124] As one embodiment, the image analysis unit 202 is used for:

[0125] Identify the positioning tags in the image and obtain the first position camera coordinate information of each positioning tag in the camera coordinate system as the position information;

[0126] Based on the positional relationship between the positioning guides in each positioning labeling and docking mechanism 3 and the first position camera coordinate information, the second position camera coordinate information of the positioning guide in the camera coordinate system is determined;

[0127] Based on the positional relationship between camera 4 and pose control mechanism 2 and the coordinate information of the second position camera, the position information of the positioning guide in the docking mechanism 3 is determined.

[0128] As an embodiment, the docking device is further equipped with a position sensor, which, upon receiving a signal indicating a designated position at the bottom of the docking positioning frame 32, controls the locking positioning device to lock the currently docked body 6. The locking unit 204 includes a position feedback subunit for determining that the currently docked body 6 has reached the designated docking position. The position feedback subunit is used for:

[0129] When a position feedback signal indicating that the position has been reached is received from the position sensor, it is determined that the current docking body 6 has reached the designated docking position.

[0130] As one embodiment, the locking and positioning device includes a motion drive device and a telescopic positioning abutment. The telescopic positioning abutment includes a telescopic rod, a first bearing, and an abutment plate. One end of the telescopic rod is mounted to the output end of the motion drive device, and the other end is mounted to the abutment plate via the first bearing. The input end of the motion drive device is connected to a control system. The locking unit 204 includes a second locking subunit for controlling the locking and positioning device to lock the currently docked body 6. The second locking subunit is used for:

[0131] The drive telescopic rod moves the abutment plate to abut the current body to be docked 6 until the current body to be docked 6 is fixed in the docking positioning frame 32.

[0132] As one embodiment, the robotic arm 21 includes a rotating device 211, a second bearing, a support tube 212, a support plate 213, and a rotating component 214. The input end of the rotating device 211 is mounted on the execution end, and the output end is mounted on the support tube 212 and the rotating component 214 via the second bearing. The support plate 213 passes through the rotating component 214 and is mounted on the end of the support tube 212, allowing the rotating component 214 to rotate independently relative to the support plate 213. The control system is electrically connected to the rotating device 211. When it is determined that the current object to be docked needs to be grasped, before controlling the camera to film the docking mechanism 3, the docking device further includes:

[0133] The first rotating unit is used to control the output end of the rotating device 211 to drive the rotating component 214 to rotate and hide it within the surface of the support plate 213;

[0134] The second rotation unit is used to control the posture adjustment mechanism 2 to drive the robot 21 into the interface and control the rotation device 211 to rotate, so that the rotating part 214 rotates and is exposed outside the surface of the support plate 213 and is engaged in the interface.

[0135] When it is determined that it is necessary to detach from the current docking body, the docking device further includes:

[0136] The third rotating unit is used to control the rotation of the rotating device 211, so that the output end of the rotating device 211 drives the docking rod shaft. The rotating shaft and the support tube 212 are connected by the bearing. One end of the support tube 212 is mounted on the mounting bracket of the rotating motor, and the other end is mounted on the support plate 213. The rotating shaft passes through the support plate 213 and is fitted with the rotating component 214. The rotating motor is electrically connected to the control system to control the rotation of the rotating motor when it is necessary to grasp or detach the current docking body.

[0137] As one embodiment, the top of the object to be docked 6 is symmetrically provided with four docking interfaces. The robotic arm 21 includes an opening and closing mounting frame 215, multiple docking rods 216, and multiple mounting housings 217. One end of each docking rod 216 is provided with a groove facing outward, and the other end is mounted on the corresponding mounting housing 217 with their respective grooves facing away from each other. The mounting housing 217 is mounted on the opening and closing mounting frame 215, and each docking rod 216 can be inserted into its corresponding docking interface when the opening and closing mounting frame 215 is in the closed state. When the opening and closing mounting frame 215 is in the extended state, the groove is precisely engaged with the edge of the docking interface. The reset unit 205 is mounted on the opening and closing mounting frame 215 on the posture control mechanism 2. Each opening and closing mounting frame 215 is electrically connected to the control system. When it is determined that the current object to be docked needs to be grasped, the reset unit 205 includes a disengagement subunit for controlling the robotic arm 21 to disengage from the current object to be docked 6. The disengagement subunit is used for:

[0138] The opening and closing mounting bracket 215 is controlled to be in a closed state, and the position adjustment mechanism 2 is controlled to drive the docking rod 216 into the docking interface;

[0139] The opening and closing mounting bracket 215 is controlled to be in an extended state, so that the grooves of each docking rod 216 are precisely engaged with the edge of the interface;

[0140] When it is determined that the current docking body needs to be released, the opening and closing mounting bracket 215 is controlled to be in a closed state, and the position adjustment mechanism 2 is controlled to drive the docking rod 216 to disengage from the docking interface.

[0141] As one embodiment, the bottom of the docking positioning frame is also provided with a telescopic plate and a telescopic drive device. One end of the telescopic plate is installed on the telescopic drive device, and the other end is provided with a snap-fit ​​plate perpendicular to the telescopic plate. The docking mechanism 3 is installed on the docking platform in a rotatable connection manner. The telescopic drive device is installed on the docking platform. The docking equipment also includes a docking clamping mechanism 7 with a positioning guide component. The positioning guide component is disposed on the docking side of the body to be docked 6 for docking. The docking mechanism 3 is provided with a snap-fit ​​guide component 34. The snap-fit ​​guide component 34 is disposed circumferentially on the positioning mounting platform 31 facing the body to be docked 6 in a manner that corresponds one-to-one with the positioning guide component.

[0142] The docking guidance unit 203 is used for:

[0143] According to the position information, the pose adjustment mechanism 2 is controlled to move the current docking body 6 to be docked to be placed on the telescopic plate in the docking positioning frame 32 under the guidance of the positioning guide plate;

[0144] The telescopic drive device is controlled to pull the telescopic plate toward the direction of the snap-fit ​​guide component 34, so that the docking clamping mechanism 7 docks with the snap-fit ​​guide component 34 under the positioning guidance of the positioning guide component guided by the snap-fit ​​guide component 34.

[0145] After confirming that the engagement guide component 34 and the positioning guide component have fully engaged, the robot arm 21 is controlled to detach from the current docking body 6, and then the pose control mechanism 2 is controlled to return to its initial position.

[0146] As one embodiment, the docking clamping mechanism 7 is provided with a first signal connection end, and the docking mechanism 3 further includes a second signal connection end 35 and a signal docking drive mechanism 36. The second signal connection end 35 is installed at the output end of the signal docking drive mechanism 36, and the docking drive mechanism is installed on the positioning mounting platform 31. The signal docking drive mechanism 36 is electrically connected to the control system. After the positioning and locking are confirmed to be completed, the docking clamping mechanism 7 docks with the positioning guide component 34 under the positioning guidance of the positioning guide component 34. This includes: driving the signal docking drive mechanism 36 to start, so that the second signal connection end 35 is electrically connected to the first signal connection end under the drive of the signal docking drive mechanism 36.

[0147] Therefore, in the technical solution provided in this application embodiment, the docking method is applied to the control system of the docking equipment. The docking equipment also includes a rotating platform 1, a posture control mechanism 2 equipped with a robot arm 21, a docking mechanism 3, and a camera 4 control system. The docking mechanism 3 includes a positioning mounting platform 31 with multiple positioning labels affixed to a set position, a docking positioning frame 32 equipped with a positioning guide plate 321, and a locking positioning device. The positioning mounting platform 31 is used to be installed on the docking platform, and the docking positioning frame 32 is installed on the table surface of the positioning mounting platform 31. When it is determined that the docking body 6 needs to be replenished to the docking mechanism 3, the docking method controls the camera to capture images of the docking mechanism 3, analyzes the captured images, determines the position information of the positioning guide in the docking mechanism 3, and controls the posture control mechanism 2 to drive the current docking body 6 to be placed in the docking positioning frame 32 under the guidance of the positioning guide according to the position information. After determining that the docking body 6 has reached the specified docking position, the locking positioning device is controlled to lock the current docking body 6, the robot arm 21 is controlled to disengage from the current docking body 6, and then the posture control mechanism 2 is controlled to return to the initial position. As can be seen, this application eliminates the need for manual assistance during the docking process. Instead, it utilizes images captured by a camera of the docking mechanism 3 with positioning tags affixed. Image analysis determines the position information of the positioning guide, and the control system then controls the pose adjustment mechanism 2 to place the docking body 6 into the docking positioning frame 32 under the guidance of the positioning guide. Once the docking body 6 has reached the designated docking position, the locking positioning device locks the docking body 6. Therefore, the technical solution provided in this application enables precise and rapid automatic docking, achieving rapid replenishment operations while improving replenishment efficiency.

[0148] Thirdly, this application also provides an electronic device. From a hardware perspective, a hardware architecture diagram can be found in [reference needed]. Figure 11 As shown, it includes a machine-readable storage medium and a processor, wherein: the machine-readable storage medium stores machine-executable instructions that can be executed by the processor; the processor is used to execute the machine-executable instructions to implement the automatic docking operation using a multi-pose control mechanism disclosed in the above example.

[0149] The machine-readable storage medium provided in this application embodiment stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions cause the processor to implement the automatic docking operation disclosed in the above example, which uses a multi-pose control mechanism to achieve automatic docking.

[0150] Here, a machine-readable storage medium can be any electronic, magnetic, optical, or other physical storage device that can contain or store information, such as executable instructions, data, etc. For example, a machine-readable storage medium can be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drives (such as hard disk drives), solid-state drives, any type of storage disk (such as optical discs, DVDs, etc.), or similar storage media, or combinations thereof.

[0151] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, which can take the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email sending and receiving device, game console, tablet computer, wearable device, or any combination of these devices.

[0152] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0153] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0154] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0155] Furthermore, these computer program instructions can also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in the process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0156] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0157] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort. The above descriptions are only preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A docking method employing a multi-position control mechanism to achieve automatic docking, characterized in that, This docking method is applied to the control system of a docking device, which also includes a rotating platform, a posture control mechanism, a docking mechanism, and a camera. One end of the posture control mechanism is mounted on the rotating platform and can rotate under the drive of the rotating platform; the other end, as the execution end, is equipped with a robotic arm for gripping the object to be docked. The docking mechanism includes a positioning mounting platform with multiple positioning labels affixed to predetermined positions, a docking positioning frame with a positioning guide plate, and a locking positioning device. The positioning mounting platform is mounted on the docking platform, and the docking positioning frame is mounted on the platform surface. The camera and the robotic arm are mounted at predetermined intervals on the execution end. This docking method includes: When it is determined that the docking mechanism needs to be replenished with the object to be docked, the camera is controlled to film the docking mechanism. The captured images are analyzed to determine the position information of the positioning guide in the docking mechanism; Based on the location information, the pose adjustment mechanism is controlled to move the object to be docked into the docking positioning frame under the guidance of the positioning guide. After determining that the current docking body has reached the designated docking position, control the locking and positioning device to lock the current docking body; Control the robotic arm to detach from the object to be docked, and control the pose adjustment mechanism to return to the initial position.

2. The docking method according to claim 1, characterized in that, The step of analyzing the captured images to determine the position information of the positioning guide in the docking mechanism includes: Identify the positioning tags in the image and obtain the first position camera coordinate information of each positioning tag in the camera coordinate system as the position information; Based on the positional relationship between the positioning guides in each positioning labeling and docking mechanism and the coordinate information of the first position camera, the coordinate information of the second position camera of the positioning guide in the camera coordinate system is determined; Based on the positional relationship between the camera and the pose control mechanism and the coordinate information of the second position camera, the position information of the positioning guide in the docking mechanism is determined.

3. The docking method according to claim 1, characterized in that, The docking device is also equipped with a position sensor, which is located at a designated position at the bottom of the docking positioning frame. Upon receiving a signal, the sensor controls a locking positioning device to lock the currently docked object. Determining that the currently docked object has reached the designated docking position includes: When a position feedback signal indicating that the position has been reached is received from the position sensor, it is determined that the current docking body has reached the designated docking position.

4. The docking method according to claim 3, characterized in that, The locking and positioning device includes a motion drive device and a telescopic positioning abutment. The telescopic positioning abutment includes a telescopic rod, a first bearing, and an abutment plate. One end of the telescopic rod is installed at the output end of the motion drive device, and the other end is installed at the abutment plate through the first bearing. The input end of the motion drive device is connected to the control system. The control locking and positioning device locks the currently docked body, including: The drive telescopic rod moves the abutment plate to press against the object to be docked until the object to be docked is fixed in the docking positioning frame.

5. The docking method according to claim 1, characterized in that, The top of the object to be docked is provided with a docking interface. The robotic arm includes a rotating device, a second bearing, a support tube, a support plate, and a rotating component. The input end of the rotating device is installed at the execution end, and the output end is equipped with the support tube and the rotating component through the second bearing. The support plate passes through the rotating component and is installed at the end of the support tube, so that the rotating component can rotate independently relative to the support plate. The control system is electrically connected to the rotating device. When it is determined that the current object to be docked needs to be grasped, before controlling the camera to capture the docking mechanism, the docking method further includes: The output end of the control rotating device drives the rotating component to rotate and hides it within the surface of the support plate; The pose adjustment mechanism is controlled to drive the robotic arm into the interface and the rotating device is controlled to rotate, so that the rotating part rotates and is exposed outside the support plate and engaged in the interface; When it is determined that it is necessary to detach from the current docking body, controlling the robotic arm to detach from the current docking body includes: Control the rotation of the rotating device so that the output end of the rotating device drives the rotating component to rotate and hide it within the surface of the support plate. Then, control the posture adjustment mechanism to drive the robot arm to disengage from the interface.

6. The docking method according to claim 5, characterized in that, The rotating device includes a rotary motor and a rotating shaft. The rotary motor is mounted on the actuating end, and the rotating shaft is mounted on the output end of the rotary motor. The rotating shaft and the support tube are connected by the bearing. One end of the support tube is mounted on the mounting bracket of the rotary motor, and the other end is mounted on the support plate. The rotating shaft passes through the support plate and is fitted with the rotating component. The rotary motor is electrically connected to the control system to control the rotation of the rotary motor when it is necessary to grasp or detach the current docking object.

7. The docking method according to claim 1, characterized in that, The top of the object to be docked is symmetrically provided with four docking interfaces. The robotic arm includes an opening and closing mounting frame, multiple docking rods, and multiple mounting housings. One end of each docking rod is provided with a groove facing outward, and the other end is installed on the corresponding mounting housing in a way that the corresponding grooves are opposite to each other. The mounting housing is installed on the opening and closing mounting frame, and each docking rod can be inserted into its corresponding docking interface exactly when the opening and closing mounting frame is in the closed state. When the opening and closing mounting frame is in the extended state, the groove is just locked into the edge of the docking interface. The opening and closing mounting frame is installed on the posture control mechanism. Each of the aforementioned opening and closing mounting brackets is electrically connected to the control system. When it is determined that the current object to be docked needs to be grasped, the control of the robotic arm to detach from the current object to be docked includes: Control the opening and closing mounting bracket to be in the closed state, and control the posture adjustment mechanism to drive the docking rod into the docking interface; The opening and closing mounting bracket is controlled to be in the extended state, so that the grooves of each docking rod are precisely engaged with the edge of the interface; When it is determined that the current docking body needs to be released, the opening and closing mounting frame is controlled to be in a closed state, and the position adjustment mechanism is controlled to drive the docking rod to disengage from the docking interface.

8. The docking method according to claim 1, characterized in that, The bottom of the docking positioning frame is also provided with a telescopic plate and a telescopic drive device. One end of the telescopic plate is installed on the telescopic drive device, and the other end is provided with a snap-fit ​​plate perpendicular to the telescopic plate. The docking mechanism is installed on the docking platform in a rotatable connection manner. The telescopic drive device is installed on the docking platform. The docking equipment also includes a docking clamping mechanism with a positioning guide component. The positioning guide component is set on the docking side of the body to be docked. The docking mechanism is provided with a snap-fit ​​guide component. The snap-fit ​​guide component is circumferentially set on the positioning mounting platform facing the body to be docked in a manner that corresponds one-to-one with the positioning guide component. The step of controlling the pose adjustment mechanism according to the position information to place the object to be docked into the docking positioning frame under the guidance of the positioning guide includes: Based on the location information, the pose adjustment mechanism is controlled to move the object to be docked to be placed on the telescopic plate in the docking positioning frame under the guidance of the positioning guide. Control the telescopic drive device to pull the telescopic plate toward the direction of the snap-fit ​​guide component, so that the docking clamping mechanism can dock with the snap-fit ​​guide component under the positioning guidance of the snap-fit ​​guide component; After confirming that the engagement guide component and the positioning guide component have fully engaged, the robot arm is controlled to detach from the current docking body, and then the pose control mechanism is controlled to return to the initial position.

9. The docking method according to claim 8, characterized in that, The docking clamping mechanism is provided with a first signal connection end. The docking mechanism also includes a second signal connection end and a signal docking drive mechanism. The second signal connection end is installed at the output end of the signal docking drive mechanism. The docking drive mechanism is installed on the positioning mounting platform and is electrically connected to the control system. After positioning and locking are confirmed, the docking clamping mechanism, guided by the snap-fit ​​guide component, docks with the snap-fit ​​guide component, including: The signal docking drive mechanism is activated so that the second signal connection terminal is electrically connected to the first signal connection terminal under the drive of the signal docking drive mechanism.

10. A docking device employing a multi-position control mechanism to achieve automatic docking, characterized in that, This docking device is used in the control system of a docking equipment, which also includes a rotating platform, a posture control mechanism, a docking mechanism, and a camera. One end of the posture control mechanism is mounted on the rotating platform and can rotate under the drive of the rotating platform; the other end, as the execution end, is equipped with a robotic arm for gripping the object to be docked. The docking mechanism includes a positioning mounting platform with multiple positioning labels affixed to predetermined positions, a docking positioning frame with a positioning guide plate, and a locking positioning device. The positioning mounting platform is mounted on the docking platform, and the docking positioning frame is mounted on the platform surface. The camera and the robotic arm are mounted at predetermined intervals on the execution end. This docking device includes: The shooting unit is used to control the camera to shoot the docking mechanism when it is determined that the docking mechanism needs to be replenished with the docking body; The image analysis unit is used to analyze the captured images and determine the position information of the positioning guide in the docking mechanism; The docking guidance unit is used to control the pose adjustment mechanism to drive the current docking body to be docked to be placed in the docking positioning frame under the guidance of the positioning guide according to the position information; A locking unit is used to control a locking and positioning device to lock the current docking body after determining that the current docking body has reached the designated docking position; The reset unit is used to control the robotic arm to detach from the current docking body and to control the posture adjustment mechanism to return to the initial position.

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