Modularized house automatic docking system and control method thereof

Abstract

The invention provides an automatic docking system and method for a modular house, and the system comprises a core cabin, a functional module, and a guiding module which is disposed between the core cabin and the functional module and carries out the guiding and rough docking of the relative position and posture. The mechanical locking mechanism is used for realizing physical connection and sealing between the core cabin and the functional module after the guiding and the coarse butt joint are completed; the interface module comprises an electrical interface for communicating a power supply and data between the core cabin and the functional module and a fluid interface for communicating a fluid medium between the core cabin and the functional module; and the control module is electrically connected with the guide system, the mechanical locking mechanism and the interface module. According to the invention, interface guiding and positioning are realized through guiding of the guiding module, then the functional modules are pulled close to the aviation cabin and locked through the mechanical locking mechanism, and then the corresponding interfaces are connected according to a specified sequence, so that high-safety sequential electrical connection and zero-leakage fluid connection are realized.

Description

Technical Field

[0001] This invention relates to the field of mobile housing technology, and in particular to an automatic docking system for modular housing and its control method. Background Technology

[0002] There is a long-standing contradiction in the field of mobile homes or modular buildings. On the one hand, traditional mobile homes (such as RVs) are easy to disassemble and move, but their functions are relatively simple and they cannot provide a high-quality living experience. On the other hand, modern prefabricated buildings (such as "space capsules" or "apple capsules") are luxurious and comfortable, but they are usually integrated structures, which are inconvenient to move and cannot be disassembled or combined as needed, resulting in high transportation costs and fixed functions.

[0003] To address these contradictions, the industry has proposed a platform-based architecture of "core module + functional modules." However, the key technological bottleneck in realizing this architecture lies in the connection interface between the core module and the functional modules. Existing connection methods typically rely on complex manual operations to plug and unplug cables and water pipes, or use simple mechanical clips. These methods not only have low automation and poor user experience, but also cannot simultaneously guarantee the reliability of the connection, high-level airtightness (e.g., IP67 or higher), and absolute operational safety when connecting high-power power supplies, high-speed data buses, and fluid media (such as hot and cold water). Forcibly connecting electrical or fluid components when the alignment is inaccurate or the seal is not tight can easily lead to serious accidents such as short circuits, fires, or liquid leaks.

[0004] Therefore, there is an urgent need in this field for a multifunctional, highly secure integrated docking system that can automatically complete guidance, locking, electrical, data and fluid connections. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide an automatic docking system for modular houses and its control method, so as to solve the problem that modular houses are difficult to reliably dock with electrical and fluid media in the prior art.

[0006] To achieve the above and other related objectives, the present invention provides a modular house automatic docking system, including a core module and functional modules, and further comprising: a guidance module, disposed between the core module and functional modules for guiding and rough docking in relative position and attitude; a mechanical locking mechanism, used to achieve physical connection and sealing between the core module and functional modules after the guidance and rough docking are completed; an interface module, including an electrical interface for power and data communication between the core module and functional modules and a fluid interface for fluid medium communication between the core module and functional modules; and a control module, connected to the guidance system, the mechanical locking mechanism, and the interface module respectively. The control module activates the guidance system to achieve preset rough docking alignment conditions, then activates the mechanical locking mechanism to complete mechanical locking and airtight sealing, connects the electrical interface to establish an electrical and data link, and finally connects the fluid interface to establish a fluid medium passage.

[0007] By adopting the above technical solutions, the safety and reliability of modular houses during automatic docking are solved through multiple physical and logical safety interlocks on mechanical, electrical and fluid interfaces. The interface is guided and positioned by the guide module, and then the functional modules are pulled close to the cabin and locked by the mechanical locking mechanism. Then, the corresponding interfaces are connected in a specified order to achieve highly secure sequential electrical connection and zero-leakage fluid connection, realizing a highly automated user experience.

[0008] In one embodiment of the present invention, the guidance module further includes an auxiliary positioning sensor for initial guidance. The auxiliary positioning sensor is an ultra-wideband positioning module or a millimeter-wave radar, which can provide centimeter-level distance measurement when the visual recognition capability of the wide-angle camera is limited.

[0009] In one embodiment of the present invention, the mechanical locking mechanism includes a plurality of locking hooks circumferentially distributed around the interface module mating surface, a locking groove disposed opposite to the locking hooks on another mating surface, and a driving member for driving the plurality of locking hooks to move synchronously so that the locking hooks engage with the locking grooves. The driving member is used to pull the core compartment and the functional module closer together and lock them.

[0010] In one embodiment of the present invention, the mechanical locking mechanism further includes an outer hard rubber sealing ring disposed around the interface module and an inner double-lip pressure sealing ring disposed inside the interface module. During the process of the driving member pulling the locking hook closer, the outer hard rubber sealing ring contacts first, and then the inner double-lip pressure sealing ring is compressed to form a physical and airtight barrier.

[0011] In one embodiment of the present invention, the physical connection stroke of the electrical interface is designed to be shorter than the tension stroke of the mechanical locking mechanism, so as to ensure that the electrical interface only makes electrical contact after the mechanical locking mechanism is fully locked and the sealing ring is compacted.

[0012] An automatic docking method for the modular housing automatic docking system as described above includes the following steps:

[0013] S1. Guiding: Through the guiding module, the core module and functional modules are guided to perform a rough docking of relative position and attitude until the preset alignment conditions are met.

[0014] S2. Locking: After completing step S1, the core compartment and functional module are pulled in and locked together by a mechanical locking mechanism.

[0015] S3. Electrical connection: After completing step S2, the power and data links between the core module and the functional module are connected through the electrical interface.

[0016] S4. Fluid connection: After completing step S3, the fluid medium passage between the core compartment and the functional module is connected through the fluid interface.

[0017] In one embodiment of the present invention, after the mechanical locking and airtight sealing are completed in step S2, a low-pressure detection signal is first sent in step S3 to confirm the alignment accuracy of the electrical interface. Only after confirming that the alignment accuracy is correct is the main power supply and high-speed data bus activated.

[0018] In one embodiment of the present invention, in step S4, the fluid interface is unlocked and driven to connect only after the electrical interface has been connected in step S3 and the identity information of the functional module has been received and authenticated by the controller.

[0019] As described above, the modular housing automatic docking system and its control method of the present invention have the following beneficial effects:

[0020] 1. High safety: Through a three-level sequential interlocking design of mechanical-electrical-fluid, the risk of powering on when not sealed or water flowing on when not identified is eliminated from the physical structure and control logic, ensuring the safety of operation;

[0021] 2. High reliability: The circumferential multi-point servo locking mechanism provides sufficient locking force, and with the inner and outer double-layer sealing rings, it ensures high strength of the connection and a high level of physical and airtight barrier.

[0022] 3. High degree of automation: Through a visual guidance system based on AR markers and wide-angle cameras, combined with closed-loop servo control, the entire process from centimeter-level coarse connection to final connection is automated, greatly improving the user experience. Attached Figure Description

[0023] Figure 1 The diagram shows the overall module layout disclosed in Embodiment 1 of the present invention;

[0024] Figure 2 The diagram shows the overall process flow as disclosed in Embodiment 2 of the present invention; Detailed Implementation

[0025] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0026] Please see Figures 1 to 2 It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0027] Example 1:

[0028] like Figure 1 As shown, this embodiment provides a modular house automatic docking system, including:

[0029] Core module and functional modules;

[0030] The guidance module is positioned between the core module and the functional modules to guide their relative positions and attitudes and to perform rough docking.

[0031] A mechanical locking mechanism is used to achieve physical connection and sealing between the core compartment and the functional module after the guidance and rough docking are completed;

[0032] The interface module includes an electrical interface for power and data communication between the core module and the functional modules, and a fluid interface for fluid medium communication between the core module and the functional modules.

[0033] The control module is connected to the guiding system, the mechanical locking mechanism, and the interface module. The guiding system is started by the control module to achieve the preset coarse docking alignment conditions. Then the mechanical locking mechanism is started to complete the mechanical locking and airtight sealing. After that, the electrical interface is connected to establish an electrical and data link. Finally, the fluid interface is connected to establish a fluid medium passage.

[0034] The guidance module includes AR markers set on the docking surface of the core module or functional module, and a wide-angle camera set on another docking surface opposite to the AR markers for capturing the AR markers. The wide-angle camera can capture images of the AR markers for attitude calculation.

[0035] In this embodiment, the wide-angle camera can use a global shutter camera module with a Sony IMX477 (12.3 megapixels) or IMX462 (2 megapixels) chip to adapt to different lighting conditions and prevent motion distortion.

[0036] In this embodiment, the AR markers can be from the AprilTag 36h11 family, with a size of 150mm x 150mm, and at least two can be symmetrically arranged to provide redundancy and attitude calculation, in order to assist the visual guidance system in working at night or in low visibility conditions.

[0037] The guidance module also includes an auxiliary positioning sensor for initial guidance. The auxiliary positioning sensor is an ultra-wideband positioning module or a millimeter-wave radar, which can provide centimeter-level distance measurement when the visual recognition capability of the wide-angle camera is limited.

[0038] In this embodiment, the auxiliary positioning sensor uses a Qorvo DW1000 UWB (Ultra-Wideband) module, which can provide centimeter-level absolute distance measurement before the vision system takes effect, enabling preliminary guidance and is unaffected by light and weather.

[0039] The controller module processes data from the wide-angle camera and auxiliary positioning sensor using algorithms such as PID, calculates the relative position and attitude in real time, and guides the user to make fine adjustments through lights, sounds or App animations. When the control module determines that the alignment conditions are met, such as the relative distance being less than 0.5m and the alignment error being within the threshold, the guidance and coarse docking stage is completed, and the mechanical locking mechanism is activated.

[0040] The mechanical locking mechanism includes multiple locking hooks circumferentially distributed around the interface module mating surface, a locking groove disposed opposite to the locking hooks on another mating surface, and a driving component that drives the multiple locking hooks to move synchronously so that the locking hooks engage with the locking grooves. The driving component is used to pull the core compartment and the functional module closer together and lock them.

[0041] There are 6-8 locking hooks evenly distributed around the interface module. The driving component is a servo motor. The mechanical locking mechanism also includes an outer hard rubber sealing ring set on the periphery of the interface module and an inner double-lip pressure sealing ring set on the inner side of the interface module.

[0042] After the initial guidance and rough docking phases are completed, the control module issues a command, and the servo motor drives the locking hook to move, engaging the corresponding locking slot on the functional module interface and smoothly pulling the module towards the core compartment interface. During the tightening process, the hard rubber sealing ring on the outer periphery of the interface module first contacts the module. Subsequently, under strong mechanical tension, the more precise double-lip pressure sealing ring inside is fully compressed, forming a high-level physical and airtight barrier. To ensure that the sealing ring can be compacted under various operating conditions to achieve an IP67 or higher protection level, the locking mechanism must provide sufficient tension. According to mechanical analysis:

[0043] 1. Total compression force of the sealing ring (F_seal):

[0044] Contact area A≈6000mm² * (8mm² * 0.25) = 6000mm² 2 *2mm=12000mm 2

[0045] F_seal = pressure × area = 0.5 N / mm 2 *12000mm 2 = 6000N (approximately 612kgf)

[0046] 2. Allowance (F_margin) required to overcome machining tolerances and deformation:

[0047] Assume it is 50% of F_seal, which is 3000N;

[0048] 3. Mechanism friction (F_friction):

[0049] Assuming a mechanical efficiency of η = 85%, the additional force required due to frictional losses is approximately

[0050] (F_seal+F_margin)*(1-η)=9000N*0.15≈1350N.

[0051] 4. Total pulling force F_total required for the locking mechanism:

[0052] F_total=F_seal+F_margin+F_friction=6000N+3000N+1350N=10350N

[0053] Therefore, in this embodiment, the total tension required by the mechanical locking mechanism is designed to be at least 10350N. To achieve this tension, the servo motor in this embodiment is an integrated brushless servo electric cylinder with a rated output thrust of not less than 12kN. The servo motor integrates a high-precision absolute encoder for real-time feedback of the locking position.

[0054] The electrical interface is located at the center of the core compartment, including a protected multi-pin composite ferrule and a guide cone and corresponding socket on the functional module;

[0055] The physical connection stroke of the composite ferrule of the electrical interface is shorter than the tension stroke of the mechanical locking mechanism to ensure that the electrical interface only makes electrical contact after the mechanical locking mechanism is fully locked and the two sealing rings are compacted.

[0056] This eliminates electrical contact when the machinery is not locked or the seal is not complete, thus preventing arcing, short circuits, or equipment damage caused by misalignment or gaps.

[0057] After the mechanical locking and airtight sealing states are completed in the control module, a low-pressure detection signal is first sent to confirm the alignment accuracy of the electrical interface. Only after confirming that the alignment accuracy is correct is the main power supply and high-speed data bus activated.

[0058] In the control module, the fluid interface is only unlocked and driven to connect after the electrical interface is connected and the identity information of the functional module has been received and authenticated by the controller. The control module can use an existing controller.

[0059] In this embodiment, the fluid interface adopts a dry disconnect / quick self-sealing connector, such as the Staubli NCB series flushing flange quick-connect connector. When disconnected, the internal valve closes instantly under the action of the spring, and there will be no liquid leakage at either end; when connected, the valve is pushed open to form a channel.

[0060] Example 2:

[0061] like Figure 1 This embodiment provides an automatic docking method for a modular housing automatic docking system as described in Embodiment 1, comprising the following steps:

[0062] S1. Guiding: Through the guiding module, the core module and functional modules are guided to perform a rough docking of relative position and attitude until the preset alignment conditions are met.

[0063] S2. Locking: After completing step S1, the core compartment and functional module are pulled in and locked together by a mechanical locking mechanism.

[0064] S3. Electrical connection: After completing step S2, the power and data links between the core module and the functional module are connected through the electrical interface.

[0065] S4. Fluid connection: After completing step S3, the fluid medium passage between the core compartment and the functional module is connected through the fluid interface.

[0066] When the user moves the functional module next to the core compartment via the App or remote control and triggers the "docking" command, the control module initiates step S1 to guide the user through mutual recognition between the core compartment and the module. The user is then guided to make manual fine adjustments (e.g., "Please move back 5 centimeters") via lights, sounds (or App animations). Alternatively, for functional modules or the core compartment with active movement capabilities on the chassis, the control module algorithm, in conjunction with the visual positioning algorithm, enables automatic approach to complete the coarse docking between the core compartment and the functional module.

[0067] In step S2, after the rough docking is completed, when the functional module and the core module are close to a gap of about 10mm, the control module issues a command, the servo motor drives the locking hook to hook the corresponding locking groove on the docking surface of the functional module, and smoothly pulls the module toward the interface module on the core module until the two sealing rings on the interface module are fully compressed, thus completing the mechanical locking.

[0068] After completing the mechanical locking and airtight sealing in step S2, in step S3, a low-pressure detection signal is first sent to confirm the alignment accuracy of the electrical interface. Only after confirming that the alignment accuracy is correct is the main power supply and high-speed data bus activated.

[0069] In step S4, the fluid interface is unlocked and driven to connect only after the electrical interface has been connected in step S3 and the identity information of the functional module has been received and authenticated by the controller.

[0070] In summary, this invention perfectly solves the safety and reliability challenges of modular buildings during automated docking processes through precise four-stage sequential control logic and multiple physical and logical safety interlocks at mechanical, electrical, and fluid interfaces. By employing high-precision visual guidance, high-strength servo locking, highly secure sequential electrical connections, and zero-leakage fluid connections, it achieves a highly automated user experience. Therefore, this invention effectively overcomes the various shortcomings of existing technologies and possesses significant industrial applicability.

[0071] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A modular housing automated docking system, comprising a core module and functional modules, characterized in that, Also includes: The guidance module is positioned between the core module and the functional modules to guide their relative positions and attitudes and to perform rough docking. A mechanical locking mechanism is used to achieve physical connection and sealing between the core compartment and the functional module after the guide module docking is completed; The interface module includes an electrical interface for power and data communication between the core module and the functional modules, and a fluid interface for fluid medium communication between the core module and the functional modules. The control module is electrically connected to the guiding system, the mechanical locking mechanism, and the interface module. The guiding system is started by the control module to achieve the preset coarse alignment conditions. Then the mechanical locking mechanism is started to complete the mechanical locking and airtight sealing. After that, the electrical interface is connected to establish an electrical and data link. Finally, the fluid interface is connected to establish a fluid medium passage.

2. The modular housing automatic docking system and its control method according to claim 1, characterized in that: The guidance module includes AR markers set on the docking surface of the core module or functional module, and a wide-angle camera set on another docking surface opposite to the AR markers for capturing the AR markers. The wide-angle camera can capture images of the AR markers for attitude calculation.

3. The modular housing automatic docking system and its control method according to claim 1, characterized in that: The guidance module also includes an auxiliary positioning sensor for initial guidance. The auxiliary positioning sensor is an ultra-wideband positioning module or a millimeter-wave radar, which can provide centimeter-level distance measurement when the visual recognition capability of the wide-angle camera is limited.

4. The modular housing automatic docking system and its control method according to claim 1, characterized in that: The mechanical locking mechanism includes multiple locking hooks circumferentially distributed around the interface module mating surface, a locking groove disposed opposite to the locking hooks on another mating surface, and a driving component that drives the multiple locking hooks to move synchronously so that the locking hooks engage with the locking grooves. The driving component is used to pull the core compartment and the functional module closer together and lock them.

5. The modular housing automatic docking system and its control method according to claim 1, characterized in that: The mechanical locking mechanism also includes an outer hard rubber sealing ring disposed around the interface module and an inner double-lip pressure sealing ring disposed inside the interface module. During the process of the driving component pulling the locking hook closer, the outer hard rubber sealing ring contacts first, and then the inner double-lip pressure sealing ring is compressed to form a physical and airtight barrier.

6. The modular housing automatic docking system and its control method according to claim 1, characterized in that: The physical connection stroke of the electrical interface is designed to be shorter than the tension stroke of the mechanical locking mechanism, so as to ensure that the electrical interface only makes electrical contact after the mechanical locking mechanism is fully locked and the sealing ring is compacted.

7. An automatic docking method for the modular housing automatic docking system according to any one of claims 1-6, characterized in that: Includes the following steps: S1. Guiding: Through the guiding module, the core module and functional modules are guided to perform a rough docking of relative position and attitude until the preset alignment conditions are met. S2. Locking: After completing step S1, the core compartment and functional module are pulled in and locked together by a mechanical locking mechanism. S3. Electrical connection: After completing step S2, the power and data links between the core module and the functional module are connected through the electrical interface. S4. Fluid connection: After completing step S3, the fluid medium passage between the core compartment and the functional module is connected through the fluid interface.

8. The modular housing automatic docking system and its control method according to claim 7, characterized in that: After the mechanical locking and airtight sealing are completed in step S2, a low-pressure detection signal is first sent in step S3 to confirm the alignment accuracy of the electrical interface. Only after confirming that the alignment accuracy is correct is the main power supply and high-speed data bus activated.

9. The modular housing automatic docking system and its control method according to claim 7, characterized in that: In step S4, the fluid interface is unlocked and driven to connect only after the electrical interface has been connected in step S3 and the identity information of the functional module has been received and authenticated by the controller.

Images