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

Abstract

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.

Description

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

technical field

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.

Background technique

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.

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.

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.

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.

Contents of the invention

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.

Self-reconfigurable carrier equipment active and passive switchable docking system:

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;

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;

The active docking unit includes: an active sensing system, an active capture device, a lanyard system and an active locking device;

The passive docking unit includes: a latch mechanism, a marking system and a 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 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;

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;

The active locking device is used to cooperate with the locking mechanism to realize the docking and locking of two self-reconfigurable carrying units.

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.

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.

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.

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.

As a preferred mode of the present invention, the active perception system includes: a camera and a laser rangefinder;

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;

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;

The laser rangefinder is used to measure the relative distance between two self-reconfigurable carrying units.

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;

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;

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;

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.

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.

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.

Beneficial effect:

(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) 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) 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) 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) 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.

Description of drawings

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;

Fig. 2 is a top view of the self-reconfigurable carrier equipment docking system of the present invention;

Figure 3 is a front view of the active docking unit of the docking system;

Fig. 4 is a front view of the passive docking unit of the docking system.

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.

detailed description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

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.

The self-reconfigurable carrier equipment shown in Figure 1 is formed by docking two self-reconfigurable carrier units through a docking system.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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. .

The following is a comprehensive description of the active docking process and passive docking process of the docking system:

Active docking work process:

The active docking process is divided into three stages, namely: capture stage, pull-in stage and locking stage.

Capture phase:

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.

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.

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.

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.

Pull-in phase:

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.

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.

Locking phase:

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.

Passive docking process:

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.

Capture phase:

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.

Pull-in phase:

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.

Locking phase:

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.

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. 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; 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; The active docking unit includes: an active sensing system, an active capture device, a lanyard system and an active locking device; The passive docking unit includes: a latch mechanism, a marking system and a 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 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; 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; 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. 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. 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. 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. 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. 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; 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; 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; The laser rangefinder is used to measure the relative distance between two self-reconfigurable carrying units. 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; 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; 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; 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. 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. 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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