Autonomous docking magnetic attraction charging management system and method

Abstract

The invention belongs to the technical field of charging management, and particularly relates to an autonomous docking magnetic attraction charging management system and method.The autonomous docking magnetic attraction charging management method comprises the steps that firstly, the current environment interference intensity is determined by obtaining real-time data of a magnetic field sensor and an accelerometer, then the magnetic field direction of a magnetic attraction assembly is dynamically adjusted according to the interference intensity, and a corresponding magnetic attraction moment compensation value is calculated; therefore, the external interference is counteracted. In addition, the method also monitors the real-time displacement and current change of the docking interface, judges whether the real-time displacement and current change reach a preset docking threshold value or not, calculates the vibration frequency based on the interference intensity and the displacement change to generate a frequency ratio, and further optimizes the magnetic attraction moment compensation value. And when the new compensation value enables the current change rate to be lower than the interference threshold value in three continuous periods, locking the magnetic attraction assembly to complete butt joint. According to the method, the docking success rate and the charging stability in a complex environment are remarkably improved, and the method is particularly suitable for high-precision and low-tolerance docking interface design.

Description

Technical Field

[0001] The present invention belongs to the technical field of charging management, and particularly relates to an autonomous docking magnetic charging management system and method. Background Art

[0002] In the current autonomous docking magnetic charging system, sensors are usually used to detect environmental changes, and precise docking between devices is achieved by adjusting the magnetic field direction and intensity. The prior art mainly relies on static parameter settings or simple dynamic adjustment mechanisms for the docking operation of the charging interface. However, in practical applications, weak external force disturbances (such as vibration, air flow, or non-uniform magnetic field) often lead to docking failure or a decrease in charging efficiency, especially when the docking interface is designed with high precision and low tolerance. These problems limit the stability and reliability of the magnetic charging system.

[0003] For example, the existing methods may rely only on the initially set fixed magnetic field parameters for docking, without fully considering the impact of real-time environmental disturbances on the docking process. Once external disturbances are encountered, the original docking scheme is difficult to respond promptly and effectively, thus affecting the final docking effect and charging efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide an autonomous docking magnetic charging management system and method, which significantly improves the docking success rate and charging stability in complex environments, especially applicable to the docking interface design with high precision and low tolerance, so as to ensure that the high-precision and low-tolerance docking interface can successfully complete docking and maintain a stable charging state in an environment with weak external force disturbances.

[0005] To achieve the above purpose, the present invention adopts the following technical solution: An autonomous docking magnetic charging management method, comprising the following steps:

[0006] Obtain the real-time data of the magnetic field sensor and the accelerometer during the docking process to determine the current environmental interference intensity; adjust the magnetic field direction of the magnetic attraction component according to the interference intensity to generate a magnetic field adjustment parameter, calculate a magnetic attraction torque compensation value based on the magnetic field adjustment parameter, where the compensation value is the difference between the current magnetic attraction torque and the interference torque multiplied by a preset coefficient; execute the magnetic attraction torque compensation to make the docking interface move along a preset trajectory, monitor the real-time displacement and current change of the docking interface, and determine whether a preset docking threshold is reached; calculate the vibration frequency according to the change of the interference intensity and the displacement, generate a frequency ratio, multiply the frequency ratio by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value; when the current change rate of the new magnetic attraction torque compensation value is lower than the interference threshold for three consecutive cycles, lock the magnetic attraction component and complete the docking.

[0007] Preferably, real-time data of the magnetic field sensor and the accelerometer during the docking process are obtained to determine the current environmental interference intensity, including:

[0008] Collect the data output by the magnetic field sensor and the data output by the accelerometer;

[0009] Calculate the standard deviation of the magnetic field sensor data and the standard deviation of the accelerometer data;

[0010] Calculate the comprehensive interference index according to the standard deviation of the magnetic field sensor data and the standard deviation of the accelerometer data;

[0011] Compare the comprehensive interference index with a preset threshold. If the comprehensive interference index is greater than the preset threshold, it is determined that there is significant environmental interference, otherwise it is ignored.

[0012] Preferably, the magnetic field direction of the magnetic attraction component is adjusted according to the interference intensity to generate a magnetic field adjustment parameter, including:

[0013] Obtain the comprehensive interference index, and calculate the magnetic field direction adjustment angle according to the comprehensive interference index;

[0014] Use the magnetic field direction adjustment angle to adjust the X-axis and Y-axis magnetic field direction components of the magnetic attraction component;

[0015] Determine the final magnetic field adjustment parameter based on the adjusted X-axis and Y-axis magnetic field direction components, and apply it to the magnetic attraction component control signal.

[0016] Preferably, calculate the magnetic attraction torque compensation value based on the magnetic field adjustment parameter, including:

[0017] Obtain the magnetic field adjustment parameter, calculate the current magnetic attraction torque according to the magnetic field adjustment parameter, and estimate the interference torque based on the accelerometer data at the same time;

[0018] Calculate the magnetic attraction torque compensation value, and apply the magnetic attraction torque compensation value to the magnetic attraction component control signal to offset the influence of the interference torque.

[0019] Preferably, perform the magnetic attraction torque compensation to move the docking interface along a preset trajectory, including:

[0020] Obtain the magnetic attraction torque compensation value, and determine the compensation forces on the X-axis and Y-axis according to the magnetic attraction torque compensation value;

[0021] Convert the compensation forces into the actual displacement amount of the docking interface, and adjust the position of the docking interface according to the actual displacement amount so that it moves along the preset trajectory until the set displacement threshold is reached.

[0022] Preferably, monitor the real-time displacement and current change of the docking interface to determine whether the preset docking threshold is reached, including:

[0023] Obtain the actual displacement, calculate the total displacement of the docking interface, and measure the real-time current at the docking interface;

[0024] Compare the total displacement with a preset displacement threshold. If the total displacement is less than or equal to the preset displacement threshold, it is determined that the displacement meets the condition; at the same time, calculate the current change rate;

[0025] Compare the current change rate with a preset current change threshold. It is determined that the preset docking threshold is reached if and only if the total displacement is less than or equal to the preset displacement threshold and the current change rate is less than or equal to the preset current change threshold.

[0026] Preferably, calculate the vibration frequency according to the change of the interference intensity and displacement, and generate a frequency ratio, including:

[0027] Obtain the comprehensive interference index and the actual displacement, and calculate the average displacement change rate within a continuous time period according to the actual displacement;

[0028] Calculate the vibration frequency by using the comprehensive interference index and the average displacement change rate;

[0029] Compare the vibration frequency with a preset standard frequency to generate a frequency ratio.

[0030] Preferably, multiply the frequency ratio by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value, including:

[0031] Obtain the frequency ratio and determine the preset compensation coefficient;

[0032] Calculate a new magnetic attraction torque compensation value according to the frequency ratio and the preset compensation coefficient;

[0033] Apply the new magnetic attraction torque compensation value to the current magnetic attraction component control signal, and adjust the magnetic attraction torque by updating the forces on the X-axis and Y-axis.

[0034] Preferably, when the new magnetic attraction torque compensation value makes the current change rate lower than the interference threshold for three consecutive cycles, lock the magnetic attraction component and complete the docking, including:

[0035] Obtain the new magnetic attraction torque compensation value and apply the new magnetic attraction torque compensation value to adjust the magnetic attraction component;

[0036] Monitor the real-time current at the docking interface and calculate the current change rate within each cycle;

[0037] Compare the current change rate with a preset interference threshold. If the current change rate is less than the preset interference threshold for three consecutive cycles, confirm that the current state is stable;

[0038] When the conditions are met, lock the position of the magnetic attraction component, stop further adjustment, and confirm the completion of the docking operation.

[0039] On the other hand, the present invention proposes an autonomous docking magnetic attraction charging management system, including:

[0040] An environmental interference detection module, configured to obtain real-time data of a magnetic field sensor and an accelerometer during docking, and determine the current environmental interference intensity;

[0041] A magnetic attraction torque compensation calculation module, configured to adjust the magnetic field direction of the magnetic attraction component according to the interference intensity, generate a magnetic field adjustment parameter, and calculate a magnetic attraction torque compensation value based on the magnetic field adjustment parameter, where the compensation value is the difference between the current magnetic attraction torque and the interference torque multiplied by a preset coefficient;

[0042] A docking trajectory control and threshold judgment module, configured to perform the magnetic attraction torque compensation, move the docking interface along a preset trajectory, monitor the real-time displacement and current change of the docking interface, and judge whether a preset docking threshold is reached;

[0043] A vibration frequency analysis and dynamic compensation module, configured to calculate a vibration frequency according to the change of the interference intensity and displacement, generate a frequency ratio, and multiply the frequency ratio by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value;

[0044] A docking completion locking module, configured to lock the magnetic attraction component and complete the docking when the new magnetic attraction torque compensation value makes the current change rate lower than the interference threshold for three consecutive cycles.

[0045] The technical effects and advantages of the present invention: An autonomous docking magnetic attraction charging management system and method proposed by the present invention have the following advantages compared with the prior art:

[0046] The present invention first determines the current environmental interference intensity by obtaining real-time data of the magnetic field sensor and the accelerometer, and then dynamically adjusts the magnetic field direction of the magnetic attraction component and calculates the corresponding magnetic attraction torque compensation value according to the interference intensity to offset external interference. In addition, this method also monitors the real-time displacement and current change of the docking interface, judges whether a preset docking threshold is reached, and calculates a vibration frequency based on the interference intensity and displacement change to generate a frequency ratio, further optimizing the magnetic attraction torque compensation value. When the new compensation value makes the current change rate lower than the interference threshold for three consecutive cycles, the magnetic attraction component is locked to complete the docking. This method significantly improves the docking success rate and charging stability in a complex environment, and is especially suitable for docking interface designs with high precision and low tolerance. Description of the Drawings

[0047] Figure 1 It is a flowchart of the autonomous docking magnetic attraction charging management method of the present invention;

[0048] Figure 2 This is a block diagram of the autonomous docking magnetic charging management system of the present invention. Specific Embodiments

[0049] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0050] The present invention provides an autonomous docking magnetic charging management method as Figure 1 shown, which significantly improves the docking success rate and charging stability in complex environments, and is particularly suitable for high-precision and low-tolerance docking interface designs, so as to ensure that in an environment with weak external force interference, a high-precision and low-tolerance docking interface can successfully complete docking and maintain a stable charging state, specifically as follows:

[0051] In this embodiment, the autonomous docking magnetic charging management method includes the following steps:

[0052] Step 1: Obtain the real-time data of the magnetic field sensor and the accelerometer during the docking process, and determine the current environmental interference intensity; specifically, it includes the following steps:

[0053] Collect the data of the three directions X_ms, Y_ms, Z_ms output by the magnetic field sensor and the data of the three axes X_ac, Y_ac, Z_ac output by the accelerometer; by simultaneously collecting the data of the magnetic field sensor and the accelerometer in three different directions / axes, the magnetic field state and physical motion of the surrounding environment of the device can be comprehensively understood.

[0054] Calculate the standard deviation of the three-axis data of the magnetic field sensor:

[0055] SD_ms = sqrt(((X_ms - avg(X_ms))^2 + (Y_ms - avg(Y_ms))^2 + (Z_ms - avg(Z_ms))^2) / 3), and the standard deviation of the three-axis data of the accelerometer:

[0056] SD_ac = sqrt(((X_ac - avg(X_ac))^2 + (Y_ac - avg(Y_ac))^2 + (Z_ac - avg(Z_ac))^2) / 3), where avg represents the averaging operation; it is used to calculate the standard deviation of the three-axis data, where X, Y, and Z respectively represent the three-axis readings at a certain moment, and X_avg, Y_avg, and Z_avg are the average values of the readings of these three axes. The purpose of this formula is to quantify the degree of dispersion of these data points relative to their mean value, thereby helping to identify whether there are significant environmental interferences.

[0057] Based on the SD_ms and the SD_ac, calculate the comprehensive interference index DI = (SD_ms + SD_ac) / 2; the comprehensive interference index (DI) is an overall index that combines the influence of magnetic field fluctuations and physical movements. By adding the standard deviations of the magnetic field sensor and the accelerometer and then taking the average, a single value that can reflect the overall environmental stability can be obtained.

[0058] Compare the DI with the preset threshold TH_di. If DI > TH_di, it is determined that there are significant environmental interferences; otherwise, the interferences are considered negligible. This step determines whether the current environment poses a threat to the normal operation of the system by setting a fixed threshold. If the DI exceeds this threshold, it indicates that the interferences in the environment may affect the success rate of the magnetic adsorption docking process; otherwise, it indicates that the environment is relatively stable and suitable for high-precision docking operations.

[0059] Example 1

[0060] Suppose in a specific application scenario, the following data is first collected:

[0061] Three-axis data of the magnetic field sensor: X_ms = 0.5, Y_ms = 0.6, Z_ms = 0.7;

[0062] Three-axis data of the accelerometer: X_ac = 0.2, Y_ac = 0.3, Z_ac = 0.4.

[0063] Next, calculate the average value of each group of data and calculate the standard deviation based on this:

[0064] For the magnetic field sensor, it is calculated that:

[0065] avg(X_ms) = 0.6, avg(Y_ms) = 0.6, avg(Z_ms) = 0.6. Therefore,

[0066] SD_ms = sqrt(((0.5 - 0.6)^2 + (0.6 - 0.6)^2 + (0.7 - 0.6)^2) / 3) = 0.0816.

[0067] For the accelerometer, the calculated values are avg(X_ac) = 0.3, avg(Y_ac) = 0.3, avg(Z_ac) = 0.3. Therefore, SD_ac = sqrt(((0.2 - 0.3)^2 + (0.3 - 0.3)^2 + (0.4 - 0.3)^2) / 3) = 0.0816;

[0068] Then, calculate the comprehensive interference index DI = (0.0816 + 0.0816) / 2 = 0.0816.

[0069] Finally, compare the DI value with the preset threshold TH_di. If TH_di is set to 0.1, since DI < TH_di, it can be judged that the current environmental interference is small and suitable for docking operation.

[0070] Step 2: Adjust the magnetic field direction of the magnetic attraction component according to the interference intensity to generate magnetic field adjustment parameters; specifically including the following steps:

[0071] Through the comprehensive interference index (DI) obtained from Step 1, the interference degree in the current environment can be quantified. This provides basic data support for the subsequent dynamic adjustment of the magnetic field direction of the magnetic attraction component.

[0072] Calculate the magnetic field direction adjustment angle θ_adj = arcsin(DI / TH_di)*(180 / π), where TH_di is the preset threshold and π is the constant of the circumference ratio; the arcsin function is used to convert the ratio of DI to the preset threshold TH_di into an angle value, and this angle represents the magnetic field direction that needs to be adjusted. Convert the obtained angle from radians to degrees for application in actual operation. Here, DI represents the comprehensive interference index, and TH_di is the set interference threshold, representing the maximum interference level that the system can tolerate. When DI is close to or exceeds TH_di, it indicates that the environmental interference is relatively significant, and the magnetic field direction needs to be adjusted accordingly to maintain the docking accuracy.

[0073] Use the θ_adj to adjust the X-axis and Y-axis magnetic field direction components of the magnetic attraction component, such that:

[0074] X_new_mag = X_old_mag*cos(θ_adj) - Y_old_mag*sin(θ_adj);

[0075] Y_new_mag = X_old_mag*sin(θ_adj) + Y_old_mag*cos(θ_adj);

[0076] Among them, X_old_mag and Y_old_mag are the components of the original magnetic field direction; trigonometric functions (sine and cosine) are used to recalculate the new coordinate values of the magnetic field direction to ensure that the magnetic field direction can adapt to the new environmental conditions. Two formulas describe how to calculate the new magnetic field direction components (X_new_mag, Y_new_mag) based on the original magnetic field direction components (X_old_mag, Y_old_mag) and the calculated angle adjustment value (θ_adj). The purpose of this is to offset the magnetic field offset caused by external interference, thereby ensuring the accuracy of the docking process.

[0077] Determine the final magnetic field adjustment parameter based on the X_new_mag and Y_new_mag, and apply it to the control signal of the magnetic attraction component. The new magnetic field direction components (X_new_mag, Y_new_mag) obtained through the above calculations can be directly sent to the magnetic attraction component as a control signal to achieve precise adjustment of the magnetic field direction, thereby effectively coping with environmental interference and improving the docking success rate.

[0078] Embodiment 2

[0079] Suppose the following data is obtained at a certain moment:

[0080] Comprehensive interference index DI = 0.05;

[0081] Preset threshold TH_di = 0.1;

[0082] Original magnetic field direction components X_old_mag = 0.6, Y_old_mag = 0.8.

[0083] First, adjust the angle θ_adj according to the magnetic field direction:

[0084] Use the formula θ_adj = arcsin(DI / TH_di)*(180 / π), that is:

[0085] θ_adj = arcsin(0.05 / 0.1)*(180 / π) = 28.65 degrees.

[0086] Next, calculate the new magnetic field direction components:

[0087] Use the formulas X_new_mag = X_old_mag*cos(θ_adj)-Y_old_mag*sin(θ_adj) and Y_new_mag = X_old_mag*sin(θ_adj)+Y_old_mag*cos(θ_adj),

[0088] where cos(28.65°) = 0.877, sin(28.65°) = 0.480,

[0089] Therefore, X_new_mag = 0.6 * 0.877 - 0.8 * 0.480 = 0.209,

[0090] Y_new_mag = 0.6 * 0.480 + 0.8 * 0.877 = 0.942.

[0091] Finally, based on the calculated new magnetic field direction components (X_new_mag, Y_new_mag), i.e., (0.209, 0.942), it is sent as a control signal to the magnetic attraction component to complete the adjustment of the magnetic field direction to cope with the weak interference in the environment and ensure the success rate of high-precision docking.

[0092] Step 3: Calculate the magnetic attraction torque compensation value based on the magnetic field adjustment parameters. The compensation value is the difference between the current magnetic attraction torque and the interference torque multiplied by a preset coefficient; specifically, it includes the following steps:

[0093] By using the new magnetic field direction components (X_new_mag, Y_new_mag) calculated in Step 2, the direction and intensity of the magnetic field under the current environmental conditions can be accurately reflected, providing an accurate data basis for subsequent calculations;

[0094] Calculate the current magnetic attraction torque M_cur = X_new_mag^2 + Y_new_mag^2 according to the X_new_mag and Y_new_mag. This formula is used to calculate the magnetic attraction torque generated by the new magnetic field direction components. Here, it is assumed that the magnetic attraction torque is proportional to the square of the magnetic field direction components, reflecting the resultant torque of the magnetic field in two main directions. At the same time, estimate the interference torque M_dis = (X_ac^2 + Y_ac^2 + Z_ac^2) / 3 based on the accelerometer data, where X_ac, Y_ac, and Z_ac are the three-axis data output by the accelerometer; this formula estimates the interference torque of the external environment on the system based on the data of the accelerometer in three axial directions. By summing the squares of the three-axis acceleration data and taking the average, an index representing the overall interference level received by the system can be obtained.

[0095] Calculate the magnetic attraction torque compensation value M_comp = (M_cur - M_dis) * C_adj, where C_adj is the preset coefficient used to amplify or reduce the compensation strength; this formula is used to determine the magnetic attraction torque compensation value to be applied. First, calculate the difference between the current magnetic attraction torque and the interference torque, and then adjust the compensation strength by multiplying by the preset coefficient C_adj to ensure that the influence of the interference torque can be effectively offset.

[0096] By applying the calculated magnetic attraction torque compensation value M_comp to the control signal of the magnetic attraction component, the magnetic field strength and direction can be dynamically adjusted, thereby effectively canceling the influence of external interference on the docking process and improving the docking success rate and stability.

[0097] Embodiment 3

[0098] Suppose there is the following data:

[0099] The new magnetic field direction components X_new_mag = 0.209, Y_new_mag = 0.942 (from Step 2);

[0100] The three-axis data of the accelerometer X_ac = 0.2, Y_ac = 0.3, Z_ac = 0.4;

[0101] The preset coefficient C_adj = 2 (used to adjust the compensation intensity).

[0102] First, according to the current magnetic attraction torque M_cur and the interference torque M_dis:

[0103] Use the formula M_cur = X_new_mag^2 + Y_new_mag^2, that is:

[0104] M_cur = 0.209^2 + 0.942^2 = 0.906.

[0105] Use the formula M_dis = (X_ac^2 + Y_ac^2 + Z_ac^2) / 3, that is:

[0106] M_dis = (0.2^2 + 0.3^2 + 0.4^2) / 3 = 0.097.

[0107] Next, calculate the magnetic attraction torque compensation value M_comp:

[0108] Use the formula M_comp = (M_cur - M_dis)*C_adj, that is:

[0109] M_comp = (0.906 - 0.097)*2 = 1.618.

[0110] Finally, apply the calculated magnetic attraction torque compensation value M_comp to the control signal of the magnetic attraction component to cancel the deviation caused by external interference, ensure that the docking interface can maintain high-precision docking in a complex environment, and improve the charging efficiency and system reliability.

[0111] Step 4: Execute the magnetic attraction torque compensation to make the docking interface move along the preset trajectory; specifically, it includes the following steps:

[0112] Based on the magnetic attraction torque compensation value (M_comp) obtained in Step 3, it is possible to accurately determine how much compensation force needs to be applied to counteract the influence of external interference on the system.

[0113] According to the M_comp, determine the compensation forces on the X-axis and Y-axis: F_x_move = M_comp * cos(α_move), F_y_move = M_comp * sin(α_move), where α_move is the angle between the target movement direction of the docking interface and the positive direction of the X-axis; these two formulas decompose the magnetic attraction torque compensation value onto the X-axis and Y-axis based on trigonometric functions. cos(α_move) and sin(α_move) respectively represent the component ratios of the target movement direction on the X-axis and Y-axis, so that the compensation force required for each axial direction can be obtained.

[0114] Convert the F_x_move and F_y_move into the actual displacement amounts of the docking interface: Δx_pos = F_x_move / K_x, Δy_pos = F_y_move / K_y, where K_x and K_y are the proportionality coefficients of the X-axis and Y-axis respectively, used to convert force into displacement; these formulas are used to convert the calculated compensation force into actual displacement amounts. K_x and K_y are proportionality coefficients, which reflect the displacement amount caused by a unit force. In this way, the action of the force can be converted into a specific physical displacement, so as to accurately control the position of the docking interface.

[0115] Adjust the position of the docking interface according to the Δx_pos and Δy_pos, so that it moves along the preset trajectory until the set displacement threshold TH_pos is reached, thereby completing the precise alignment.

[0116] Example 4

[0117] Suppose there are the following data:

[0118] Magnetic attraction torque compensation value M_comp = 1.618 (from Step 3);

[0119] The angle α_move between the target movement direction and the positive direction of the X-axis = 45 degrees;

[0120] Proportionality coefficients of the X-axis and Y-axis K_x = 10, K_y = 10;

[0121] Set the displacement threshold TH_pos = 0.05.

[0122] First, calculate the compensation forces F_x_move and F_y_move on the X-axis and Y-axis:

[0123] Use the formula:

[0124] F_x_move = M_comp * cos(α_move) and F_y_move = M_comp * sin(α_move), where cos(45°) = 0.707 and sin(45°) = 0.707. Therefore, F_x_move = 1.618 * 0.707 = 1.143 and F_y_move = 1.618 * 0.707 = 1.143.

[0125] Next, according to the actual displacement amounts Δx_pos and Δy_pos of the docking interface:

[0126] Use the formulas Δx_pos = F_x_move / K_x and Δy_pos = F_y_move / K_y,

[0127] i.e., Δx_pos = 1.143 / 10 = 0.1143 and Δy_pos = 1.143 / 10 = 0.1143.

[0128] Finally, adjust the position of the docking interface to move it along the preset trajectory until the set displacement threshold TH_pos is reached:

[0129] In this example, since both Δx_pos and Δy_pos are greater than TH_pos (0.05), adjustment needs to continue until the condition is met. If, after multiple adjustments, finally Δx_pos and Δy_pos are less than or equal to TH_pos, it indicates that the docking interface has been accurately aligned and the docking process is completed.

[0130] Step Five: Monitor the real-time displacement and current change of the docking interface to determine whether the preset docking threshold is reached; specifically, it includes the following steps:

[0131] From the actual displacement amounts (Δx_pos, Δy_pos) obtained in Step Four, the specific position changes of the docking interface on the X-axis and Y-axis can be understood.

[0132] Calculate the total displacement D_total of the docking interface = sqrt(Δx_pos^2 + Δy_pos^2), and at the same time measure the real-time current I_real at the docking interface; this formula is based on the Pythagorean theorem and is used to calculate the actual moving distance of the docking interface in the two-dimensional plane. By adding the squares of the displacements on the X-axis and Y-axis and then taking the square root, a single value representing the total displacement can be obtained.

[0133] Compare the calculated total displacement D_total with a preset displacement threshold TH_pos. If D_total <= TH_pos, it is determined that the displacement meets the condition. By comparing the calculated total displacement D_total with the preset displacement threshold TH_pos, it can be determined whether the docking interface has reached the target position. If D_total <= TH_pos, it indicates that the displacement meets the condition. At the same time, calculate the current change rate ΔI_curr = abs(I_real - I_0) / I_0 * 100%, where I_0 is the initial current value. This formula is used to calculate the change rate of the current, reflecting the current fluctuation of the system during the docking process. abs(I_real - I_0) represents the difference between the current current and the initial current, and multiplying by 100% converts it into a percentage form for intuitive understanding of the degree of current change.

[0134] Compare the ΔI_curr with a preset current change threshold TH_curr. Only when D_total <= TH_pos and ΔI_curr <= TH_curr, it is determined that the preset docking threshold is reached and the docking preparation is completed.

[0135] Example 5

[0136] Suppose there are the following data:

[0137] The actual displacement amounts are Δx_pos = 0.1143 and Δy_pos = 0.1143 (from Step 4);

[0138] The initial current value is I_0 = 0.5 A;

[0139] The real-time current is I_real = 0.52 A;

[0140] The preset displacement threshold is TH_pos = 0.15;

[0141] The preset current change threshold is TH_curr = 5%.

[0142] First, according to the total displacement D_total of the docking interface:

[0143] Use the formula D_total = sqrt(Δx_pos^2 + Δy_pos^2),

[0144] That is, D_total = sqrt(0.1143^2 + 0.1143^2) = 0.1617.

[0145] Next, calculate the current change rate ΔI_curr:

[0146] Use the formula ΔI_curr = abs(I_real - I_0) / I_0 * 100%,

[0147] That is, ΔI_curr = abs(0.52 - 0.5) / 0.5 * 100% = 4%.

[0148] Then, make a comprehensive judgment:

[0149] Compare the total displacement D_total with the preset displacement threshold TH_pos: Since D_total = 0.1617 > TH_pos = 0.15, the displacement does not meet the condition.

[0150] Compare the current change rate ΔI_curr with the preset current change threshold TH_curr: Since ΔI_curr = 4% < TH_curr = 5%, the current change rate meets the condition.

[0151] In this example, although the current change rate meets the requirements, since the total displacement exceeds the preset displacement threshold, it cannot be determined that the docking preparation work has been completed. The position of the docking interface needs to be further adjusted until both D_total <= TH_pos and ΔI_curr <= TH_curr are satisfied simultaneously.

[0152] For example, after adjustment, assume the new actual displacement amounts become Δx_pos = 0.14, Δy_pos = 0.14, then recalculate:

[0153] D_total = sqrt(0.14^2 + 0.14^2) = 0.198, which is still greater than TH_pos, so continue to adjust.

[0154] Assume that the finally adjusted actual displacement amounts become Δx_pos = 0.1, Δy_pos = 0.1, then recalculate:

[0155] D_total = sqrt(0.1^2 + 0.1^2) = 0.1414 < TH_pos = 0.15, the displacement meets the condition;

[0156] The current change rate remains unchanged, ΔI_curr = 4% < TH_curr = 5%, which also meets the condition.

[0157] At this time, it can be determined that the docking preparation work has been completed, and the system enters a stable state, ready for the final docking operation.

[0158] Step Six: Calculate the vibration frequency based on the change of the interference intensity and displacement, and generate a frequency ratio; specifically, it includes the following steps:

[0159] Through the comprehensive interference index (DI) obtained from Step One and the actual displacement amounts (Δx_pos, Δy_pos) obtained from Step Four, the environmental interference situation and the specific position change of the docking interface can be comprehensively understood.

[0160] Calculate the average displacement change rate within a continuous time period based on the Δx_pos and Δy_pos:

[0161] V_disp = sqrt((Δx_t_pos - Δx_(t - 1)pos)^2+(Δy_t_pos - Δy(t - 1)_pos)^2) / Δt, where t represents the time point and Δt is the sampling interval; this formula is used to calculate the displacement change speed of the docking interface within a continuous time period. By summing the squares of the displacement differences at adjacent time points, taking the square root, and then dividing by the sampling interval Δt, a value representing the displacement change rate can be obtained.

[0162] Calculate the vibration frequency F_vib = k_v*(DI / V_disp) using the DI and the V_disp, where k_v is a proportionality constant used to convert the interference intensity and the displacement change rate into the vibration frequency; this formula is used to convert the comprehensive interference index (DI) and the displacement change rate (V_disp) into the vibration frequency.

[0163] Compare the F_vib with the preset standard frequency F_std to generate the frequency ratio R_freq = F_vib / F_std, which can intuitively evaluate the vibration state in the current environment. Based on this ratio, subsequent operation strategies can be further optimized to ensure the stability of the system.

[0164] Example 6

[0165] Suppose there are the following data:

[0166] The comprehensive interference index DI = 0.0816 (from Step 1);

[0167] The actual displacement amounts Δx_pos = 0.14, Δy_pos = 0.14 (from Step 4);

[0168] The displacement amounts at adjacent time points are Δx_t_pos = 0.14, Δx_(t - 1)pos = 0.12; Δy_t_pos = 0.14, Δy(t - 1)_pos = 0.12;

[0169] The sampling interval Δt = 0.1 second;

[0170] The proportionality constant k_v = 50;

[0171] The preset standard frequency F_std = 10 Hz.

[0172] First, according to the average displacement change rate V_disp within a continuous time period:

[0173] Use the formula:

[0174] V_disp = sqrt((Δx_t_pos - Δx_(t-1)_pos)^2 + (Δy_t_pos - Δy_(t-1)_pos)^2) / Δt,

[0175] That is

[0176] V_disp = sqrt((0.14 - 0.12)^2 + (0.14 - 0.12)^2) / 0.1 = sqrt(0.0004 + 0.0004) / 0.1 = 0.0283 / 0.1 = 0.283 m / s.

[0177] Next, according to the vibration frequency F_vib: Use the formula F_vib = k_v * (DI / V_disp), that is, F_vib = 50 * (0.0816 / 0.283) = 14.4 Hz.

[0178] Then, calculate the frequency ratio R_freq: Use the formula R_freq = F_vib / F_std, that is, R_freq = 14.4 / 10 = 1.44.

[0179] In this example, the frequency ratio R_freq = 1.44 indicates that the vibration frequency in the current environment is higher than the preset standard frequency, indicating that there is a certain degree of vibration impact. Based on this result, the system can take corresponding measures to reduce the vibration impact, such as increasing the magnetic field torque compensation or adjusting the position of the docking interface to ensure the accuracy and stability of the docking process.

[0180] Step Seven: Multiply the frequency ratio by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value; specifically, it includes the following steps:

[0181] Through the frequency ratio (R_freq) obtained from Step Six, the degree of change in the vibration state in the current environment relative to the standard situation can be quantified.

[0182] Determine the preset compensation coefficient C_comp, which is set based on historical data to meet the compensation requirements under different environmental conditions; it helps to balance the response speed and stability of the system.

[0183] Calculate the new magnetic attraction torque compensation value M_new = R_freq * C_comp according to the R_freq and the C_comp, where M_new represents the adjusted magnetic attraction torque compensation value; this formula is used to calculate the new magnetic attraction torque compensation value M_new based on the frequency ratio R_freq and the preset compensation coefficient C_comp. The frequency ratio reflects the degree of change in the current environmental vibration state.

[0184] Apply the M_new to the current magnetic attraction component control signal, and adjust the magnetic attraction torque by updating the forces F_x_new = M_new * cos(α_move) and F_y_new = M_new * sin(α_move) on the X-axis and Y-axis to ensure the stable alignment of the docking interface, where α_move is the angle between the target movement direction of the docking interface and the positive direction of the X-axis. These formulas are used to decompose the new magnetic attraction torque compensation value onto the X-axis and Y-axis to achieve precise direction control. cos(α_move) and sin(α_move) respectively represent the component ratios of the target movement direction on the X-axis and Y-axis, so that the compensation forces required for each axial direction can be obtained.

[0185] Embodiment 7

[0186] Suppose there are the following data:

[0187] Frequency ratio R_freq = 1.44 (from Step Six);

[0188] Preset compensation coefficient C_comp = 1.5 (set based on historical data);

[0189] The angle α_move between the target movement direction and the positive direction of the X-axis is 45 degrees.

[0190] First, calculate the new magnetic attraction torque compensation value M_new:

[0191] Use the formula M_new = R_freq * C_comp, that is, M_new = 1.44 * 1.5 = 2.16.

[0192] Next, update the forces F_x_new and F_y_new on the X-axis and Y-axis:

[0193] Use the formulas F_x_new = M_new * cos(α_move) and F_y_new = M_new * sin(α_move),

[0194] where cos(45°) = 0.707 and sin(45°) = 0.707,

[0195] Therefore, F_x_new = 2.16 * 0.707 = 1.527,

[0196] F_y_new = 2.16 * 0.707 = 1.527.

[0197] In this example, after the above calculations, a new magnetic attraction torque compensation value M_new = 2.16 is obtained, and it is decomposed into forces F_x_new = 1.527 and F_y_new = 1.527 on the X-axis and Y-axis. These newly calculated force values are applied to the current magnetic attraction component control signal, enabling the magnetic attraction component to make appropriate adjustments according to the vibration state of the current environment, ensuring that the docking interface can be stably aligned with the target position.

[0198] Step Eight: When the new magnetic attraction torque compensation value causes the current change rate to be lower than the interference threshold for three consecutive cycles, lock the magnetic attraction component and complete the docking; specifically, it includes the following steps:

[0199] Obtain the new magnetic attraction torque compensation value M_new and apply the M_new to adjust the magnetic attraction component; with the new magnetic attraction torque compensation value (M_new) obtained from Step Seven, the magnetic attraction component can be dynamically adjusted to cope with vibrations and interferences in the current environment.

[0200] Monitor the real-time current I_t at the docking interface and calculate the current change rate ΔI_cycle = abs(I_t - I_(t - 1)) / I_(t - 1) * 100%, where I_(t - 1) is the current value of the previous cycle; this formula is used to calculate the current change rate within each cycle. abs(I_t - I_(t - 1)) represents the current difference between the current cycle and the previous cycle, divided by the current value I_(t - 1) of the previous cycle and multiplied by 100% to convert it into a percentage form for intuitive understanding of the degree of current fluctuation.

[0201] Compare the ΔI_cycle with the preset interference threshold TH_int. If the ΔI_cycle is less than TH_int for three consecutive cycles, confirm that the current state is stable; specifically, for the n, n + 1, and n + 2 cycles, the conditions ΔI_n < TH_int, ΔI_(n + 1) < TH_int, and ΔI_(n + 2) < TH_int are satisfied; by comparing the calculated current change rate ΔI_cycle with the preset interference threshold TH_int, the stability of the system can be judged. If the current change rate for three consecutive cycles is less than the preset interference threshold, it indicates that the system has reached a relatively stable docking state.

[0202] When the above conditions are met, lock the position of the magnetic attraction component, stop further adjustment, and confirm the completion of the docking operation.

[0203] Embodiment 8

[0204] Suppose there are the following data:

[0205] The new magnetic attraction torque compensation value M_new = 2.16 (from Step Seven);

[0206] The preset interference threshold TH_int = 3%.

[0207] The real-time current data is as follows:

[0208] For the nth cycle: I_t = 0.52A, I_(t - 1) = 0.51A;

[0209] For the (n + 1)th cycle: I_t = 0.525A, I_(t - 1) = 0.52A;

[0210] For the (n + 2)th cycle: I_t = 0.528A, I_(t - 1) = 0.525A.

[0211] First, calculate the current change rate ΔI_cycle within each cycle:

[0212] For the nth cycle: Use the formula ΔI_cycle = abs(I_t - I_(t - 1)) / I_(t - 1) * 100%,

[0213] That is, ΔI_n = abs(0.52 - 0.51) / 0.51 * 100% = 1.96%.

[0214] For the (n + 1)th cycle: Use the formula ΔI_cycle = abs(I_t - I_(t - 1)) / I_(t - 1) * 100%,

[0215] That is, ΔI_(n + 1) = abs(0.525 - 0.52) / 0.52 * 100% = 0.96%.

[0216] For the (n + 2)th cycle: Use the formula ΔI_cycle = abs(I_t - I_(t - 1)) / I_(t - 1) * 100%,

[0217] That is, ΔI_(n + 2) = abs(0.528 - 0.525) / 0.525 * 100% = 0.57%.

[0218] Next, compare the current change rates of each cycle with the preset interference threshold TH_int:

[0219] For the nth cycle: ΔI_n = 1.96% < TH_int = 3%;

[0220] For the (n + 1)th cycle: ΔI_(n + 1) = 0.96% < TH_int = 3%;

[0221] For the (n + 2)th cycle: ΔI_(n + 2) = 0.57% < TH_int = 3%.

[0222] Since the current change rates for all three cycles are less than the preset interference threshold TH_int, it can be confirmed that the current state is stable.

[0223] Finally, lock the position of the magnetic attraction component, stop further adjustment, and confirm that the docking operation is completed. This means that the system has successfully completed the docking, ensuring a high-precision and high-stability charging connection.

[0224] Through the above method, even in the presence of weak external force interference, the stability of the system can be accurately evaluated, and the position of the magnetic attraction component can be dynamically adjusted accordingly to ensure the accuracy of the docking process and the reliability of the system. This method significantly improves the adaptability and reliability of the magnetic attraction charging system in complex environments.

[0225] On the other hand, the present invention proposes an autonomous docking magnetic attraction charging management system, as Figure 2 shown, including:

[0226] An environmental interference detection module for obtaining real-time data of the magnetic field sensor and the accelerometer during the docking process to determine the current environmental interference intensity;

[0227] A magnetic attraction torque compensation calculation module for adjusting the magnetic field direction of the magnetic attraction component according to the interference intensity, generating magnetic field adjustment parameters, and calculating a magnetic attraction torque compensation value based on the magnetic field adjustment parameters, where the compensation value is the difference between the current magnetic attraction torque and the interference torque multiplied by a preset coefficient;

[0228] A docking trajectory control and threshold judgment module for performing the magnetic attraction torque compensation, moving the docking interface along a preset trajectory, monitoring the real-time displacement and current change of the docking interface, and judging whether the preset docking threshold is reached;

[0229] A vibration frequency analysis and dynamic compensation module for calculating the vibration frequency according to the change of the interference intensity and the displacement, generating a frequency ratio, and multiplying the frequency ratio by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value;

[0230] A docking completion locking module for locking the magnetic attraction component and completing the docking when the new magnetic attraction torque compensation value makes the current change rate lower than the interference threshold for three consecutive cycles.

[0231] In addition, each of the above modules is also used to implement other steps of the above-mentioned autonomous docking magnetic attraction charging management method when executed, which will not be elaborated here one by one.

[0232] In summary, the present invention first determines the current environmental interference intensity by obtaining real-time data of the magnetic field sensor and the accelerometer, and then dynamically adjusts the magnetic field direction of the magnetic attraction component and calculates the corresponding magnetic attraction torque compensation value according to the interference intensity to offset external interference.

[0233] In addition, this method also monitors the real-time displacement and current change of the docking interface, determines whether the preset docking threshold is reached, calculates the vibration frequency based on the interference intensity and displacement change to generate a frequency ratio, and further optimizes the magnetic attraction torque compensation value. When the new compensation value causes the current change rate to be lower than the interference threshold for three consecutive cycles, the magnetic attraction component is locked to complete the docking. This method significantly improves the docking success rate and charging stability in complex environments, especially applicable to the docking interface design with high precision and low tolerance.

[0234] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An autonomous docking magnetic charging management method, characterized in that: The following steps are involved: Obtain real-time data from the magnetic field sensor and accelerometer during docking to determine the current environmental interference intensity; The magnetic field direction of the magnetic attraction component is adjusted according to the interference intensity, a magnetic field adjustment parameter is generated, and a magnetic attraction torque compensation value is calculated based on the magnetic field adjustment parameter, where the compensation value is the difference between the current magnetic attraction torque and the interference torque multiplied by a preset coefficient; Executing the magnetic attraction torque compensation to move the docking interface along a preset trajectory, monitoring the real-time displacement and current change of the docking interface, and determining whether a preset docking threshold is reached; Calculate the vibration frequency according to the change of the interference intensity and the displacement, generate a frequency ratio, and multiply the frequency ratio by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value; When the new magnetic attraction torque compensation value makes the current change rate lower than the interference threshold for three consecutive cycles, the magnetic attraction component is locked and the docking is completed.

2. The autonomous docking magnetic charging management method according to claim 1, characterized in that: Obtain real-time data from the magnetic field sensor and accelerometer during docking to determine the current environmental interference intensity, including: Collect data output by the magnetic field sensor and the data output by the accelerometer; Calculating a standard deviation of the magnetic field sensor data and a standard deviation of the accelerometer data; Calculating a comprehensive interference index according to a standard deviation of the magnetic field sensor data and a standard deviation of the accelerometer data; The comprehensive interference index is compared with a preset threshold value. If the comprehensive interference index is greater than the preset threshold value, it is determined that there is significant environmental interference, otherwise it is ignored.

3. The autonomous docking magnetic charging management method according to claim 2, characterized in that: The magnetic field direction of the magnetic attraction component is adjusted according to the interference intensity to generate magnetic field adjustment parameters, including: Obtaining a comprehensive interference index, and calculating a magnetic field direction adjustment angle according to the comprehensive interference index; The magnetic field direction adjustment angle is used to adjust the X-axis and Y-axis magnetic field direction components of the magnetic attraction component; The final magnetic field adjustment parameters are determined according to the adjusted X-axis and Y-axis magnetic field direction components and applied to the magnetic attraction component control signal.

4. The autonomous docking magnetic charging management method according to claim 3 is characterized in that: Calculating the magnetic attraction torque compensation value based on the magnetic field adjustment parameter includes: Obtaining magnetic field adjustment parameters, calculating the current magnetic attraction torque according to the magnetic field adjustment parameters, and estimating the interference torque according to accelerometer data; A magnetic attraction torque compensation value is calculated and applied to a magnetic attraction component control signal to offset the influence of the interference torque.

5. The autonomous docking magnetic charging management method according to claim 4, characterized in that: Executing the magnetic attraction torque compensation to move the docking interface along a preset trajectory includes: Obtaining a magnetic attraction torque compensation value, and determining compensation forces on the X-axis and the Y-axis according to the magnetic attraction torque compensation value; The compensation force is converted into an actual displacement of the docking interface, and the position of the docking interface is adjusted according to the actual displacement so that the docking interface moves along a preset trajectory until a set displacement threshold is reached.

6. The autonomous docking magnetic charging management method according to claim 5, characterized in that: Monitoring the real-time displacement and current change of the docking interface to determine whether a preset docking threshold is reached includes: Obtain the actual displacement, calculate the total displacement of the docking interface, and measure the real-time current at the docking interface; According to the total displacement, the preset displacement threshold is compared, and if the total displacement is less than or equal to the preset displacement threshold, it is determined that the displacement meets the condition; and the current change rate is calculated at the same time; The current change rate is compared with a preset current change threshold, and it is determined that the preset docking threshold is reached if and only if the total displacement is less than or equal to the preset displacement threshold and the current change rate is less than or equal to the preset current change threshold.

7. The autonomous docking magnetic charging management method according to claim 6, characterized in that: The vibration frequency is calculated according to the change of the interference intensity and the displacement, and a frequency ratio is generated, including: Obtaining a comprehensive interference index and an actual displacement, and calculating an average displacement change rate in a continuous time period according to the actual displacement; Calculating the vibration frequency using the comprehensive interference index and the average displacement change rate; The vibration frequency is compared with a preset standard frequency to generate a frequency ratio.

8. The autonomous docking magnetic charging management method according to claim 7, characterized in that: The frequency ratio is multiplied by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value, including: Obtain frequency ratio and determine preset compensation coefficient; Calculating a new magnetic attraction torque compensation value according to the frequency ratio and the preset compensation coefficient; The new magnetic attraction torque compensation value is applied to the current magnetic attraction component control signal, and the magnetic attraction torque is adjusted by updating the forces on the X-axis and Y-axis.

9. The autonomous docking magnetic charging management method according to claim 8, characterized in that: When the new magnetic attraction torque compensation value makes the current change rate lower than the interference threshold for three consecutive cycles, the magnetic attraction component is locked and the docking is completed, including: Obtaining a new magnetic attraction torque compensation value, and applying the new magnetic attraction torque compensation value to adjust the magnetic attraction component; Monitor the real-time current at the docking interface and calculate the current change rate within each cycle; Comparing the current change rate with a preset interference threshold, if the current change rate is less than the preset interference threshold in three consecutive cycles, confirming that the current state is stable; When the conditions are met, the position of the magnetic suction component is locked, further adjustment is stopped, and completion of the docking operation is confirmed.

10. An autonomous docking magnetic charging management system for implementing the method according to any one of claims 1 to 9, characterized in that: include: Environmental interference detection module, used to obtain real-time data from magnetic field sensors and accelerometers during docking and determine the current environmental interference intensity; A magnetic attraction torque compensation calculation module, used to adjust the magnetic field direction of the magnetic attraction component according to the interference intensity, generate a magnetic field adjustment parameter, and calculate a magnetic attraction torque compensation value based on the magnetic field adjustment parameter, wherein the compensation value is the difference between the current magnetic attraction torque and the interference torque multiplied by a preset coefficient; A docking trajectory control and threshold judgment module, used to perform the magnetic attraction torque compensation, move the docking interface along a preset trajectory, monitor the real-time displacement and current change of the docking interface, and judge whether a preset docking threshold is reached; A vibration frequency analysis and dynamic compensation module, used to calculate the vibration frequency according to the change of the interference intensity and the displacement, generate a frequency ratio, and multiply the frequency ratio by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value; The docking completion locking module is used to lock the magnetic attraction component and complete the docking when the new magnetic attraction torque compensation value makes the current change rate lower than the interference threshold for three consecutive cycles.

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