Automatic distance measuring method based on non-contact charger

Abstract

The invention relates to an automatic distance measuring method based on a non-contact charger. The method comprises the following steps: acquiring distance data of a transmitting side and a receiving side of a charger, constructing an inclination angle derivation model, deriving actual inclination states of the transmitting side and the receiving side, and outputting a parallel judgment result; setting an inclination judgment threshold value, and performing matching analysis on the inclination judgment threshold value and the distance data to generate a scene adaptation result; presetting a posture adjustment standard of a receiving side, constructing a corresponding posture adjustment instruction generation logic, and generating a posture adjustment instruction; and finally, based on the parallel judgment result, calculating an effective charging spacing range of the transmitting side and the receiving side, constructing a dual verification mechanism of the parallel judgment result and the effective charging spacing range, generating a verification result, and controlling the charger to enter a formal charging mode. According to the method, charging scene automatic adaptation and posture accurate adjustment can be realized, and the stability and reliability of non-contact charging are guaranteed.

Description

Technical Field

[0001] This invention belongs to the field of wireless charging technology, specifically relating to an automatic ranging method based on a contactless charger. Background Technology

[0002] Contactless charging technology has been widely used in various scenarios such as automated guided vehicles and industrial equipment due to its advantages of safety, convenience and no need for physical contact. Its core is to achieve wireless energy transmission through magnetic field coupling between the transmitter and receiver. The alignment accuracy between the two is directly related to the charging efficiency and stability.

[0003] Existing contactless charging systems lack effective automatic ranging and attitude detection mechanisms. Affected by factors such as equipment docking accuracy and positioning errors, the transmitter and receiver cannot consistently maintain the optimal charging attitude. Not only must they be precisely aligned horizontally, but they must also be kept as parallel as possible. If they are misaligned or not parallel, it will lead to weakened magnetic field coupling and increased magnetic leakage, resulting in a significant decrease in charging efficiency. Moreover, with the increase of charging cycles, these errors will gradually accumulate, eventually potentially causing charging interruptions, seriously affecting the normal use of equipment and production efficiency.

[0004] Different application scenarios have different requirements for the parallelism of the transmitter and receiver. However, existing systems have not designed detection and adjustment mechanisms adapted to the characteristics of the scenarios, nor have they effectively combined high-precision ranging technology with the attitude calibration requirements of wireless charging. They lack a closed-loop control logic of "ranging-judgment-adjustment" and cannot fundamentally solve the efficiency loss problem caused by alignment deviation. Therefore, there is an urgent need for a technical solution that integrates automatic ranging and dynamic calibration functions to optimize the stability and reliability of contactless charging. Summary of the Invention

[0005] To address the aforementioned problems in the prior art, this invention provides an automatic ranging method based on a contactless charger.

[0006] The objective of this invention can be achieved through the following technical solution: an automatic ranging method based on a contactless charger, comprising: S1: Obtain the distance data between the transmitter and receiver sides of the charger, construct a tilt angle derivation model through geometric relationships, deduce the actual tilt state of the transmitter and receiver sides, compare it with the preset parallel standard, and output the parallel determination result. S2: Based on different charging scenarios, set a tilt judgment threshold, perform matching analysis with the distance data, and generate scenario adaptation results; S3: Based on the distance data and the actual tilt state, a preset attitude adjustment standard for the receiving side is established, a corresponding attitude adjustment instruction generation logic is constructed, and an attitude adjustment instruction is generated. After the receiving side completes the adjustment, the stability of the adjusted attitude is verified again based on the distance data and the tilt angle derivation model. S4: Based on the parallel determination result, calculate the effective charging distance range between the transmitting side and the receiving side, construct a dual verification mechanism for the parallel determination result and the effective charging distance range, generate a verification result, and control the charger to enter the formal charging mode.

[0007] Specifically, the construction process of the tilt angle derivation model is as follows: taking the geometric center of the transmitting side as the reference point, analyzing the fixed positional relationship between the transmitting side detection point and the reference point, mapping the distance data to a spatial position system with the reference point as the core, and deriving the tilt state of the receiving side relative to the transmitting side in different dimensions through spatial geometric operation rules.

[0008] Specifically, the process of deriving the actual tilt state of the transmitting and receiving sides is as follows: Based on the distance data, the spacing data corresponding to the detection points arranged at intervals on the transmitting side is extracted, and the spacing information corresponding to the detection points is compared to analyze their differences; based on the fixed spatial relationship between the detection points and the center position of the transmitting side, the difference in spacing data is transformed into a relative height difference in spatial geometry, and the correspondence between the difference and the degree of tilt is established through trigonometric function logic; the distribution pattern of the degree of tilt in different spatial dimensions is decomposed, and finally the actual tilt state is generated.

[0009] Specifically, the tilt determination threshold is set comprehensively based on the application scenario characteristics of the charger, the structure and operating parameters of the energy transmission components on the transmitting and receiving sides, the preset charging efficiency standard, and the accuracy level of the detection component. The structure and operating parameters of the energy transmission component include coil size, number of turns, and operating frequency. The tilt determination threshold can be optimized according to the changes in charging efficiency requirements in actual applications and the adjustment of energy transmission component parameters, while being dynamically calibrated in conjunction with the horizontal offset detection results.

[0010] Specifically, the matching analysis process with the distance data is as follows: First, verify the working status of the two ranging sensors symmetrically arranged on the left and right sides of the transmitting side, and filter out the effective distance measurement values ​​based on the status information fed back by the sensors; then, based on the fixed horizontal interval of the sensors, extract the distance measurement values ​​and calculate the absolute difference, and use the side angle relationship of a right triangle and trigonometric function logic to convert the distance difference into the tilt angle of the receiving side relative to the transmitting side; based on the tilt judgment threshold, and simultaneously correlate with the horizontal offset detection results, evaluate the superposition effect of the actual tilt state and the horizontal offset.

[0011] Specifically, the process of generating the scene adaptation result is as follows: First, based on the current charging scene type of the charger, the corresponding tilt judgment threshold and charging efficiency standard are matched. Then, the tilt angle corresponding to the actual tilt state is verified with the tilt judgment threshold. At the same time, the superimposed influence of the tilt state and horizontal offset on the charging efficiency is investigated, and the scene adaptation result is generated.

[0012] Specifically, the receiving side attitude adjustment criteria include: at the spatial pose parameter constraint level, controlling the tilt angle of the receiving side relative to the transmitting side within the range of the tilt judgment threshold; in terms of horizontal offset control, controlling the lateral displacement of the receiving side and the transmitting side, and maintaining the magnetic field coupling coefficient in a preset stable range when superimposed with the tilt state; and in terms of vertical distance adjustment, matching the distance between the receiving side and the transmitting side to the optimal working range corresponding to the preset charging efficiency standard.

[0013] Specifically, the corresponding attitude adjustment command generation logic includes: extracting the tilt angle deviation corresponding to the actual tilt state, the spacing deviation reflected by the spacing data, and the detected horizontal offset deviation; then, combining the fixed spatial relationship between the detection points, quantifying the adjustment amount corresponding to the deviation through geometric calculations, and the adjustment direction including the tilt correction direction and the horizontal offset correction direction corresponding to the spatial dimension; finally, generating the attitude adjustment command based on the adjustment amount, the adjustment direction, and the energy transmission characteristics between the charger and the receiver.

[0014] Specifically, the execution process of the attitude adjustment command includes: the attitude adjustment command includes tilt correction direction, deviation-related adjustment command and energy transmission characteristic adaptation requirements; based on the real-time distance data fed back by the ranging component and the parallel determination result, the attitude correction action is executed; during the correction process, ranging data is continuously acquired, and the correction effect is calculated in real time through the tilt angle derivation model, and the adjustment range is dynamically corrected.

[0015] Specifically, the process of re-verifying the attitude stability based on the distance data and the tilt angle derivation model is as follows: After the attitude adjustment action is completed, multiple sets of distance data are continuously acquired, and the spacing information corresponding to the detection points in each set of data is extracted; the tilt angle of the receiving side relative to the transmitting side is calculated through the tilt angle derivation model, and the fluctuation characteristics of the tilt angle and spacing information are analyzed; combined with the preset stability judgment criteria, the attitude stability is determined.

[0016] Specifically, the process for calculating the effective charging distance range between the transmitting and receiving sides is as follows: First, obtain the core parameters affecting the distance range, including the structural parameters, operating frequency, preset charging efficiency standard, and measurement accuracy of the ranging sensor of the energy transmission components on the transmitting and receiving sides; combine the structural parameters and operating frequency to calculate the basic constraint range of the distance; then, refer to the measurement accuracy of the ranging sensor to correct the boundary value of the basic constraint range; verify the energy transmission efficiency under different distances; finally, combine the superimposed effects of horizontal offset and tilt state to generate the effective charging distance range.

[0017] Specifically, the dual verification mechanism includes: tilt state verification and spacing compliance verification; the tilt state verification is based on the tilt angle corresponding to the actual tilt state, and verifies that it falls within the tilt judgment threshold range adapted to the current charging scenario, and the tilt angle fluctuation corresponding to multiple consecutive sets of detection data is controlled within a preset stable threshold; the spacing compliance verification extracts the actual charging spacing corresponding to the spacing data, verifies that it is within the effective charging spacing range, and at the same time investigates the synergistic effect of the actual spacing and horizontal offset.

[0018] Compared with the prior art, the present invention has the following beneficial effects: Improve alignment accuracy: By setting dual ranging sensors on the transmitter side of the charger, the distance and alignment status between the transmitter and receiver can be detected in real time, effectively solving the alignment deviation problem caused by docking accuracy and positioning error in the existing system, ensuring that the two maintain the best spatial attitude, and avoiding the adverse effects caused by the superposition of horizontal offset and tilt.

[0019] Ensuring stable charging efficiency: Based on dual sensor data, the tilt angle is derived and the parallel state is determined, which can reduce energy loss caused by weakened magnetic field coupling and increased magnetic leakage, avoid large fluctuations in charging efficiency, maintain a high level of energy transmission, and break through the bottleneck of limited efficiency under distance-free control.

[0020] Achieve dynamic attitude self-calibration: Distance measurement data can directly provide attitude adjustment basis for the receiving end (such as AGV, industrial equipment), forming a closed-loop control logic of "distance measurement-judgment-adjustment". It can automatically correct the tilt and offset of the receiving end without manual intervention, reduce the complexity of operation, and adapt to the usage needs of automation scenarios.

[0021] Enhanced charging safety and compatibility: By precisely controlling the tilt angle and spacing, safety hazards such as coil overheating caused by alignment deviations can be avoided. Furthermore, the judgment threshold can be flexibly adjusted according to the needs of different power and different scenarios, adapting to various contactless charging scenarios such as consumer and industrial applications, thus broadening the scope of applications.

[0022] Reduce error accumulation and failure risk: Real-time detection and dynamic adjustment mechanisms can effectively suppress error accumulation caused by the increase in the number of charging times, reduce the probability of failures such as charging interruption and equipment power depletion, ensure continuous and stable operation of equipment, and improve production efficiency and reliability. Attached Figure Description

[0023] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0024] Figure 1 This is a flowchart of an automatic ranging method based on a contactless charger according to the present invention. Figure 2 This is a schematic diagram of an automatic ranging method based on a contactless charger according to the present invention. Detailed Implementation

[0025] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0026] Please see Figures 1-2 An automatic ranging method based on a contactless charger includes: S1: Obtain the distance data between the transmitter and receiver sides of the charger, construct a tilt angle derivation model through geometric relationships, deduce the actual tilt state of the transmitter and receiver sides, compare it with the preset parallel standard, and output the parallel determination result. S2: Based on different charging scenarios, set a tilt judgment threshold, perform matching analysis with the distance data, and generate scenario adaptation results; S3: Based on the distance data and the actual tilt state, a preset attitude adjustment standard for the receiving side is established, a corresponding attitude adjustment instruction generation logic is constructed, and an attitude adjustment instruction is generated. After the receiving side completes the adjustment, the stability of the adjusted attitude is verified again based on the distance data and the tilt angle derivation model. S4: Based on the parallel determination result, calculate the effective charging distance range between the transmitting side and the receiving side, construct a dual verification mechanism for the parallel determination result and the effective charging distance range, generate a verification result, and control the charger to enter the formal charging mode.

[0027] Specifically, the construction process of the tilt angle derivation model is as follows: taking the geometric center of the transmitting side as the reference point, analyzing the fixed positional relationship between the transmitting side detection point and the reference point, mapping the distance data to a spatial position system with the reference point as the core, and deriving the tilt state of the receiving side relative to the transmitting side in different dimensions through spatial geometric operation rules.

[0028] Specifically, the process of deriving the actual tilt state of the transmitting and receiving sides is as follows: Based on the distance data, the spacing data corresponding to the detection points arranged at intervals on the transmitting side is extracted, and the spacing information corresponding to the detection points is compared to analyze their differences; based on the fixed spatial relationship between the detection points and the center position of the transmitting side, the difference in spacing data is transformed into a relative height difference in spatial geometry, and the correspondence between the difference and the degree of tilt is established through trigonometric function logic; the distribution pattern of the degree of tilt in different spatial dimensions is decomposed, and finally the actual tilt state is generated.

[0029] Specifically, the tilt determination threshold is set comprehensively based on the application scenario characteristics of the charger, the structure and operating parameters of the energy transmission components on the transmitting and receiving sides, the preset charging efficiency standard, and the accuracy level of the detection component. The structure and operating parameters of the energy transmission component include coil size, number of turns, and operating frequency. The tilt determination threshold can be optimized according to the changes in charging efficiency requirements in actual applications and the adjustment of energy transmission component parameters, while being dynamically calibrated in conjunction with the horizontal offset detection results.

[0030] Specifically, the matching analysis process with the distance data is as follows: First, verify the working status of the two ranging sensors symmetrically arranged on the left and right sides of the transmitting side, and filter out the effective distance measurement values ​​based on the status information fed back by the sensors; then, based on the fixed horizontal interval of the sensors, extract the distance measurement values ​​and calculate the absolute difference, and use the side angle relationship of a right triangle and trigonometric function logic to convert the distance difference into the tilt angle of the receiving side relative to the transmitting side; based on the tilt judgment threshold, and simultaneously correlate with the horizontal offset detection results, evaluate the superposition effect of the actual tilt state and the horizontal offset.

[0031] Specifically, the process of generating the scene adaptation result is as follows: First, based on the current charging scene type of the charger, the corresponding tilt judgment threshold and charging efficiency standard are matched. Then, the tilt angle corresponding to the actual tilt state is verified with the tilt judgment threshold. At the same time, the superimposed influence of the tilt state and horizontal offset on the charging efficiency is investigated, and the scene adaptation result is generated.

[0032] This embodiment takes a high-power contactless charging scenario for industrial equipment as an example, and the specific implementation process is as follows: Two ToF laser ranging sensors (S1 and S2) are symmetrically arranged on the left and right sides directly in front of the transmitter side (T end) of the charger. The two sensors are arranged horizontally along the edge of the transmitter plate with a fixed horizontal interval of L (with the geometric center O of the transmitter side as the reference point, S1 and S2 are symmetrical about point O, that is, the horizontal distance from point O to S1 and from point O to S2 is L / 2). The receiving side (denoted as R end, such as the charging receiving board of an industrial AGV) is the object to be tested. It is necessary to obtain the vertical distance data between T end and R end through S1 and S2 to deduce the actual tilt state of the two. Based on the characteristics of high-power charging scenarios, the structural parameters of the energy transmission component (coil) at the T / R end (coil size is A, number of turns is N, operating frequency is f), the preset charging efficiency standard (target efficiency ≥ η), and the sensor measurement accuracy (accuracy level is P), the tilt judgment threshold is set to θmax. At the same time, combined with the horizontal offset Δx fed back by the horizontal offset detection module, θmax is dynamically calibrated, and the final calibrated threshold is θmax'.

[0033] Model construction for tilt angle derivation: A spatial rectangular coordinate system is established with the geometric center O of the transmitting side as the reference point (X-axis along the horizontal direction of the transmitting plate, Y-axis along the vertical direction of the transmitting plate, and Z-axis perpendicular to the normal direction of the transmitting plate). The coordinates of S1 are (-L / 2, 0, 0) and the coordinates of S2 are (L / 2, 0, 0). Both are fixed detection points on the transmitting side, and their positional relationship with the reference point O is constant.

[0034] The distance data collected by S1 and S2 are mapped to this spatial coordinate system. Through spatial geometric operation rules (right triangle side angle relationship), the correlation logic of "distance data difference - relative height difference - tilt angle" is established, and a tilt angle derivation model is constructed to derive the tilt state of R end relative to T end in the XZ plane (i.e. tilt angle around Y axis).

[0035] Derivation of actual tilt state: Distance data acquisition: After starting the ranging program, S1 and S2 synchronously emit laser pulses toward the R end, receive the reflected signals and convert them into distance measurement values, which are recorded as d1 (vertical distance from S1 to a certain detection point on the R end) and d2 (vertical distance from S2 to another detection point on the R end), respectively. Spacing data difference analysis: Extract d1 and d2 as the spacing data corresponding to the detection points, and calculate the absolute difference between the two Δd=|d1-d2|. Δd reflects the spacing difference between the detection points at the R end and the T end. Relative height difference correlation: Based on the fixed spatial relationship (horizontal interval L) between S1 and S2 relative to the reference point O, Δd is essentially the "relative height difference" between the two detection points and the T end caused by the tilt of the R end - if d1>d2, then the side of the R end closer to S1 is higher than the side closer to S2; if d1<d2, then the opposite is true. Establishing the correspondence between tilt degree: The detection points S1, S2, and R are abstracted as right triangles, where right-angled side 1 is Δd (relative height difference), right-angled side 2 is L (horizontal spacing of sensors), and the tilt angle θ (the angle between R and T ends) is the acute angle corresponding to right-angled side 1. Based on the tangent formula of trigonometric functions, the correspondence between the difference and the tilt degree is established: tan(θ) = Δd / L, further derived as θ = arctan(Δd / L) × (180 / π) (converting radians to degrees). Tilt state integration: The specific value of θ is obtained through the above calculation. Combined with the horizontal offset Δx, the distribution of the tilt degree in the XZ plane is decomposed. If θ=0, then the R end and the T end are completely parallel; if θ≠0, then the R end is tilted along the X-axis. The sign of θ corresponds to the tilt direction, and the absolute value of θ corresponds to the tilt degree. Finally, the actual tilt state of the R end relative to the T end (tilt direction + tilt angle θ) is generated.

[0036] Set the tilt detection threshold: Based on the characteristics of the high-power charging scenario in this embodiment: the coil size A, number of turns N, and operating frequency f all meet the requirements for high-power energy transmission; the preset charging efficiency standard η ≥ high value; and the sensor accuracy level P is relatively high. Therefore, an initial tilt judgment threshold θmax is comprehensively set. Simultaneously, considering the influence of the horizontal offset Δx, θmax is dynamically calibrated: if Δx > 0 (horizontal offset exists), the threshold is appropriately reduced to θmax' (θmax' < θmax) to avoid a significant decrease in the magnetic field coupling coefficient due to the superposition of tilt and offset; if Δx = 0 (no horizontal offset), the initial threshold θmax is maintained.

[0037] Distance data matching analysis: Sensor operating status verification: The operating status of S1 and S2 is verified by the status signals fed back by the sensors (such as whether laser is emitted / received normally, whether the signal strength meets the standard), and the valid distance measurement values ​​are selected. If both S1 and S2 are normal, then d1 and d2 are valid data. If either sensor is abnormal, the data set is discarded and the next measurement is waited for. Tilt angle conversion: Based on the fixed horizontal interval L of the sensor, the effective measurement values ​​d1 and d2 are extracted, and Δd is calculated. Then, Δd is converted into the actual tilt angle θ using the above tangent formula. Evaluation of superposition effect: Based on the calibrated threshold θmax', compare the magnitude relationship between θ and θmax', and at the same time associate the horizontal offset Δx to evaluate the superposition effect of tilt state and horizontal offset. If θ≤θmax' and Δx≤allowable offset, the superposition effect is small; if θ≤θmax' but Δx>allowable offset, or θ>θmax' and Δx>0, the superposition effect is significant and needs to be highlighted.

[0038] Scene adaptation result generation: Scene threshold matching: The current charging scenario is high-power charging of industrial equipment, and the corresponding tilt judgment threshold θmax' and charging efficiency standard η≥ high value are matched; Tilt angle verification: Compare the actual tilt angle θ with θmax'. If θ≤θmax', it is preliminarily determined that the tilt state meets the scene requirements; if θ>θmax', it is preliminarily determined that the tilt state does not meet the scene requirements. Superimposed impact investigation: Based on the evaluation results of the horizontal offset Δx, if θ≤θmax' and the superimposed impact is small, then the R end and T end are finally determined to be parallel (parallel determination result is "yes"), and the scenario adaptation result is "meets high-power charging efficiency requirements"; if θ≤θmax' but the superimposed impact is significant, or θ>θmax', then the R end and T end are finally determined to be non-parallel (parallel determination result is "no"), and the scenario adaptation result is "does not meet high-power charging efficiency requirements, and the posture needs to be adjusted".

[0039] Specifically, the receiving side attitude adjustment criteria include: at the spatial pose parameter constraint level, controlling the tilt angle of the receiving side relative to the transmitting side within the range of the tilt judgment threshold; in terms of horizontal offset control, controlling the lateral displacement of the receiving side and the transmitting side, and maintaining the magnetic field coupling coefficient in a preset stable range when superimposed with the tilt state; and in terms of vertical distance adjustment, matching the distance between the receiving side and the transmitting side to the optimal working range corresponding to the preset charging efficiency standard.

[0040] Specifically, the corresponding attitude adjustment command generation logic includes: extracting the tilt angle deviation corresponding to the actual tilt state, the spacing deviation reflected by the spacing data, and the detected horizontal offset deviation; then, combining the fixed spatial relationship between the detection points, quantifying the adjustment amount corresponding to the deviation through geometric calculations, and the adjustment direction including the tilt correction direction and the horizontal offset correction direction corresponding to the spatial dimension; finally, generating the attitude adjustment command based on the adjustment amount, the adjustment direction, and the energy transmission characteristics between the charger and the receiver.

[0041] Specifically, the execution process of the attitude adjustment command includes: the attitude adjustment command includes tilt correction direction, deviation-related adjustment command and energy transmission characteristic adaptation requirements; based on the real-time distance data fed back by the ranging component and the parallel determination result, the attitude correction action is executed; during the correction process, ranging data is continuously acquired, and the correction effect is calculated in real time through the tilt angle derivation model, and the adjustment range is dynamically corrected.

[0042] Specifically, the process of re-verifying the attitude stability based on the distance data and the tilt angle derivation model is as follows: After the attitude adjustment action is completed, multiple sets of distance data are continuously acquired, and the spacing information corresponding to the detection points in each set of data is extracted; the tilt angle of the receiving side relative to the transmitting side is calculated through the tilt angle derivation model, and the fluctuation characteristics of the tilt angle and spacing information are analyzed; combined with the preset stability judgment criteria, the attitude stability is determined.

[0043] This embodiment continues the high-power contactless charging scenario for industrial equipment. An AGV equipped with a wireless charging receiver board serves as the receiving side (R end), while the charger transmitting side (T end) is equipped with two fixed-spaced ToF laser ranging sensors (sensor A and sensor B). It deeply integrates the ToF ranging principle, magnetic field coupling characteristics, and TCP packet data linkage, refining the adjustment logic and verification mechanism. The specific implementation process is as follows: Receiver-side attitude adjustment criteria: Based on the stringent requirements of high-power wireless charging for magnetic field coupling accuracy, the adjustment criteria are further refined on the basis of the original three-layer constraint, clarifying the correlation logic of core parameters: Spatial pose parameter constraints: The tilt angle of the R end relative to the T end must be strictly limited within ±T of the tilt judgment threshold after dynamic calibration (T is a stringent threshold adapted to high-power scenarios), and it must be ensured that the real-time fluctuation of the tilt angle does not exceed the fluctuation threshold ΔT. The coupling coefficient is maintained in the high-efficiency range K to K1 (K and K1 are coupling coefficient thresholds, K1>K, corresponding to charging efficiency ≥ target value).

[0044] Horizontal offset control: The lateral displacement of the R end and the T end must be controlled within the allowable offset X. When the tilt angle is θ (θ≠0), the lateral displacement must be reduced inversely proportional to the absolute value of θ (i.e., the larger θ is, the smaller the allowable offset).

[0045] Vertical spacing adjustment: The vertical spacing between the R and T ends needs to be precisely matched to the optimal working range D to E. This range is calibrated based on ToF ranging data—distance data collected by sensors A and B, outliers are removed and the average is taken to ensure that the spacing is within the balance range of "minimum magnetic leakage + maximum coupling coefficient". At the same time, the spacing needs to be linked to horizontal offset and tilt angle: if there is a slight horizontal offset or tilt, the spacing can be finely adjusted towards the median of the range to compensate for some coupling loss by optimizing the spacing.

[0046] Attitude adjustment command generation logic: Combining TCP packet data format and geometric operation principles, the generation logic further enhances deviation quantification and instruction adaptability. The specific steps are as follows: Accurate extraction of multi-dimensional deviations: Tilting angle deviation: Based on the "angle" field (actual tilt angle) and "threshold" field (judgment threshold) fed back by TCP packets, the deviation value Δθ = |actual angle - threshold| is calculated. At the same time, the "distanceDiff" field (distance difference between two sensors) is correlated to verify the authenticity of the deviation (avoiding misjudgment caused by the failure of a single sensor). Spacing deviation: Extract the distance measurement values ​​of sensors A and B (distance values ​​in the "laser1" and "laser2" fields of the message), calculate the mean Dactual = (measured value A + measured value B) / 2, and compare it with the median of the optimal interval Dintermediate to obtain the spacing deviation ΔD = |Dactual - Dintermediate|. Horizontal offset deviation: The actual offset Xactual is obtained by the horizontal offset detection module and compared with the allowable offset X to obtain the offset deviation ΔX = |Xactual - X|. At the same time, the "isParallel" field of the message is referenced. If it is "false", the weight of the offset deviation is increased (because the combined effect of tilt and offset is greater).

[0047] Adjustments are quantified in stages: Tilt adjustment amount: Based on the fixed horizontal interval L of the sensor, the required mechanical adjustment amount ΔH = L × tan(Δθ) is calculated by using the trigonometric function tan(Δθ) = Δd / L (Δd is the message "distanceDiff"), which is the height difference that the AGV needs to adjust, to ensure that Δθ = 0 after adjustment; Horizontal adjustment amount: adopts "segmented compensation" logic - when ΔX≤X / 2, the adjustment amount = ΔX, and the correction is performed in one go; when ΔX>X / 2, the adjustment amount = X / 2, and the correction is performed in two stages to avoid sudden changes in the relative position of the coil due to abrupt adjustment; Vertical adjustment amount: If ΔD≤(ED) / 4, the adjustment amount = ΔD; if ΔD>(ED) / 4, the adjustment amount gradually approaches the optimal range at each step of (ED) / 4 to prevent sudden changes in spacing from causing a surge in leakage flux.

[0048] Adjusting the direction and energy characteristics for adaptation: Adjustment direction: Combine the sign of the message "distanceDiff" (if the measured value A > the measured value B, it means that the R end is too high on the side closer to sensor A, and needs to be adjusted down towards sensor B) with the horizontal offset detection results (adjust to the right if it is biased to the left, and adjust to the left if it is biased to the right) to determine the correction direction in three-dimensional space. Energy characteristic adaptation: In high-power scenarios, the inductance and resistance parameters of the coil are fixed. During the adjustment process, it is necessary to avoid current surges caused by sudden changes in the coupling coefficient. Therefore, "adjustment rate limit" is added to the instruction - tilt adjustment rate ≤ Vθ, horizontal adjustment rate ≤ Vx, vertical adjustment rate ≤ Vd (Vθ, Vx, and Vd are safe rates calculated based on coil parameters). At the same time, the coil temperature monitoring data is associated (if the temperature ≥ the safe threshold T amperes, the adjustment is paused until the temperature drops).

[0049] Command structure generation: The command format is linked to TCP packet fields, including basic information (deviceId, timestamp), adjustment parameters (tilt / horizontal / vertical adjustment amount, direction, rate), verification threshold (coupling coefficient K, temperature T), and execution priority (tilt correction > horizontal correction > vertical correction, because tilt has the greatest impact on coupling efficiency), ensuring that the AGV can directly parse and execute it.

[0050] Attitude adjustment command execution process: Command Reception and Parsing: The AGV receives structured adjustment commands from the T terminal via the communication module, parses the core parameters in the commands, and simultaneously collects its own sensor data (body tilt angle, displacement, coil temperature), comparing it with the verification thresholds in the commands. If the coil temperature is ≥ T_amp or the body tilt angle exceeds the emergency threshold T_emergency (the document mentions that excessive tilting in high-power scenarios can cause safety risks, T_emergency > T), then execution is paused and an "abnormal alarm" is reported via TCP message (reportType = abnormal alarm). Adjustment is restarted after the risk is eliminated.

[0051] Phased correction implementation: Phase 1 (Tilt Correction): The AGV adjusts its body pitch angle via the drive motor. Sensors A and B collect distance data in real time and upload it to terminal T. Terminal T calculates the tilt angle in real time using a tilt angle derivation model (tanθ=Δd / L). The correction deviation (the difference between the actual angle and the threshold T) is fed back at fixed intervals. The AGV dynamically corrects the adjustment rate based on the deviation—when the deviation is ≥Δθ1, it adjusts at full speed (Vθ); when the deviation is <Δθ1, the rate is reduced to Vθ / 2 to avoid overshoot. The second stage (horizontal correction): After the tilt angle reaches the standard (isParallel=true), the AGV adjusts the lateral displacement. The T end combines the horizontal offset detection data and the sensor distance data to determine whether the offset is superimposed on the tilt. If there is a superposition effect, the allowable offset X is dynamically reduced to X' (X'=X×(1-|θ| / T)) to ensure that the coupling coefficient is still in the range of K to K1. The third stage (vertical correction): Finally, fine-tune the vertical spacing. The T end calculates the actual spacing D based on the sensor data and compares it with the optimal interval D to E. Adjust the AGV height until D falls within the interval and the leakage magnetic flux detection value is ≤ M (the leakage magnetic flux is indirectly derived through the coil coupling coefficient. The higher the coupling coefficient, the lower the leakage magnetic flux).

[0052] Process safety control: During the adjustment process, the T end monitors parameters such as angle and distanceDiff in real time from the TCP packets. If there is a sudden change in parameters (such as a sudden increase in distanceDiff) or a continuous rise in coil temperature, an "pause adjustment" command is immediately issued to check for sensor failure or AGV mechanical jamming. The adjustment process is re-executed after the fault is eliminated to avoid equipment damage.

[0053] Post-adjustment attitude stability verification: Stability verification not only focuses on fluctuations in attitude parameters, but also has a deeper connection with charging efficiency and device safety. The specific process is as follows: Multi-dimensional data acquisition: After the AGV is adjusted, the T-end control sensors A and B continuously collect N sets of data at a fixed sampling frequency (e.g., F times per second) (N ≥ preset sample size to ensure statistical validity). Each set of data includes: sensor distance value (laser1, laser2), distance difference (distanceDiff), tilt angle (angle), coil temperature (temp), and magnetic field coupling coefficient (k). All data are stored in real time via TCP packets.

[0054] Statistical fluctuation analysis: Tilt angle stability: Calculate the mean θ and standard deviation σθ of N angles. If σθ ≤ stability threshold σθ0 (σθ0 is the allowable fluctuation range set based on sensor accuracy P), and the maximum angle difference ≤ Δθmax, it indicates that the tilt attitude is stable. Spacing stability: Calculate the mean D_mean and coefficient of variation CV (CV = standard deviation / mean) of N groups of vertical spacing. If CV ≤ coefficient of variation threshold CV0, and all spacing values ​​fall within the interval from D to E, it indicates that the spacing is stable. Coupling coefficient stability: Calculate the mean k_mean and fluctuation range Δk of N sets of coupling coefficients k. If k_mean ≥ K (target coupling coefficient) and Δk ≤ Δk0 (allowable fluctuation range), it indicates that the energy transmission efficiency is stable and meets the requirements of high-power charging.

[0055] Dual verification of efficiency and security: Efficiency verification: Based on the stable coupling coefficient k, the actual charging efficiency η is derived by combining the coil parameters (number of turns, operating frequency). If η is greater than or equal to the target efficiency η (the document mentions that high-power scenarios require efficient charging), then the efficiency verification is passed. Safety verification: Continuously monitor the coil temperature temp. If temp is ≤ T ampere in all N sets of data and there is no leakage flux exceeding the standard, the safety verification is considered passed. Verification result determination: If the stability indicators of tilt angle, spacing, and coupling coefficient all meet the standards, and the efficiency and safety verifications are passed, then the attitude stability verification is deemed qualified, and the T end sends a "charging allowed" command through a TCP message, and the charger enters the formal charging mode. If any stability index fails to meet the standard (e.g., σθ>σθ0), or the efficiency fails to meet the target, the verification is deemed unqualified. The T end regenerates the adjustment instruction, and the AGV performs a second calibration until the verification is qualified. If the verification is still unqualified after three consecutive calibrations, an "abnormal alarm" is issued, prompting manual troubleshooting of equipment faults (e.g., sensor calibration deviation, AGV mechanical wear).

[0056] Specifically, the process for calculating the effective charging distance range between the transmitting and receiving sides is as follows: First, obtain the core parameters affecting the distance range, including the structural parameters, operating frequency, preset charging efficiency standard, and measurement accuracy of the ranging sensor of the energy transmission components on the transmitting and receiving sides; combine the structural parameters and operating frequency to calculate the basic constraint range of the distance; then, refer to the measurement accuracy of the ranging sensor to correct the boundary value of the basic constraint range; verify the energy transmission efficiency under different distances; finally, combine the superimposed effects of horizontal offset and tilt state to generate the effective charging distance range.

[0057] Specifically, the dual verification mechanism includes: tilt state verification and spacing compliance verification; the tilt state verification is based on the tilt angle corresponding to the actual tilt state, and verifies that it falls within the tilt judgment threshold range adapted to the current charging scenario, and the tilt angle fluctuation corresponding to multiple consecutive sets of detection data is controlled within a preset stable threshold; the spacing compliance verification extracts the actual charging spacing corresponding to the spacing data, verifies that it is within the effective charging spacing range, and at the same time investigates the synergistic effect of the actual spacing and horizontal offset.

[0058] This embodiment continues the high-power contactless charging scenario for industrial equipment. An AGV equipped with a wireless charging receiving coil serves as the receiving side (R end), while the charger transmitting side (T end) is equipped with two horizontally spaced ToF laser ranging sensors (sensor A and sensor B). It deeply integrates the principles of electromagnetic induction, the accuracy characteristics of ToF ranging, and TCP packet data interaction, refining the effective charging distance calculation logic and dual verification process. The specific implementation process is as follows: T-end core components: transmitting coil (large-size structure, adapted for high-power energy transmission), transmitting controller, ToF laser ranging sensor A / B (measurement accuracy is P-level, supporting millisecond-level data acquisition and uploading), electrical control module; R-end core components: receiving coil (parameters matched with the T-end transmitting coil), attitude adjustment drive system, data communication module (supporting TCP packet parsing and feedback). Preset core parameters for the scenario: In the high-power charging scenario, the preset charging efficiency standard is η target (must be ≥ lower limit of the high efficiency range), the tilt judgment threshold is T (±0.5°~±1°, to adapt to the stringent requirements of the high-power scenario), and the horizontal offset allowance is X (to avoid the superposition of tilt and offset). Data interaction foundation: The T end and the R end realize data linkage through TCP packets. The packets contain core fields such as laser ranging data (distance values ​​of sensorA and sensorB), parallel determination results (isParallel, angle), and spacing data, providing real-time data support for spacing calculation and verification.

[0059] Calculation of effective charging distance range: Core parameter acquisition After the system starts up, the electrical control module at the T end automatically reads four types of core parameters to ensure data accuracy and relevance: Structural parameters of the energy transmission component: the size (larger size, denoted as S) and number of turns (denoted as N) of the transmitting coil at the T end and the receiving coil at the R end. These parameters directly affect the magnetic field coupling range and spacing tolerance. Operating frequency: The charger's preset operating frequency is F (to adapt to the needs of high-power electromagnetic induction transmission, fixed as an industrial-grade standard frequency). Preset charging efficiency standards: Define the target η (≥85% in high-power scenarios, corresponding to a magnetic field coupling coefficient ≥K target); Measurement accuracy of the ranging sensor: The measurement error range of the ToF laser sensor is ±ΔP (the fixed error value corresponding to the P-level accuracy). This error directly affects the reliability of the distance data and needs to be compensated in the range calculation.

[0060] Calculation of basic constraint intervals: Based on the principle of electromagnetic induction, the magnetic field coupling coefficient is negatively correlated with the coil spacing (too large a spacing weakens coupling, while too small a spacing easily causes coil interference or overheating). The basic constraint range is calculated by combining structural parameters and operating frequency. Theoretical derivation basis: Using electromagnetic simulation tools, inputting coil size S, number of turns N, and operating frequency F, simulate the variation curve of magnetic field coupling coefficient under different spacings—when the spacing increases, the coupling coefficient gradually decreases until it is below the target K; when the spacing decreases, the coupling coefficient approaches saturation, but physical interference of the coils must be avoided; Interval Definition: The spacing range corresponding to a coupling coefficient ≥ K target is taken as the basic constraint interval, denoted as [A, B]. Wherein, A is the minimum safe spacing (to avoid the risk of overheating caused by close-range interference of coils), and B is the maximum effective spacing (beyond this value, the coupling coefficient is lower than K target, and the charging efficiency cannot reach η target).

[0061] Basic constraint interval boundary correction: Based on the measurement accuracy of the ToF laser sensor, boundary correction is performed on the basic constraint interval [A,B] to eliminate the judgment bias caused by measurement error: Error analysis: The sensor measurement values ​​have an error of ±ΔP. If the basic interval [A,B] is used directly, the actual compliance distance may be misjudged as exceeding the standard due to measurement deviation (or vice versa). Correction logic: The minimum safe distance A is corrected downward to A'=A-ΔP (to reserve error redundancy and avoid misjudgment when the actual distance is slightly less than A), and the maximum effective distance B is corrected upward to B'=B+ΔP (to avoid misjudgment when the actual distance is slightly greater than B but still meets the coupling requirements). After correction, the intermediate interval [A',B'] is obtained.

[0062] Energy transfer efficiency verification: Low-power pre-transmission tests were conducted using the T-terminal transmitter controller to verify the actual charging efficiency of different spacings within the intermediate interval [A',B'], and to select effective sub-intervals that meet the η target. Pre-transmission test: Control the R end to stop at multiple test interval points in [A', B'] sequentially through the attitude adjustment system (the interval points are evenly spaced and cover the entire interval), and maintain a stable attitude at each interval point for 3 seconds; Data Acquisition and Analysis: The electrical control module at the T end collects charging efficiency data at each test interval in real time (calculated by input power and output power), and filters out the interval range with efficiency ≥ η target, denoted as [C,D] ([C, D]⊆[A',B']). Abnormal rejection: If the efficiency of a certain test interval point meets the standard, but the coil temperature rise rate exceeds the safety threshold, then the interval point is rejected to ensure the safety and stability of the interval.

[0063] Adjustment of superimposed effects (tilt + horizontal offset): Taking into account the slight tilt and horizontal offset that may exist in actual charging scenarios, [C,D] is finally optimized to generate an effective charging distance range: Superposition effect analysis: "The superposition of tilt and horizontal offset will cause a sharp drop in efficiency". Even if the spacing is within [C,D], if there is a slight tilt (≤T) or a small horizontal offset (≤X), the efficiency may still be substandard due to the decrease in coupling coefficient. Adjustment logic: If the current parallel determination result is "isParallel=true" (tilt angle θ≤T) and the horizontal offset is ≤X / 2 (slight offset), then [C,D] remains unchanged; if there is θ close to T or the horizontal offset is in [X / 2,X] (medium offset), then the effective range is shrunk towards the middle value to obtain the final effective charging distance range [C',D'] (C'=C+(DC) / 4, D'=D-(DC) / 4), and the efficiency loss caused by the superposition effect is compensated by shrinking the range; Output: [C',D'] will be synchronized to the R and T control modules via TCP packets, serving as the core basis for subsequent spacing compliance verification.

[0064] Dual verification mechanism implementation (tilt + spacing collaborative verification): The dual verification mechanism, centered on "attitude stability + spacing compliance," combines continuous data acquisition and fluctuation analysis to ensure that charging conditions meet the safety and efficiency requirements of high-power transmission. The specific process is as follows: Data preprocessing and acquisition After the T-end control module initiates dual verification, sensors A / B continuously collect M sets of data at a millisecond frequency (M ≥ preset sample size to ensure statistical validity). Each set of data is uploaded via TCP packets and includes: Sensor data: distance value of sensorA, distance value of sensorB, distanceDiff (distance difference); Parallel determination results: isParallel (whether parallel), angle (tilt angle), threshold (determination threshold T); Spacing data: The average actual charging spacing (arithmetic mean of the distance values ​​between sensor A and sensor B in each data set). Simultaneously, the system automatically removes abnormal data (such as data with abnormal sensor status or sudden changes in distanceDiff) to ensure the reliability of the verification data.

[0065] Tilt status verification: Based on the preprocessed M sets of data, the compliance and stability of the tilt angle are verified in detail: Compliance verification: Extract the Angle value from each group of data one by one, and determine whether they all fall within the tilt judgment threshold range [−T,T] of the current scene; if all Angle values ​​meet this condition, the compliance verification is passed; if any Angle value exceeds the range, the tilt state verification is directly determined to be unqualified. Stability verification: Calculate the standard deviation σ of the M Angle values ​​(reflecting the degree of fluctuation) and compare it with the preset stability threshold ΔT (set based on sensor accuracy and high-power scenario requirements, σ≤ΔT). If σ≤ΔT, it indicates that the tilt angle fluctuation is small and the attitude is stable; if σ>ΔT, it indicates that there is continuous fluctuation in attitude, which may lead to magnetic field coupling instability, and the stability verification is deemed unqualified. Results integration: The tilt state verification is considered successful only if both compliance and stability checks pass; otherwise, it is considered unsuccessful, and the system sends a "posture adjustment requirement" message to the R end via TCP.

[0066] Spacing compliance verification (spacing validity + synergistic impact verification): Based on the effective charging spacing range [C', D'], and combined with horizontal offset data, the spacing compliance and collaborative impact are verified: Spacing validity check: Calculate the mean D_mean, maximum D_max, and minimum D_min of the actual charging spacing in the M sets of data, and determine whether D_mean falls within [C', D'], and D_max ≤ D' and D_min ≥ C' (to avoid instantaneous time spacing exceeding the standard); if satisfied, the spacing validity check passes. Cooperative impact verification: Extract the actual offset X_actual from the horizontal offset detection module and analyze the cooperative effect between the actual spacing and the horizontal offset. If X_actual ≤ X / 2 (slight offset), no additional restrictions are needed. If X_actual ∈ [X / 2, X] (moderate offset), it is necessary to verify whether "D_actual is within [C'', D'']" ([C'', D''] is the middle sub-interval of [C', D'], further narrowing the range) to ensure that the coupling coefficient under cooperative impact is still ≥ K_target. If X_actual > X (offset exceeding the standard), the cooperative impact is directly judged as unqualified. Results integration: If both spacing validity and collaborative impact verification pass, the overall spacing compliance verification is qualified; otherwise, it is unqualified, and the system sends a "spacing adjustment request" feedback to the R end.

[0067] Charging mode control: Verification result determination: If both the tilt state verification and the spacing compliance verification are qualified, the final verification result of "double verification passed" is generated. After receiving the result, the T-end transmitter controller starts the power output process through the electrical control module, and the charger enters the formal charging mode (outputting energy according to the high power standard). Failure handling: If any verification fails, the T end sends a TCP message to the R end containing instructions for "adjusting direction + target parameters" (such as "the spacing needs to be adjusted to [C',D'], and the horizontal offset needs to be ≤X / 2"). The R end then initiates the attitude and spacing adjustment process. After the adjustment is completed, the T end restarts the dual verification until both consecutive verifications pass before entering the formal charging mode. Anomaly alarm mechanism: If the double verification still fails after three consecutive adjustments, the T end will trigger an anomaly alarm (the reportType field of the TCP packet will be marked as "anomaly alarm") and suspend the charging process, prompting manual troubleshooting (such as sensor calibration deviation, abnormal coil parameters, AGV drive failure, etc.) to avoid equipment damage or inefficient charging.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An automatic ranging method based on a contactless charger, characterized in that, include: S1: Obtain the distance data between the transmitter and receiver sides of the charger, construct a tilt angle derivation model through geometric relationships, deduce the actual tilt state of the transmitter and receiver sides, compare it with the preset parallel standard, and output the parallel determination result. S2: Based on different charging scenarios, set a tilt judgment threshold, perform matching analysis with the distance data, and generate scenario adaptation results; S3: Based on the distance data and the actual tilt state, a preset attitude adjustment standard for the receiving side is established, a corresponding attitude adjustment instruction generation logic is constructed, and an attitude adjustment instruction is generated. After the receiving side completes the adjustment, the stability of the adjusted attitude is verified again based on the distance data and the tilt angle derivation model. S4: Based on the parallel determination result, calculate the effective charging distance range between the transmitting side and the receiving side, construct a dual verification mechanism for the parallel determination result and the effective charging distance range, generate a verification result, and control the charger to enter the formal charging mode.

2. The method according to claim 1, characterized in that, The specific construction process of the tilt angle derivation model is as follows: taking the geometric center of the transmitting side as the reference point, analyzing the fixed positional relationship between the transmitting side detection point and the reference point, mapping the distance data to the spatial position system with the reference point as the core, and deriving the tilt state of the receiving side relative to the transmitting side in different dimensions through spatial geometric operation rules.

3. The method according to claim 1, characterized in that, The specific process for deriving the actual tilt state of the transmitting and receiving sides is as follows: Based on the distance data, extract the spacing data corresponding to the detection points arranged at intervals on the transmitting side, compare the spacing information corresponding to the detection points to analyze their differences; based on the fixed spatial relationship between the detection points and the center position of the transmitting side, transform the spacing data differences into a relative height difference correlation in spatial geometry, and establish the correspondence between the differences and the degree of tilt through trigonometric function logic. The distribution of tilt degree across different spatial dimensions is decomposed and then integrated to generate the actual tilt state.

4. The method according to claim 1, characterized in that, The tilt determination threshold is set comprehensively based on the application scenario characteristics of the charger, the structure and operating parameters of the energy transmission components on the transmitting and receiving sides, the preset charging efficiency standard, and the accuracy level of the detection component. The structure and operating parameters of the energy transmission component include coil size, number of turns, and operating frequency. The tilt determination threshold can be optimized according to the changes in charging efficiency requirements in actual applications and the adjustment of energy transmission component parameters, and is dynamically calibrated in conjunction with the horizontal offset detection results.

5. The method according to claim 1, characterized in that, The specific process of matching and analyzing the distance data is as follows: First, verify the working status of the two ranging sensors symmetrically arranged on the left and right sides of the transmitting side, and filter out the effective distance measurement values ​​based on the status information fed back by the sensors; then, based on the fixed horizontal interval of the sensors, extract the distance measurement values ​​and calculate the absolute difference; using the side-angle relationship of a right triangle and trigonometric function logic, convert the distance difference into the tilt angle of the receiving side relative to the transmitting side; based on the tilt judgment threshold, and simultaneously correlate with the horizontal offset detection results, evaluate the superposition effect of the actual tilt state and the horizontal offset.

6. The method according to claim 1, characterized in that, The specific process for generating the scene adaptation result is as follows: First, based on the current charging scene type of the charger, match the corresponding tilt judgment threshold and charging efficiency standard. Then, verify the tilt angle corresponding to the actual tilt state with the tilt judgment threshold, and at the same time, investigate the superimposed influence of tilt state and horizontal offset on charging efficiency to generate the scene adaptation result.

7. The method according to claim 1, characterized in that, The receiving side attitude adjustment criteria specifically include: at the spatial pose parameter constraint level, controlling the tilt angle of the receiving side relative to the transmitting side within the range of the tilt determination threshold; in terms of horizontal offset control, controlling the lateral displacement of the receiving side and the transmitting side, and maintaining the magnetic field coupling coefficient in a preset stable range when superimposed with the tilt state. In terms of vertical spacing adjustment, the distance between the receiving side and the transmitting side is matched to the optimal working range corresponding to the preset charging efficiency standard.

8. The method according to claim 1, characterized in that, The corresponding attitude adjustment command generation logic specifically includes: extracting the tilt angle deviation corresponding to the actual tilt state, the spacing deviation reflected by the spacing data, and the detected horizontal offset deviation; then, combining the fixed spatial relationship between the detection points, quantifying the adjustment amount corresponding to the deviation through geometric calculations, and the adjustment direction including the tilt correction direction and the horizontal offset correction direction corresponding to the spatial dimension; finally, generating the attitude adjustment command based on the adjustment amount, the adjustment direction, and the energy transmission characteristics between the charger and the receiver.

9. The method according to claim 1, characterized in that, The specific execution process of the attitude adjustment command includes: the attitude adjustment command includes tilt correction direction, deviation-related adjustment command and energy transmission characteristic adaptation requirements; based on the real-time distance data fed back by the ranging component and the parallel determination result, the attitude correction action is executed; during the correction process, ranging data is continuously acquired, and the correction effect is calculated in real time through the tilt angle derivation model, and the adjustment range is dynamically corrected.

10. The method according to claim 1, characterized in that, The specific process of re-verifying the attitude stability after adjustment based on the distance data and the tilt angle derivation model is as follows: After the attitude adjustment action is completed, multiple sets of distance data are continuously acquired, and the spacing information corresponding to the detection points in each set of data is extracted; the tilt angle of the receiving side relative to the transmitting side is calculated through the tilt angle derivation model, and the fluctuation characteristics of the tilt angle and spacing information are analyzed. The attitude stability is verified by combining the preset stability judgment criteria.

11. The method according to claim 1, characterized in that, The specific process for calculating the effective charging distance range between the transmitting and receiving sides is as follows: First, obtain the core parameters affecting the distance range, including the structural parameters, operating frequency, preset charging efficiency standard, and measurement accuracy of the ranging sensor of the energy transmission components on the transmitting and receiving sides; then, combine the structural parameters and operating frequency to calculate the basic constraint range of the distance. Then, referencing the measurement accuracy of the ranging sensor, the boundary values ​​of the basic constraint interval are corrected; the energy transmission efficiency under different spacings is verified; and finally, the effective charging spacing range is generated by combining the superimposed effects of horizontal offset and tilt state.

12. The method according to claim 1, characterized in that, The dual verification mechanism specifically includes: tilt state verification and spacing compliance verification; the tilt state verification is based on the tilt angle corresponding to the actual tilt state, and verifies that it falls within the tilt judgment threshold range adapted to the current charging scenario, and the tilt angle fluctuations corresponding to multiple consecutive sets of detection data are controlled within a preset stable threshold; the spacing compliance verification extracts the actual charging spacing corresponding to the spacing data, verifies that it is within the effective charging spacing range, and at the same time investigates the synergistic effect of the actual spacing and horizontal offset.

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