An autonomous docking magnetic attraction charging management system and method

Abstract

This invention belongs to the field of charging management technology, specifically relating to an autonomous docking magnetic charging management system and method. First, real-time data from a magnetic field sensor and accelerometer are acquired to determine the current environmental interference intensity. Then, based on the interference intensity, the magnetic field direction of the magnetic attraction component is dynamically adjusted, and the corresponding magnetic torque compensation value is calculated to counteract external interference. Furthermore, this method monitors the real-time displacement and current changes at the docking interface to determine if a preset docking threshold has been reached. Based on the interference intensity and displacement change, a vibration frequency ratio is calculated to further optimize the magnetic torque compensation value. When the new compensation value causes the current change rate to be below the interference threshold for three consecutive cycles, the magnetic attraction component is locked, and docking is completed. This method significantly improves the docking success rate and charging stability in complex environments, and is particularly suitable for high-precision, low-tolerance docking interface designs.

Description

Technical Field

[0001] This invention belongs to the field of charging management technology, specifically relating to an autonomous docking magnetic charging management system and method. Background Technology

[0002] Current autonomous docking magnetic charging systems typically employ sensors to detect environmental changes and adjust the direction and intensity of the magnetic field to achieve precise docking between devices. Existing technologies primarily rely on static parameter settings or simple dynamic adjustment mechanisms for the docking operation of the charging interface. However, in practical applications, weak external interference (such as vibration, airflow, or non-uniform magnetic fields) often leads to docking failure or reduced charging efficiency, especially when the docking interface is designed for high precision and low tolerance. These issues limit the stability and reliability of magnetic charging systems.

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

[0004] The purpose of this invention is to provide an autonomous docking magnetic charging management system and method, which significantly improves the docking success rate and charging stability in complex environments. It is especially suitable for high-precision, low-tolerance docking interface designs, so as to ensure that high-precision, low-tolerance docking interfaces can successfully complete docking and maintain a stable charging state even in environments with weak external interference.

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

[0006] Real-time data from the magnetic field sensor and accelerometer during the docking process are acquired to determine the current environmental interference intensity. The magnetic field direction of the magnetic attraction component is adjusted according to the interference intensity, generating magnetic field adjustment parameters. A magnetic attraction torque compensation value is calculated based on these parameters; the compensation value is the difference between the current magnetic attraction torque and the interference torque multiplied by a preset coefficient. The magnetic attraction torque compensation is executed, causing the docking interface to move along a preset trajectory. The real-time displacement and current changes of the docking interface are monitored to determine if a preset docking threshold has been reached. The vibration frequency is calculated based on the interference intensity and displacement changes, generating a frequency ratio. This frequency ratio is multiplied by the preset compensation coefficient to obtain a new magnetic attraction torque compensation value. When the new magnetic attraction torque compensation value causes the current change rate to be lower than the interference threshold for three consecutive cycles, the magnetic attraction component is locked, and docking is completed.

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

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

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

[0010] The comprehensive interference index is calculated based on the standard deviation of the magnetic field sensor data and the standard deviation of the accelerometer data;

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

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

[0013] Obtain the comprehensive interference index, and calculate the angle to adjust the magnetic field direction based on the comprehensive interference index;

[0014] The X-axis and Y-axis magnetic field direction components of the magnetic attraction component are adjusted by using the magnetic field direction adjustment angle.

[0015] The final magnetic field adjustment parameters are determined based on the adjusted X-axis and Y-axis magnetic field direction components and applied to the control signal of the magnetic attraction component.

[0016] Preferably, calculating the magnetic attraction torque compensation value based on the magnetic field adjustment parameters includes:

[0017] Obtain the magnetic field adjustment parameters, calculate the current magnetic attraction torque based on the magnetic field adjustment parameters, and estimate the interference torque based on the accelerometer data;

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

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

[0020] Obtain the magnetic attraction torque compensation value, and determine the compensation force on the X-axis and Y-axis based on the magnetic attraction torque compensation value;

[0021] The compensation force is converted into the actual displacement of the docking interface. The position of the docking interface is adjusted according to the actual displacement so that it moves along a preset trajectory until the set displacement threshold is reached.

[0022] Preferably, monitoring the real-time displacement and current changes of the docking interface to determine whether a preset docking threshold has been reached includes:

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

[0024] If the total displacement is compared with a preset displacement threshold, and the total displacement is less than or equal to the preset displacement threshold, then the displacement is determined to meet the condition; at the same time, the rate of change of current is calculated.

[0025] The current change rate is compared with a preset current change threshold. If the total displacement is less than or equal to the preset displacement threshold and the current change rate is less than or equal to the preset current change threshold, the preset docking threshold is determined to be reached.

[0026] Preferably, the vibration frequency is calculated based on the changes in the interference intensity and displacement, and a frequency ratio is generated, including:

[0027] Obtain the comprehensive disturbance index and the actual displacement, and calculate the average displacement change rate over a continuous time period based on the actual displacement.

[0028] The vibration frequency is calculated using the comprehensive disturbance index and the average displacement change rate.

[0029] The vibration frequency is compared with a preset standard frequency to generate a frequency ratio.

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

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

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

[0033] The new magnetic attraction torque compensation value is applied to the current magnetic attraction component control signal, and the magnetic attraction torque is adjusted by updating the forces on the X and Y axes.

[0034] Preferably, when the new magnetic torque compensation value causes the current change rate to be lower than the interference threshold for three consecutive cycles, the magnetic attraction component is locked and docking is completed, including:

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

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

[0037] Compare the current change rate with a preset interference threshold. If the current change rate is less than the preset interference threshold for three consecutive cycles, then the current state is confirmed to be stable.

[0038] When the conditions are met, the position of the magnetic attraction component is locked, further adjustments are stopped, and the docking operation is confirmed to be complete.

[0039] On the other hand, this invention proposes an autonomous docking magnetic charging management system, comprising:

[0040] The environmental interference detection module is used to acquire real-time data from the magnetic field sensor and accelerometer during the docking process to determine the current environmental interference intensity.

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

[0042] The docking trajectory control and threshold judgment module is used to perform the magnetic attraction torque compensation, so that the docking interface moves along the preset trajectory, monitor the real-time displacement and current change of the docking interface, and determine whether the preset docking threshold has been reached.

[0043] The vibration frequency analysis and dynamic compensation module is used to calculate the vibration frequency based on the changes in the interference intensity and displacement, generate a frequency ratio, and multiply the frequency ratio by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value.

[0044] The docking completion locking module is used to lock the magnetic attraction component and complete the docking when the new magnetic attraction torque compensation value causes the current change rate to be lower than the interference threshold for three consecutive cycles.

[0045] Technical effects and advantages of the present invention: The autonomous docking magnetic charging management system and method proposed in this invention have the following advantages compared with the prior art:

[0046] This invention first determines the current environmental interference intensity by acquiring real-time data from a magnetic field sensor and an accelerometer. Then, based on the interference intensity, it dynamically adjusts the magnetic field direction of the magnetic attraction component and calculates the corresponding magnetic torque compensation value to counteract external interference. Furthermore, this method monitors the real-time displacement and current changes at the docking interface to determine if a preset docking threshold has been reached. Based on the interference intensity and displacement change, it calculates the vibration frequency generation frequency ratio to further optimize the magnetic torque compensation value. When the new compensation value causes the current change rate to be below the interference threshold for three consecutive cycles, the magnetic attraction component is locked, and docking is completed. This method significantly improves the docking success rate and charging stability in complex environments, and is particularly suitable for high-precision, low-tolerance docking interface designs. Attached Figure Description

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

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

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] This invention provides, for example Figure 1 The self-managing magnetic charging method shown significantly improves the success rate of docking and charging stability in complex environments. It is particularly suitable for high-precision, low-tolerance docking interface designs, ensuring that high-precision, low-tolerance docking interfaces can successfully complete docking and maintain a stable charging state even in environments with weak external interference. Specifically:

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

[0052] Step 1: Acquire real-time data from the magnetic field sensor and accelerometer during the docking process to determine the current environmental interference intensity; this includes the following steps:

[0053] Data from the magnetic field sensor in three directions (X_ms, Y_ms, Z_ms) and the accelerometer in three axes (X_ac, Y_ac, Z_ac) are collected. By simultaneously collecting data from the magnetic field sensor and the accelerometer in three different directions / axes, a comprehensive understanding of the magnetic field state and physical motion of the environment surrounding the device can be obtained.

[0054] Calculate the standard deviation of the triaxial data of the magnetic field sensor:

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

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

[0057] Based on SD_ms and SD_ac, the comprehensive interference index DI is calculated as (SD_ms + SD_ac) / 2. The comprehensive interference index (DI) is an overall indicator that combines the effects of magnetic field fluctuations and physical motion. By adding the standard deviations of the magnetic field sensor and the accelerometer and averaging them, a single value reflecting the overall environmental stability can be obtained.

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

[0059] Example 1

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

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

[0062] Accelerometer triaxial data: X_ac=0.2, Y_ac=0.3, Z_ac=0.4.

[0063] Next, calculate the mean of each set of data, and then calculate the standard deviation based on this mean:

[0064] For the magnetic field sensor, the calculation is as follows:

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

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

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

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

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

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

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

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

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

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

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

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

[0077] The final magnetic field adjustment parameters are determined based on X_new_mag and Y_new_mag, and applied to the control signal of the magnetic attraction component. The new magnetic field direction components (X_new_mag, Y_new_mag) calculated above can be directly sent as control signals to the magnetic attraction component to achieve precise adjustment of the magnetic field direction, thereby effectively dealing with environmental interference and improving the docking success rate.

[0078] Example 2

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

[0080] The overall interference index DI = 0.05;

[0081] The preset threshold TH_di = 0.1;

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

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

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

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

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

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

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

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

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

[0091] Finally, the calculated new magnetic field direction components (X_new_mag, Y_new_mag), i.e. (0.209, 0.942), are sent as control signals to the magnetic attraction component to adjust the magnetic field direction in order to cope with weak interference in the environment and ensure the success rate of high-precision docking.

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

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

[0094] The current magnetic attraction torque M_cur = X_new_mag^2 + Y_new_mag^2 is calculated based on X_new_mag and Y_new_mag. This formula is used to calculate the magnetic attraction torque generated by the directional component of the new magnetic field. It is assumed here that the magnetic attraction torque is proportional to the square of the directional component of the magnetic field, reflecting the resultant torque of the magnetic field in the two main directions. Simultaneously, the disturbance torque M_dis = (X_ac^2 + Y_ac^2 + Z_ac^2) / 3 is estimated based on accelerometer data, where X_ac, Y_ac, and Z_ac are the three-axis data output by the accelerometer. This formula estimates the external disturbance torque on the system based on the accelerometer data in three axes. By summing the squares of the three-axis acceleration data and taking the average, an index representing the overall disturbance level experienced by the system can be obtained.

[0095] The magnetic attraction torque compensation value M_comp = (M_cur - M_dis) * C_adj is calculated, where C_adj is a preset coefficient used to amplify or reduce the compensation force. This formula is used to determine the required magnetic attraction torque compensation value. First, the difference between the current magnetic attraction torque and the interference torque is calculated. Then, the compensation force is adjusted by multiplying it by the preset coefficient C_adj to ensure that the influence of the interference torque can be effectively counteracted.

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

[0097] Example 3

[0098] Suppose we have the following data:

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

[0100] Accelerometer triaxial data: X_ac=0.2, Y_ac=0.3, Z_ac=0.4;

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

[0102] First, based on the current magnetic attraction torque M_cur and disturbance torque M_dis:

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

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

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

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

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

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

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

[0110] Finally, the calculated magnetic torque compensation value M_comp is applied to the control signal of the magnetic attraction component to offset the deviation caused by external interference, ensuring that the docking interface can maintain high-precision docking in complex environments, thereby improving charging efficiency and system reliability.

[0111] Step 4: Execute the magnetic attraction torque compensation to move the docking interface along a preset trajectory; specifically including the following steps:

[0112] By obtaining the magnetic attraction torque compensation value (M_comp) from step three, we can accurately determine how much compensation force needs to be applied to counteract the effects of external disturbances on the system.

[0113] Based on M_comp, the compensation forces on the X and Y axes are determined as F_x_move = M_comp * cos(α_move) and F_y_move = M_comp * sin(α_move), where α_move is the angle between the target movement direction of the docking interface and the positive X-axis. These two formulas decompose the magnetic attraction torque compensation value onto the X and Y axes based on trigonometric functions. cos(α_move) and sin(α_move) represent the component proportions of the target movement direction on the X and Y axes, respectively, thus obtaining the required compensation force for each axis.

[0114] The F_x_move and F_y_move are converted into actual displacements of the docking interface: Δx_pos = F_x_move / K_x, Δy_pos = F_y_move / K_y. Here, K_x and K_y are the scaling factors for the X and Y axes, respectively, used to convert force into displacement. These formulas are used to convert the calculated compensation force into actual displacement. K_x and K_y are scaling factors that reflect the displacement caused by a unit force. In this way, the action of force can be converted into specific physical displacement, thereby precisely controlling the position of the docking interface.

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

[0116] Example 4

[0117] Suppose we have the following data:

[0118] The magnetic attraction torque compensation value M_comp = 1.618 (from step three);

[0119] The angle α_move between the target's movement direction and the positive X-axis direction is 45 degrees.

[0120] The scaling factors for the X-axis and Y-axis are K_x=10, Ky=10;

[0121] Set the displacement threshold TH_pos=0.05.

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

[0123] Use the formula:

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

[0125] Next, based on the actual displacements Δx_pos and Δy_pos of the docking interface:

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

[0127] That is, Δx_pos=1.143 / 10=0.1143, Δy_pos=1.143 / 10=0.1143.

[0128] Finally, adjust the position of the docking interface so that it moves along the preset trajectory until it reaches the set displacement threshold TH_pos:

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

[0130] Step 5: Monitor the real-time displacement and current changes of the docking interface to determine whether the preset docking threshold has been reached; this specifically includes the following steps:

[0131] By obtaining the actual displacement (Δx_pos, Δy_pos) from step four, we can understand the specific positional changes of the docking interface on the X and Y axes.

[0132] The total displacement of the docking interface, D_total = sqrt(Δx_pos^2 + Δy_pos^2), is calculated while simultaneously measuring the real-time current I_real at the docking interface. This formula, based on the Pythagorean theorem, is used to calculate the actual distance the docking interface moves in a two-dimensional plane. By summing the squares of the displacements along the X and Y axes and taking the square root, a single value representing the total displacement can be obtained.

[0133] Based on the calculated total displacement D_total, compared with the preset displacement threshold TH_pos, if D_total <= TH_pos, the displacement condition is considered met. By comparing the calculated total displacement D_total with the preset displacement threshold TH_pos, it can be determined whether the docking interface has reached the target position. If D_total <= TH_pos, the displacement condition is met. Simultaneously, the current change rate ΔI_curr = abs(I_real - I_0) / I_0 * 100%, where I_0 is the initial current value, is calculated. This formula calculates the current change rate, reflecting the current fluctuations during the docking process. abs(I_real - I_0) represents the difference between the current and the initial current, multiplied by 100% to convert it to a percentage for easier understanding of the degree of current change.

[0134] The ΔI_curr is compared with the preset current change threshold TH_curr. If and only if D_total<=TH_pos and ΔI_curr<=TH_curr, it is determined that the preset docking threshold has been reached, and docking preparation is completed.

[0135] Example 5

[0136] Suppose we have the following data:

[0137] The actual displacement Δx_pos = 0.1143, Δy_pos = 0.1143 (from step four);

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

[0139] Real-time current I_real = 0.52A;

[0140] Preset displacement threshold TH_pos=0.15;

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

[0142] First, based on the total displacement D_total of the docking interface:

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

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

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

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

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

[0148] Then, make a comprehensive judgment:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0163] The frequency F_vib is compared with a preset standard frequency F_std to generate a frequency ratio R_freq = F_vib / F_std, which can intuitively assess the vibration state under the current environment. Based on this ratio, subsequent operating strategies can be further optimized to ensure system stability.

[0164] Example 6

[0165] Suppose we have the following data:

[0166] The overall interference index DI = 0.0816 (from step one);

[0167] The actual displacement Δx_pos = 0.14, Δy_pos = 0.14 (from step four);

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

[0169] The sampling interval Δt = 0.1 seconds;

[0170] The proportionality constant k_v = 50;

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

[0172] First, based on the average rate of change of displacement V_disp over a continuous time period:

[0173] Use the formula:

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

[0175] That is, V_disp=sqrt((0.14-0.12)^2+(0.14-0.12)^2) / 0.1=sqrt(0.0004+0.0004) / 0.1=0.0283 / 0.1=0.283m / s.

[0176] Next, based on the vibration frequency F_vib: using the formula F_vib=k_v*(DI / V_disp), that is, F_vib=50*(0.0816 / 0.283)=14.4Hz.

[0177] Then, calculate the frequency ratio R_freq: using the formula R_freq=F_vib / F_std, that is, R_freq=14.4 / 10=1.44.

[0178] In this example, the frequency ratio R_freq = 1.44 indicates that the vibration frequency in the current environment is higher than the preset standard frequency, indicating a certain degree of vibration impact. Based on this result, the system can take corresponding measures to reduce the impact of vibration, such as increasing magnetic field torque compensation or adjusting the position of the docking interface to ensure the accuracy and stability of the docking process.

[0179] Step 7: Multiply the frequency ratio by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value; specifically including the following steps:

[0180] The frequency ratio (R_freq) obtained from step six can be used to quantify the degree of change in the vibration state under the current environment relative to the standard condition.

[0181] A preset compensation coefficient C_comp is determined. This coefficient is set based on historical data to adapt to compensation requirements under different environmental conditions; it helps to balance the system's response speed and stability.

[0182] The new magnetic attraction torque compensation value M_new is calculated based on R_freq and C_comp, where M_new represents the adjusted magnetic attraction torque compensation value. This formula is used to calculate the new magnetic attraction torque compensation value M_new based on the frequency ratio R_freq and the preset compensation coefficient C_comp. The frequency ratio reflects the degree of change in the current environmental vibration state.

[0183] The M_new is applied to the current magnetic attraction component control signal. The magnetic attraction torque is adjusted by updating the forces on the X and Y axes: F_x_new = M_new * cos(α_move) and F_y_new = M_new * sin(α_move). This ensures stable alignment of the docking interface, where α_move is the angle between the target movement direction of the docking interface and the positive X-axis. These formulas decompose the new magnetic attraction torque compensation value onto the X and Y axes to achieve precise directional control. cos(α_move) and sin(α_move) represent the component proportions of the target movement direction on the X and Y axes, respectively, thus obtaining the required compensation force in each axis.

[0184] Example 7

[0185] Suppose we have the following data:

[0186] The frequency ratio R_freq = 1.44 (from step six);

[0187] The preset compensation coefficient C_comp = 1.5 (based on historical data).

[0188] The angle α_move between the target's movement direction and the positive X-axis direction is 45 degrees.

[0189] First, calculate the new magnetic attraction torque compensation value M_new:

[0190] Using the formula M_new=R_freq*C_comp, we get M_new=1.44*1.5=2.16.

[0191] Next, update the forces F_x_new and F_y_new on the X and Y axes:

[0192] Using the formulas F_x_new=M_new*cos(α_move) and F_y_new=M_new*sin(α_move),

[0193] Where cos(45°) = 0.707, sin(45°) = 0.707,

[0194] Therefore, F_x_new = 2.16 * 0.707 = 1.527.

[0195] F_y_new=2.16*0.707=1.527.

[0196] In this example, after the above calculations, a new magnetic attraction torque compensation value M_new = 2.16 is obtained, and it is decomposed into forces F_x_new = 1.527 and F_y_new = 1.527 on the X-axis and Y-axis. These newly calculated force values are applied to the current magnetic attraction component control signal, enabling the magnetic attraction component to make appropriate adjustments according to the vibration state of the current environment, ensuring that the docking interface can be stably aligned with the target position.

[0197] Step Eight: When the new magnetic attraction torque compensation value causes the current change rate to be lower than the interference threshold for three consecutive cycles, lock the magnetic attraction component and complete the docking; specifically, it includes the following steps:

[0198] Obtain the new magnetic attraction torque compensation value M_new and apply the M_new to adjust the magnetic attraction component; with the new magnetic attraction torque compensation value (M_new) obtained from Step Seven, the magnetic attraction component can be dynamically adjusted to cope with vibrations and interference in the current environment.

[0199] Monitor the real-time current I_t at the docking interface and calculate the current change rate ΔI_cycle = abs(I_t - I_(t - 1)) / I_(t - 1) * 100% within each cycle, where I_(t - 1) is the current value of the previous cycle; this formula is used to calculate the current change rate within each cycle. abs(I_t - I_(t - 1)) represents the current difference between the current cycle and the previous cycle, divided by the current value I_(t - 1) of the previous cycle and multiplied by 100% to convert it into a percentage form for intuitive understanding of the degree of current fluctuation.

[0200] Compare the ΔI_cycle with the preset interference threshold TH_int. If the ΔI_cycle is less than TH_int for three consecutive cycles, confirm that the current state is stable; specifically, for the n, n + 1, and n + 2 cycles, the conditions ΔI_n < TH_int, ΔI_(n + 1) < TH_int, and ΔI_(n + 2) < TH_int are satisfied; by comparing the calculated current change rate ΔI_cycle with the preset interference threshold TH_int, the stability of the system can be judged. If the current change rate for three consecutive cycles is less than the preset interference threshold, it indicates that the system has reached a relatively stable docking state.

[0201] When the above conditions are met, lock the position of the magnetic attraction component, stop further adjustment, and confirm the completion of the docking operation.

[0202] Example 8

[0203] Suppose there are the following data:

[0204] The new magnetic attraction torque compensation value M_new = 2.16 (from Step Seven);

[0205] The preset interference threshold TH_int=3%.

[0206] The real-time current data is as follows:

[0207] The nth period: I_t = 0.52A, I_(t-1) = 0.51A;

[0208] The (n+1)th period: I_t = 0.525A, I_(t-1) = 0.52A;

[0209] The (n+2)th period: I_t = 0.528A, I_(t-1) = 0.525A.

[0210] First, calculate the rate of change of current ΔI_cycle per cycle:

[0211] For the nth period: use the formula ΔI_cycle=abs(I_t-I_(t-1)) / I_(t-1)*100%,

[0212] That is, ΔI_n = abs(0.52-0.51) / 0.51*100% = 1.96%.

[0213] For the (n+1)th cycle: use the formula ΔI_cycle=abs(I_t-I_(t-1)) / I_(t-1)*100%,

[0214] That is, ΔI_(n+1) = abs(0.525-0.52) / 0.52*100% = 0.96%.

[0215] For the (n+2)th cycle: use the formula ΔI_cycle=abs(I_t-I_(t-1)) / I_(t-1)*100%,

[0216] That is, ΔI_(n+2) = abs(0.528-0.525) / 0.525*100% = 0.57%.

[0217] Next, the current change rate of each cycle is compared with the preset interference threshold TH_int:

[0218] The nth period: ΔI_n = 1.96% <TH_int=3%;

[0219] The (n+1)th period: ΔI_(n+1) = 0.96% <TH_int=3%;

[0220] The (n+2)th period: ΔI_(n+2) = 0.57% <TH_int=3%。

[0221] Since the rate of change of current in all three cycles is less than the preset disturbance threshold TH_int, it can be confirmed that the current state is stable.

[0222] Finally, lock the position of the magnetic assembly, stop further adjustments, and confirm that the docking operation is complete. This means that the system has successfully docked, ensuring a high-precision and highly stable charging connection.

[0223] Using the above method, even under the presence of minor external interference, the stability of the system can be accurately assessed, and the position of the magnetic components can be dynamically adjusted accordingly, ensuring the precision of the docking process and the reliability of the system. This method significantly improves the adaptability and reliability of the magnetic charging system in complex environments.

[0224] On the other hand, this invention proposes an autonomous docking magnetic charging management system, such as... Figure 2 As shown, it includes:

[0225] The environmental interference detection module is used to acquire real-time data from the magnetic field sensor and accelerometer during the docking process to determine the current environmental interference intensity.

[0226] The magnetic attraction torque compensation calculation module is used to adjust the magnetic field direction of the magnetic attraction component according to the interference intensity, generate magnetic field adjustment parameters, and calculate the magnetic attraction torque compensation value based on the magnetic field adjustment parameters. The compensation value is the difference between the current magnetic attraction torque and the interference torque multiplied by a preset coefficient.

[0227] The docking trajectory control and threshold judgment module is used to perform the magnetic attraction torque compensation, so that the docking interface moves along the preset trajectory, monitor the real-time displacement and current change of the docking interface, and determine whether the preset docking threshold has been reached.

[0228] The vibration frequency analysis and dynamic compensation module is used to calculate the vibration frequency based on the changes in the interference intensity and displacement, generate a frequency ratio, and multiply the frequency ratio by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value.

[0229] The docking completion locking module is used to lock the magnetic attraction component and complete the docking when the new magnetic attraction torque compensation value causes the current change rate to be lower than the interference threshold for three consecutive cycles.

[0230] In addition, the modules mentioned above are also used to implement other steps of the autonomous docking magnetic charging management method, which will not be elaborated here.

[0231] In summary, the present invention first determines the current environmental interference intensity by acquiring real-time data from the magnetic field sensor and accelerometer, and then dynamically adjusts the magnetic field direction of the magnetic attraction component and calculates the corresponding magnetic attraction torque compensation value according to the interference intensity to counteract external interference.

[0232] Furthermore, this method monitors the real-time displacement and current changes of the docking interface to determine whether a preset docking threshold has been reached. Based on the interference intensity and displacement change, it calculates the vibration frequency generation frequency ratio to further optimize the magnetic attraction torque compensation value. When the new compensation value causes the current change rate to remain below the interference threshold for three consecutive cycles, the magnetic attraction component is locked to complete the docking. This method significantly improves the docking success rate and charging stability in complex environments, and is particularly suitable for high-precision, low-tolerance docking interface designs.

[0233] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-connecting magnetic charging management method, characterized in that, Includes the following steps: Acquire real-time data from the magnetic field sensor and accelerometer during the docking process to determine the current environmental interference intensity; Adjusting the magnetic field direction of the magnetic attraction component according to the interference intensity generates magnetic field adjustment parameters. Based on these parameters, a magnetic attraction torque compensation value is calculated. Specifically, this includes: acquiring the magnetic field adjustment parameters; calculating the current magnetic attraction torque based on these parameters, and simultaneously estimating the interference torque based on accelerometer data; calculating the magnetic attraction torque compensation value; and applying the compensation value to the control signal of the magnetic attraction component to counteract the influence of the interference torque. The magnetic attraction torque compensation value is the difference between the current magnetic attraction torque and the interference torque multiplied by a preset coefficient. The magnetic attraction torque compensation is performed to move the docking interface along a preset trajectory. The real-time displacement and current change of the docking interface are monitored to determine whether the preset docking threshold has been reached. The vibration frequency is calculated based on the changes in the interference intensity and displacement, a frequency ratio is generated, and the frequency ratio is multiplied by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value. When the new magnetic torque compensation value causes the current change rate to be lower than the interference threshold for three consecutive cycles, the magnetic component is locked and docking is completed.

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

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

4. The autonomous docking magnetic charging management method according to claim 3, characterized in that: Performing the magnetic attraction torque compensation to move the docking interface along a preset trajectory includes: Obtain the magnetic attraction torque compensation value, and determine the compensation force on the X-axis and Y-axis based on the magnetic attraction torque compensation value; The compensation force is converted into the actual displacement of the docking interface. The position of the docking interface is adjusted according to the actual displacement so that it moves along a preset trajectory until the set displacement threshold is reached.

5. The autonomous docking magnetic charging management method according to claim 4, characterized in that: Monitoring the real-time displacement and current changes of the docking interface to determine whether a preset docking threshold has been reached includes: Obtain the actual displacement, calculate the total displacement of the docking interface, and simultaneously measure the real-time current at the docking interface; If the total displacement is compared with a preset displacement threshold, and the total displacement is less than or equal to the preset displacement threshold, then the displacement is determined to meet the condition; at the same time, the rate of change of current is calculated. The current change rate is compared with a preset current change threshold. If the total displacement is less than or equal to the preset displacement threshold and the current change rate is less than or equal to the preset current change threshold, the preset docking threshold is determined to be reached.

6. The autonomous docking magnetic charging management method according to claim 5, characterized in that: The vibration frequency is calculated based on the changes in the interference intensity and displacement, and a frequency ratio is generated, including: Obtain the comprehensive disturbance index and the actual displacement, and calculate the average displacement change rate over a continuous time period based on the actual displacement. The vibration frequency is calculated using the comprehensive disturbance index and the average displacement change rate. The vibration frequency is compared with a preset standard frequency to generate a frequency ratio.

7. The autonomous docking magnetic charging management method according to claim 6, characterized in that: Multiplying the frequency ratio by a preset compensation coefficient yields a new magnetic attraction torque compensation value, including: Obtain the frequency ratio and determine the preset compensation coefficient; Calculate a new magnetic attraction torque compensation value based on the frequency ratio and the preset compensation coefficient; The new magnetic attraction torque compensation value is applied to the current magnetic attraction component control signal, and the magnetic attraction torque is adjusted by updating the forces on the X and Y axes.

8. The autonomous docking magnetic charging management method according to claim 7, characterized in that: When the new magnetic torque compensation value causes the current change rate to be lower than the interference threshold for three consecutive cycles, the magnetic attraction component is locked and docking is completed, including: Obtain a new magnetic attraction torque compensation value, and apply the new magnetic attraction torque compensation value to adjust the magnetic attraction component; Monitor the real-time current at the docking interface and calculate the rate of change of current in each cycle; Compare the current change rate with a preset interference threshold. If the current change rate is less than the preset interference threshold for three consecutive cycles, then the current state is confirmed to be stable. When the conditions are met, the position of the magnetic attraction component is locked, further adjustments are stopped, and the docking operation is confirmed to be complete.

9. An autonomous docking magnetic charging management system for implementing the method as described in any one of claims 1-8, characterized in that, include: The environmental interference detection module is used to acquire real-time data from the magnetic field sensor and accelerometer during the docking process to determine the current environmental interference intensity. The magnetic attraction torque compensation calculation module is used to adjust the magnetic field direction of the magnetic attraction component according to the interference intensity, generate magnetic field adjustment parameters, and calculate the magnetic attraction torque compensation value based on the magnetic field adjustment parameters. Specifically, it includes: acquiring the magnetic field adjustment parameters; calculating the current magnetic attraction torque based on the magnetic field adjustment parameters, and estimating the interference torque based on accelerometer data; calculating the magnetic attraction torque compensation value; and applying the magnetic attraction torque compensation value to the control signal of the magnetic attraction component to counteract the influence of the interference torque. The magnetic attraction torque compensation value is the difference between the current magnetic attraction torque and the interference torque multiplied by a preset coefficient. The docking trajectory control and threshold judgment module is used to perform the magnetic attraction torque compensation, so that the docking interface moves along the preset trajectory, monitor the real-time displacement and current change of the docking interface, and determine whether the preset docking threshold has been reached. The vibration frequency analysis and dynamic compensation module is used to calculate the vibration frequency based on the changes in the interference intensity and displacement, generate a frequency ratio, and multiply the frequency ratio by a preset compensation coefficient to obtain a new magnetic attraction torque compensation value. The docking completion locking module is used to lock the magnetic attraction component and complete the docking when the new magnetic attraction torque compensation value causes the current change rate to be lower than the interference threshold for three consecutive cycles.

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