CN115556522A - Active-passive switchable docking system for self-reconfigurable carrier equipment - Google Patents

Active-passive switchable docking system for self-reconfigurable carrier equipment Download PDF

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CN115556522A
CN115556522A CN202211248919.3A CN202211248919A CN115556522A CN 115556522 A CN115556522 A CN 115556522A CN 202211248919 A CN202211248919 A CN 202211248919A CN 115556522 A CN115556522 A CN 115556522A
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locking
self
docking
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CN115556522B (en
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倪俊
袁昊
王铁圳
杨续
马明昊
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Beijing Institute of Technology BIT
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Abstract

本发明提供一种自重构运载装备主被动可切换式对接系统,能够满足自重构运载装备在有人/无人情况下快速对接需求;对接效率高,稳固性能强。对接控制系统包括:主动对接单元和被动对接单元;主动对接单元包括:主动感知系统、主动捕获装置、挂绳系统和主动锁紧装置;被动对接单元包括:插销机构、标记系统及锁紧机构;主动感知系统与标记系统配合用于感知两辆自重构运载单元间的相对位姿;挂绳系统中的挂钩能够由主动捕获装置主动牵引或人工被动牵引至被动对接单元的捕获口内;插销机构用于对进入捕获口内的挂钩进行位置锁定;挂绳系统用于拉近两辆自重构运载单元至对接位;主动锁紧装置和锁紧机构配合,实现两辆自重构运载单元的对接和锁紧。

Figure 202211248919

The present invention provides an active-passive switchable docking system for self-reconfigurable carrier equipment, which can meet the requirements for fast docking of self-reconfigurable carrier equipment under manned/unmanned situations; the docking efficiency is high and the stability performance is strong. The docking control system includes: active docking unit and passive docking unit; the active docking unit includes: active sensing system, active capture device, lanyard system and active locking device; the passive docking unit includes: latch mechanism, marking system and locking mechanism; The active sensing system cooperates with the marking system to perceive the relative pose between the two self-reconfigurable carrying units; the hook in the lanyard system can be actively pulled by the active capture device or manually passively drawn into the capture port of the passive docking unit; the latch mechanism It is used to lock the position of the hook entering the capture port; the lanyard system is used to draw two self-reconfigurable carrying units closer to the docking position; the active locking device cooperates with the locking mechanism to realize the docking of two self-reconfiguring carrying units and lock tight.

Figure 202211248919

Description

自重构运载装备主被动可切换式对接系统Active-passive switchable docking system for self-reconfigurable carrier equipment

技术领域technical field

本发明涉及一种对接系统,具体涉及一种自重构运载装备的对接系统,属于车辆控制技术领域。The invention relates to a docking system, in particular to a docking system for self-reconfigurable carrying equipment, and belongs to the technical field of vehicle control.

背景技术Background technique

自重构运载装备,可自主重构、自主组合、自主解体,已成为陆、天、空、海杀手锏武器研制的重大需求。Self-reconfigurable carrier equipment, which can be reconfigured, assembled and disassembled independently, has become a major demand for the development of land, space, air and sea killer weapons.

由于陆地环境复杂性,自重构地面运载装备的研制难度极大,是世界公认的重大挑战。更具革命性的是,自重构技术将使自重构大型陆基装备成为现实。大型陆基装备包括机场跑道、导弹/火箭发射装置、电磁炮/激光武器等,是维护国家安全的战略重器,其侦察与反侦察、摧毁与反摧毁,是战争决胜手段。一旦突破自重构技术,使大型陆基装备由重构细胞单元组成,实现自重构、自组合、自解体、自隐蔽,“组小成大,获得更大能力;化整为零,分散机动隐蔽”,几乎不可发现、不可摧毁,锻造自重构飞机起降平台、自重构导弹/火箭发射装置、自重构电磁炮/激光武器等尖端武器。Due to the complexity of the terrestrial environment, the development of self-reconfigurable ground delivery equipment is extremely difficult, which is a major challenge recognized worldwide. Even more revolutionary, self-reconfiguring technology will make self-reconfiguring large land-based equipment a reality. Large-scale land-based equipment, including airport runways, missile/rocket launchers, electromagnetic guns/laser weapons, etc., is a strategic weapon for maintaining national security. Its reconnaissance and counter-reconnaissance, destruction and anti-destruction are the decisive means of war. Once the self-reconfiguration technology is broken through, large-scale land-based equipment will be composed of reconfigured cell units to realize self-reconfiguration, self-assembly, self-disintegration, and self-concealment. "Mobile and concealed", almost undetectable and indestructible, forging self-reconfigurable aircraft landing platforms, self-reconfigurable missile/rocket launchers, self-reconfigurable electromagnetic guns/laser weapons and other cutting-edge weapons.

快速重构时间是自重构大型陆基装备的关键性能指标之一。面向未来越野环境下潜在大规模作战威胁,发展快速对接技术对建设新形态重构大型陆基装备意义重大,其中对接系统是实现快速对接的核心物理基础。Fast reconfiguration time is one of the key performance indicators for self-reconfigurable large land-based equipment. Facing the potential large-scale combat threat in the future off-road environment, the development of rapid docking technology is of great significance for the construction of new forms and reconstruction of large-scale land-based equipment. The docking system is the core physical basis for rapid docking.

对接系统按照对接过程是否有人员参与,可分为主动对接系统与被动对接系统。主动对接系统依靠多维空间信息感知、对接行为决策与自主运动控制能力,实现自重构模块单元任意数量快速无人拼接与解体的同时,对感知-决策-控制系统完整性提出较高要求;被动对接系统将对接位姿识别、对接行为划定以及对接装置部分重要控制交还给辅助人员,提高了复杂环境下对接成功率,但为保证对接快速性,对人员数量与操作熟练度提出较高要求。传统运载体对接装置设计往往仅采用主动或被动一类形式,无法规避任何固有弊端。The docking system can be divided into active docking system and passive docking system according to whether there is personnel involved in the docking process. The active docking system relies on multi-dimensional space information perception, docking behavior decision-making, and autonomous motion control capabilities to realize the fast unmanned splicing and disassembly of any number of self-reconfigurable module units, and at the same time puts forward higher requirements for the integrity of the perception-decision-control system; passive The docking system returns docking pose recognition, docking behavior delineation, and important control of the docking device to auxiliary personnel, which improves the success rate of docking in complex environments. However, in order to ensure fast docking, higher requirements are placed on the number of personnel and operational proficiency . The traditional carrier docking device design often only adopts active or passive forms, which cannot avoid any inherent disadvantages.

发明内容Contents of the invention

有鉴于此,本发明提供一种自重构运载装备主被动可切换式对接系统,能够满足自重构运载装备在有人/无人情况下快速对接需求;适用边界宽,对接效率高,稳固性能强。In view of this, the present invention provides an active-passive switchable docking system for self-reconfigurable carrier equipment, which can meet the needs of rapid docking of self-reconfigurable carrier equipment under manned/unmanned situations; the applicable boundary is wide, the docking efficiency is high, and the performance is stable powerful.

自重构运载装备主被动可切换式对接系统:Self-reconfigurable carrier equipment active and passive switchable docking system:

所述自重构运载装备由多辆自重构运载单元通过对接系统对接后形成;所述对接系统包括:主动对接单元和被动对接单元;The self-reconfigurable carrier equipment is formed by docking multiple self-reconfigurable carrier units through a docking system; the docking system includes: an active docking unit and a passive docking unit;

每辆自重构运载单元上均设置有所述对接系统;当两辆自重构运载单元对接时,其中一辆自重构运载单元的主动对接单元与另一辆自重构运载单元上的被动对接单元对接;Each self-reconfigurable carrier unit is provided with the docking system; when two self-reconfigurable carrier units are docked, the active docking unit of one of the self-reconfigurable carrier units and the other self-reconfigurable carrier Passive docking unit docking;

所述主动对接单元包括:主动感知系统、主动捕获装置、挂绳系统和主动锁紧装置;The active docking unit includes: an active sensing system, an active capture device, a lanyard system and an active locking device;

所述被动对接单元包括:插销机构、标记系统以及锁紧机构;The passive docking unit includes: a latch mechanism, a marking system and a locking mechanism;

所述主动感知系统与所述标记系统配合用于感知两辆自重构运载单元间的相对位姿;The active sensing system cooperates with the marking system to perceive the relative pose between the two self-reconfigurable carrying units;

所述挂绳系统中的挂钩能够由所述主动捕获装置主动牵引或人工被动牵引至所述被动对接单元的捕获口内;所述插销机构用于对进入所述捕获口内的挂钩进行位置锁定;The hook in the lanyard system can be actively pulled by the active capture device or artificially passively drawn into the capture port of the passive docking unit; the latch mechanism is used to lock the position of the hook entering the capture port;

所述挂绳系统用于在所述插销机构对挂钩进行位置锁定后,拉近两辆自重构运载单元至对接位;The lanyard system is used to pull the two self-reconfigurable carrying units closer to the docking position after the latch mechanism locks the position of the hook;

所述主动锁紧装置用于和所述锁紧机构配合,实现两辆自重构运载单元的对接和锁紧。The active locking device is used to cooperate with the locking mechanism to realize the docking and locking of two self-reconfigurable carrying units.

作为本发明的一种优选方式,在自重构运载单元的车头沿横向对称设置两套相同的主动对接单元,在自重构运载单元的车尾沿横向对称设置两套相同的被动对接单元。As a preferred mode of the present invention, two sets of identical active docking units are arranged laterally symmetrically on the front of the self-reconfigurable carrying unit, and two sets of identical passive docking units are arranged laterally symmetrically on the rear of the self-reconfiguring carrying unit.

作为本发明的一种优选方式,所述挂绳系统还包括安装在所述自重构运载单元内部的定滑轮、拉索和绞盘;所述拉索一端缠绕在绞盘上,另一端通过定滑轮换向后与所述挂钩相连。As a preferred mode of the present invention, the lanyard system also includes a fixed pulley, a cable and a winch installed inside the self-reconfiguring carrying unit; one end of the cable is wound on the winch, and the other end passes through the fixed pulley The rotation is connected to the hook backwards.

作为本发明的一种优选方式,所述主动捕获装置为空间六自由度机械臂;所述机械臂的末端为电磁头;所述电磁头通电后磁吸所述挂绳系统中的挂钩;并带动所述挂钩运动。As a preferred mode of the present invention, the active capture device is a mechanical arm with six degrees of freedom in space; the end of the mechanical arm is an electromagnetic head; after the electromagnetic head is powered on, it magnetically attracts the hook in the lanyard system; and Drive the hook to move.

作为本发明的一种优选方式,未进行对接时,所述机械臂折叠在所述自重构运载单元内部;对接时,所述机械臂在控制单元的控制下通过所述自重构运载单元上预留的空间槽口扩展至所述自重构运载单元外部;并运动至挂钩所在位置;然后所述机械臂末端电磁头触发上电,磁吸所述挂绳系统中的挂钩。As a preferred form of the present invention, when docking is not performed, the robotic arm is folded inside the self-reconfigurable carrier unit; when docked, the robotic arm passes through the self-reconfigurable carrier unit under the control of the control unit The space slot reserved on the upper part extends to the outside of the self-reconfigurable carrying unit; and moves to the position where the hook is; then the electromagnetic head at the end of the mechanical arm is triggered to be powered on, and the hook in the lanyard system is magnetically attracted.

作为本发明的一种优选方式,所述主动感知系统包括:摄像头和激光测距仪;As a preferred mode of the present invention, the active perception system includes: a camera and a laser rangefinder;

所述标记系统包括:车身位姿靶标和锁紧机构位置靶标;在自重构运载单元被动对接面中心设置车身位姿靶标,捕获口附近设置锁紧机构位置靶标;The marking system includes: a body pose target and a locking mechanism position target; a body pose target is set at the center of the passive docking surface of the self-reconfiguring carrying unit, and a locking mechanism position target is set near the capture port;

所述摄像头通过识别车身位姿靶标,获得两辆自重构运载单元间的相对位姿;通过识别所述锁紧机构位置靶标,获得捕获目标点与主动捕获装置之间的六自由度偏差;所述捕获目标点为捕获口轴线和与所述插销机构中插销的轴线的相交点;The camera obtains the relative pose between the two self-reconfigurable carrying units by identifying the pose target of the vehicle body; obtains the six-degree-of-freedom deviation between the capture target point and the active capture device by identifying the position target of the locking mechanism; The capture target point is the intersection point of the axis of the capture port and the axis of the latch in the latch mechanism;

所述激光测距仪用于测量两辆自重构运载单元之间的相对距离。The laser rangefinder is used to measure the relative distance between two self-reconfigurable carrying units.

作为本发明的一种优选方式,所述主动锁紧装置包括一根以上沿纵向设置的锁紧梁,所述锁紧梁沿车体横向间隔分布;As a preferred mode of the present invention, the active locking device includes more than one locking beam arranged longitudinally, and the locking beams are distributed at intervals along the lateral direction of the vehicle body;

每根锁紧梁包括:一根锁紧方钢、一个纵向推进电机和两个侧向锁紧电机A;所述纵向推进电机用于纵向推动锁紧方钢,使其头部伸出或收回至自重构运载单元内部;两个侧向锁紧电机A用于在锁紧方钢伸出到位后,分别从锁紧方钢尾部的两个侧面对其进行侧向压紧;Each locking beam includes: a locking square steel, a longitudinal propulsion motor and two lateral locking motors A; the longitudinal propulsion motor is used to longitudinally push the locking square steel to extend or retract its head To the interior of the self-reconfigurable carrying unit; two lateral locking motors A are used to laterally compress the locking square steel from the two sides of the tail of the locking square steel after it is stretched out into place;

自重构运载单元上的被动对接单元中设置有用于使所述锁紧方钢伸入的锁止方槽,所述锁止方槽内设置用于对锁紧方钢进行锁紧的锁紧机构;The passive docking unit on the self-reconfigurable carrying unit is provided with a locking square groove for the locking square steel to extend into, and a locking groove for locking the locking square steel is arranged in the locking square groove. mechanism;

所述锁紧机构包括:纵向锁紧电机、两个侧向锁紧电机B和一个锁止头;所述锁止方槽中心设置锁止头,所述纵向锁紧电机用于带动所述锁止头绕其轴线转动;所述锁紧方钢头部的端部设置有内型面与锁止头一致的锁止块,当锁紧方钢头部伸入锁止方槽内并穿过锁止头后,通过纵向锁紧电机带动锁止头旋转,使所述锁止头和锁止块之间锁定;两个侧向锁紧电机B分别从两个侧面对伸入到锁止方槽内的锁紧方钢进行侧面锁紧。The locking mechanism includes: a longitudinal locking motor, two lateral locking motors B and a locking head; the locking head is arranged in the center of the locking square groove, and the longitudinal locking motor is used to drive the lock The stop head rotates around its axis; the end of the locking square steel head is provided with a locking block whose inner surface is consistent with the locking head, when the locking square steel head extends into the locking square groove and passes through After locking the head, the locking head is driven to rotate through the longitudinal locking motor, so that the locking head and the locking block are locked; two lateral locking motors B extend into the locking side from two sides respectively. The locking square steel in the slot performs side locking.

作为本发明的一种优选方式,所述插销机构包括:推进电缸、接近开关和插销;所述接近开关用于检测挂钩的到位信息,以触发推进电缸;所述推进电缸用于推动插销,使其插入挂钩。As a preferred mode of the present invention, the latch mechanism includes: a propulsion electric cylinder, a proximity switch and a latch; the proximity switch is used to detect the in-position information of the hook to trigger the propulsion electric cylinder; the propulsion electric cylinder is used to push the pin so that it goes into the hook.

作为本发明的一种优选方式,所述捕获口处设置有引导锥面;所述引导锥面与挂钩末端的凸台配合,用于拉近阶段末端两辆自重构运载单元之间的姿态矫正。As a preferred mode of the present invention, the catch port is provided with a guide cone; the guide cone cooperates with the boss at the end of the hook, and is used to draw the attitude between the two self-reconfigurable carrying units at the end of the stage. correction.

有益效果:Beneficial effect:

(1)本发明的对接系统,具备主动对接模式和被动对接模式,能够实现自重构运载单元(自重构运载装备的最小重构单元)在战场环境有人/无人工况下的对接,使用方式灵活。(1) The docking system of the present invention has an active docking mode and a passive docking mode, and can realize the docking of the self-reconfigurable carrier unit (the smallest reconfigurable unit of the self-reconfigurable carrier equipment) in the battlefield environment under manned/unmanned conditions, Flexible usage.

(2)本发明的对接系统将对接过程分为捕获阶段、拉近阶段和锁紧阶段,通过大范围捕获、快速拉近、有效锁紧完整过程,对接效率高,稳固性能强。(2) The docking system of the present invention divides the docking process into a capturing stage, a closing stage, and a locking stage. Through the complete process of large-scale capturing, fast closing, and effective locking, the docking efficiency is high and the stability performance is strong.

(3)本发明的对接系统适用边界宽,采用挂绳系统,挂钩挂接后,便可拉近进而实现锁紧;该对接系统可以允许两待对接的自重构运载单元的初始位姿偏差范围较大,适用于越野、城市道路等多种环境下的对接。(3) The docking system of the present invention has a wide applicable boundary, and adopts the lanyard system. After the hook is hooked, it can be pulled closer and then locked; the docking system can allow the initial pose deviation of the two self-reconfigurable carrying units to be docked It has a large range and is suitable for docking in various environments such as off-road and urban roads.

(4)本发明的对接系统中,采用左右对称的对接单元构型;相较于一体式对接系统,一方面,保证自重构运载单元在正常对接过程中的受力均衡,有效提高对接效率,保证对接后的稳定性强;另一方面,保证单侧对接单元故障后仍具有一定对接能力。(4) In the docking system of the present invention, a left-right symmetrical docking unit configuration is adopted; compared with the integrated docking system, on the one hand, it ensures the force balance of the self-reconfigurable carrier unit during the normal docking process, effectively improving the docking efficiency , to ensure strong stability after docking; on the other hand, to ensure that the docking unit on one side still has a certain docking capability after failure.

(5)本发明的对接系统中,通过多传感器与多执行器综合作业,能大幅降低一体式对接系统中等效性能硬件配置成本。(5) In the docking system of the present invention, through the comprehensive operation of multiple sensors and multi-actuators, the cost of hardware configuration with equivalent performance in the integrated docking system can be greatly reduced.

附图说明Description of drawings

图1为两辆自重构运载单元通过对接系统对接后形成的自重构运载装备的整体示意图;Figure 1 is an overall schematic diagram of the self-reconfigurable carrier equipment formed after two self-reconfigurable carrier units are docked through the docking system;

图2为本发明的自重构运载装备对接系统俯视图;Fig. 2 is a top view of the self-reconfigurable carrier equipment docking system of the present invention;

图3为对接系统主动对接单元端正视图;Figure 3 is a front view of the active docking unit of the docking system;

图4为对接系统被动对接单元端正视图。Fig. 4 is a front view of the passive docking unit of the docking system.

其中:1-定滑轮,2-拉索,3-绞盘,4-机械臂,5-纵向推进电机,6-侧向锁紧电机A,7-挂钩,8-推进电缸,9-纵向锁紧电机,10-侧向锁紧电机B,11-摄像头,12-激光测距仪,13-锁紧方钢,14-接近开关,15-引导锥面,16-锁紧机构位置靶标,17-锁止头,18-插销,19-车身位姿靶标。Among them: 1- fixed pulley, 2- cable, 3- winch, 4- mechanical arm, 5- longitudinal propulsion motor, 6- lateral locking motor A, 7- hook, 8- propulsion electric cylinder, 9- longitudinal lock Tightening motor, 10-lateral locking motor B, 11-camera, 12-laser range finder, 13-locking square steel, 14-proximity switch, 15-guiding cone, 16-locking mechanism position target, 17 -Lock head, 18-bolt, 19-body pose target.

具体实施方式detailed description

下面结合附图并举实施例,对本发明进行详细描述。The present invention will be described in detail below with reference to the accompanying drawings and examples.

本实施例提供一种自重构运载装备主被动可切换式对接系统,用于实现自重构运载单元(自重构运载装备的最小重构单元)之间的对接,可实现自重构运载装备在战场环境有人或无人工况下大范围捕获、快速拉近、有效锁紧完整过程,适用边界宽,对接效率高,稳固性能强。This embodiment provides a self-reconfigurable carrier equipment active and passive switchable docking system, which is used to realize the docking between self-reconfigurable carrier units (the smallest reconfigurable unit of self-reconfigurable carrier equipment), and can realize self-reconfigurable carrier The equipment captures in a large area, quickly zooms in, and effectively locks the complete process in the battlefield environment with or without people. It has a wide range of applications, high docking efficiency, and strong stability.

图1所示的自重构运载装备由两辆自重构运载单元通过对接系统对接后形成。The self-reconfigurable carrier equipment shown in Figure 1 is formed by docking two self-reconfigurable carrier units through a docking system.

该对接系统包括:主动对接单元、被动对接单元和控制单元,每辆自重构运载单元上均设置有该对接系统,其中主动对接单元安装于自重构运载单元的车头部位,被动对接单元安装于自重构运载单元的车尾部位。当需要将两辆自重构运载单元对接时,其中一辆自重构运载单元的主动对接单元与另一辆自重构运载单元上的被动对接单元对接。The docking system includes: an active docking unit, a passive docking unit and a control unit. Each self-reconfigurable carrier unit is equipped with the docking system, wherein the active docking unit is installed It is located at the rear part of the self-reconfigurable carrier unit. When two self-reconfigurable carrying units need to be docked, the active docking unit of one of the self-reconfiguring carrying units is docked with the passive docking unit of the other self-reconfiguring carrying unit.

为方便描述,令两辆处于对接状态的自重构运载单元中,用于提供主动对接单元的自重构运载单元上为主动自重构运载单元,用于提供被动对接单元的自重构运载单元上为被动自重构运载单元。且令自重构运载单元的宽度方向为横向,长度方向(即自重构运载单元的行进方向)为纵向。For the convenience of description, among the self-reconfigurable carrier units in the docking state, the self-reconfigurable carrier unit used to provide the active docking unit is the active self-reconfigurable carrier unit, which is used to provide the self-reconfigurable carrier of the passive docking unit The unit is a passive self-reconfigurable carrier unit. And let the width direction of the self-reconfigurable delivery unit be the horizontal direction, and the length direction (that is, the traveling direction of the self-reconfigurable delivery unit) be the longitudinal direction.

为了提高对接效率,在自重构运载单元的车头沿横向对称设置两套相同的主动对接单元,在自重构运载单元的车尾沿横向对称设置两套相同的被动对接单元;这里仅以其中一套硬件架构进行详细说明。In order to improve docking efficiency, two sets of identical active docking units are arranged symmetrically along the lateral direction on the front of the self-reconfigurable carrier unit, and two sets of identical passive docking units are arranged laterally symmetrically on the rear of the self-reconfigurable carrier unit; here only the A set of hardware architecture is described in detail.

如图2和图3所示,主动对接单元包括:主动感知系统、主动捕获装置、挂绳系统和主动锁紧装置。被动对接单元包括:插销机构、引导机构、标记系统以及锁紧机构。As shown in Figure 2 and Figure 3, the active docking unit includes: an active sensing system, an active capturing device, a lanyard system and an active locking device. The passive docking unit includes: latching mechanism, guiding mechanism, marking system and locking mechanism.

其中主动感知系统与被动对接单元中的标记系统配合用于感知两辆自重构运载单元间的相对位姿;主动感知系统安装于主动自重构运载单元的车头部位,且内嵌于车体,使其安装后外侧表面与车头部位的外表面平齐进而不影响被动自重构运载单元对接后的贴紧。主动感知系统包括:摄像头11和激光测距仪12;其中摄像头11主要用于识别被动自重构运载单元上的标识,进而通过解算提供主动捕获装置期望空间位姿信息;激光测距仪12主要用于辅助判断主动自重构运载单元与被动自重构运载单元之间的相对距离,用于触发锁紧过程。Among them, the active sensing system cooperates with the marking system in the passive docking unit to perceive the relative pose between the two self-reconfigurable carrying units; the active sensing system is installed on the front of the active self-reconfiguring carrying unit, and is embedded in the vehicle body , so that the outer surface after installation is flush with the outer surface of the front part so as not to affect the tightness of the passive self-reconfigurable carrier unit after docking. The active perception system includes: a camera 11 and a laser rangefinder 12; the camera 11 is mainly used to identify the mark on the passive self-reconfiguration carrier unit, and then provide the expected space pose information of the active capture device through calculation; the laser rangefinder 12 It is mainly used to assist in judging the relative distance between the active self-reconfigurable carrier unit and the passive self-reconfigurable carrier unit, and is used to trigger the locking process.

主动捕获装置用于带动挂绳系统中的挂钩移动至被动对接单元中的捕获口内;本例中,主动捕获装置为安装在主动自重构运载单元车头的机械臂4,机械臂4的末端为电磁头;本例中机械臂4采用空间六自由度机械臂。主动自重构运载单元正常行驶过程中,机械臂4折叠至车体内部;仅当具备对接需求时,机械臂4在控制单元的控制下通过车头预留的空间槽口扩展至车体外部,进行捕获操作。机械臂4通过末端的电磁头磁吸挂绳系统中的挂钩7,并带动挂钩7运动。机械臂4具有一个预设的活动点,该活动点与挂钩7位置对应;每当机械臂4运动至该活动点时,电磁铁上电进而实现取挂钩7的操作。The active capture device is used to drive the hook in the lanyard system to move into the capture port in the passive docking unit; in this example, the active capture device is the mechanical arm 4 installed on the front of the active self-reconfiguring carrier unit, and the end of the mechanical arm 4 is Electromagnetic head; in this example, the robot arm 4 adopts a space six-degree-of-freedom robot arm. During the normal driving of the active self-reconfigurable carrier unit, the mechanical arm 4 is folded to the inside of the vehicle body; only when there is a docking requirement, the mechanical arm 4 is expanded to the outside of the vehicle body through the space slot reserved by the front of the vehicle under the control of the control unit. Perform a capture operation. The mechanical arm 4 magnetically attracts the hook 7 in the lanyard system through the electromagnetic head at the end, and drives the hook 7 to move. The mechanical arm 4 has a preset movable point, which corresponds to the position of the hook 7; whenever the mechanical arm 4 moves to the movable point, the electromagnet is powered on to realize the operation of taking the hook 7.

挂绳系统用于拉近两辆自重构运载单元至对接位,挂绳系统包括:定滑轮1、拉索2、绞盘3以及挂钩7,除挂钩7外,定滑轮1、拉索2、绞盘3均通过紧固件安装于车体内。拉索2一端缠绕在绞盘3上,另一端通过定滑轮1换向后与限位在车头的挂钩7相连(这里的限位是对挂钩7的单向限位,避免其缩至车体内部)。通过绞盘3不同方向的旋转,可实现拉钩7的空间运动。在捕获阶段,如果是自主对接模式,拉钩7在主动捕获装置的牵引下完成空间运动;如果是被动对接模式,拉钩7由人力牵引完成空间运动。在拉近阶段,绞盘3通过回收拉索2拉近被动自重构运载单元。绞盘3受控于控制单元。The lanyard system is used to pull two self-reconfigurable carrying units closer to the docking position. The lanyard system includes: fixed pulley 1, cable 2, winch 3 and hook 7. In addition to hook 7, fixed pulley 1, cable 2, Winch 3 is installed in the vehicle body by fasteners. One end of the drag cable 2 is wound on the winch 3, and the other end is connected to the hook 7 limited at the front of the car after being reversed by the fixed pulley 1 (the limit here is a one-way limit to the hook 7 to prevent it from shrinking into the inside of the car body ). Through the rotation of the winch 3 in different directions, the spatial movement of the drag hook 7 can be realized. In the capture phase, if it is in the autonomous docking mode, the drag hook 7 completes the space movement under the traction of the active capture device; if it is the passive docking mode, the drag hook 7 completes the space movement by human traction. In the drawing-in phase, the winch 3 draws the passive self-reconfigurable carrying unit closer through the recovery cable 2 . The winch 3 is controlled by the control unit.

主动锁紧装置用于和被动对接单元中的锁紧机构配合,实现两辆自重构运载单元的对接和锁紧。本例中,主动锁紧装置为一对沿纵向设置的锁紧梁,两个主动对接单元中的四根锁紧梁分别布置在车头的两侧和中间位置,且沿车体横向间隔分布。每根锁紧梁包括:一根锁紧方钢13、一个纵向推进电机5和两个侧向锁紧电机A6。其中锁紧方钢13的长度方向与车体的纵向一致,纵向推进电机5用于纵向推动锁紧方钢13,使其伸出或收回至车体内部(令锁紧方钢13伸出主动自重构运载单元的一端为其头部,另一端为其尾部);两个侧向锁紧电机A6用于在锁紧方钢13伸出到位后,分别从锁紧方钢13的两个侧面对其进行侧向压紧。初始时,锁紧方钢13位于主动自重构运载单元的车体内部,进入锁紧阶段后,纵向推进电机5推动锁紧方钢13向外伸出,锁紧方钢13头部到达预设位置后,两个侧向锁紧电机A6从锁紧方钢13的两个侧面对其进行侧向压紧,实现对锁紧方钢13尾部的侧向锁紧。上述纵向推进电机5和侧向锁紧电机A6均受控于控制单元。The active locking device is used to cooperate with the locking mechanism in the passive docking unit to realize the docking and locking of two self-reconfigurable carrying units. In this example, the active locking device is a pair of locking beams arranged longitudinally, and the four locking beams in the two active docking units are respectively arranged on both sides and the middle of the front of the vehicle, and are distributed at intervals along the lateral direction of the vehicle body. Each locking beam includes: a locking square steel 13, a longitudinal propulsion motor 5 and two lateral locking motors A6. Wherein the longitudinal direction of the locking square steel 13 is consistent with the longitudinal direction of the car body, and the longitudinal propulsion motor 5 is used to longitudinally promote the locking square steel 13, so that it stretches out or retracts to the inside of the car body (making the locking square steel 13 stretch out the active One end of the self-reconfigurable carrying unit is its head, and the other end is its tail); two lateral locking motors A6 are used for locking the square steel 13 from the two sides of the locking square steel 13 respectively after the locking square steel 13 is in place. Compress it sideways. Initially, the locking square steel 13 is located inside the vehicle body of the active self-reconfiguring carrying unit. After entering the locking stage, the longitudinal propulsion motor 5 pushes the locking square steel 13 to protrude outward, and the head of the locking square steel 13 reaches the preset position. After the position is set, two lateral locking motors A6 laterally compress it from both sides of the locking square steel 13 to realize lateral locking of the locking square steel 13 afterbody. The above-mentioned longitudinal propulsion motor 5 and lateral locking motor A6 are all controlled by the control unit.

在被动自重构运载单元车尾与主动自重构运载单元车头挂钩7对应的位置设置有捕获口,插销机构设置在被动自重构运载单元车尾内部;插销机构包括:推进电缸8、接近开关14和插销18;其中接近开关14为感应式接近开关,用于检测挂钩7的到位信息,以触发推进电缸8(具体的:控制单元接收到接近开关14检测的挂钩7的到位信息后,控制推进电缸8启动);推进电缸8用于推动插销18,使其插入挂钩7,由此实现两辆自重构运载单元之间的连接;本例中,推进电缸8沿横向推动插销18,即插销18的轴线沿自重构运载单元的宽度方向,挂钩7进入捕获口时,轴线也沿自重构运载单元的宽度方向。当挂钩7到达捕获口内设定位置时,触发接近开关14;此时推进电缸8推出插销18,使插销18插入挂钩7,当插销18运动到预定位置时触发推进电缸8自带的位置开关,推进电缸8自锁。A capture port is provided at the position corresponding to the rear of the passive self-reconfigurable carrier unit and the front hook 7 of the active self-reconfigurable carrier unit, and the latch mechanism is arranged inside the rear of the passive self-reconfigurable carrier unit; the latch mechanism includes: a propulsion electric cylinder 8, Proximity switch 14 and latch 18; Wherein proximity switch 14 is inductive type proximity switch, is used to detect the in-position information of hook 7, to trigger propulsion electric cylinder 8 (specifically: the control unit receives the in-position information of the hook 7 that proximity switch 14 detects Afterwards, control the propulsion electric cylinder 8 to start); The propulsion electric cylinder 8 is used to promote the latch 18, so that it is inserted into the hook 7, thereby realizing the connection between the two self-reconfigurable carrying units; in this example, the propulsion electric cylinder 8 is The pin 18 is pushed laterally, that is, the axis of the pin 18 is along the width direction of the self-reconfigurable carrier unit, and when the hook 7 enters the catch port, the axis is also along the width direction of the self-reconfigurable carrier unit. When the hook 7 reaches the set position in the catch port, the proximity switch 14 is triggered; at this time, the electric cylinder 8 is pushed out to push the pin 18, so that the pin 18 is inserted into the hook 7, and when the pin 18 moves to a predetermined position, the electric cylinder 8 is triggered to move to the position that the electric cylinder 8 comes with. Switch, advance electric cylinder 8 self-locking.

引导机构为设置在捕获口的引导锥面15,引导锥面15内嵌于车体,安装后外侧表面与车体平齐,引导锥面15与挂钩7末端的凸台配合,用于拉近阶段末端主动自重构运载单元与被动自重构运载单元之间的姿态矫正。The guide mechanism is a guide cone 15 arranged at the catch port. The guide cone 15 is embedded in the vehicle body. After installation, the outer surface is flush with the vehicle body. The guide cone 15 cooperates with the boss at the end of the hook 7 for drawing closer. Attitude correction between the active self-reconfigurable carrier unit and the passive self-reconfigurable carrier unit at the end of the stage.

标记系统为主动感知系统中摄像头11的标识,包括:车身位姿靶标19和锁紧机构位置靶标16;在被动自重构运载单元车尾中间安装大尺寸中心定位标签作为车身位姿靶标19,两个被动对接单元共用一个车身位姿靶标19;在捕获口附近安装小尺寸标签作为锁紧机构位置靶标16;由此使得在较远、较近距离都能够保证标记系统在摄像机11里的成像完整。车身位姿靶标19和锁紧机构位置靶标16采用二维标定板,通过ARTag二维码编码标记。The marking system is the identification of the camera 11 in the active perception system, including: the body pose target 19 and the locking mechanism position target 16; a large-size central positioning tag is installed in the middle of the rear of the passive self-reconfigurable carrying unit as the body pose target 19, Two passive docking units share a vehicle body posture target 19; a small-sized label is installed near the capture port as the locking mechanism position target 16; thus making it possible to ensure the imaging of the marking system in the camera 11 at a relatively long or short distance whole. The vehicle body pose target 19 and the locking mechanism position target 16 use a two-dimensional calibration plate, which is coded and marked by an ARTag two-dimensional code.

在被动自重构运载单元车尾与主动自重构运载单元车头主动锁紧装置对应的位置设置有锁止方槽,使主动锁紧装置中的锁紧方钢13能够伸入其内部;锁止方槽内设置有用于对锁紧方钢13进行锁紧的锁紧机构;锁紧机构包括:纵向锁紧电机9、两个侧向锁紧电机B10和一个锁止头17;在锁止方槽中心设置有锁止头17,纵向锁紧电机9用于带动锁止头17绕其轴线转动;两个侧向锁紧电机B10分别从两侧面对伸入到锁止方槽内的锁紧方钢13进行侧面锁紧。锁紧方钢13头部的端部设置有内型面与锁止头17一致的锁止块,当锁紧方钢13头部伸入锁止方槽内并穿过锁止头17后,通过纵向锁紧电机9带动锁止头17旋转,此时锁止头17与锁止块错开一定角度,通过锁止头17和锁止块之间的锁定对锁紧方钢13进行纵向限位,实现锁紧方钢13的纵向锁死;同时通过两个侧向锁紧电机B10对锁紧方钢13头部进行侧向锁紧。上述纵向锁紧电机9和侧向锁紧电机B10均受控于控制单元。A locking square groove is arranged at the position corresponding to the rear of the passive self-reconfiguring carrying unit and the active locking device at the front of the active self-reconfiguring carrying unit, so that the locking square steel 13 in the active locking device can extend into its interior; A locking mechanism for locking the locking square steel 13 is provided in the square groove; the locking mechanism includes: a longitudinal locking motor 9, two lateral locking motors B10 and a locking head 17; The center of the square groove is provided with a locking head 17, and the longitudinal locking motor 9 is used to drive the locking head 17 to rotate around its axis; two lateral locking motors B10 respectively face the lock extending into the locking square groove from both sides. Tight square steel 13 carries out side locking. The end of the locking square steel 13 head is provided with a locking block whose internal profile is consistent with the locking head 17. When the locking square steel 13 head stretches into the locking square groove and passes through the locking head 17, The locking head 17 is driven to rotate by the longitudinal locking motor 9. At this time, the locking head 17 and the locking block are staggered by a certain angle, and the locking square steel 13 is longitudinally limited by the locking between the locking head 17 and the locking block. , to realize the longitudinal locking of the locking square steel 13; at the same time, the head of the locking square steel 13 is laterally locked by two lateral locking motors B10. Both the longitudinal locking motor 9 and the lateral locking motor B10 are controlled by the control unit.

两辆自重构运载单元通过该对接系统对接时,相邻两个自重构运载单元即可以纵向贴合对接,也能够间隔对接,即对接系统主动对接单元中的锁紧方钢13即可以全部伸入被动对接单元对应的锁止方槽内,也能够部分伸入被动对接单元对应的锁止方槽内;由此使得由两辆自重构运载单元构成的刚性底盘的轴距可调。When two self-reconfigurable carrier units are docked through the docking system, two adjacent self-reconfigurable carrier units can be docked vertically or at intervals, that is, the locking square steel 13 in the active docking unit of the docking system can be All of them extend into the locking square slot corresponding to the passive docking unit, and can also partially extend into the locking square slot corresponding to the passive docking unit; thus, the wheelbase of the rigid chassis composed of two self-reconfigurable carrying units can be adjusted. .

下面分别对该对接系统的主动对接工作过程和被动对接工作过程进行全面阐述:The following is a comprehensive description of the active docking process and passive docking process of the docking system:

主动对接工作过程:Active docking work process:

主动对接过程分为三个阶段,分别为:捕获阶段、拉近阶段和锁紧阶段。The active docking process is divided into three stages, namely: capture stage, pull-in stage and locking stage.

捕获阶段:Capture phase:

当两辆自重构运载单元的控制单元收到对接命令后,自动驾驶进行交汇;此时安装于主动自重构运载单元头部的摄像头11工作,对被动自重构运载单元尾部中心的车身位姿靶标19进行主动识别,并实时解算出机械臂4和与之对应的捕获口之间的相对位姿偏差,该相对偏差包括:横向、纵向、垂向、横摆、滚转及俯仰六个自由度上的位置偏差。When the control units of the two self-reconfigurable carrying units receive the docking command, the automatic driving will converge; at this time, the camera 11 installed on the head of the active self-reconfiguring carrying unit is working to monitor the body at the center of the rear of the passive self-reconfiguring carrying unit The pose target 19 is actively identified, and the relative pose deviation between the manipulator 4 and the corresponding capture port is calculated in real time. The relative deviation includes: horizontal, vertical, vertical, yaw, roll and pitch positional deviation in degrees of freedom.

当上述偏差均位于设定范围内时(该设定范围为机械臂4的运动范围),置于主动自重构运载单元车体内的机械臂4在控制单元的控制下经过预留的空间槽口展开并运动至预设活动点(即挂钩7所在位置);然后机械臂4末端电磁头触发上电,完成对挂钩7的主动吸附。优选的,将挂钩7设置在机械臂4的死点位置,由此保证机械臂4快速准确的实现对挂钩7的吸附。当上述偏差中有部分偏差超过设定范围时,可通过遥控主动自重构运载单元,对其进行位姿调整,直至所有偏差均位于设定范围内。When the above-mentioned deviations are all within the set range (the set range is the range of motion of the mechanical arm 4), the mechanical arm 4 placed in the body of the active self-reconfigurable carrying unit passes through the reserved space slot under the control of the control unit The mouth is unfolded and moved to the preset active point (that is, the position of the hook 7); then the electromagnetic head at the end of the mechanical arm 4 is triggered to be powered on, and the active adsorption to the hook 7 is completed. Preferably, the hook 7 is set at the dead point of the mechanical arm 4 , thereby ensuring that the mechanical arm 4 can quickly and accurately absorb the hook 7 . When some of the above deviations exceed the set range, the carrying unit can be actively self-reconfigured by remote control to adjust its pose until all deviations are within the set range.

然后两个摄像头11分别识别与之对应的引导锥面15附近的锁紧机构位置靶标16,控制单元由此求解出对应侧捕获目标点(引导锥面15的轴线和与插销18轴线的相交处为捕获目标点)与此时机械臂4末端电磁头之间的六自由度偏差,根据上述偏差信息计算得到所需拉索2的长度以及机械臂4各关节的运动量;然后控制单元控制绞盘3按一定转速释放拉索2,机械臂4带动挂钩7和拉索2进行空间运动,使挂钩7朝向捕获口运动。Then two cameras 11 respectively identify the locking mechanism position target 16 near the corresponding guide cone surface 15, and the control unit thus solves the corresponding side capture target point (the axis of the guide cone surface 15 and the intersection with the axis of the bolt 18 In order to capture the target point) and the six-degree-of-freedom deviation between the electromagnetic head at the end of the mechanical arm 4 at this time, the length of the required cable 2 and the amount of motion of each joint of the mechanical arm 4 are calculated according to the above deviation information; then the control unit controls the winch 3 The cable 2 is released at a certain speed, and the mechanical arm 4 drives the hook 7 and the cable 2 to move in space, so that the hook 7 moves toward the capture port.

当机械臂4带动挂钩7进入捕获口后,安装于被动自重构运载单元车体内插销机构中的上下两个接近开关14检测到金属挂钩7到达捕获位后,自动触发,并通过控制单元向推进电缸8发送电信号;推进电缸8接收到该电信号后启动,推动插销18插入挂钩7,由此完成捕获。When the mechanical arm 4 drives the hook 7 into the capture port, the upper and lower proximity switches 14 installed in the latch mechanism in the body of the passive self-reconfigurable carrying unit detect that the metal hook 7 has reached the capture position, automatically trigger, and send the message to the capture port through the control unit. The propulsion electric cylinder 8 sends an electric signal; the propulsion electric cylinder 8 starts after receiving the electric signal, and the push pin 18 is inserted into the hook 7, thereby completing the capture.

拉近阶段:Pull-in phase:

当被动对接单元中的推进电缸8将推动插销18推动至预设长度位置后,向自身控制单元发送插销到位信号;被动自重构运载单元接收到插销到位信号后,通过主动自重构运载单元和被动自重构运载单元间的无线通讯收发装置将插销到位信号共享;使得主动自重构运载单元的控制单元能够接收到该信号;主动自重构运载单元的控制单元接收到插销到位信号后,控制机械臂4的电磁头失电,并控制机械臂4复位,使机械臂4折回到初始状态。When the propulsion electric cylinder 8 in the passive docking unit pushes the push pin 18 to the preset length position, it sends a pin in-position signal to its own control unit; after receiving the pin in-position signal, the passive self-reconfiguration carrier unit carries The wireless communication transceiver between the unit and the passive self-reconfigurable carrier unit shares the pin-in-place signal; the control unit of the active self-reconfigurable carrier unit can receive the signal; the control unit of the active self-reconfigurable carrier unit receives the pin-in-place signal Finally, the electromagnetic head controlling the mechanical arm 4 is powered off, and the mechanical arm 4 is controlled to reset, so that the mechanical arm 4 is folded back to the initial state.

当机械臂4复位后,控制单元控制绞盘3转动收回拉索2,以快速拉近被动自重构运载单元;拉近过程中,根据左右激光测距仪12的数值大小进行左右绞盘3转速的矫正,使左右两个拉索2能够同步拉动被动自重构运载单元;直到分布在主动自重构运载单元车头的两个激光测距仪12检测的距离值均到达预定数值,表明主动自重构运载单元和被动自重构运载单元拉近到位且对接面对齐。After the mechanical arm 4 is reset, the control unit controls the winch 3 to rotate and retract the cable 2, so as to quickly draw in the passive self-reconfiguration carrying unit; Correction, so that the two cables 2 on the left and right can pull the passive self-reconfiguration carrying unit synchronously; until the distance values detected by the two laser range finders 12 distributed on the front of the active self-reconfiguration carrying unit reach the predetermined value, indicating that the active self-reconfiguration carrying unit The structural carrier unit and the passive self-reconfigurable carrier unit are pulled into place and the docking surfaces are aligned.

锁紧阶段:Locking phase:

通过激光测距仪12判断主动自重构运载单元和被动自重构运载单元拉近到位且对接面对齐后,主动自重构运载单元中的控制单元控制纵向推进电机5启动,推动锁紧方钢13向前运动,使锁紧方钢13伸入被动自重构运载单元对应位置的锁止方槽内;当锁紧方钢13头部到达锁止方槽内且穿过锁止头17后,控制对应的两个侧向锁紧电机A6和两个侧向锁紧电机B10完成周向锁紧,同时位于被动自重构运载单元锁止方槽内的纵向锁紧电机9带动锁止头17转动完成对锁紧方钢13的纵向锁紧,自主对接过程结束。After judging by the laser rangefinder 12 that the active self-reconfigurable carrier unit and the passive self-reconfigurable carrier unit are in place and the docking surfaces are aligned, the control unit in the active self-reconfigurable carrier unit controls the longitudinal propulsion motor 5 to start and push to lock The square steel 13 moves forward, so that the locking square steel 13 extends into the locking square groove at the corresponding position of the passive self-reconfiguration carrying unit; when the head of the locking square steel 13 reaches the locking square groove and passes through the locking head After 17, control the corresponding two lateral locking motors A6 and two lateral locking motors B10 to complete the circumferential locking, and at the same time the longitudinal locking motor 9 located in the locking square groove of the passive self-reconfigurable carrier unit drives the locking head 17 rotations complete the longitudinal locking of the locking square steel 13, and the autonomous docking process ends.

被动对接工作过程:Passive docking process:

被动对接过程也分为捕获阶段、拉近阶段和锁紧阶段三个阶段,与上述自主对接过程的区别在于捕获阶段和拉近阶段有操作人员的参与。The passive docking process is also divided into three stages: the capture phase, the closing phase, and the locking phase. The difference from the above-mentioned autonomous docking process is that the capture phase and the closing phase require the participation of operators.

捕获阶段:Capture phase:

将待对接的两辆自重构运载单元停放在操作人员视觉范围内,进入遥控模式,操作人员遥控主动自重构运载单元运动,直到机械臂4和与之对应的捕获口之间的相对位姿偏差满足要求。操作人员取下主动自重构运载单元左右两侧的挂钩7,人工牵引挂钩7挂于被动自重构运载单元车尾左右的捕获口。当挂钩7到达捕获点位置,安装于前车车体内的上下两个感应式接近开关检测到挂钩7靠近后自动触发,并向推进电缸8发送电信号;推进电缸8接收到该电信号后启动,推动插销18插入挂钩7,由此完成捕获。Park the two self-reconfigurable carrier units to be docked within the visual range of the operator, enter the remote control mode, and the operator remotely controls the movement of the active self-reconfigurable carrier unit until the relative position between the mechanical arm 4 and the corresponding capture port The posture deviation meets the requirements. The operator removes the hooks 7 on the left and right sides of the active self-reconfigurable carrier unit, and the manual traction hook 7 is hung on the left and right capture ports at the rear of the passive self-reconfigurable carrier unit. When the hook 7 reaches the capture point, the upper and lower inductive proximity switches installed in the front vehicle body will automatically trigger after detecting the approach of the hook 7, and send an electrical signal to the propulsion electric cylinder 8; the propulsion electric cylinder 8 receives the electric signal After starting, push the latch 18 into the hook 7, thus completing the capture.

拉近阶段:Pull-in phase:

操作人员遥控主动自重构运载单元上的绞盘3转动收回拉索2,以快速拉近被动自重构运载单元。The operator remotely controls the winch 3 on the active self-reconfigurable carrier unit to rotate and retract the cable 2 to quickly draw the passive self-reconfigurable carrier unit closer.

锁紧阶段:Locking phase:

操作人员判断主动自重构运载单元和被动自重构运载单元基本对齐后;遥控主动自重构运载单元的锁紧方钢13向前推进,使锁紧方钢13伸入被动自重构运载单元对应位置的锁止方槽内,当锁紧方钢13头部到达锁止方槽内且穿过锁止头17后,遥控两个侧向锁紧电机A6和两个侧向锁紧电机B10完成周向锁紧,同时遥控位于被动自重构运载单元锁止方槽内的纵向锁紧电机9带动锁止头17转动完成对锁紧方钢13的纵向锁紧,被动对接过程结束。After the operator judges that the active self-reconfiguration carrier unit and the passive self-reconfiguration carrier unit are basically aligned; In the locking square groove at the corresponding position of the unit, when the head of the locking square steel 13 reaches the locking square groove and passes through the locking head 17, remotely control two lateral locking motors A6 and two lateral locking motors B10 completes the circumferential locking, and at the same time remotely controls the longitudinal locking motor 9 located in the locking square groove of the passive self-reconfigurable carrier unit to drive the locking head 17 to rotate to complete the longitudinal locking of the locking square steel 13, and the passive docking process ends.

综上所述,以上仅为本发明的较佳实施例而已,并非用于限定本发明的保护范围。凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (9)

1.自重构运载装备主被动可切换式对接系统,其特征在于,所述自重构运载装备由多辆自重构运载单元通过对接系统对接后形成;所述对接系统包括:主动对接单元和被动对接单元;1. Active-passive switchable docking system for self-reconfigurable carrier equipment, characterized in that the self-reconfigurable carrier equipment is formed by docking multiple self-reconfigurable carrier units through a docking system; the docking system includes: an active docking unit and passive docking units; 每辆自重构运载单元上均设置有所述对接系统;当两辆自重构运载单元对接时,其中一辆自重构运载单元的主动对接单元与另一辆自重构运载单元上的被动对接单元对接;Each self-reconfigurable carrier unit is provided with the docking system; when two self-reconfigurable carrier units are docked, the active docking unit of one of the self-reconfigurable carrier units and the other self-reconfigurable carrier Passive docking unit docking; 所述主动对接单元包括:主动感知系统、主动捕获装置、挂绳系统和主动锁紧装置;The active docking unit includes: an active sensing system, an active capture device, a lanyard system and an active locking device; 所述被动对接单元包括:插销机构、标记系统以及锁紧机构;The passive docking unit includes: a latch mechanism, a marking system and a locking mechanism; 所述主动感知系统与所述标记系统配合用于感知两辆自重构运载单元间的相对位姿;The active sensing system cooperates with the marking system to perceive the relative pose between the two self-reconfigurable carrying units; 所述挂绳系统中的挂钩能够由所述主动捕获装置主动牵引或人工被动牵引至所述被动对接单元的捕获口内;所述插销机构用于对进入所述捕获口内的挂钩进行位置锁定;The hook in the lanyard system can be actively pulled by the active capture device or artificially passively drawn into the capture port of the passive docking unit; the latch mechanism is used to lock the position of the hook entering the capture port; 所述挂绳系统用于在所述插销机构对挂钩进行位置锁定后,拉近两辆自重构运载单元至对接位;The lanyard system is used to pull the two self-reconfigurable carrying units closer to the docking position after the latch mechanism locks the position of the hook; 所述主动锁紧装置用于和所述锁紧机构配合,实现两辆自重构运载单元的对接和锁紧。The active locking device is used to cooperate with the locking mechanism to realize the docking and locking of two self-reconfigurable carrying units. 2.如权利要求1所述的自重构运载装备主被动可切换式对接系统,其特征在于,在自重构运载单元的车头沿横向对称设置两套相同的主动对接单元,在自重构运载单元的车尾沿横向对称设置两套相同的被动对接单元。2. The active-passive switchable docking system for self-reconfiguring carrier equipment as claimed in claim 1, characterized in that two sets of identical active docking units are arranged symmetrically along the lateral direction on the front of the self-reconfiguring carrier unit. Two sets of identical passive docking units are arranged symmetrically along the lateral direction at the rear of the carrying unit. 3.如权利要求1或2所述的自重构运载装备主被动可切换式对接系统,其特征在于,所述挂绳系统还包括安装在所述自重构运载单元内部的定滑轮、拉索和绞盘;所述拉索一端缠绕在绞盘上,另一端通过定滑轮换向后与所述挂钩相连。3. The active-passive switchable docking system for self-reconfigurable carrying equipment as claimed in claim 1 or 2, wherein the lanyard system also includes fixed pulleys, pulleys and pulleys installed inside the self-reconfiguring carrying unit. A cable and a winch; one end of the cable is wound on the winch, and the other end is connected to the hook after being reversed by a fixed pulley. 4.如权利要求1或2所述的自重构运载装备主被动可切换式对接系统,其特征在于,所述主动捕获装置为空间六自由度机械臂;所述机械臂的末端为电磁头;所述电磁头通电后磁吸所述挂绳系统中的挂钩;并带动所述挂钩运动。4. The active-passive switchable docking system for self-reconfigurable carrier equipment according to claim 1 or 2, wherein the active capture device is a mechanical arm with six degrees of freedom in space; the end of the mechanical arm is an electromagnetic head ; After the electromagnetic head is energized, it magnetically attracts the hook in the lanyard system; and drives the hook to move. 5.如权利要求4所述的自重构运载装备主被动可切换式对接系统,其特征在于,未进行对接时,所述机械臂折叠在所述自重构运载单元内部;对接时,所述机械臂在控制单元的控制下通过所述自重构运载单元上预留的空间槽口扩展至所述自重构运载单元外部;并运动至挂钩所在位置;然后所述机械臂末端电磁头触发上电,磁吸所述挂绳系统中的挂钩。5. The active-passive switchable docking system for self-reconfigurable carrying equipment as claimed in claim 4, wherein when docking is not performed, the mechanical arm is folded inside the self-reconfiguring carrying unit; when docking, the Under the control of the control unit, the mechanical arm expands to the outside of the self-reconfigurable carrier unit through the space slot reserved on the self-reconfigurable carrier unit; and moves to the position where the hook is; then the electromagnetic head at the end of the mechanical arm Trigger power on, magnetically attract the hook in the lanyard system. 6.如权利要求1或2所述的自重构运载装备主被动可切换式对接系统,其特征在于,所述主动感知系统包括:摄像头和激光测距仪;6. The self-reconfigurable carrier equipment active-passive switchable docking system according to claim 1 or 2, wherein the active sensing system includes: a camera and a laser rangefinder; 所述标记系统包括:车身位姿靶标和锁紧机构位置靶标;在自重构运载单元被动对接面中心设置车身位姿靶标,捕获口附近设置锁紧机构位置靶标;The marking system includes: a body pose target and a locking mechanism position target; a body pose target is set at the center of the passive docking surface of the self-reconfiguring carrying unit, and a locking mechanism position target is set near the capture port; 所述摄像头通过识别车身位姿靶标,获得两辆自重构运载单元间的相对位姿;通过识别所述锁紧机构位置靶标,获得捕获目标点与主动捕获装置之间的六自由度偏差;所述捕获目标点为捕获口轴线和与所述插销机构中插销的轴线的相交点;The camera obtains the relative pose between the two self-reconfigurable carrying units by identifying the pose target of the vehicle body; obtains the six-degree-of-freedom deviation between the capture target point and the active capture device by identifying the position target of the locking mechanism; The capture target point is the intersection point of the axis of the capture port and the axis of the latch in the latch mechanism; 所述激光测距仪用于测量两辆自重构运载单元之间的相对距离。The laser rangefinder is used to measure the relative distance between two self-reconfigurable carrying units. 7.如权利要求1或2所述的自重构运载装备主被动可切换式对接系统,其特征在于,所述主动锁紧装置包括一根以上沿纵向设置的锁紧梁,所述锁紧梁沿车体横向间隔分布;7. The active-passive switchable docking system for self-reconfigurable carrier equipment according to claim 1 or 2, wherein the active locking device includes more than one locking beam arranged longitudinally, and the locking beam The beams are distributed at intervals along the transverse direction of the vehicle body; 每根锁紧梁包括:一根锁紧方钢、一个纵向推进电机和两个侧向锁紧电机A;所述纵向推进电机用于纵向推动锁紧方钢,使其头部伸出或收回至自重构运载单元内部;两个侧向锁紧电机A用于在锁紧方钢伸出到位后,分别从锁紧方钢尾部的两个侧面对其进行侧向压紧;Each locking beam includes: a locking square steel, a longitudinal propulsion motor and two lateral locking motors A; the longitudinal propulsion motor is used to longitudinally push the locking square steel to extend or retract its head To the interior of the self-reconfigurable carrying unit; two lateral locking motors A are used to laterally compress the locking square steel from the two sides of the tail of the locking square steel after it is stretched out into place; 自重构运载单元上的被动对接单元中设置有用于使所述锁紧方钢伸入的锁止方槽,所述锁止方槽内设置用于对锁紧方钢进行锁紧的锁紧机构;The passive docking unit on the self-reconfigurable carrying unit is provided with a locking square groove for the locking square steel to extend into, and a locking groove for locking the locking square steel is arranged in the locking square groove. mechanism; 所述锁紧机构包括:纵向锁紧电机、两个侧向锁紧电机B和一个锁止头;所述锁止方槽中心设置锁止头,所述纵向锁紧电机用于带动所述锁止头绕其轴线转动;所述锁紧方钢头部的端部设置有内型面与锁止头一致的锁止块,当锁紧方钢头部伸入锁止方槽内并穿过锁止头后,通过纵向锁紧电机带动锁止头旋转,使所述锁止头和锁止块之间锁定;两个侧向锁紧电机B分别从两个侧面对伸入到锁止方槽内的锁紧方钢进行侧面锁紧。The locking mechanism includes: a longitudinal locking motor, two lateral locking motors B and a locking head; the locking head is arranged in the center of the locking square groove, and the longitudinal locking motor is used to drive the lock The stop head rotates around its axis; the end of the locking square steel head is provided with a locking block whose inner surface is consistent with the locking head, when the locking square steel head extends into the locking square groove and passes through After locking the head, the locking head is driven to rotate through the longitudinal locking motor, so that the locking head and the locking block are locked; two lateral locking motors B extend into the locking side from two sides respectively. The locking square steel in the groove is used for side locking. 8.如权利要求1或2所述的自重构运载装备主被动可切换式对接系统,其特征在于,所述插销机构包括:推进电缸、接近开关和插销;所述接近开关用于检测挂钩的到位信息,以触发推进电缸;所述推进电缸用于推动插销,使其插入挂钩。8. The active-passive switchable docking system for self-reconfigurable carrier equipment according to claim 1 or 2, characterized in that the latch mechanism includes: a propulsion electric cylinder, a proximity switch and a latch; the proximity switch is used to detect The position information of the hook is used to trigger the propulsion electric cylinder; the propulsion electric cylinder is used to push the bolt to be inserted into the hook. 9.如权利要求1或2所述的自重构运载装备主被动可切换式对接系统,其特征在于,所述捕获口处设置有引导锥面;所述引导锥面与挂钩末端的凸台配合,用于拉近阶段末端两辆自重构运载单元之间的姿态矫正。9. The active-passive switchable docking system for self-reconfiguring carrier equipment according to claim 1 or 2, wherein a guiding cone is provided at the capture port; the guiding cone and the boss at the end of the hook Coordination, used for attitude correction between two self-reconfigurable delivery units at the end of the approaching phase.
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