Butt joint device of trackless mobile workshop

Abstract

The utility model provides a docking device of a trackless mobile workshop, the docking device comprises a first dual-positioning antenna, a second dual-positioning antenna and a base station, the first dual-positioning antenna is arranged on a docked workshop; the second dual-positioning antenna is arranged on the active docking plant; the base station is fixedly arranged on a ground reference point with a known position; and the first double-positioning antenna and the second double-positioning antenna are in communication connection with the base station. According to the butt joint device of the trackless movable workshop, the advancing direction of the other movable workshop can be adjusted according to the parking position of an existing movable workshop, butt joint work of the two movable workshops is completed, the butt joint difficulty of the trackless movable workshop is reduced, manpower needed by butt joint and time needed by butt joint are reduced, the butt joint precision and the butt joint efficiency are improved, and the butt joint efficiency is improved. And the possibility of danger caused by misoperation in the butt joint process of the movable plant is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of mobile factories, and in particular to a docking device for trackless mobile factories. Background Art

[0002] Existing factory buildings are generally built on the ground. They are large and immovable and can only be used in fixed places, which is not conducive to the rational use of factory space. Moreover, when the factory building needs to be vacated, the large structures or equipment in the factory building can only be moved out of the factory building, which is time-consuming and laborious.

[0003] The existing patent publication number is CN203175094U, which discloses a movable factory building, including a steel structure support frame of the factory building, the steel structure support frame includes support columns perpendicular to the ground, the corresponding support columns on both sides of the factory building are connected to the roof beam, the bottom of the support column is conical, and load-bearing wheels are installed below the conical bottom, and tracks are provided below the load-bearing wheels. However, the mobile factory building needs to move along the track, the route is fixed, and it cannot be moved at will, and the mobile factory building cannot be docked with other mobile factories.

[0004] At present, the docking method used in large mobile factories mostly adopts the method of track docking. If it is a non-track mobile factory, the docking difficulty increases. In order to ensure the docking accuracy and the airtightness in the factory, the method of increasing the number of workers, increasing monitoring and communication posts, sacrificing docking efficiency, and docking slowly and frequently debugging is often adopted.

[0005] If the mobile plant adopts the track docking method, the track is fixed relative to the ground, and the track of the mobile plant on the field needs to be fixed, which cannot meet the needs of covering the actual product location. As for the method of manually operating the mobile plant to drive and adjust the direction left and right, due to the huge equipment, the operator cannot take into account the overall situation, requires a lot of manpower for safety monitoring, and a lot of adjustment attempts are required during the docking process. When the docking is about to be completed, it is found that the direction is a little off, and it is too late to operate the plant to turn, so it has to retreat again and try again, and the docking efficiency is low.

[0006] Therefore, the technical problem that urgently needs to be solved is: how to provide a docking device for a trackless mobile factory building, which can adjust the travel direction of another mobile factory building according to the parking position of the existing mobile factory building, complete the docking of the two mobile factories, reduce the difficulty of docking of trackless mobile factories, reduce the manpower and time required for docking, improve the docking accuracy and efficiency, and reduce the possibility of danger caused by operational errors during the docking of mobile factories. Summary of the invention

[0007] The purpose of the present application is to provide a docking device for a trackless mobile factory building, which can adjust the travel direction of another mobile factory building according to the parking position of the existing mobile factory building, complete the docking work of the two mobile factories, reduce the difficulty of docking the trackless mobile factories, reduce the manpower and time required for docking, improve the docking accuracy and efficiency, and reduce the possibility of danger caused by operational errors during the docking of mobile factories.

[0008] To achieve the above-mentioned purpose, as a first aspect of the present application, the present application provides a docking device for a trackless mobile factory building, comprising: a first dual positioning antenna, a second dual positioning antenna and a reference station, wherein the first dual positioning antenna is arranged on the docked factory building; the second dual positioning antenna is arranged on the active docking factory building; the reference station is fixedly arranged on a ground reference point at a known position; the first dual positioning antenna and the second dual positioning antenna are communicatively connected to the reference station.

[0009] The docking device for the trackless mobile factory building as described above, wherein the first bidirectional positioning antenna includes an A1 positioning antenna and an A2 positioning antenna; the A1 positioning antenna and the A2 positioning antenna receive GPS or GNSS signals; the A1 positioning antenna and the A2 positioning antenna are symmetrically arranged at both ends of the length direction of the docked factory building; and are both arranged on the top of the docked factory building.

[0010] The docking device of the trackless mobile factory building as described above, wherein the second bidirectional positioning antenna includes a B1 positioning antenna and a B2 positioning antenna; the B1 positioning antenna and the B2 positioning antenna receive GPS or GNSS signals; the B1 positioning antenna and the B2 positioning antenna are symmetrically arranged at both ends of the length direction of the active docking factory building; and are both arranged on the top of the active docking factory building.

[0011] In the docking device for the trackless mobile factory building as described above, the connecting line of the A1 positioning antenna and the A2 positioning antenna is parallel to the center line of the top surface of the docked factory building.

[0012] In the docking device for the trackless mobile factory building as described above, the line connecting the B1 positioning antenna and the B2 positioning antenna is parallel to the center line of the top surface of the active docking factory building.

[0013] As described above, the docking device for the trackless mobile factory building, wherein, during the process of the active docking factory building docking with the docked factory building, the docked factory building is fixed and the active docking factory building moves toward the docked factory building.

[0014] The docking device for a trackless mobile factory building as described above, wherein, during the process of the active docking factory building moving toward the docked factory building, the moving distance, steering angle and / or whether the docking with the docked factory building is completed of the active docking factory building are determined based on the position coordinates of the A1 positioning antenna, the A2 positioning antenna, the B1 positioning antenna and the B2 positioning antenna.

[0015] In the docking device for the trackless mobile factory building as described above, the A1 positioning antenna and the A2 positioning antenna are located at the midpoints of the two end edges of the top of the docked factory building.

[0016] In the docking device for the trackless mobile factory building as described above, the B1 positioning antenna and the B2 positioning antenna are located at the midpoints of the two end edges of the top of the active docking factory building.

[0017] In the docking device for the trackless mobile factory building as described above, the A1 positioning antenna, the A2 positioning antenna, the B1 positioning antenna and the B2 positioning antenna are all GPS antennas.

[0018] The beneficial effects achieved by this application are as follows:

[0019] (1) The docking device of the present application includes a first dual positioning antenna, a second dual positioning antenna and a reference station. The first dual positioning antenna is arranged on the docked plant; the second dual positioning antenna is arranged on the active docking plant. The relative positions of the docked plant and the active docking plant are determined according to the first dual positioning antenna, the second dual positioning antenna and the reference station, and then the docking of the docked plant and the active docking plant is assisted according to the relative positions. The docking is more accurate and reliable than observing the relative positions of the docked plant and the active docking plant with the naked eye, and the docking accuracy of the docked plant and the active docking plant is higher, thereby improving the docking efficiency.

[0020] (2) This application reduces the number of personnel observation posts required during the docking process between the docked plant and the active docking plant, avoids multiple docking failures and repeated docking, reduces the number of repeated dockings, and improves the docking efficiency of mobile plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For those skilled in the art, other drawings can also be obtained based on these drawings.

[0022] Figure 1 This is a schematic structural diagram of a docking device for a trackless mobile factory building according to an embodiment of the present application.

[0023] Figure 2 This is a schematic diagram of the structure of the connected factory building in an embodiment of the present application.

[0024] Figure numerals: 1- docked factory building; 2- active docking factory building; 3- reference station; 11- roof; 12- first supporting side beam; 13- second supporting side beam; 14- moving wheel. DETAILED DESCRIPTION

[0025] The following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0026] Embodiment 1

[0027] like Figure 1 As shown, the present application provides a docking device for a trackless mobile plant, including: a first dual positioning antenna, a second dual positioning antenna and a reference station 3, wherein the first dual positioning antenna is arranged on the docked plant 1; the second dual positioning antenna is arranged on the active docking plant 2; the reference station 3 is fixedly arranged on a ground reference point at a known position; the reference station 3 is an existing RTK base station; the reference station 3 is a station providing known coordinates, and the active docking plant 2 and the passive docking plant are separated from the reference station 3 by a certain distance; the first dual positioning antenna and the second dual positioning antenna are in communication connection with the reference station 3. For example, the active docking plant 2 and the passive docking plant are separated from the reference station 3 by 15-20 kilometers.

[0028] It should be explained that the docking device of the trackless mobile factory building realizes the docking process of the active docking factory building 2 and the docked factory building 1 through the RTK dual-antenna positioning and orientation technology. During the docking process, the docked factory building 1 is ensured to be fixed, and the active docking factory building 2 moves and adjusts toward the docked factory building 1 or actively turns the docking factory building 2 according to the positions of the first dual positioning antenna and the second dual positioning antenna until the active docking factory building 2 and the docked factory building 1 are docked.

[0029] As a specific embodiment of the utility model, the first bidirectional positioning antenna includes two antennas, the two antennas are: A1 positioning antenna and A2 positioning antenna; A1 positioning antenna and A2 positioning antenna are respectively located at Figure 1The positions shown by A1 and A2 in the figure; the A1 positioning antenna and the A2 positioning antenna receive GPS or GNSS signals; the A1 positioning antenna and the A2 positioning antenna are symmetrically arranged at the two ends of the length direction of the docked factory building 1; and are both arranged on the top of the docked factory building 1. Preferably, the A1 positioning antenna and the A2 positioning antenna are located at the midpoint of the two ends of the top edge of the docked factory building 1. According to the position coordinates of the A1 positioning antenna and the A2 positioning antenna, the coordinates of the midpoint of the two ends of the docked factory building 1 can be obtained.

[0030] As a specific embodiment of the utility model, the two antennas of the first bidirectional positioning antenna are existing GPS antennas, and the two GPS antennas of the first bidirectional positioning antenna are fixedly connected to the top of the docked factory building 1 through existing fixing devices (such as bolts, screws, etc.), and the GPS antenna obtains its own position coordinates by receiving GPS signals. For example, the A1 positioning antenna and the A2 positioning antenna receive GPS signals, and the position coordinates of the A1 positioning antenna are obtained as (XA1, YA1), and the position coordinates of the A2 positioning antenna are obtained as (XA2, YA2). Then, according to the position coordinates of the A1 positioning antenna and the A2 positioning antenna, the coordinates of the midpoint positions of the two end edges of the docked factory building 1 are obtained as (XA1, YA1) and (XA2, YA2), respectively.

[0031] As a specific embodiment of the utility model, the second bidirectional positioning antenna includes two antennas, the two antennas are: B1 positioning antenna and B2 positioning antenna; B1 positioning antenna and B2 positioning antenna are respectively located at Figure 1 The B1 positioning antenna and the B2 positioning antenna receive GPS or GNSS signals; the B1 positioning antenna and the B2 positioning antenna are symmetrically arranged at both ends of the length direction of the active docking plant 2; and are both arranged on the top of the active docking plant 2. Preferably, the B1 positioning antenna and the B2 positioning antenna are located at the midpoint of the two ends of the top edge of the active docking plant 2.

[0032] As a specific embodiment of the utility model, the two antennas of the second bidirectional positioning antenna are existing GPS antennas, and the two GPS antennas of the second bidirectional positioning antenna are fixedly connected to the top of the active docking plant 2 through existing fixing devices, and the GPS antenna obtains its own position coordinates by receiving GPS signals. For example, the B1 positioning antenna and the B2 positioning antenna receive GPS signals, and the position coordinates of the B1 positioning antenna are obtained as (XB1, YB1), and the position coordinates of the B2 positioning antenna are obtained as (XB2, YB2). Then, according to the position coordinates of the B1 positioning antenna and the B2 positioning antenna, the coordinates of the midpoint positions of the two end edges of the active docking plant 2 are obtained as (XB1, YB1) and (XB2, YB2), respectively.

[0033] The first bidirectional positioning antenna and the second bidirectional positioning antenna of the utility model adopt the existing GPS antenna, and the GPS antenna can adopt the antenna of model AC-GPS-06 or AGPS20P-36C. The GPS antenna can also adopt an anti-interference GPS antenna structure disclosed by patent publication number CN218569211U. Here, the specific model of the GPS antenna adopted by the first bidirectional positioning antenna and the second bidirectional positioning antenna is not limited, as long as it can realize receiving GPS signals and obtaining its own position coordinates.

[0034] like Figure 1 As shown, an XY axis coordinate system is established, the angle between the line connecting the position coordinates of the A1 positioning antenna and the A2 positioning antenna and the X axis represents the straight-line heading angle of the antenna A1-A2, and the angle between the line connecting the position coordinates of the B1 positioning antenna and the B2 positioning antenna and the X axis represents the straight-line heading angle of the antenna B1-B2.

[0035] As a specific embodiment of the present utility model, in the process of actively docking the plant 2 and the docked plant 1, the following three operation steps are repeatedly performed:

[0036] Step 1: Compare the straight-line heading angle of antenna B1-B2 with the straight-line heading angle of antenna A1-A2 to obtain the difference between the two, and manipulate the steering angle of the active docking building 2 according to the comparison result (the difference between the straight-line heading angle of antenna B1-B2 and the straight-line heading angle of antenna A1-A2), thereby eliminating the need to repeatedly adjust the steering angle of the active docking building 2, thereby improving the docking efficiency between the active docking building 2 and the docked building 1.

[0037] Step 2: According to the position coordinates of the B1 positioning antenna, the A1 positioning antenna and the A2 positioning antenna, the active docking plant 2 is operated horizontally until the positions of the B1 positioning antenna, the A1 positioning antenna and the A2 positioning antenna form a straight line.

[0038] Step three, according to the position coordinates of the B1 positioning antenna, the A1 positioning antenna and the A2 positioning antenna, the active docking building 2 is operated longitudinally, so that the position of the B1 positioning antenna on the active docking building 2 moves toward the position of the A1 positioning antenna close to the docked building 1, thereby realizing the movement of the active docking building 2 closer to the docked building 1.

[0039] It should be explained that, considering the error of straight-line travel of large equipment (such as trackless mobile factories) and the required docking accuracy, it is necessary to repeat the above three steps after step three until the distance between the A2 positioning antenna and the B1 positioning antenna is used to determine whether the active docking factory 2 has completed docking with the docked factory 1.

[0040] As a preferred embodiment of the present utility model, the second bidirectional positioning antenna has the same structure as the first bidirectional positioning antenna.

[0041] As a specific embodiment of the present invention, the line connecting the A1 positioning antenna and the A2 positioning antenna is parallel to the center line of the top surface of the docked plant 1. The line connecting the B1 positioning antenna and the B2 positioning antenna is parallel to the center line of the top surface of the active docking plant 2.

[0042] As a specific embodiment of the present utility model, during the process of docking the active docking plant 2 with the docked plant 1 , the docked plant 1 is fixed and the active docking plant 2 moves toward the docked plant 1 .

[0043] As a specific embodiment of the present utility model, during the process of the active docking building 2 moving toward the docked building 1, the moving distance, steering angle and / or whether the docking with the docked building 1 is completed of the active docking building 2 is determined according to the position coordinates of the A1 positioning antenna, the A2 positioning antenna, the B1 positioning antenna and the B2 positioning antenna.

[0044] As a specific embodiment of the present invention, in RTK positioning, the antennas on the reference station 3 and the mobile plant (active docking plant 2 or docked plant 1) simultaneously receive signals transmitted by multiple satellites, and use the difference between the signals to calculate the position of the active docking plant 2 or the docked plant 1 relative to the reference station 3. The reference station 3 has known coordinates and can provide accurate reference data, thereby improving the accuracy of the position measurement of the antenna on the active docking plant 2 or the docked plant 1.

[0045] It needs to be explained that RTK positioning technology is an existing technology. RTK positioning technology is actually a relative positioning. By deploying a reference station at a known position, the high spatial and temporal correlation between the error sources of the mobile station and the reference station is used to perform differential elimination of the GNSS satellite's orbit error, clock error, and most of the ionospheric errors and tropospheric errors, thereby achieving centimeter-level positioning and improving positioning accuracy.

[0046] The utility model uses an RTK base station to determine the relative coordinates of the active docking plant 2 and the docked plant 1. Since there is no need to use the absolute positioning function of RTK, there is no need to find a known point as the position of the RTK base station 3. The site is highly practical and has low site requirements. Two positioning antennas are installed on each of the two mobile plants to confirm the heading angle and fixed point position of the mobile plant. And through the heading angle and the antenna fixed point position, multiple rapid adjustments are made during the docking process to ensure docking accuracy and improve docking efficiency.

[0047] As a specific embodiment of the present utility model, the docked plant 1 is fixed; the active docking plant 2 moves and docks with the docked plant 1 under the action of the docking device.

[0048] like Figure 2 As shown, the docked factory building 1 includes a roof 11, a first supporting side beam 12, a second supporting side beam 13 and a moving wheel 14; the first supporting side beam 12 and the second supporting side beam 13 are fixedly connected to the bottom of the roof 11; the moving wheel 14 is fixedly connected to the bottom of the first supporting side beam 12 and the second supporting side beam 13; the structure of the active docking factory building 2 is the same as that of the docked factory building 1.

[0049] As a specific embodiment of the utility model, the A1 positioning antenna and the A2 positioning antenna of the docking device are arranged on the roof 11 of the docked plant 1; the B1 positioning antenna and the B2 positioning antenna of the docking device are arranged on the roof 11 of the active docking plant 2. The A1 positioning antenna and the A2 positioning antenna are used to locate the docked plant 1, and the B1 positioning antenna and the B2 positioning antenna are used to locate the active docking plant 2.

[0050] The beneficial effects achieved by this application are as follows:

[0051] (1) The docking device of the present application includes a first dual positioning antenna, a second dual positioning antenna and a reference station. The first dual positioning antenna is arranged on the docked plant; the second dual positioning antenna is arranged on the active docking plant. The relative positions of the docked plant and the active docking plant are determined according to the first dual positioning antenna, the second dual positioning antenna and the reference station, and then the docking of the docked plant and the active docking plant is assisted according to the relative positions. The docking is more accurate and reliable than observing the relative positions of the docked plant and the active docking plant with the naked eye, and the docking accuracy of the docked plant and the active docking plant is higher, thereby improving the docking efficiency.

[0052] (2) This application reduces the number of personnel observation posts required during the docking process between the docked plant and the active docking plant, avoids multiple docking failures and repeated docking, reduces the number of repeated dockings, and improves the docking efficiency of mobile plants.

[0053] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0054] In the description of the present application, the word "for example" is used to mean "used as an example, illustration or explanation". Any embodiment described as "for example" in the present application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present application.

[0055] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A docking device for a trackless mobile plant, characterized in that: include: A first dual positioning antenna, a second dual positioning antenna and a reference station, The first dual positioning antenna is arranged on the docked factory building; The second dual positioning antenna is arranged on the active docking plant; The reference station is fixedly arranged on a ground reference point at a known position; The first dual-positioning antenna and the second dual-positioning antenna are communicatively coupled to the reference station.

2. The docking device for trackless mobile workshop according to claim 1, characterized in that: The first dual positioning antenna includes an A1 positioning antenna and an A2 positioning antenna; The A1 positioning antenna and the A2 positioning antenna receive GPS or GNSS signals; The A1 positioning antenna and the A2 positioning antenna are symmetrically arranged at two ends of the connected factory building in the length direction, and are both arranged on the top of the connected factory building.

3. The docking device for trackless mobile workshop according to claim 2, characterized in that: The second dual positioning antenna includes a B1 positioning antenna and a B2 positioning antenna; The B1 positioning antenna and the B2 positioning antenna receive GPS or GNSS signals; The B1 positioning antenna and the B2 positioning antenna are symmetrically arranged at two ends of the active docking building in the length direction, and are both arranged on the top of the active docking building.

4. The docking device for trackless mobile workshop according to claim 2, characterized in that: The connecting line of the A1 positioning antenna and the A2 positioning antenna is parallel to the center line of the top surface of the docked factory building.

5. The docking device for trackless mobile workshop according to claim 3, characterized in that: The connection line between the B1 positioning antenna and the B2 positioning antenna is parallel to the center line of the top surface of the active docking plant.

6. The docking device for trackless mobile workshop according to claim 3, characterized in that: During the process of the active docking plant and the docked plant, the docked plant is fixed and the active docking plant moves toward the docked plant.

7. The docking device for trackless mobile workshop according to claim 6, characterized in that: During the process of the active docking building moving toward the docked building, the moving distance, steering angle and / or whether the docking with the docked building is completed of the active docking building are determined according to the position coordinates of the A1 positioning antenna, the A2 positioning antenna, the B1 positioning antenna and the B2 positioning antenna.

8. The docking device for trackless mobile workshop according to claim 4, characterized in that: The A1 positioning antenna and the A2 positioning antenna are located at the midpoints of the two end edges of the top of the docked factory building.

9. The docking device for trackless mobile workshop according to claim 5, characterized in that: The B1 positioning antenna and the B2 positioning antenna are located at the midpoints of the two end edges of the top of the active docking building.

10. The docking device for trackless mobile workshop according to claim 3, characterized in that: The A1 positioning antenna, the A2 positioning antenna, the B1 positioning antenna and the B2 positioning antenna are all GPS antennas.

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