Docking system, method and range extender transportation platform for detachable range extender

Abstract

This invention relates to a docking system, method, and transport platform for a detachable range extender, relating to the field of vehicle technology. The aim is to reduce errors during the docking process between the detachable range extender and the vehicle, and to achieve a tight and reliable connection. The system includes: a range extender transport platform, a detachable range extender, and a vehicle; the range extender transport platform is used to load the detachable range extender to be assembled; the transport platform is also used to transport the detachable range extender to a first target position when the vehicle is detected to be in a preset parking position; and to transport the detachable range extender to a second target position when the central axis of the detachable range extender coincides with the central axis of the vehicle's mechanical interface; the detachable range extender includes an electromagnetic engagement coil; the transport platform is also used to power the detachable range extender so that the electromagnetic engagement coil generates electromagnetic attraction.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and specifically to a docking system, method, and transport platform for a detachable range extender. Background Technology

[0002] To alleviate the significant "range anxiety" faced by vehicles on long journeys, in low-temperature environments, or in remote areas, range-extended electric vehicles have emerged. Among them, detachable range extenders are an important development direction.

[0003] Detachable range extenders connect to vehicles via mechanical and electrical interfaces, providing additional electrical power to extend driving range during long-distance travel and being detachable to reduce vehicle weight during daily commutes. Installing a detachable range extender typically requires operators to use lifting equipment, bolt guns, and other tools to mate the extender with the vehicle's interface.

[0004] However, the current detachable range extender docking method has a large docking error between the range extender and the vehicle, and does not achieve a tight and reliable connection. Summary of the Invention

[0005] This invention provides a docking system, method, and transport platform for a detachable range extender, aiming to reduce errors during the docking process between the detachable range extender and the vehicle, and to achieve a tight and reliable connection.

[0006] In a first aspect, this application provides a docking system for a detachable range extender, comprising: a range extender transport platform, a detachable range extender, and a vehicle; the range extender transport platform is used to load the detachable range extender to be assembled; the range extender transport platform is further used to transport the detachable range extender to a first target position when the vehicle is detected to be in a preset parking position, the distance between the first target position and the preset parking position being less than or equal to a first preset distance; and to transport the detachable range extender to a second target position when the central axis of the detachable range extender is detected to coincide with the central axis of the vehicle's mechanical interface, the distance between the second target position and the vehicle's mechanical interface being less than or equal to a second preset distance; the detachable range extender includes an electromagnetic engagement coil; the range extender transport platform is further used to supply power to the detachable range extender so that the electromagnetic engagement coil generates electromagnetic attraction, driving the vehicle's mechanical interface to dock with the mechanical locking mechanism of the detachable range extender through an engagement action.

[0007] Based on the aforementioned technical means, the detachable range extender docking system provided in this application, by detecting that the vehicle is in a preset parking position, transports the detachable range extender to a first target position, enabling it to be transported to the vicinity of the vehicle from a relatively long distance, thereby establishing a preliminary spatial positional relationship over a long range. Only when the central axis of the detachable range extender coincides with the central axis of the vehicle's mechanical interface is the guide rail controlled to transport the range extender to a second target position, reducing the distance between them to within a second preset distance. Utilizing the linear guiding characteristics of the guide rail, lateral and angular misalignment is eliminated, ensuring that the range extender remains coaxial with the vehicle interface during the final approach stage. This reduces errors during the docking process between the detachable range extender and the vehicle, thus avoiding wear or jamming of mechanical components due to misalignment. A power supply device powers the electromagnetic engagement coil on the detachable range extender, generating electromagnetic attraction to drive the vehicle's mechanical interface and the range extender's mechanical locking mechanism to complete the docking. The docking is automatically completed using electromagnetic attraction, and the uniform action of electromagnetic force improves the tightness and reliability of the connection.

[0008] Furthermore, the range extender transport platform has a motion mechanism at its bottom and a guide rail at its top, which is used to support the detachable range extender. The range extender transport platform also includes a clamping mechanism and a controller. The controller is used to control the clamping mechanism to load the detachable range extender to be assembled onto the guide rail when the vehicle is detected to be in a preset parking position, and to control the motion mechanism to transport the detachable range extender to the second target position. The controller is also used to adjust the angle of the motion mechanism, and to control the guide rail to transport the detachable range extender to the second target position when the central axis of the detachable range extender is detected to coincide with the central axis of the vehicle's mechanical interface.

[0009] Based on the aforementioned technical means, a motion mechanism is installed at the bottom of the range extender transport platform, and a guide rail is installed at the top. Combined with the controller's detection of the vehicle's parking position, the range extender to be assembled can be automatically transported from its initial position to the first target position directly behind the vehicle, limiting its distance from the vehicle to within a first preset distance. This achieves automated and precise control of the range extender's approach to the vehicle, reducing errors and deviations. The controller adjusts the angle of the motion mechanism and only controls the guide rail to transport the range extender to the second target position when it detects that the central axis of the detachable range extender coincides with the central axis of the vehicle's mechanical interface. This reduces the distance between the two to within a second preset distance. Utilizing the linear guiding characteristics of the guide rail, lateral and angular misalignment is eliminated, ensuring that the range extender remains coaxial with the vehicle interface during the final approach stage. This reduces errors during the docking process of the detachable range extender with the vehicle, thereby avoiding wear or jamming of mechanical components due to misalignment.

[0010] Furthermore, the detachable range extender includes a permanent magnet array and a micro-motion sensor; the vehicle's mechanical interface includes a soft magnetic guide cone; the permanent magnet array generates a magnetic field; the soft magnetic guide cone forms an induced magnetic field under the influence of the magnetic field; the micro-motion sensor detects the relative position between the detachable range extender and the vehicle's soft magnetic guide cone; the range extender transport platform is specifically used to determine the first relative position between the detachable range extender and the vehicle's soft magnetic guide cone based on the magnetic field strength generated by the permanent magnet array of the detachable range extender and the soft magnetic guide cone of the vehicle; obtain the second relative position between the detachable range extender and the vehicle's soft magnetic guide cone, the second relative position being detected by the micro-motion sensor; and determine the second target position based on the first relative position, the second relative position, and the three-dimensional pose of the vehicle's mechanical interface.

[0011] Based on the aforementioned technical means, the first relative position between the detachable range extender and the vehicle's soft magnetic guide cone is determined through the interaction of the magnetic field generated by the permanent magnet array and the soft magnetic guide cone. This provides initial guidance at medium to long distances using the range of the magnetic field. The second relative position between the detachable range extender and the vehicle's soft magnetic guide cone is obtained through close-range detection by a micro-motion sensor, eliminating minor alignment errors at close range. A multi-position sensing mechanism is constructed using the first and second relative positions, avoiding errors from single-position sensing and overcoming the shortcomings of single sensors—insufficient accuracy at long distances or blind spots at close range—thus improving the accuracy of position sensing. Based on the three-dimensional pose of the first and second relative positions and the vehicle's mechanical interface, the second target position is determined. This second target position, considering errors in all spatial degrees of freedom, can be dynamically calculated, thereby precisely guiding the range extender to the required docking distance of the mechanical interface. This avoids positioning failures, mechanical collisions, or wear on the locking mechanism caused by limitations of a single data source.

[0012] Furthermore, the range extender transport platform also includes a camera, and the vehicle also includes visual markers for marking the location of the vehicle's mechanical interface; the range extender transport platform is also used to capture images of the visual markers using the camera; and the three-dimensional pose of the vehicle's mechanical interface is determined based on the images including the visual markers.

[0013] Based on the aforementioned technical means, by setting up a camera on the range extender transport platform and setting up visual markers on the vehicle to mark the position of the mechanical interface, the three-dimensional pose of the vehicle's mechanical interface can be obtained through image recognition technology. This allows the range extender transport platform to no longer rely on preset fixed parking coordinates, but to perceive the precise posture of the vehicle after it is actually parked in real time, thus improving its compatibility and robustness to actual parking scenarios.

[0014] Furthermore, the detachable range extender is also used to send an authentication message to the vehicle after the mechanical locking mechanism interfaces with the vehicle and the mechanical locking is completed; the vehicle is used to receive the authentication message and authenticate the detachable range extender based on the authentication message; after successful authentication, based on the specifications of the detachable range extender, a communication strategy matching the detachable range extender is selected from the local description file; based on the communication strategy, a first communication channel is established with the detachable range extender for communication.

[0015] Based on the aforementioned technical means, the detachable range extender actively sends an authentication message after completing mechanical locking. The vehicle uses this message for identity authentication to ensure that only legitimate range extenders with verified identities can access the vehicle system, thus guaranteeing communication security. Simultaneously, based on the range extender specifications, matching communication strategies are selected from the local description file to establish the first communication channel. By dynamically selecting communication strategies according to specific specifications, plug-and-play and protocol adaptation between the vehicle and range extenders of different models and parameters are achieved. This solves the connection barriers caused by inconsistent communication protocols between heterogeneous devices and improves the system's versatility.

[0016] Furthermore, the vehicle is also used to switch to a backup second communication channel for communication if it fails to receive a valid response from the detachable range extender N times consecutively during communication based on the first communication channel, where N is an integer greater than 0; and to switch to the first communication channel for communication if it calls the detachable range extender through the first communication channel based on a preset frequency domain and receives a response message from the detachable range extender M times consecutively, where M is an integer greater than 0.

[0017] Based on the aforementioned technical means, the vehicle monitors the number of valid responses during communication. When no response is received for N consecutive times, it automatically switches to the backup second communication channel. This allows the backup link to be quickly activated to maintain uninterrupted communication in scenarios where communication is interrupted due to electromagnetic interference, signal obstruction, or channel congestion, ensuring the continuity of control commands and data transmission. When the primary channel is restored, the system switches back to the primary communication channel through a preset frequency domain call and a mechanism of M consecutive response confirmations. It has an automatic switchback mechanism to ensure that the primary channel with better performance is used first after the environment improves. Thus, without increasing additional hardware costs, the communication reliability and stability of the entire docking system in complex electromagnetic environments are improved.

[0018] Secondly, this application provides a docking method for a detachable range extender, comprising: when the vehicle is detected to be in a preset parking position, loading the detachable range extender to be assembled onto a guide rail, and controlling a motion mechanism to transport the detachable range extender to a first target position, wherein the distance between the first target position and the preset parking position is less than or equal to a first preset distance; adjusting the angle of the motion mechanism, and when the central axis of the detachable range extender is detected to coincide with the central axis of the vehicle's mechanical interface, controlling the guide rail to transport the detachable range extender to a second target position, wherein the distance between the second target position and the vehicle's mechanical interface is less than or equal to a second preset distance; controlling the detachable range extender to generate electromagnetic attraction, and driving the vehicle's mechanical interface to dock with the mechanical locking mechanism of the detachable range extender through an attraction action.

[0019] Based on the aforementioned technical means, after detecting that the vehicle is in a preset parking position, the range extender is loaded and transported to the first target position. The distance between the first target position and the preset parking position is less than or equal to a first preset distance. Only when the central axis of the detachable range extender coincides with the central axis of the vehicle's mechanical interface is the transport to the second target position executed. This effectively corrects the lateral offset and angular deviation of the range extender, ensuring that the range extender is perfectly aligned with the vehicle interface before entering the final contact area, avoiding mechanical wear caused by oblique insertion. Finally, the mechanical locking mechanism is driven by electromagnetic attraction to complete the docking. Under the action of electromagnetic attraction, a fitting auxiliary mechanical locking is achieved, which not only reduces the impact noise and vibration at the moment of docking but also utilizes the self-aligning characteristics of magnetism to assist in completing the final minor position correction. This achieves a smooth connection from coarse positioning and fine alignment to impact-free locking, improving the accuracy of docking and the durability of mechanical components.

[0020] Furthermore, based on the magnetic field strength generated by the permanent magnet array of the detachable range extender and the soft magnetic guide cone of the vehicle, the first relative position between the detachable range extender and the soft magnetic guide cone of the vehicle is determined; the second relative position between the detachable range extender and the soft magnetic guide cone of the vehicle is obtained, the second relative position being detected by the micro-motion sensor in the detachable range extender; based on the three-dimensional pose of the first relative position, the second relative position and the mechanical interface of the vehicle, the second target position is determined; and the control rail transports the detachable range extender to the second target position.

[0021] Based on the aforementioned technical methods, the first relative position is determined by the magnetic field strength of the permanent magnet array and the soft magnetic guide cone, solving the directionality problem during large-scale searches. Combined with the second relative position obtained by the micro-motion sensor, micrometer-level displacement deviations can be captured at extremely close range, compensating for the insufficient resolution of magnetic field positioning in the near-field region. Furthermore, the three-dimensional pose of the mechanical interface is introduced as a spatial reference, enabling real-time compensation for attitude errors caused by uneven parking or tilting of the vehicle. By integrating three data sources—magnetic field strength detection, close-range detection by the micro-motion sensor, and the three-dimensional pose of the vehicle's mechanical interface—the guide rail can precisely transport the range extender to the optimal docking point that considers deviations in all spatial degrees of freedom. This significantly improves alignment accuracy under complex working conditions and avoids docking failures and mechanical damage caused by limitations of a single sensor or incorrect vehicle posture.

[0022] Furthermore, the range extender transportation platform also includes a camera, and the vehicle also includes visual markers used to mark the location of the vehicle's mechanical interfaces; the three-dimensional pose of the vehicle's mechanical interfaces is determined based on images including the visual markers captured by the camera.

[0023] Based on the aforementioned technical means, the dynamic three-dimensional pose obtained from visual markers on the vehicle based on image recognition is used to participate in the target position calculation, enabling the docking system to automatically adapt to the parking state of the vehicle's angle and position. Even in scenarios with uneven ground or large parking deviations, it can plan an accurate motion trajectory, broadening the application scenarios of the docking system and reducing the stringent requirements on the user's parking accuracy.

[0024] Thirdly, this application provides a range extender transport platform, including a motion mechanism at the bottom and a guide rail at the top, the guide rail being used to carry a detachable range extender; the range extender transport platform also includes a clamping mechanism and a controller; the controller is used to control the clamping mechanism to load the detachable range extender to be assembled onto the guide rail when the vehicle is detected to be in a preset parking position, and to control the motion mechanism to transport the detachable range extender to a first target position, the distance between the first target position and the preset parking position being less than or equal to a first preset distance; the controller is also used to adjust... The angle of the entire motion mechanism is such that, when the central axis of the detachable range extender is detected to coincide with the central axis of the vehicle's mechanical interface, the control guide rail transports the detachable range extender to the second target position. The distance between the second target position and the vehicle's mechanical interface is less than or equal to a second preset distance. The range extender transport platform also includes a power supply unit and a controller, which is used to control the power supply unit to supply power to the detachable range extender so that the electromagnetic attraction coil of the detachable range extender generates electromagnetic attraction force, which drives the vehicle's mechanical interface to dock with the mechanical locking mechanism of the detachable range extender through the attraction action.

[0025] Based on the aforementioned technical means, after detecting that the vehicle is in the preset parking position, the controller automatically drives the clamping mechanism to load the range extender onto the guide rail and uses the motion mechanism to transport it to the first target position. The distance between the first target position and the preset parking position is less than or equal to the first preset distance, realizing the automated transfer of the memory from the storage area to the docking preparation area. Subsequently, the angle of the motion mechanism is adjusted first, and only when the central axis of the range extender is detected to coincide with the central axis of the vehicle's mechanical interface is the guide rail controlled to transport it to the second target position. This corrects lateral offset and angular deviation, ensuring that the range extender is aligned with the vehicle interface before entering the final contact area, avoiding mechanical jamming or damage to the guide components caused by oblique insertion. The electromagnetic attraction coil inside the range extender is activated by the power supply device, and the generated electromagnetic attraction force drives the mechanical locking mechanism to complete the docking. This transforms the traditional rigid mechanical thrust into a soft and uniform electromagnetic attraction force, which not only reduces the impact noise and vibration at the moment of docking, but also uses the self-aligning characteristics of magnetism to assist in completing the final minor position correction, improving the accuracy of the docking operation and the durability of the mechanical components.

[0026] Furthermore, the controller is specifically used to determine the first relative position between the detachable range extender and the vehicle's soft magnetic guide cone based on the magnetic field strength generated by the permanent magnet array of the detachable range extender and the soft magnetic guide cone of the vehicle; to obtain the second relative position between the detachable range extender and the vehicle's soft magnetic guide cone, the second relative position being detected by a micro-motion sensor in the detachable range extender; to determine the second target position based on the three-dimensional pose of the first relative position, the second relative position, and the mechanical interface of the vehicle; and to control the guide rail to transport the detachable range extender to the second target position.

[0027] Based on the aforementioned technical methods, the first relative position is determined by the magnetic field strength of the permanent magnet array and the soft magnetic guide cone, solving the directionality problem during large-scale searches. Combined with the second relative position obtained by the micro-motion sensor, micrometer-level displacement deviations can be captured at extremely close range, compensating for the insufficient resolution of magnetic field positioning in the near-field region. Furthermore, the three-dimensional pose of the mechanical interface is introduced as a spatial reference, enabling real-time compensation for attitude errors caused by uneven parking or tilting of the vehicle. By integrating three data sources—magnetic field strength detection, close-range detection by the micro-motion sensor, and the three-dimensional pose of the vehicle's mechanical interface—the guide rail can precisely transport the range extender to the optimal docking point that considers deviations in all spatial degrees of freedom. This significantly improves alignment accuracy under complex working conditions and avoids docking failures and mechanical damage caused by limitations of a single sensor or incorrect vehicle posture.

[0028] Furthermore, the range extender transportation platform also includes a camera for capturing visual markers of the vehicle, which are used to mark the location of the vehicle's mechanical interfaces; and a controller for determining the three-dimensional pose of the vehicle's mechanical interfaces based on the images captured by the camera, which include the visual markers.

[0029] Using the aforementioned technical means, the visual markers of the vehicle can be captured by the imaging device on the range extender transportation platform, allowing for the acquisition of spatial orientation information of the mechanical interface over a long distance. Based on the images including the visual markers captured by the imaging device, the three-dimensional pose of the vehicle's mechanical interface can be determined, thereby enabling the range extender to obtain the accurate spatial coordinates of the mechanical interface.

[0030] Fourthly, this application provides a docking device for a detachable range extender, comprising: a control module and a docking module. The control module is used to load the detachable range extender to be assembled onto a guide rail when the vehicle is detected to be in a preset parking position, and to control a motion mechanism to transport the detachable range extender to a first target position; adjusting the angle of the motion mechanism, and when the central axis of the detachable range extender is detected to coincide with the central axis of the vehicle's mechanical interface, controlling the guide rail to transport the detachable range extender to a second target position; the docking module is used to control the detachable range extender to generate electromagnetic attraction, driving the vehicle's mechanical interface to dock with the mechanical locking mechanism of the detachable range extender through an attraction action.

[0031] Furthermore, the control module is also used to determine the first relative position between the detachable range extender and the vehicle's soft magnetic guide cone based on the magnetic field strength generated by the permanent magnet array of the detachable range extender and the soft magnetic guide cone of the vehicle; to obtain the second relative position between the detachable range extender and the vehicle's soft magnetic guide cone, the second relative position being detected by the micro-motion sensor in the detachable range extender; to determine the second target position based on the three-dimensional pose of the first relative position, the second relative position, and the mechanical interface of the vehicle; and to control the guide rail to transport the detachable range extender to the second target position.

[0032] Furthermore, the range extender transportation platform also includes a camera, and the vehicle also includes visual markers used to mark the location of the vehicle's mechanical interfaces; the three-dimensional pose of the vehicle's mechanical interfaces is determined based on images including the visual markers captured by the camera.

[0033] Furthermore, the control module is also used to perform weighted calculations on the first relative position, the second relative position, and the three-dimensional pose to obtain the second target position.

[0034] Fifthly, this application provides a computer-readable storage medium storing computer program instructions that, when executed by a processor, implement the method described in the first aspect.

[0035] In a sixth aspect, this application provides a computer program product including computer program instructions that, when executed by a processor, implement the method described in the first aspect.

[0036] It should be noted that the technical effects of any of the implementation methods in aspects four through six can be found in the technical effects of the corresponding implementation methods in aspects one through three, and will not be repeated here.

[0037] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0038] Figure 1 A schematic diagram of the docking system for a detachable range extender provided by the present invention; Figure 2 A schematic diagram of other modules of a detachable range extender provided by the present invention; Figure 3 A schematic diagram of a vehicle interface provided by the present invention; Figure 4 A schematic diagram illustrating the installation position of a detachable range extender provided by the present invention; Figure 5 A schematic flowchart illustrating a docking method for a detachable range extender provided by the present invention; Figure 6 A schematic diagram illustrating the composition of a docking device for a detachable range extender provided by the present invention; Figure 7 This is a schematic diagram of the structure of an electronic device provided by the present invention. Detailed Implementation

[0039] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0040] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0041] The following is a detailed description, with reference to the accompanying drawings, of a docking system, method, and transport platform for a detachable range extender provided in this application.

[0042] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0043] The terms "first" and "second," etc., used in the specification and drawings of this application are used to distinguish different objects or to distinguish different treatments of the same object, rather than to describe a specific order of objects.

[0044] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0045] It should be noted that in the embodiments of this application, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplarily" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0046] To facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish the same or similar items with essentially the same function and effect. Those skilled in the art can understand that the terms "first" and "second" are not intended to limit the quantity or execution order.

[0047] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0048] The embodiments provided in this application will now be described in detail with reference to the accompanying drawings.

[0049] In some embodiments, the docking system of the detachable range extender of this application can be deployed in places such as highway service areas, urban edge battery swapping stations, and tourist attraction parking lots as rental sites for detachable range extenders, and large-scale operation can be achieved by building standardized docking stations.

[0050] For example, the docking system for the detachable range extender of this application guides the vehicle to the parking space of the rental station via a dedicated app after the user schedules the installation service. The docking process is automatically initiated after the user scans the code. The docking system for the detachable range extender of this application automatically lifts the range extender module with a robotic arm, achieves docking through visual guidance and magnetic alignment, and completes mechanical locking and connection of all interfaces.

[0051] The docking method for the detachable range extender provided in this application can be applied to, for example... Figure 1 The docking system shown is for a detachable range extender. For example... Figure 1 As shown, the docking system 10 of the detachable range extender of this application includes: a range extender transport platform 11, a detachable range extender 12, and a vehicle 13.

[0052] A communication connection is established between the range extender transportation platform 11, the detachable range extender 12, and the vehicle 13. Exemplarily, the connection method can be wireless, such as Bluetooth or Wi-Fi; alternatively, it can be wired, such as fiber optic, etc., without limitation. Exemplarily, the range extender transportation platform 11, the detachable range extender 12, and the vehicle 13 can be connected to the Internet via a router, thereby achieving the communication connection between them.

[0053] In some embodiments, the range extender transport platform 11 is used to load the detachable range extender 12 to be assembled; the range extender transport platform 11 is also used to transport the detachable range extender 12 to a first target position when the vehicle 13 is detected to be in a preset parking position, the distance between the first target position and the preset parking position being less than or equal to a first preset distance; and to transport the detachable range extender 12 to a second target position when the central axis of the detachable range extender 12 is detected to coincide with the central axis of the mechanical interface of the vehicle 13, the distance between the second target position and the mechanical interface of the vehicle 13 being less than or equal to a second preset distance; the detachable range extender 12 includes an electromagnetic engagement coil; the range extender transport platform 11 is also used to supply power to the detachable range extender 12 so that the electromagnetic engagement coil generates electromagnetic attraction, driving the mechanical interface of the vehicle 13 to dock with the mechanical locking mechanism of the detachable range extender 12 through the engagement action.

[0054] In some embodiments, the detachable range extender 12 is a modularly designed power generation device that can be separated from the vehicle and stored independently. The detachable range extender can be installed on the vehicle to provide additional power when needed, and the detachable range extender 12 can be quickly connected and disconnected from the vehicle 13 through mechanical and electrical interfaces.

[0055] In some embodiments, the detachable range extender 12 also includes a mechanical locking mechanism, and the detachable range extender 12 can also be connected to the mechanical interface of the vehicle 13 via the mechanical locking mechanism.

[0056] In some embodiments, the detachable range extender 12 may include a permanent magnet array and a micro-motion sensor. The permanent magnet array is used to generate a magnetic field; the micro-motion sensor is used to detect the relative position between the detachable range extender and the soft magnetic guide cone of the vehicle 13.

[0057] In some embodiments, the permanent magnet array refers to a ring-shaped Halbach permanent magnet array disposed at the front end of the detachable range extender, used to generate a static magnetic field with a specific gradient distribution within a spatial range. The magnetic field direction of the permanent magnet array is concentrated and enhanced on the inner side of the ring and significantly weakened on the outer side of the ring, forming a directional magnetic field pointing towards the vehicle's soft magnetic guide cone.

[0058] In some embodiments, the detachable range extender 12 may include an electromagnetic engagement coil. When the range extender transport platform 11 supplies power to the detachable range extender 12, the electromagnetic engagement coil generates electromagnetic attraction, which drives the mechanical interface of the vehicle 13 to dock with the mechanical locking mechanism of the detachable range extender 12 through the engagement action.

[0059] For example, such as Figure 2 As shown, in addition to the above-described structure, this application embodiment provides other structural modules for the detachable range extender, including a controller module, a generator module, an engine module, a fuel tank module, a cooling module, an exhaust module, and an interface module.

[0060] In some embodiments, the controller module may include a range extender controller and a generator controller. The range extender controller receives start / stop commands, speed commands, power commands, and mode selection commands sent by the vehicle, and coordinates the collaborative work of the generator controller and other modules. The generator controller controls the output voltage, current, and frequency of the coaxial high-efficiency generator to achieve stable power output. The controller module also incorporates a digital twin interface authentication mechanism, configured with a unique ID and an encrypted certificate based on the national cryptographic SM9 or TLS 1.3 protocol, for two-way authentication with the vehicle during docking, ensuring that only authorized range extender modules can access the vehicle system.

[0061] In some embodiments, the generator module includes a coaxial high-efficiency generator, which is coaxially connected to a small high-efficiency internal combustion engine for converting the mechanical energy output by the internal combustion engine into electrical energy, which is then regulated by a generator controller and output to the vehicle's power battery.

[0062] In some embodiments, the engine module includes a small, high-efficiency internal combustion engine, which adopts a rotary engine or a single / double-cylinder piston engine structure to burn fuel to generate mechanical energy to drive the coaxial high-efficiency generator to rotate. The small, high-efficiency internal combustion engine is characterized by its small size, light weight, and high power density, and is suitable for the compact structure and portability requirements of detachable range extenders.

[0063] In some embodiments, the fuel tank module includes a safety fuel storage unit for storing gasoline, methanol, or ethanol fuel to provide fuel supply for a small, high-efficiency internal combustion engine; the safety fuel storage unit has a leak-proof structure and fuel detection function, and supports intelligent fuel level detection and RFID identification.

[0064] In some embodiments, the cooling module includes a built-in small liquid-cooled circulation pump, which drives the coolant to circulate between the small high-efficiency internal combustion engine and the coaxial high-efficiency generator, removing the heat generated during power generation and maintaining the range extender operating within a suitable operating temperature range. The cooling module interfaces with the vehicle's overall thermal management system through a coolant interface to form a collaborative thermal management architecture.

[0065] In some embodiments, the exhaust module includes an exhaust system with an integrated muffler for reducing exhaust noise generated by the combustion of a small, high-efficiency internal combustion engine and for guiding exhaust emissions; the exhaust module is also configured with an active exhaust pressure regulating valve and an altitude-based adaptive adjustment function to maintain exhaust back pressure within a preset range.

[0066] In some embodiments, the interface module includes a mechanical frame and docking mechanism, a status indicator, and a standardized pallet interface. The mechanical frame and docking mechanism are used to achieve physical connection and locking between the detachable range extender and the vehicle, including a front-end annular Halbach permanent magnet array, a rear-end wedge-shaped latch or ball-bearing locking mechanism, and built-in electromagnetic engagement coils and micro-motion sensors; the status indicator includes LED indicators or a display screen to display the operating status, battery level, fuel level, and docking status of the detachable range extender; the standardized pallet interface is located at the bottom of the detachable range extender, compatible with forklift and AGV handling and loading, facilitating automated loading and unloading operations at rental stations.

[0067] In some embodiments, vehicle 13 may be a pure electric vehicle, a range-extended electric vehicle, or an off-road vehicle, etc.

[0068] In some embodiments, vehicle 13 may include a mechanical interface, which includes a soft magnetic guide cone.

[0069] In some embodiments, the mechanical interface is used for physical connection with the detachable range extender 12 and may include structures such as guide slots, positioning holes, and locking clips. The mechanical interface ensures that the detachable range extender remains secure during vehicle operation.

[0070] In some embodiments, the soft magnetic guide cone is used to generate an induced magnetic field under the action of a magnetic field, and the mechanical interface can be used to dock with the mechanical locking mechanism in the detachable range extender 12.

[0071] In some embodiments, the soft magnetic guide cone itself does not actively generate a guiding magnetic field. It can be magnetized under the action of the magnetic field generated by the permanent magnet array, thereby forming an induced magnetic field after being magnetized. The induced magnetic field and the magnetic field of the permanent magnet array together constitute a composite magnetic field with a spatial gradient distribution, which in turn generates a centering force that guides the detachable range extender toward the center of the soft magnetic guide cone.

[0072] In some embodiments, vehicle 13 can also be used to receive authentication messages and authenticate the detachable range extender 12 based on the authentication messages.

[0073] In some embodiments, the authentication message is a digital signal sent by the detachable range extender 12 to the vehicle 13 after mechanical locking is completed. It may contain the detachable range extender 12's identity information, status information, and security verification code, etc., and is used by the vehicle 13 to verify the legitimacy and availability of the detachable range extender 12. After successful authentication, the vehicle 13 allows the detachable range extender 12 to connect to the power system and begin operation.

[0074] For example, the authentication message may also include start / stop commands, speed, power, fault codes, fuel quantity, mode selection, etc.

[0075] In some embodiments, after authentication, the vehicle 13 can also filter communication strategies that match the detachable range extender 12 from the local description file based on the specifications of the detachable range extender 12, and establish a first communication channel with the detachable range extender 12 based on the communication strategy to communicate.

[0076] In some embodiments, if the vehicle 13 fails to receive a valid response from the detachable range extender N times consecutively during communication based on the first communication channel, it may switch to a backup second communication channel for communication, where N is an integer greater than 0.

[0077] In some embodiments, the first communication channel is the primary communication link established between the detachable range extender 12 and the vehicle 13, used to transmit authentication messages, status information and control commands under normal communication conditions, and has a high communication priority and default usage rights.

[0078] For example, the first communication channel may employ diagnostic communication based on Internet protocols for high-speed transmission of control commands, status data, upgrade packages, etc.

[0079] In some embodiments, the second communication channel is a backup communication link established between the detachable range extender 12 and the vehicle 13 to provide communication redundancy in the event of a failure of the first communication channel, and is activated for use in the event of an anomaly in the first communication channel. The second communication channel ensures that the communication connection between the range extender and the vehicle is not interrupted.

[0080] For example, the second communication channel can be a unified diagnostic service based on the flexible data rate of the controller area network, with low bandwidth but strong anti-interference capability, used for emergency start / stop commands and fault reporting.

[0081] In some embodiments, a valid response is an acknowledgment signal returned by the detachable range extender 12 or the vehicle 13 after receiving a communication message. This signal may include message reception confirmation, data verification success status, and execution result information, used to confirm that both communicating parties have successfully received and parsed the message sent by the other. A preset time can also be set so that acknowledgment signals that have not exceeded the time window are considered valid responses.

[0082] In some embodiments, the vehicle 13 can also call the detachable range extender through the first communication channel based on a preset frequency domain. If the vehicle receives a response message from the detachable range extender to the call M times consecutively, it switches to the first communication channel for communication, where M is an integer greater than 0.

[0083] In some embodiments, vehicle 13 may also include visual markers. The visual markers may have specific shapes, colors, or reflective properties to facilitate identification and positioning by the imaging device at long distances.

[0084] In some embodiments, this application also provides a range extender transport platform 11, which has a motion mechanism at the bottom and a guide rail at the top for supporting a detachable range extender 12; the range extender transport platform 11 also includes a clamping mechanism and a controller.

[0085] In some embodiments, the range extender transport platform 11 is a mobile device for carrying and transporting a detachable range extender 12, capable of moving between different locations to transport the detachable range extender 12 from a storage location to a docking location on the vehicle 13. In the automated range extender docking system, the range extender transport platform 11 is responsible for the grabbing, transporting, and positioning of the range extender. Exemplarily, the range extender transport platform 11 can be any of an autonomous driving transport vehicle, a rail-mounted transport vehicle, or a lifting docking platform.

[0086] In some embodiments, the motion mechanism is a drive assembly disposed at the bottom of the range extender transport platform 11. The motion mechanism is used to provide the range extender transport platform 11 with mobility and can drive the range extender transport platform 11 to travel along a predetermined path on the ground or on a track.

[0087] For example, the motion mechanism may include: a wheel drive assembly, a tracked walking assembly, a magnetic levitation guide rail assembly, a servo motor, a reducer, and an encoder. The wheel drive assembly is suitable for flat ground environments, the tracked walking assembly is suitable for complex terrain environments, the magnetic levitation guide rail assembly is suitable for high-precision rail transportation scenarios, the servo motor provides power output, the reducer adjusts the output speed and torque, and the encoder provides real-time feedback on the position and speed information of the motion mechanism.

[0088] In some embodiments, the guide rail is a load-bearing structure disposed on the upper part of the range extender transport platform 11. The guide rail is used to support and fix the detachable range extender 12. The guide rail can provide a stable mounting reference surface for the detachable range extender 12. The guide rail can also guide the detachable range extender 12 to adjust its position on the range extender transport platform 11 to ensure the alignment of the mechanical interface between the detachable range extender 12 and the vehicle 13.

[0089] For example, the guide rail may include: a linear guide rail, a ball screw guide rail, and a synchronous belt drive guide rail, wherein the linear guide rail provides linear motion guidance, the ball screw guide rail provides high-precision position adjustment, and the synchronous belt drive guide rail provides rapid transport capability.

[0090] In some embodiments, the clamping mechanism is a gripping device disposed on the range extender transport platform 11. The clamping mechanism is used to capture and fix the detachable range extender 12. The clamping mechanism can keep the position of the detachable range extender 12 stable during transport. The clamping mechanism can also release the detachable range extender 12 after docking is completed, so that the detachable range extender 12 is connected to the vehicle 13.

[0091] For example, the clamping mechanism may include: a pneumatic clamp, an electric actuator clamp, and a hydraulic locking clamp. The pneumatic clamp drives the clamping action with compressed air, the electric actuator clamp drives the clamping action with a motor, and the hydraulic locking clamp drives the clamping action with hydraulic oil.

[0092] In some embodiments, the controller is used to receive sensor signals and generate motion control commands. The controller can coordinate the collaborative work of the motion mechanism, guide rail and clamping mechanism. The controller can also exchange position information with the detachable range extender 12 to ensure that the detachable range extender 12 docks with the vehicle 13.

[0093] In some embodiments, the controller may be used to control the clamping mechanism to load the detachable range extender 12 to be assembled onto the guide rail when the vehicle 13 is detected to be in a preset parking position, and to control the motion mechanism to transport the detachable range extender 12 to a first target position.

[0094] In some embodiments, the controller is configured to, when detecting that the vehicle 13 is in a preset parking position, control the clamping mechanism to load the detachable range extender 12 to be assembled onto the guide rail, and control the motion mechanism to transport the detachable range extender 12 to a first target position, wherein the distance between the first target position and the preset parking position is less than or equal to a first preset distance.

[0095] In some embodiments, the preset parking location is the target area where the vehicle 13 is parked, with clear coordinate markings or visual markers. The preset parking location provides the range extender transport platform 11 with a positioning reference for the vehicle 13, ensuring that the relative position between the vehicle 13 and the range extender transport platform 11 meets the docking accuracy requirements.

[0096] In some embodiments, the first target location is the docking position that the detachable range extender 12 to be assembled needs to reach, located in the area corresponding to the mechanical interface of the vehicle 13.

[0097] For example, when the detachable range extender is intended to be installed in the engine position of the vehicle, the first target position can be set at a position 0.5 meters to 1 meter in front of the front bumper of the vehicle, and coinciding with the longitudinal center axis of the vehicle.

[0098] For example, when the detachable range extender is intended to be installed in the trunk of the vehicle, the first target position can be set at a position 0.5 to 1 meter directly behind the rear bumper of the vehicle, coinciding with the longitudinal center axis of the vehicle.

[0099] For example, when the detachable range extender is intended to be installed on the roof of the vehicle, the first target position can be set at a distance of 0.5 meters to 1 meter from the horizontal projection point of the roof mechanical interface on the side of the vehicle, and the range extender transport platform lifts the detachable range extender to the same height as the roof mechanical interface through a lifting mechanism or lifting device.

[0100] In some embodiments, the controller is also configured to adjust the angle of the motion mechanism, and when it is detected that the central axis of the detachable range extender 12 coincides with the central axis of the mechanical interface of the vehicle 13, the controller guides the detachable range extender 12 to a second target position, the distance between the second target position and the mechanical interface of the vehicle 13 being less than or equal to a second preset distance.

[0101] In some embodiments, the second target position refers to the docking position reached by the detachable range extender 12 after it has completed axis alignment and continues to advance forward. At the second target position, the distance between the mechanical interface between the detachable range extender 12 and the vehicle 13 satisfies the preset conditions for electromagnetic engagement and start-up.

[0102] For example, the second target position can be a position where the distance between the mechanical interface of the vehicle 13 and the mechanical interface is less than or equal to a second preset distance. At the second target position, the mechanical interface can be made to fit with the detachable range extender 12 by the magnetic force generated by the electromagnetic coil.

[0103] In some embodiments, the range extender transport platform 11 also includes a power supply unit.

[0104] In some embodiments, the power supply unit is a power supply device installed on the range extender transport platform 11, used to provide power to the range extender transport platform 11 itself and external equipment, and capable of outputting stable voltage and current. During the docking process, the power supply unit supplies power to the electromagnetic engagement coil in the detachable range extender 12, ensuring that the electromagnetic engagement coil can generate sufficient electromagnetic attraction to complete the mechanical locking.

[0105] In some embodiments, the controller is also configured to control the power supply device to supply power to the detachable range extender 12, so that the electromagnetic engagement coil of the detachable range extender 12 generates electromagnetic attraction, which drives the mechanical interface of the vehicle 13 to dock with the mechanical locking mechanism of the detachable range extender 12 through the engagement action.

[0106] In some embodiments, the electromagnetic engagement coil is an electromagnetic component disposed inside the detachable range extender 12. When energized, the electromagnetic engagement coil generates a magnetic field, creating an electromagnetic attraction force. The energizing time and current intensity of the electromagnetic engagement coil are controlled by a power supply device.

[0107] In some embodiments, the electromagnetic attraction is the magnetic force generated when the electromagnetic coil is energized, which can attract magnetic materials or electromagnetic components on the vehicle 13. The magnitude of the electromagnetic attraction is proportional to the current intensity of the electromagnetic coil, and the mechanical interface used to drive the vehicle 13 is connected and locked to the mechanical locking mechanism of the detachable range extender 12.

[0108] In some embodiments, the controller can also be used to determine a first relative position between the detachable range extender 12 and the soft magnetic guide cone of the vehicle 13 based on the magnetic field strength generated by the permanent magnet array of the detachable range extender 12 and the soft magnetic guide cone of the vehicle 13; obtain a second relative position between the detachable range extender 12 and the soft magnetic guide cone of the vehicle 13, the second relative position being detected by a micro-motion sensor in the detachable range extender 12; determine a second target position based on the first relative position, the second relative position and the three-dimensional pose of the mechanical interface of the vehicle 13; and control the guide rail to transport the detachable range extender 12 to the second target position.

[0109] In some embodiments, the soft magnetic guide cone itself does not actively generate a guiding magnetic field, but can be magnetized under the action of the magnetic field generated by the permanent magnet array, thereby forming an induced magnetic field after being magnetized. The induced magnetic field and the magnetic field of the permanent magnet array together constitute a composite magnetic field with a spatial gradient distribution, thereby generating a centering force that guides the detachable range extender 12 toward the center of the soft magnetic guide cone.

[0110] In some embodiments, the permanent magnet array refers to a ring-shaped Halbach permanent magnet array disposed at the front end of the detachable range extender 12, used to generate a static magnetic field with a specific gradient distribution within a spatial range. The magnetic field direction of the permanent magnet array is concentrated and enhanced on the inner side of the ring and significantly weakened on the outer side of the ring, forming a directional magnetic field pointing towards the soft magnetic guide cone of the vehicle 13.

[0111] In some embodiments, the range extender transport platform 11 further includes a camera for capturing visual markings of the vehicle 13, the visual markings being used to mark the locations of the mechanical interfaces of the vehicle 13.

[0112] In some embodiments, the imaging device refers to an image acquisition device installed on the range extender transportation platform 11. The imaging device is used to acquire images containing visual markers of the vehicle 13 and transmit the image data to the controller for image processing and analysis.

[0113] In some embodiments, visual markings refer to visual identifiers placed at the rear of the vehicle 13 to mark the location of mechanical interfaces of the vehicle 13. Visual markings may have specific shapes, colors, or reflective properties to facilitate identification and positioning by the imaging device at long distances.

[0114] The controller is also used to determine the three-dimensional pose of the mechanical interface of vehicle 13 based on images including visual markers captured by the imaging device.

[0115] In some embodiments, three-dimensional pose refers to position and orientation in a spatial coordinate system. The three-dimensional pose of the mechanical interface of vehicle 13 includes the coordinates of the center point of the mechanical interface, the orientation angle of the central axis, and the spatial orientation of the mechanical interface cavity, which is used to characterize the accurate spatial state of the docking target on one side of vehicle 13.

[0116] For example, such as Figure 3 As shown, in the docking system of the detachable range extender provided by the present invention, in addition to the mechanical interface, the vehicle 13 may also include a high-voltage electrical interface, a low-voltage control and communication interface, a coolant interface, an exhaust interface, and a fuel interface.

[0117] In some embodiments, the high-voltage electrical interface employs a bidirectional high-power connector, supporting 800V voltage and a current of not less than 200A, and supports both normal and emergency operating modes. In normal mode, the high-voltage electrical interface is used to enable the detachable range extender 12 to supply power to the vehicle 13. In emergency mode, the high-voltage electrical interface is used to enable the vehicle 13 battery to supply power to the detachable range extender 12 in reverse, ensuring power supply under low-temperature cold start conditions. The high-voltage electrical interface is also equipped with a pre-charging circuit and a soft-start mechanism to prevent damage to electrical equipment from arcing or inrush current generated during plugging and unplugging.

[0118] In some embodiments, the low-voltage control and communication interface integrates a power line and a high-speed data bus. The high-speed data bus adopts a dual-mode redundancy architecture to ensure the reliability and real-time performance of data transmission. The low-voltage control and communication interface supports remote firmware upgrades and is configured with a standardized plug-and-play communication protocol stack to enable cross-brand connectivity between vehicles 13 of different brands and the detachable range extender 12.

[0119] In some embodiments, the coolant interface employs an intelligent self-sealing quick connector, supporting automatic insertion within an offset range and achieving interface alignment via magnetic assistance. The coolant interface incorporates a pressure sensor or microswitch to ensure proper connection before initiating coolant circulation. Vehicle 13 is equipped with a vehicle-range extender collaborative thermal management architecture, including an electric three-way valve for automatic switching of cooling modes. The control strategy of this collaborative thermal management architecture dynamically allocates cooling flow based on temperature gradients, prioritizing heat dissipation in high-temperature areas and supporting a pre-cooling mechanism to reduce initial temperature rise under high-load conditions. The coolant interface also connects to a closed-loop cooling system. This closed-loop cooling system adds a plate heat exchanger, an independent electric water pump, and an expansion tank at the range extender end, and is equipped with a temperature sensor array. The sampling frequency of the temperature sensor array is no less than 1 Hz, and the collected temperature data is uploaded to the cloud for remote diagnosis of cooling efficiency degradation.

[0120] In some embodiments, the exhaust port is equipped with an active exhaust pressure regulating valve, which is driven by a stepper motor or piezoelectric valve and integrates a differential pressure sensor. It regulates the exhaust back pressure through PID closed-loop control. The exhaust port also features an altitude-based adaptive adjustment function, acquiring altitude information via GPS or a barometric pressure sensor and automatically matching operating conditions according to the altitude. The exhaust port also includes a condensate backflow protection structure, with an automatic drain valve at the lowest point of the exhaust pipe. A temperature sensor monitors the exhaust temperature, and a condensation risk prediction algorithm is configured. When the cooling rate after flameout exceeds a preset frequency, a flameout purging procedure is triggered.

[0121] In some embodiments, the fuel interface integrates intelligent fuel level detection, RFID identification and automatic refueling functions to enable plug-and-fill fuel service, facilitating the operation and management of the detachable range extender 12 system in unmanned rental station scenarios.

[0122] In some embodiments, a highly reliable communication mechanism is established between the detachable range extender 12 and the vehicle 13 in the docking system provided in this application. Regarding data consistency assurance, the vehicle 13 and the range extender use the IEEE 1588 PTP protocol for time synchronization. For critical commands, such as "emergency stop," a dual-channel parallel transmission method is used, transmitting the same command simultaneously through two independent channels. Successful reception on either channel is sufficient to activate the command, significantly improving the reliability of command transmission. The receiving end uses a timestamp comparison mechanism to deduplicate received data packets. When a duplicate command carrying the same timestamp is detected, it is automatically discarded to prevent abnormal operations caused by repeated execution.

[0123] In some embodiments, regarding the remote upgrade security mechanism, the detachable range extender 12 of this application supports pushing firmware packages via a cloud platform or authorized service terminal, transmitting them to the vehicle 13 gateway via 4G, 5G, or Wi-Fi networks, and then forwarding them to the range extender from the vehicle 13 gateway. After the firmware package arrives at the range extender, the range extender performs a multi-verification process: verifying the firmware signature using RSA-2048 or ECDSA algorithms to confirm the source's legitimacy, verifying data integrity using SHA-256, and checking if the version number is higher than the currently running version. After successful verification, the firmware is written to the backup partition; after the range extender is reset, the new firmware's legitimacy is verified through the SecureBoot security boot mechanism before the switch is completed. If the new firmware fails to boot, the system automatically rolls back to the original partition and reports the failure log. During the upgrade, the range extender is prohibited from high-power operation; only servers certified by the certificate chain are allowed to initiate upgrades, and all operation records are written to the security log for auditing and traceability.

[0124] In some embodiments, regarding communication security and attack prevention design, the detachable range extender 12 and vehicle 13 employ a shared key negotiated via ECDH. Each control command is appended with an HMAC-SHA256 signature, and the receiver executes it after verifying the signature and timestamp, effectively preventing replay attacks. The range extender has a built-in access control list, allowing only registered vehicle IDs 13IDs to communicate with it. Upon initial connection, vehicle IDs 13IDs are entered via QR code or NFC pairing; requests from vehicles 13IDs not on the list are discarded. An alarm is triggered and a secure mode is entered when high-frequency erroneous requests, illegal address access, or protocol anomalies are detected. During range extender MCU startup, the bootloader, operating system, and application firmware signatures are verified level by level; failure at any level prevents startup, thus preventing malicious code injection.

[0125] For example, such as Figure 4 As shown, the detachable range extender 12 provided by the present invention can be installed in the engine position, trunk position or roof of the vehicle 13.

[0126] For example, when the detachable range extender is intended to be installed in the engine position of the vehicle, the first target position can be set at a position 0.5 meters to 1 meter in front of the front bumper of the vehicle, and coinciding with the longitudinal center axis of the vehicle.

[0127] For example, when the detachable range extender is intended to be installed in the trunk of the vehicle, the first target position can be set at a position 0.5 to 1 meter directly behind the rear bumper of the vehicle, coinciding with the longitudinal center axis of the vehicle.

[0128] For example, when the detachable range extender is intended to be installed on the roof of the vehicle, the first target position can be set at a distance of 0.5 meters to 1 meter from the horizontal projection point of the roof mechanical interface on the side of the vehicle, and the range extender transport platform lifts the detachable range extender to the same height as the roof mechanical interface through a lifting mechanism or lifting device.

[0129] It should be noted that the system architecture described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and does not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of system architecture, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0130] The docking method for detachable range extenders provided in this application embodiment can be applied to a docking system for detachable range extenders, or to a range extender transport platform within a docking system for detachable range extenders, for example, to a controller within the range extender transport platform. Figure 5 As shown, the docking method for the detachable range extender includes the following steps S501~S503: S501. When the vehicle is detected to be in a preset parking position, the detachable range extender to be assembled is loaded onto the guide rail, and the motion mechanism is controlled to transport the detachable range extender to the first target position.

[0131] Wherein, the distance between the first target location and the preset parking space is less than or equal to the first preset distance.

[0132] In some embodiments, the preset parking location is a target area where the vehicle is parked, with clearly defined coordinates or visual markers. The preset parking location provides a positioning reference for the range extender transport platform, ensuring that the relative position between the vehicle and the range extender transport platform meets the docking accuracy requirements.

[0133] In some embodiments, the detachable range extender is a modularly designed power generation device that can be detached from the vehicle and stored independently. The detachable range extender is installed on the vehicle when needed to provide additional power, and is quickly connected and disconnected from the vehicle via mechanical and electrical interfaces.

[0134] In some embodiments, the motion mechanism is a drive assembly disposed at the bottom of the range extender transport platform, which provides the range extender transport platform with mobility, enabling it to drive the range extender transport platform to travel along a predetermined path on the ground or on a track.

[0135] For example, the motion mechanism may include: a wheel drive assembly, a tracked walking assembly, a magnetic levitation guide rail assembly, a servo motor, a reducer, and an encoder. The wheel drive assembly is suitable for flat ground environments, the tracked walking assembly is suitable for complex terrain environments, the magnetic levitation guide rail assembly is suitable for high-precision rail transportation scenarios, the servo motor provides power output, the reducer adjusts the output speed and torque, and the encoder provides real-time feedback on the position and speed information of the motion mechanism.

[0136] In some embodiments, the guide rail is a load-bearing structure disposed on the upper part of the range extender transport platform for supporting and transporting the detachable range extender, and can provide a stable mounting reference surface for the detachable range extender 12. The guide rail can also guide the detachable range extender to adjust its position on the range extender transport platform, ensuring the alignment of the mechanical interface between the detachable range extender and the vehicle 13.

[0137] For example, the guide rail may include: a linear guide rail, a ball screw guide rail, and a synchronous belt drive guide rail, wherein the linear guide rail provides linear motion guidance, the ball screw guide rail provides high-precision position adjustment, and the synchronous belt drive guide rail provides rapid transport capability.

[0138] In some embodiments, the mechanical interface is a connection structure located on the vehicle for physical connection to the detachable range extender, and may include structures such as guide slots, positioning holes, and locking clips. The mechanical interface ensures that the detachable range extender remains stable during vehicle operation.

[0139] In some embodiments, the first target location is the docking position that the detachable range extender to be assembled needs to reach, located in the area corresponding to the vehicle's mechanical interface.

[0140] In some embodiments, the range extender transportation platform detects whether a vehicle is in a preset parking position by using parking space sensors deployed around the parking area, induction coils buried in the ground, or the range extender transportation platform's own vision system.

[0141] For example, after detecting that the vehicle is in a preset parking position, the range extender transport platform then activates the clamping mechanism to remove the detachable range extender from the storage slot at the rear of the transport platform and place it in the slide groove of the guide rail, so that the slider on top of the detachable range extender is embedded in the guide rail. Based on the vehicle's three-dimensional pose calculated in real time by the binocular camera, the range extender transport platform controls the omnidirectional wheel set at the bottom to move to the first target position.

[0142] S502. Adjust the angle of the motion mechanism. When the center axis of the detachable range extender is detected to coincide with the center axis of the vehicle's mechanical interface, control the guide rail to transport the detachable range extender to the second target position.

[0143] The distance between the second target location and the vehicle's mechanical interface is less than or equal to a second preset distance.

[0144] In some embodiments, the central axis of the vehicle's mechanical interface refers to a virtual straight line passing through the geometric center of the interface along the insertion direction of the vehicle's mechanical interface, used to characterize the spatial orientation of the docking target on one side of the vehicle. The detachable range extender needs to complete the final insertion along the direction of this central axis.

[0145] In some embodiments, the second target position refers to the final docking position reached by the detachable range extender as it continues to advance after completing axis alignment. At the second target position, the distance between the detachable range extender and the vehicle's mechanical interface satisfies the preset conditions for electromagnetic engagement and start-up.

[0146] For example, the second target position can be a position where the distance between the mechanical interface of the vehicle and the mechanical interface is less than or equal to a second preset distance. At the second target position, the mechanical interface can be made to fit with the detachable range extender by the magnetic force generated by the electromagnetic coil.

[0147] In some embodiments, the second preset distance refers to a pre-set distance threshold, which can be determined based on the insertion depth of the mechanical interface, the triggering of the micro switch, and the effective range of the electromagnetic attraction coil.

[0148] In some embodiments, the range extender transport platform can collect data on the spatial magnetic field strength distribution between the permanent magnet array at the front end of the detachable range extender and the soft magnetic guide cone of the vehicle in real time using a Hall sensor array, and calculate the angle and lateral offset between the central axis of the detachable range extender and the central axis of the vehicle's mechanical interface based on the symmetry of the magnetic field strength distribution.

[0149] For example, when the included angle is less than 0.5 degrees to 1 degree and the lateral offset is less than 1 mm to 1.5 mm, the range extender transport platform determines that the two axes are in an overlapping state.

[0150] In some embodiments, a Hall sensor array refers to a sensor group composed of multiple Hall sensors arranged in a preset spatial layout. The Hall sensor array is used to detect the magnetic field strength distribution in space, with each Hall sensor independently outputting the magnetic field strength value at its location. For example, the optimal operating range of the Hall array is 5 mm–50 cm, with an error within 1 mm, and a data transmission frequency of 100 Hz.

[0151] In some embodiments, the soft magnetic guide cone itself does not actively generate a guiding magnetic field. It can be magnetized under the action of the magnetic field generated by the permanent magnet array, thereby forming an induced magnetic field after being magnetized. The induced magnetic field and the magnetic field of the permanent magnet array together constitute a composite magnetic field with a spatial gradient distribution, which in turn generates a centering force that guides the detachable range extender toward the center of the soft magnetic guide cone.

[0152] In some embodiments, the permanent magnet array refers to a ring-shaped Halbach permanent magnet array disposed at the front end of the detachable range extender, used to generate a static magnetic field with a specific gradient distribution within a spatial range. The magnetic field direction of the permanent magnet array is concentrated and enhanced on the inner side of the ring and significantly weakened on the outer side of the ring, forming a directional magnetic field pointing towards the vehicle's soft magnetic guide cone.

[0153] In some embodiments, the range extender transport platform acquires real-time data on the spatial magnetic field strength distribution between the permanent magnet array at the front end of the detachable range extender and the vehicle's soft magnetic guide cone using a Hall sensor array. The transport platform inputs the acquired Hall sensor readings into the controller. The symmetry of the magnetic field strength distribution can be characterized by comparing the differences in Hall sensor readings at symmetrical positions on the left and right sides of the Hall sensor array, and the differences in Hall sensor readings at symmetrical positions on the top and bottom sides. The controller calculates the angle and lateral offset between the central axis of the detachable range extender and the central axis of the vehicle's mechanical interface based on a pre-calibrated magnetic field distribution model and the symmetry of the magnetic field strength distribution.

[0154] S503 controls the detachable range extender to generate electromagnetic attraction, and drives the vehicle's mechanical interface to connect with the mechanical locking mechanism of the detachable range extender through the attraction action.

[0155] In some embodiments, electromagnetic attraction refers to the magnetic force generated by energizing the electromagnetic engagement coil built into the detachable range extender. This electromagnetic attraction is used to pull the vehicle's mechanical interface toward the detachable range extender, bringing the two physically closer together.

[0156] In some embodiments, the electromagnetic attraction force can be generated by an electromagnetic engagement coil inside the detachable range extender after a direct current is applied. The number of turns of the electromagnetic engagement coil, the core material, and the magnitude of the applied current together determine the value of the electromagnetic attraction force, and the direction of the electromagnetic attraction force is along the central axis of the detachable range extender towards the tail of the detachable range extender.

[0157] In some embodiments, the mechanical locking mechanism refers to a structure located at the rear of the detachable range extender for forming a fixed connection with the vehicle's mechanical interface. The mechanical locking mechanism of the detachable range extender includes a wedge-shaped latch or a ball-bearing locking mechanism, which forms a mechanical lock after docking with the vehicle's mechanical interface under electromagnetic attraction.

[0158] For example, the mechanical locking mechanism of the detachable range extender may include a wedge-shaped latch or a ball-type locking mechanism disposed at the rear of the detachable range extender. The front end of the wedge-shaped latch is configured with a beveled structure so as to be smoothly inserted into the mechanical interface cavity of the vehicle under the action of electromagnetic attraction, and the rear end of the wedge-shaped latch is provided with a protrusion structure that cooperates with the locking groove in the mechanical interface cavity of the vehicle.

[0159] In some embodiments, the range extender transport platform supplies power to the detachable range extender via a battery device, controlling the energization of the electromagnetic engagement coil built into the detachable range extender to generate electromagnetic attraction. The electromagnetic attraction acts on the vehicle's soft magnetic guide cone, pulling the vehicle's mechanical interface along the central axis towards the mechanical locking mechanism of the detachable range extender, causing the mechanical locking mechanism to insert into the mechanical interface cavity and trigger locking.

[0160] In some embodiments, step S502 can be implemented as the following steps a1~a4: a1. Based on the magnetic field strength generated by the permanent magnet array of the detachable range extender and the soft magnetic guide cone of the vehicle, determine the first relative position between the detachable range extender and the soft magnetic guide cone of the vehicle.

[0161] In some embodiments, the first relative position refers to the relative pose relationship between the detachable range extender and the vehicle's soft magnetic guide cone in three-dimensional space. The first relative position may include the lateral offset, longitudinal distance, and included angle between the central axis of the detachable range extender and the central axis of the vehicle's soft magnetic guide cone.

[0162] In some embodiments, the range extender transport platform collects in real time the spatial magnetic field strength distribution data generated by the interaction between the permanent magnet array of the detachable range extender and the soft magnetic guide cone of the vehicle through a Hall sensor array. The collected Hall sensor readings are input into the controller, and the controller calculates the first relative position between the permanent magnet array of the detachable range extender and the soft magnetic guide cone of the vehicle according to the pre-calibrated mapping relationship between magnetic field strength and spatial position.

[0163] a2. Obtain the second relative position between the detachable range extender and the vehicle's soft magnetic guide cone. The second relative position is detected by the micro-motion sensor in the detachable range extender.

[0164] In some embodiments, a micro-motion sensor refers to a contact or non-contact displacement detection element disposed at the front end of a detachable range extender. Exemplarily, the micro-motion sensor may include a laser displacement sensor, an eddy current displacement sensor, an ultrasonic sensor, or a contact micro switch. The micro-motion sensor may be mounted on the front surface of the detachable range extender or at the front end of the mechanical locking mechanism of the detachable range extender. The detection direction of the micro-motion sensor is along the central axis of the detachable range extender, pointing towards the soft magnetic guide cone in the vehicle's mechanical interface. Exemplarily, the optimal operating range of the micro-displacement sensor is within 5 mm, with an error within 0.1 mm, and it can transmit data in real time.

[0165] In some embodiments, the range extender transport platform uses a micro-motion sensor to detect the gap distance between the detachable range extender and the vehicle's soft magnetic guide cone in real time. The micro-motion sensor converts the detected distance value into an electrical signal and sends it to the controller. The controller determines the second relative position between the detachable range extender and the vehicle's soft magnetic guide cone based on the received electrical signal.

[0166] a3. Determine the position of the second target based on the three-dimensional pose of the first relative position, the second relative position and the mechanical interface of the vehicle.

[0167] In some embodiments, the three-dimensional pose of the vehicle's mechanical interface refers to its position and orientation in a spatial coordinate system. The three-dimensional pose of the vehicle's mechanical interface includes the coordinates of the center point of the mechanical interface, the orientation angle of the central axis, and the spatial orientation of the mechanical interface cavity, used to characterize the accurate spatial state of the docking target on one side of the vehicle.

[0168] In some embodiments, the range extender transport platform further includes a camera, and the vehicle also includes visual markers for marking the location of the vehicle's mechanical interfaces. The three-dimensional pose of the vehicle's mechanical interfaces is determined based on images including the visual markers captured by the camera.

[0169] In some embodiments, the capturing device refers to an image acquisition device installed on the range extender transportation platform. The capturing device is used to acquire images containing vehicle visual markers and transmit the image data to the controller for image processing and analysis. Exemplarily, the optimal capturing range of the capturing device is 0.5 meters to 2 meters, with an error within 2 centimeters, and the data transmission frequency can be 30 Hz.

[0170] In some embodiments, visual markings refer to visual identifiers placed at the rear of a vehicle to mark the location of the vehicle's mechanical interfaces. Visual markings may have specific shapes, colors, or reflective properties to facilitate identification and positioning by a camera at a distance.

[0171] In some embodiments, the first relative position, the second relative position, and the three-dimensional pose are weighted and calculated to obtain the second target position.

[0172] In some embodiments, the weighted calculation may include dynamically adjusting the weighting coefficients of the first relative position, the second relative position, and the three-dimensional pose based on the current distance between the detachable range extender and the vehicle's soft magnetic guide cone.

[0173] For example, when the distance between the detachable range extender and the vehicle's soft magnetic guide cone is greater than a first preset distance, the weight coefficient of the three-dimensional pose is the highest, followed by the weight coefficient of the first relative position; when the distance between the detachable range extender and the vehicle's soft magnetic guide cone is less than the first preset distance but greater than a second preset distance, the weight coefficient of the first relative position is the highest, the weight coefficient of the three-dimensional pose decreases, and the weight coefficient of the second relative position increases; when the distance between the detachable range extender and the vehicle's soft magnetic guide cone is less than the second preset distance, the weight coefficient of the second relative position is the highest, followed by the weight coefficient of the first relative position, and the weight coefficient of the three-dimensional pose decreases to the lowest.

[0174] In some embodiments, the first relative position, the second relative position, and the three-dimensional pose are multiplied by their respective weighting coefficients and then weighted and fused to calculate the comprehensive deviation of the detachable range extender relative to the fixed preset position to be reached during transportation. The fixed three-dimensional pose coordinates of the vehicle's mechanical interface are then superimposed with the comprehensive deviation to obtain the second target position that the detachable range extender actually needs to reach.

[0175] a4. The control rail transports the detachable range extender to the second target location.

[0176] In some embodiments, the range extender transport platform sends the calculated second target position to the drive controller of the guide rail via the controller. The drive controller generates a drive command based on the difference between the second target position and the current actual position of the detachable range extender on the guide rail, and controls the guide rail to move the detachable range extender forward along the guide rail slide until the detachable range extender reaches the second target position.

[0177] In some embodiments, the docking system of the detachable range extender of this application adopts a dual confirmation mechanism after docking is completed. It can be determined that the detachable range extender and the vehicle have been reliably locked in order to meet the two conditions of "normal electromagnetic attraction current" and "mechanical limit switch triggering" at the same time.

[0178] In some embodiments, after locking confirmation, the electromagnetic engagement coil is de-energized. This de-energization can be controlled by the range extender transport platform or the vehicle itself. After de-energization, the mechanical locking mechanism remains locked to the locking groove within the vehicle's mechanical interface cavity using a wedge-shaped latch or ball-type locking mechanism, preventing accidental disengagement. De-energization reduces energy consumption, prevents overheating caused by prolonged energization of the electromagnetic engagement coil, and allows the system to enter a safe holding mode, maintaining the stability of the docking state solely through a purely mechanical structure.

[0179] In some embodiments, after confirming the rigid connection and locking, the range extender transport platform separation process is executed. The range extender transport platform releases the clamping mechanism, releasing the clamping fixation on the detachable range extender. The range extender transport platform controls the guide rail to retract the clamping mechanism along the guide rail direction, completely disengaging the range extender transport platform from the detachable range extender. The range extender transport platform is then driven away from the docking site by the omnidirectional wheel set or tracked moving mechanism located at its bottom, returning to the preset standby area or charging station to await the next docking service instruction.

[0180] For example, this application also provides an AR-assisted guidance system applied during the docking process of a detachable range extender system. The AR-assisted guidance system presents an augmented reality guidance interface to the operator via a HUD or mobile device, overlaying a three-dimensional alignment deviation vector, angle deflection ring, and virtual docking path onto the field of view projected by the vehicle's infotainment system or the real-time image captured by the mobile device. This allows the operator to intuitively perceive the current alignment status between the detachable range extender and the vehicle's mechanical interface. Simultaneously, the AR-assisted guidance system outputs tiered voice prompts based on the real-time distance between the detachable range extender and the vehicle's mechanical interface, such as "Please move forward approximately 80 cm," "Slight rightward deviation, move 3 cm to the right," and "Alignment complete, the system will automatically lock." Through the combination of visual guidance and tiered voice prompts, the operator can accurately complete the docking operation between the detachable range extender and the vehicle's mechanical interface in manual or semi-automatic modes.

[0181] The above primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the docking device for the detachable range extender includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Experts may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0182] like Figure 6 As shown, this application also provides a control device, applied to a controller in a range extender transport platform. The control device 1000 includes a control module 1001 and a docking module 1002. The control module 1001 is used to load the detachable range extender to be assembled onto a guide rail when the vehicle is detected to be in a preset parking position, and to control a motion mechanism to transport the detachable range extender to a first target position; adjusting the angle of the motion mechanism, and when the central axis of the detachable range extender is detected to coincide with the central axis of the vehicle's mechanical interface, controlling the guide rail to transport the detachable range extender to a second target position; the docking module 1002 is used to control the detachable range extender to generate electromagnetic attraction, driving the vehicle's mechanical interface to dock with the mechanical locking mechanism of the detachable range extender through an attraction action.

[0183] Furthermore, the control module 1001 is also used to determine the first relative position between the detachable range extender and the vehicle's soft magnetic guide cone based on the magnetic field strength generated by the permanent magnet array of the detachable range extender and the soft magnetic guide cone of the vehicle; to obtain the second relative position between the detachable range extender and the vehicle's soft magnetic guide cone, the second relative position being detected by the micro-motion sensor in the detachable range extender; to determine the second target position based on the three-dimensional pose of the first relative position, the second relative position, and the mechanical interface of the vehicle; and to control the guide rail to transport the detachable range extender to the second target position.

[0184] Furthermore, the range extender transportation platform also includes a camera, and the vehicle also includes visual markers used to mark the location of the vehicle's mechanical interfaces; the three-dimensional pose of the vehicle's mechanical interfaces is determined based on images including the visual markers captured by the camera.

[0185] Furthermore, the control module 1002 is also used to perform weighted calculations on the first relative position, the second relative position, and the three-dimensional pose to obtain the second target position.

[0186] like Figure 7As shown, the electronic device 1100 includes, but is not limited to, a processor 1101 and a memory 1102.

[0187] The aforementioned memory 1102 is used to store the executable instructions of the aforementioned processor 1101. It is understood that the aforementioned processor 1101 is configured to execute instructions to implement the docking method of the detachable range extender in the above embodiment.

[0188] It should be noted that those skilled in the art will understand that Figure 7 The electronic device structure shown does not constitute a limitation on electronic device 1100; electronic device 1100 may include, but is not limited to, other electronic devices. Figure 7 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0189] Processor 1101 is the control center of electronic device 1100. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 1102, and by calling data stored in memory 1102, it performs various functions and processes data of electronic device 1100, thereby providing overall monitoring of electronic device 1100. Processor 1101 may include one or more processing units. Optionally, processor 1101 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 1101.

[0190] The memory 1102 can be used to store software programs and various data. The memory 1102 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 1102 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0191] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1102 including instructions, which can be executed by a processor 1101 of an electronic device 1100 to implement the docking method of the detachable range extender in the above embodiments.

[0192] In actual implementation, Figure 6 The functions of the control module 1001 and the docking module 1002 can both be provided by Figure 7The processor 1101 calls the computer program stored in the memory 1102 to implement the process. The specific execution process can be found in the method section of the previous embodiment, and will not be repeated here.

[0193] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0194] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the processor 1101 of the electronic device 1100 to complete the docking method of the detachable range extender in the above embodiments.

[0195] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of an electronic device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0196] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0197] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0198] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0199] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0200] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0201] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A docking system for a detachable range extender, characterized in that, include: Range extender transport platform, detachable range extender and vehicle; The range extender transport platform is used to load the detachable range extender to be assembled; The range extender transport platform is further configured to, when the vehicle is detected to be in a preset parking position, transport the detachable range extender to a first target position, the distance between the first target position and the preset parking position being less than or equal to a first preset distance; and, when the central axis of the detachable range extender is detected to coincide with the central axis of the vehicle's mechanical interface, transport the detachable range extender to a second target position, the distance between the second target position and the vehicle's mechanical interface being less than or equal to a second preset distance. The detachable range extender includes an electromagnetic engagement coil; The range extender transport platform is also used to supply power to the detachable range extender so that the electromagnetic engagement coil generates electromagnetic attraction, which drives the mechanical interface of the vehicle to dock with the mechanical locking mechanism of the detachable range extender through the engagement action.

2. The docking system for the detachable range extender according to claim 1, characterized in that, The range extender transport platform is equipped with a motion mechanism at the bottom and a guide rail at the top, the guide rail being used to support the detachable range extender; the range extender transport platform also includes a clamping mechanism and a controller; The controller is used to control the clamping mechanism to load the detachable range extender to be assembled onto the guide rail when the vehicle is detected to be in a preset parking position, and to control the motion mechanism to transport the detachable range extender to the second target position. The controller is also used to adjust the angle of the motion mechanism, and when it is detected that the central axis of the detachable range extender coincides with the central axis of the mechanical interface of the vehicle, it controls the guide rail to transport the detachable range extender to the second target position.

3. The docking system for the detachable range extender according to claim 1, characterized in that, The detachable range extender includes a permanent magnet array and micro-motion sensors; the vehicle's mechanical interface includes a soft magnetic guide cone; The permanent magnet array is used to generate a magnetic field; The soft magnetic guide cone is used to generate an induced magnetic field under the action of the magnetic field; The micro-motion sensor is used to detect the relative position between the detachable range extender and the soft magnetic guide cone of the vehicle; The range extender transportation platform is specifically used to determine a first relative position between the detachable range extender and the vehicle's soft magnetic guide cone based on the magnetic field strength generated by the permanent magnet array of the detachable range extender and the soft magnetic guide cone of the vehicle; to obtain a second relative position between the detachable range extender and the vehicle's soft magnetic guide cone, the second relative position being detected by the micro-motion sensor; and to determine a second target position based on the first relative position, the second relative position, and the three-dimensional pose of the vehicle's mechanical interface.

4. The docking system for the detachable range extender according to claim 3, characterized in that, The range extender transport platform also includes a camera, and the vehicle also includes visual markers for marking the locations of the vehicle's mechanical interfaces. The range extender transport platform is also used to capture the visual markers using the imaging device; and to determine the three-dimensional pose of the vehicle's mechanical interface based on the image including the visual markers.

5. The docking system for the detachable range extender according to claim 1, characterized in that, The detachable range extender is also used to connect the mechanical locking mechanism to the mechanical interface of the vehicle and send an authentication message to the vehicle after the mechanical locking is completed. The vehicle is configured to receive the authentication message and perform identity authentication on the detachable range extender based on the authentication message. After authentication, based on the specifications of the detachable range extender, a communication strategy matching the detachable range extender is selected from the local description file; a first communication channel is established with the detachable range extender based on the communication strategy, and communication is carried out.

6. The docking system for the detachable range extender according to claim 5, characterized in that, The vehicle is also configured to switch to a backup second communication channel for communication if it fails to receive a valid response from the detachable range extender for N consecutive times during communication based on the first communication channel, where N is an integer greater than 0. Based on a preset frequency domain, a call is made to the detachable range extender through a first communication channel. If the detachable range extender receives a response message to the call from the detachable range extender M times consecutively, the communication is switched to the first communication channel, where M is an integer greater than 0.

7. A docking method for a detachable range extender, characterized in that, Applied to the range extender transport platform according to any one of claims 1 to 6, the method comprises: When the vehicle is detected to be in a preset parking position, the detachable range extender to be assembled is loaded onto the guide rail, and the motion mechanism is controlled to transport the detachable range extender to a first target position, the distance between the first target position and the preset parking position is less than or equal to a first preset distance. Adjust the angle of the motion mechanism, and when the central axis of the detachable range extender is detected to coincide with the central axis of the vehicle's mechanical interface, control the guide rail to transport the detachable range extender to a second target position, wherein the distance between the second target position and the vehicle's mechanical interface is less than or equal to a second preset distance; The detachable range extender is controlled to generate electromagnetic attraction, which drives the mechanical interface of the vehicle to dock with the mechanical locking mechanism of the detachable range extender through the attraction action.

8. The docking method for the detachable range extender according to claim 7, characterized in that, The process of transporting the detachable range extender to the second target location via the guide rail includes: The first relative position of the detachable range extender and the soft magnetic guide cone of the vehicle is determined based on the magnetic field strength generated by the permanent magnet array of the detachable range extender and the soft magnetic guide cone of the vehicle. The second relative position between the detachable range extender and the soft magnetic guide cone of the vehicle is obtained, and the second relative position is detected by the micro-motion sensor in the detachable range extender; The second target position is determined based on the three-dimensional pose of the first relative position, the second relative position, and the mechanical interface of the vehicle; The guide rail is controlled to transport the detachable range extender to the second target location.

9. The docking method for the detachable range extender according to claim 8, characterized in that, The range extender transport platform also includes a camera, and the vehicle also includes visual markers for marking the locations of the vehicle's mechanical interfaces. The three-dimensional pose of the vehicle's mechanical interface is determined based on an image captured by the imaging device, including the visual markers.

10. A range extender transportation platform, characterized in that, The range extender transport platform is equipped with a motion mechanism at the bottom and a guide rail at the top, which is used to support the detachable range extender; the range extender transport platform also includes a clamping mechanism and a controller; The controller is used to control the clamping mechanism to load the detachable range extender to be assembled onto the guide rail when the vehicle is detected to be in a preset parking position, and to control the motion mechanism to transport the detachable range extender to a first target position, wherein the distance between the first target position and the preset parking position is less than or equal to a first preset distance. The controller is also used to adjust the angle of the motion mechanism, and when it is detected that the central axis of the detachable range extender coincides with the central axis of the vehicle's mechanical interface, it controls the guide rail to transport the detachable range extender to a second target position, wherein the distance between the second target position and the vehicle's mechanical interface is less than or equal to a second preset distance. The controller is also used to power the detachable range extender so that the electromagnetic engagement coil of the detachable range extender generates electromagnetic attraction, which drives the mechanical interface of the vehicle to dock with the mechanical locking mechanism of the detachable range extender through the engagement action.

11. The range extender transport platform according to claim 10, characterized in that, The controller is specifically configured to: determine a first relative position between the detachable range extender and the vehicle's soft magnetic guide cone based on the magnetic field strength generated by the permanent magnet array of the detachable range extender and the soft magnetic guide cone of the vehicle; acquire a second relative position between the detachable range extender and the vehicle's soft magnetic guide cone, the second relative position being detected by a micro-motion sensor in the detachable range extender; determine a second target position based on the first relative position, the second relative position, and the three-dimensional pose of the vehicle's mechanical interface; and control the guide rail to transport the detachable range extender to the second target position.

12. The range extender transport platform according to claim 11, characterized in that, The range extender transport platform also includes a camera for capturing visual markings of the vehicle, the visual markings being used to mark the locations of the vehicle's mechanical interfaces; The controller is also configured to determine the three-dimensional pose of the vehicle's mechanical interface based on an image captured by the imaging device, including the visual markers.

Images