A long-stroke charging gun line dragging and transporting linkage control method

Abstract

The application discloses a long-stroke charging gun line dragging operation linkage control method and relates to the technical field of automatic charging equipment for electric vehicles. The method comprises the following steps: receiving charging task information and obtaining the charging position of a target vehicle, combining the current position of a robot to determine the target dragging area through position matching and direction determination; dividing the dragging process into intervals and performing segmented control; correlatively analyzing the position of the robot, the shape of the dragging chain and the stress of the gun line during the dragging process to generate a coupling interference determination result; when the coupling interference exists, releasing adjustment is performed to generate a coordinated parking state, end precision stopping control is performed to form a stable parking determination result and charging gun insertion is completed; based on the stable parking determination result, high-voltage interlocking and fault state interlocking analysis is performed to generate a charging permission result, and when the conditions are met, the retreat reset control is performed. Through coupling interference identification and release adjustment, precision stopping control and interlocking analysis, stable dragging, accurate parking and safe and reliable charging process are realized.

Description

Technical Field

[0001] This invention relates to the field of automatic charging equipment technology for electric vehicles, specifically a method for controlling the towing of long-stroke charging gun cables. Background Technology

[0002] With the rapid development of electric vehicles, especially new energy heavy trucks, commercial vehicles, and construction machinery, the demand for high-power automatic charging is constantly increasing. In large parking lots, logistics parks, and industrial settings, the traditional method of manually dragging charging guns suffers from low efficiency, high labor intensity, and high safety risks. Automated towing systems using guide-rail robots in conjunction with cable chains for charging gun cables are gradually becoming an important development direction. These systems use guide-rail moving mechanisms to transport the charging gun cables from the charging pile to the target vehicle location, achieving automated and coordinated control of the charging process.

[0003] Existing long-stroke charging cable transport systems typically employ a combination of guide rails, cable chains, and mobile robots to transport and dock the cables within a range of tens of meters. However, current control methods are mostly position-based, primarily relying on target location for path planning and docking control, lacking comprehensive consideration of changes in the cable chain's shape and the cable's stress state. During long-stroke transport, the cable chain undergoes morphological changes such as bending, rebounding, and localized accumulation as the robot moves. The cable is prone to stress accumulation or uneven tension during dragging. These factors, coupled with the robot's movement, can easily cause continuous disturbances during the final docking process.

[0004] Specifically, when the robot approaches the target vehicle's charging location, even if the positional deviation meets the requirements, the cable chain may still be in an unstable deployed state, and the charging cable may have residual stress. Directly performing end-of-line docking or charging gun insertion under these circumstances could cause slight robot displacement due to cable chain rebound or release of cable tension, leading to decreased charging interface alignment accuracy and affecting insertion success rate and subsequent charging stability. Furthermore, existing technologies typically lack a correlation analysis mechanism between cable chain morphological deviation and cable stress deviation, making it difficult to accurately identify coupled interference states during transport.

[0005] On the other hand, in charging process control, high-voltage interlocks, temperature status, and system fault status are usually used as the basis for safety judgment. However, existing solutions lack a unified interlock analysis mechanism between mechanical docking status and electrical safety status, which can easily lead to inconsistencies between the docking status and the electrical status. Furthermore, during the retraction and reset process after charging completion or in abnormal situations, simple triggering methods are often used, lacking constraints on the retraction process and the status of the charging cable, which may cause the cable carrier configuration and the stress on the charging cable to deviate again.

[0006] Therefore, there is an urgent need for a long-stroke charging gun cable towing linkage control method to solve the problems of difficult identification of coupling interference, insufficient docking stability, and poor linkage between mechanical and electrical states in existing technologies. Summary of the Invention Based on the shortcomings of the prior art described above, the purpose of this invention is to provide a long-stroke charging gun cable towing linkage control method to solve the above-mentioned technical problems.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a long-stroke charging gun cable towing linkage control method, comprising: Receive charging task information from the charging pile, obtain the charging location information of the target vehicle, collect the robot's current location information for location matching and direction determination, and determine the target towing area; The robot's movement process between its current position and the target towing area is divided into intervals. Based on the interval division results, preset segmented operation parameters are called to execute towing control and generate segmented towing status. During the towing control process, robot position information, chain shape information and gun wire force information are collected, and correlation analysis is performed in combination with the segmented towing status to generate coupling interference judgment results. Based on the coupling interference determination result, release adjustment control is executed when coupling interference exists to generate a coordinated pre-docking state; Based on the state before coordinated docking, the end-point fine-stop control is executed. Based on the robot position information, drag chain shape information and gun wire force information after fine-stopping, a stable docking judgment result is generated. Based on the stable docking judgment result, the charging gun plugging control is executed. The system collects the high-voltage interlock status of the charging interface, the temperature status of the charging gun wire, and the system fault status. It then performs interlock analysis on the stable parking determination results, high-voltage interlock status, temperature status, and system fault status to generate a charging permission result. The status is determined based on the charging permission result and the charging process status fed back by the charging pile. When it is determined that charging is prohibited or charging is completed, the reversal and reset control is executed.

[0008] The present invention is further configured such that determining the target transport area includes: Receive charging task information from the charging pile and extract the charging location information of the target vehicle from the charging task information; Collect the robot's current position information, and perform guide rail orientation mapping processing on the robot's current position information to generate robot guide rail position data; The center position of the target towing area is generated by matching the target vehicle's charging location information and the preset guide rail reference information. The direction is determined and the towing direction is generated based on the positional relationship between the robot guide rail position data and the center position of the target towing area; The target docking area is determined based on the center location of the target towing area and the towing direction, and the target towing area is generated.

[0009] The present invention is further configured such that, the step of dividing the movement process between the robot's current position and the target towing area into intervals, and executing towing control to generate segmented towing states by calling preset segmented operation parameters based on the interval division results, includes: Based on the robot guide rail position data, the target towing area, and the towing direction, determine the starting position and ending boundary of the towing process; Based on the starting position and ending boundary of the towing process, the movement process between the robot's current position and the target towing area is divided into intervals, namely, long-distance towing segment, approach transition segment and end docking segment, and interval division results are generated. Based on the interval division results, the corresponding preset segmented operation parameters are called to generate the segmented operation configuration; The towing control is executed according to the segmented operation configuration. The status of the interval to which the robot's current position belongs is determined, and the segmented towing status is generated by combining the interval status determination result and the robot's current position.

[0010] The present invention is further configured such that the step of performing correlation analysis to generate coupling interference determination results includes: During the towing control process, acquire robot position information, cable form information, cable tension information, and current segment towing status; A description of drag chain state deviation is generated by comparing drag chain shape information with preset drag chain reference shape information. A description of the deviation of the gun wire force state is generated by comparing the gun wire force information with the preset gun wire reference force information. Based on the robot's location information, the target towing area, and the current segmented towing status, the robot's current position is determined to be close to the target towing area, and an end-point docking status description is generated. The drag chain state deviation description, the gun wire stress state deviation description, and the end docking state description are correlated to generate a coupling interference description. The coupling interference is classified and determined based on the description of coupling interference, and the coupling interference determination result is generated.

[0011] The present invention is further configured such that generating the coordinated pre-docking state includes: Based on the coupling interference determination results, the current interference level is identified, and the release adjustment is determined in conjunction with the current segmented towing status. When it is determined that a release adjustment needs to be performed, the positional deviation between the robot's current position and the target towing area is compared, and the release adjustment orientation is determined in combination with the current towing direction. The release demand is classified according to the deviation description of the drag chain state and the deviation description of the gun wire force state. The release adjustment range is determined based on the release demand level. The robot is controlled to correct the execution position along the release adjustment direction to obtain the adjusted position. The adjusted position, the adjusted drag chain shape information, and the adjusted gun wire stress information are reviewed. When the position deviation, drag chain shape deviation, and gun wire stress deviation all meet the pre-docking requirements, a coordinated pre-docking state is generated. When it is determined that no release adjustment is required, the robot's current position, cable chain configuration information, and gun wire force information are coordinated and confirmed. If the current position, cable chain configuration, and gun wire force status meet the pre-docking requirements, the coordinated pre-docking state is directly generated.

[0012] The present invention is further configured such that the step of performing end-of-pipe fine-stop control based on the pre-docking state includes: Determine whether to enter the final fine-stop control phase based on the pre-dock status; If it is determined that the final stop control phase has not been entered, maintain the current towing control status; After entering the end-point precision stop control stage, the end-point precision stop target position is determined based on the robot's current position, target towing area, and towing direction; The final stop control quantity is determined based on the positional deviation between the robot's current position and the target position for final stop, and position correction control is executed according to the preset final stop operation parameters; After the position correction control is completed, the robot's position information, cable morphology information, and gun wire force information are collected after the precise stop.

[0013] The present invention is further configured such that generating a stable docking determination result based on the robot's position information, cable chain morphology information, and gun wire force information after precise stopping includes: Based on the robot's position information after fine stopping and the end-effector fine stopping target position, determine the position deviation of the robot's position after fine stopping relative to the end-effector fine stopping target position, and generate the position deviation status after fine stopping; Based on the cable chain shape information after precise stopping and the preset cable chain reference shape information, determine the deviation of the cable chain shape after precise stopping and generate the cable chain shape residual state; Based on the force information of the gun line after fine stopping and the preset reference force information of the gun line, determine the force deviation of the gun line after fine stopping and generate the force residual state of the gun line; Consistency judgment is made on the position deviation state, drag chain shape residual state and gun line force residual state after fine stopping. Stable stopping judgment result is generated when the position deviation, drag chain shape deviation and gun line force deviation all meet the stopping requirements. The charging gun connection control is executed based on the stable parking determination result.

[0014] The present invention is further configured such that the step of performing interlocking analysis to generate charging permission results includes: After the charging gun is inserted, the high voltage interlock status of the charging interface, the temperature status of the charging wire, and the system fault status are collected. The temperature allowable state is generated by comparing the gun wire temperature status with the preset temperature allowable conditions, and the fault allowable state is determined based on the system fault status. The stable parking determination result, high voltage interlock status, temperature allowable status and fault allowable status are interlocked and combined to generate the interlock determination status; Based on the interlock determination status, a charging permission determination is made, and a charging permission result is generated.

[0015] The present invention is further configured such that, based on the charging permission result and the charging process status fed back by the charging pile, the state determination is performed, and the reversal reset control is executed when it is determined that charging is prohibited or charging is completed, including: Obtain the charging permission result, the charging process status fed back by the charging pile, and the robot's current position; The charging completion status is determined based on the charging process status, and the charging completion status and the charging permission result are combined to generate the reset trigger status. When the reset trigger state is established, the retraction direction and retraction target are determined according to the robot's current position and preset standby position, and the retraction reset control is executed according to the preset retraction operation parameters. The positional deviation between the robot's position after retraction and the preset standby position is determined, and the retraction and reset are completed when the positional deviation is within the allowable range of the preset standby position.

[0016] The present invention is further characterized in that it includes: After completing the retraction and reset, collect the force information of the gun wire and the drag chain morphology information after the reset; Based on the deviation between the reset gun wire force information and the preset gun wire reference force information, the preset gun wire reference force information is corrected to generate updated gun wire reference force information. Based on the deviation between the reset cable chain shape information and the preset cable chain reference shape information, the preset cable chain reference shape information is corrected to generate updated cable chain reference shape information.

[0017] This invention provides a long-stroke charging cable towing linkage control method. The method receives charging task information from a charging pile, obtains the charging location information of the target vehicle, collects the robot's current position information for position matching and direction determination, and identifies the target towing area. It then divides the movement process between the robot's current position and the target towing area into intervals, and executes towing control based on preset segmented operation parameters to generate segmented towing states. During the towing control process, it collects robot position information, cable morphology information, and cable force information, and performs correlation analysis based on the segmented towing states to generate coupling interference determination results. Based on the coupling interference determination results, it executes towing control when coupling interference exists. The system performs release adjustment control to generate a pre-coordinated docking state; based on this state, it executes end-effector fine-stop control; and based on the robot's position information, cable morphology information, and charging cable force information after fine-stopping, it generates a stable docking determination result. Based on this result, it executes charging gun insertion control; it collects the high-voltage interlock status of the charging interface, the temperature status of the charging cable, and the system fault status; it then performs interlock analysis on the stable docking determination result, high-voltage interlock status, temperature status, and system fault status to generate a charging permission result; based on the charging permission result and the charging process status fed back by the charging pile, it performs status discrimination; and when it determines that charging is prohibited or charging is complete, it executes retraction and reset control. The beneficial effects include: 1. Effective identification and control of coupling interference in the towing process: By performing correlation analysis on robot position information, cable chain shape information and cable tension information, a coupling interference judgment result is formed, and release adjustment control is executed when interference exists, so as to achieve coordinated adjustment of the cable chain and cable state and improve the stability of the towing process. 2. Improve end-of-line docking accuracy and plug-in reliability: By generating a coordinated pre-docking state and executing end-of-line fine-stop control, docking and plug-in are completed after the position deviation, drag chain shape and gun wire stress all meet the requirements, effectively reducing the impact of mechanical disturbance on alignment accuracy and improving the charging gun plug-in success rate. 3. Enhance safety interlocking and system stability during charging: By analyzing the stable parking determination results, high voltage interlock status, temperature status and fault status, charging permission results are generated, and reversal and reset control are executed when charging is completed or abnormal, thereby improving the safety of the charging process and the reliability of system operation.

[0018] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 The flowchart illustrates a long-stroke charging gun cable towing linkage control method as an exemplary embodiment of the present invention. Detailed Implementation

[0020] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0021] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0022] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0023] Example 1: A method for controlling the towing of a long-stroke charging gun cable, such as... Figure 1 As shown, it includes: Receive charging task information from the charging pile, obtain the charging location information of the target vehicle, collect the robot's current location information for location matching and direction determination, and determine the target towing area; The robot's movement process between its current position and the target towing area is divided into intervals. Based on the interval division results, preset segmented operation parameters are called to execute towing control and generate segmented towing status. During the towing control process, robot position information, chain shape information and gun wire force information are collected, and correlation analysis is performed in combination with the segmented towing status to generate coupling interference judgment results. Based on the coupling interference determination result, release adjustment control is executed when coupling interference exists to generate a coordinated pre-docking state; Based on the state before coordinated docking, the end-point fine-stop control is executed. Based on the robot position information, drag chain shape information and gun wire force information after fine-stopping, a stable docking judgment result is generated. Based on the stable docking judgment result, the charging gun plugging control is executed. The system collects the high-voltage interlock status of the charging interface, the temperature status of the charging gun wire, and the system fault status. It then performs interlock analysis on the stable parking determination results, high-voltage interlock status, temperature status, and system fault status to generate a charging permission result. The status is determined based on the charging permission result and the charging process status fed back by the charging pile. When it is determined that charging is prohibited or charging is completed, the reversal and reset control is executed.

[0024] The present invention is further configured such that determining the target transport area includes: The system receives charging task information from charging piles and extracts the charging location information of the target vehicle from this information. Specifically, in the rail-mounted charging robot control system, the PLC controller receives the charging task information from the charging piles via CAN bus or Ethernet. This charging task information includes at least the target vehicle's charging location information, task number, target vehicle identifier, charging pile number, and charging mode. The target vehicle's charging location information is generated by the charging pile based on the vehicle's parking position and represents the location of the target vehicle's charging interface in the station's coordinate system. To avoid errors in the target vehicle's charging location information due to communication jitter or parking detection fluctuations, the PLC controller performs a consistency check on the target vehicle's charging location information received within three consecutive sampling periods. Each sampling period corresponds to a charging task information refresh period, which is determined by the communication period between the charging pile and the PLC controller. The charging location information of the target vehicle in two consecutive sampling periods is compared by the position difference. If the difference between adjacent positions is less than or equal to the preset position tolerance for three consecutive sampling periods, the charging location information of the target vehicle is confirmed to be valid. If any difference between adjacent positions is greater than the preset position tolerance, the charging task information of the next sampling period is received and the consistency check is re-executed. The preset position tolerance is determined based on the robot's repeatability and the allowable error of automatic gun insertion. The robot's repeatability is ±5mm to meet the accuracy requirements of automatic gun insertion and removal. The preset position tolerance can be set to a value not greater than the allowable error of automatic gun insertion, for example, within the range of 5mm to 10mm. The system collects the robot's current position information and performs guide rail orientation mapping to generate robot guide rail position data. Specifically, it acquires the robot's current position information through an absolute encoder and a laser positioning sensor mounted on the guide rail robot. The absolute encoder provides high-resolution displacement data, while the laser positioning sensor is used for full-range position correction. The absolute encoder obtains the robot's continuous displacement position along the guide rail direction. The robot's corrected position on the guide rail is obtained through a laser positioning sensor. The two types of location data are aligned according to the sampling timestamp and a consistency check is performed; when When the encoder position and laser positioning position are consistent, a weighted correction method is used to generate the robot guide rail position data: ,in, The allowable deviation for positional consistency is determined based on the robot's repeatability and measurement error range; the reference system's robot repeatability is ±5mm. After considering encoder cumulative error, laser positioning measurement fluctuations, and guide rail installation errors, [the following is omitted as it is not directly related to the previous sentence]. Set the value range to no more than 10 mm; The fusion weights have a range of values. A larger value is used when encoder continuity is high, and a smaller value is used when laser positioning accuracy is high. If the two types of location data are inconsistent, laser positioning will be used to determine the location. This serves as a correction position and generates a positioning anomaly alert. This process ensures the robot's current position maintains encoder continuity while suppressing accumulated errors through laser positioning. In the reference design, the robot is equipped with an absolute encoder and a laser positioning sensor for precise docking at any point within a 30-meter range. The target vehicle's charging location information and preset guide rail reference information are used to match and generate the center position of the target towing area. Specifically, during the system installation and calibration phase, the guide rails are calibrated to form preset guide rail reference information. This guide rail reference information describes the position and orientation of the guide rails within the site, including the guide rail's starting position and extension direction. The starting position is obtained by selecting a fixed reference point at one end of the guide rail and collecting its spatial coordinates. The extension direction is obtained by selecting a reference point at the other end of the guide rail and determining the overall extension trend of the guide rail based on the starting position. The coordinates of these two reference points are collected by on-site measuring equipment during the system installation and debugging phase. The preset guide rail reference information is used to uniformly convert the target vehicle's charging location information and the robot's current position to the guide rail direction, enabling spatial positions to be represented by positional relationships along the guide rail direction. Matching with preset guide rail reference information, the spatial position of the target vehicle is mapped to a one-dimensional position along the guide rail direction, using the guide rail starting point coordinates. For reference, Projected onto the unit vector of the guide rail direction The center location of the target transport area is obtained: ,in, This represents the vector dot product. This calculation is used to convert the vehicle-side charging position into the control position required for the robot's movement along the guide rail, ensuring that the target vehicle position and the robot position are within the same guide rail coordinate system. The transport direction is generated based on the positional relationship between the robot guide rail position data and the center position of the target transport area; specifically, the robot guide rail position data... Center of the target transport area By comparing the positions, we can obtain the positional difference: ,when When, determine the towing direction to be the positive direction of the guide rail; when When the towing direction is determined to be the opposite direction of the guide rail; when At this point, it is determined that the robot is already near the target transport area, and no further long-distance transport direction switching will be triggered. To establish a direction determination tolerance, a direction determination tolerance is set when determining the direction of transport. This represents the width of the allowable range of positional difference between the robot's current position and the center of the target transport area, used to prevent the robot from frequently changing its transport direction due to minor positional fluctuations when approaching the target position; The accuracy is determined by both robot positioning accuracy and end-point docking control requirements. In the reference system, the robot's repeatability is ±5mm. When the position difference between the robot's current position and the center of the target transport area is within this accuracy range, the robot is considered to have entered the vicinity of the target area, and the transport direction is no longer changed. In actual control, when the position difference between the robot's current position and the center of the target transport area is greater than... When the position difference is less than or equal to the specified value, the direction of transport is determined; when the position difference is less than or equal to the specified value, the direction of transport is determined. At this time, maintain the current control state and do not trigger direction switching again; The target docking area is determined based on the center location of the target transport area and the transport direction, and the target transport area is generated. Specifically, it is based on the center location of the target transport area. Determine the target docking section based on the towing direction. The target docking section is defined by... Centered on this, and taking into account the automatic gun insertion positioning accuracy, the drag chain return margin, and the gun wire stress release margin, the front and rear stopping tolerances are set to form: ,in, For the target transport area, and These are the docking tolerances on both sides of the target transport area. The docking tolerance represents the range of docking positions that the robot is allowed to enter, ensuring sufficient alignment accuracy and mechanical buffer space during the charging gun insertion process. and The error is formed by the superposition of the following three types of error ranges: First, the allowable error for automatic charging gun positioning. This error is determined by the docking accuracy requirements between the charging gun and the vehicle charging interface, representing the allowable range of positional deviation during the insertion process; Second, the repeatability error of the guide rail robot. This error is determined by the range of positional fluctuations when the robot stops multiple times at the same location, reflecting the uncertainty of position control; Third, the mechanical buffer displacement of the cable chain and the charging cable. This displacement originates from the springback of the cable chain in a bent state and the displacement change of the charging cable during the force release process, reflecting the deformation recovery of the mechanical structure when it stops. During implementation, the maximum values ​​of the above three types of errors are obtained respectively and superimposed as the basis for determining the docking tolerance; when the towing direction is in the positive direction of the guide rail, the tolerance on the side corresponding to the mechanical springback direction is appropriately increased to form an asymmetrical interval; when the towing direction is in the reverse direction of the guide rail, the tolerance on the other side is adjusted accordingly. Therefore, and In practice, this refers to the width of the safe stopping area after adding positioning errors and mechanical rebound, within the allowable range of insertion accuracy. This width is used for subsequent section division and end-effector precision control. If the towing direction is forward, the buffer margin behind the target area can be appropriately increased; if the towing direction is reverse, the buffer margin in the opposite direction can be appropriately increased. This target towing area serves as the common positional basis for subsequent section division, coupling interference determination, and end-effector precision control. In a specific implementation scenario, the effective travel of the guide rail is 30 meters, and the robot's current guide rail position is... The target vehicle charging location is mapped onto the guide rail to obtain the center position of the target towing area. Direction determination tolerance .because The towing direction is determined to be the positive direction of the guide rail. If the tolerance on both sides of the target docking section is taken as... The target transport area is This embodiment completes a closed-loop process from charging task input, location acquisition, coordinate mapping, direction determination to the generation of the target towing area.

[0025] The present invention is further configured such that, the step of dividing the movement process between the robot's current position and the target towing area into intervals, and executing towing control to generate segmented towing states by calling preset segmented operation parameters based on the interval division results, includes: Based on the robot guide rail position data, the target towing area, and the towing direction, determine the starting position and ending boundary of the towing process; specifically, based on the robot navigation position data... and target transport area Determine the start and end positions of the towing process. The start position is taken as the current position of the robot guide rail. The termination boundary is determined based on the towing direction: when the towing direction is positive, the termination boundary is taken as... When the transport direction is reversed, the termination boundary is taken as follows: This process ensures the towing path always points towards the entry boundary of the target towing area, rather than the center, thus avoiding mechanical impact caused by directly entering the central area. Output towing distance range. ; Based on the starting and ending positions of the towing journey, the movement process between the robot's current position and the target towing area is divided into three segments: a long-distance towing segment, a proximity transition segment, and an end-of-line docking segment. Specifically, based on the length of the towing journey interval, the movement process is divided into three segments: the long-distance towing segment, the proximity transition segment, and the end-of-line docking segment. First, the distance difference between the current position and the target towing area is calculated. The system divides the transport process based on the distance difference and a preset segmentation ratio: when the remaining distance is greater than the long-distance threshold, it is classified as a long-distance transport segment; when the remaining distance is in the middle range, it is classified as a near-transition segment; and when the remaining distance is less than the end threshold, it is classified as an end-stop segment. The segmentation thresholds are derived from the total travel ratio of the guide rail and the control response characteristics: the long-distance segment is used for rapid movement and has the largest proportion; the transition segment is used for speed convergence; and the end segment is used for fine control. This division allows the transport process to converge gradually from coarse to fine, avoiding vibration or overshoot caused by directly transitioning from high speed to a precise stop. Based on the interval division results, the corresponding preset segmented operation parameters are invoked to generate a segmented operation configuration; specifically, the segmented operation configuration is generated based on the interval division results. The segmented operation configuration is used to constrain the robot's speed variation and position adjustment methods within different towing intervals. In the long-distance towing segment, the controller determines the upper limit of the operating speed based on the current remaining towing distance, gradually increasing the operating speed to within the stable operating speed range allowed by the guide rail drive system, and maintaining uniform speed operation within this range to shorten the towing time. The stable operating speed range is determined by reading the rated operating parameters of the guide rail driver and combining them with the changes in motor current and operating vibration during actual operation. When the motor current is in a stable range and there is no significant vibration, the corresponding speed is used as the reference speed for the long-distance segment. In the approach transition segment, the controller gradually reduces the operating speed based on the remaining distance between the current position and the target towing area. The speed decreases continuously with distance, while limiting the change in position per unit time to prevent inertial swaying of the cable chain due to sudden speed changes. The speed decrease process involves differential calculation of continuous position sampling data to obtain the current operating speed, which is then gradually converged to smooth out position changes. Within the end-point docking section, the controller controls the robot to operate at low speed based on the positional deviation between the current position and the target transport area boundary. The current position is updated and corrected in each control cycle to gradually reduce the positional deviation. When the detected positional change is below a preset minimum adjustment, the current position is maintained without significant movement, ensuring stable positional changes upon entering the target transport area. This segmented operation configuration is based on real-time feedback data from the guide rail driver during operation and the robot's current positional change trend. It is determined by comprehensively judging motor current, positional change, and operational continuity during operation, ensuring that the operating state within each section matches the actual motion characteristics and is used for subsequent transport control and section state determination. According to the segmented operation configuration, the towing control is executed. The status of the interval to which the robot's current position belongs is determined. The segmented towing status is generated by combining the interval status determination result and the robot's current position. Specifically, when executing towing control according to the segmented operation configuration, the controller collects the robot's current position in each control cycle, compares the robot's current position with the boundaries of the long-distance towing segment, the approach transition segment, and the end docking segment, first determines the interval to which the robot currently belongs, and then calls the operation configuration corresponding to that interval to control the robot's movement. The control cycle is the refresh cycle for the PLC motion controller to send control commands to the servo driver. The robot's current position is determined by the encoder and laser positioning results. When the robot's current position belongs to the long-distance towing segment, the controller controls the robot to move continuously along the towing direction according to the operating configuration corresponding to the long-distance towing segment, keeping the robot in a stable state. The control objective of this stage is to continuously approach the target towing area. The controller confirms whether the movement direction is consistent with the towing direction based on the continuously collected robot current position data. If the current position does not change according to the towing direction, the current towing control is stopped and an abnormal operating status is output. When the robot's current position enters the approach transition segment, the controller stops calling the operating configuration of the long-distance towing segment and instead calls the operating configuration corresponding to the approach transition segment, causing the robot's running speed to gradually converge from the long-distance towing state to the transition running state. In each control cycle, the controller... The controller compares the change in position between the current position and the position in the previous cycle. When the change in position continuously decreases or remains within the allowable range of the transition operation configuration, the robot is confirmed to have entered the approach transition state. When the robot's current position enters the end-of-line docking segment, the controller calls the operation configuration corresponding to the end-of-line docking segment, causing the robot to move towards the target towing area boundary or target docking interval according to the end-of-line low-speed position correction method. Within each control cycle, the controller compares the position deviation between the current position and the target towing area. When the position deviation gradually decreases and the robot has not crossed the target towing area boundary, the robot is confirmed to have entered the end-of-line docking state. When the interval state is updated, the interval belonging to the previous control cycle is compared with the interval belonging to the current control cycle. If they are the same, the current interval state is maintained; if they are different, the current interval is taken as the new interval state, and the corresponding segmented operation configuration is switched synchronously. The segmented towing state is composed of the current interval, the currently called segmented operation configuration, the robot's current position, and the towing direction, and is used to represent the real-time operation stage and control state of the robot during the towing process. This segmented towing status serves as a stage basis in subsequent coupling interference determination, used to distinguish the different degrees of impact of the same cable chain shape deviation or gun line force deviation in the long-distance towing segment, the approach transition segment, and the end docking segment. In a specific implementation scenario, the total guide rail travel is 30m, the robot's current position is 3.000m, the target towing area is [11.970m, 12.030m], and the towing direction is positive. Therefore, the termination boundary is taken as 11.970m, and the remaining distance is 8.970m.The robot is divided into sections according to the following proportions: 8.970m~4.000m: long-distance transport section; 4.000m~1.000m: approach and transition section; less than 1.000m: end-of-line docking section. The robot starts at 3.000m and operates at high speed in the long-distance transport section; when it reaches approximately 8m, it enters the transition section and its speed decreases; when it approaches approximately 11m, it enters the end-of-line section, where it performs low-speed precision control and finally enters the target transport area.

[0026] The present invention is further configured such that the step of performing correlation analysis to generate coupling interference determination results includes: During the towing control process, robot position information, cable chain morphology information, cable tension information, and current segmented towing status are acquired. Specifically, in the rail-mounted charging robot control system, a PLC is used as the control core, and the input objects include: robot rail position. Target transport area Segmented transport status (Distance / Transition / End) Cable Carrier Morphology Information Information on the force of the gun wire The output object is the coupling interference determination result. This is used to trigger subsequent release adjustments or directly enter a fine stop. During the towing control process, the controller collects the following data with the same refresh cycle as the motion control: robot position information is obtained by fusion of encoder and laser positioning; cable chain morphology information is the bending angle sequence of key segments of the cable chain, used to characterize the unfolding, bending, and local stacking states of the cable chain during towing. The key segments of the cable chain are selected at intervals along the length of the cable chain, and angle detection units or attitude detection units are set at each key segment to collect the bending angle of the corresponding key segment during the towing control process, forming the current cable chain morphology information; the gun wire force information is obtained by the tension sensor, indicating the force change of the gun wire in the towing direction; the segmented towing state is given by the interval division and control execution results of the previous step; the collected data is aligned and filtered; the position, morphology, and force data are aligned according to the timestamp; the cable chain morphology sequence is removed by a sliding window to remove isolated abrupt changes; the force data is filtered for low-amplitude fluctuations, retaining only the continuous change trend; the robot position change is differentially verified to remove abnormal samples that do not conform to the motion direction; after processing, a stable data is obtained. , , ; A description of the drag chain state deviation is generated by comparing the drag chain morphology information with the preset drag chain reference morphology information; specifically, the current drag chain morphology information is... With respect to the preset cable chain reference form A comparison is made. The preset drag chain reference shape is pre-calibrated and stored according to the segmented dragging state, representing the shape range of the drag chain in each interval during normal operation. The shape difference is calculated for each sampling point and normalized to form the overall deviation: ,in, This represents the morphological quantity of the current sampling point. The denominator is the reference range for that point, corresponding to the reference value. This quantity represents the overall deviation of the cable chain and is output as a description of the cable chain's deviation status. Its function is to quantify the impact of cable chain bending, springback, or stacking trends on the current transport. A description of the deviation in the gun wire force state is generated by comparing the gun wire force information with the preset gun wire reference force information; specifically, the gun wire force information... Force relative to preset gun line reference Comparison is performed. The reference force is calibrated according to the segmented towing condition, representing the force range during normal towing. The force deviation is calculated: The denominator is the reference allowable force range. This quantity is used to characterize whether the gun wire is under tension, release, or abnormal fluctuation, and the output is a description of the deviation of the gun wire force state. Based on the robot's position information, the target transport area, and the current segmented transport status, the proximity of the robot's current position to the target transport area is determined, generating an end-point docking state description. Specifically, the proximity of the robot's current position to the target transport area is determined by the distance from the current position to the boundary of the target transport area. If the robot is transporting along the guide rail in the forward direction, the boundary of the target transport area closest to the robot's entry direction is used. As a boundary approach; if the robot drags in the opposite direction along the guide rail, then the boundary of the target dragging area is closer to the robot's entry direction. The proximity boundary is used as the approach distance. This represents the remaining distance along the guide rail from which the robot will enter the target transport area. After the approach distance is determined, the end-of-line docking state description is generated based on the current segmented transport status. Specifically, when the current segmented towing state is a long-distance towing segment and the approach distance is still greater than the boundary distance of the long-distance segment, the end-of-line docking state is described as a long-distance approach state; when the current segmented towing state is an approach transition segment and the approach distance gradually decreases, the end-of-line docking state is described as a transition approach state; when the current segmented towing state is an end-of-line docking segment and the approach distance is within a preset end-of-line range near the target towing area, the end-of-line docking state is described as an end-of-line docking preparation state; when the robot's current position has already fallen within the target towing area, the end-of-line docking state is described as a state within the target area. To avoid state jumps caused by single positioning fluctuations, the PLC controller can confirm the trend of the approach distance over several consecutive control cycles. When continuous sampling results show that the approach distance is gradually decreasing and the current position has not crossed the boundary of the target towing area, the robot is confirmed to be in a valid approach state; when the approach distance suddenly increases or the current position change direction is inconsistent with the towing direction, the end-of-line docking state description of the previous cycle is retained, and an abnormal position change prompt is output. The approach distance is derived from the robot's current position and the boundary of the target towing area; the boundary of the target towing area is derived from the previous target towing area generation result; the current segmented towing state is derived from the segmented towing control result; and the preset end-point range is derived from the boundary setting of the end-point docking segment and the guide rail positioning accuracy requirements. The end-point docking state description characterizes the robot's approach stage and docking preparation level relative to the target towing area. Its meaning is not simply position coordinates, but rather a staged state result formed by combining the current position, the target towing area boundary, and the segmented towing state. This state description participates in the subsequent generation of coupling interference descriptions, used to distinguish the impact of the same cable chain state deviation and gun line force deviation on docking stability at different approach stages. For example, in a long-distance approach state, a small cable chain shape deviation may not trigger release adjustment temporarily; in the end-point docking preparation state, the same deviation will be considered a greater risk to stability before insertion, thereby improving the sensitivity of coupling interference judgment. The drag chain state deviation description, the cable tension state deviation description, and the end-effector docking state description are correlated to generate a coupled interference description. Specifically, after completing the drag chain state deviation description, cable tension state deviation description, and end-effector docking state description, the controller converts the three types of states into a unified coupled interference description. This coupled interference description indicates whether the drag chain shape deviation and cable tension deviation will jointly affect the robot's end-effector docking stability during the current towing stage. This description does not solely determine whether the drag chain is abnormal, nor solely determine whether the cable tension is abnormal, but rather assesses the comprehensive impact of the above deviations on end-effector docking in conjunction with the robot's current towing stage. First, the drag chain state deviation description is denoted as... The deviation of the force state of the gun line from the description is denoted as ,in, The result is derived from the comparison between the current cable chain shape information and the preset cable chain reference shape information, and is used to indicate the degree of deviation of the cable chain from the normal following state; The result is derived from the comparison between the current cable chain force information and the preset cable chain reference force information, used to represent the degree of deviation of the cable chain from the normal towing force state. Both are normalized state variables; the larger the value, the more significant the deviation. The normalization process transforms the cable chain shape and cable chain force to the same comparison scale, avoiding the inability to directly participate in the comprehensive judgment due to different units. Then, the current approach stage is determined based on the end-of-line docking state description. The end-of-line docking state description is formed by the robot's current position, target towing area, and current segmented towing state, used to distinguish whether the robot is currently in long-distance towing, approach transition, or end-of-line docking preparation state. Since the same cable chain deviation or cable chain force deviation has different effects on docking stability at different stages, it is necessary to adjust the description according to the current approach stage. and The process is phased. For example, in the long-distance towing segment, the robot is far from the target towing area, and slight deviations in the cable chain shape can still be naturally released through subsequent operation; in the approach transition segment, this deviation begins to affect deceleration and position convergence; in the final docking segment, even small deviations may directly affect precise stopping and gun insertion stability; in this embodiment, the current segmented towing state is assumed to be... ,in Indicates a long-distance transport segment. Indicates approaching the transition section. Indicates the final stopping section. According to... Call the corresponding stage influence coefficient This value represents the sensitivity to mechanical deviation at the current stage. The influence coefficient for this stage is derived from the segmented towing control results, and its setting principle is: a smaller value for long-distance towing segments, a medium value for approaching transition segments, and a larger value for the final docking segment. It can be set as follows: This setting means that the closer to the target towing area, the stronger the impact of cable chain deviation and gun line force deviation on docking stability. The stage influence coefficient is not an independently collected parameter, but rather mapped from the current segmented towing state, used to incorporate the stage differences between the robot and the target area into the interference judgment process. Furthermore, based on the description of cable chain state deviation... Deviating from the description of the force state of the gun line Generate basic mechanical deviation ,in, This is the drag chain deviation ratio coefficient, with a value range of [value range missing]. When the system focuses more on the impact of cable chain bending and springback on docking, A larger value can be chosen; when the system is more concerned with the impact of cable tensioning or traction on docking. A smaller value can be taken. This coefficient is determined during the equipment commissioning phase based on the cable chain's following state and the response of the gun wire stress relief device. It is a control rule parameter and does not need to be repeatedly generated during operation. Through this formula, the cable chain deviation and the gun wire force deviation are combined into a basic mechanical deviation, used to represent the current mechanical disturbance level of the gun wire transport system. Subsequently, the basic mechanical deviation... With stage influence coefficient Combined, forming a coupling interference quantity ,in, This is the core quantity in the description of coupled interference. This quantity represents the combined impact of chain deviation and gun line force deviation on end-of-line docking stability during the current segmented towing phase. If the robot is in a long-distance towing segment, even... or There is some deviation, due to Smaller It will not be magnified; if the robot is in the end docking section, the same and Will because Larger and thus forming higher This improves the sensitivity to subsequent coupling interference detection; after the coupling interference is generated, the controller will... Current segmented towing status Description of cable chain status deviation Deviating from the description of the force state of the gun line Together, they form a coupled interference description. This coupled interference description includes at least: the current towing stage, the degree of cable chain deviation, the degree of cable tension deviation, and the overall interference level after stage correction. This description serves as the input for the next step of classification judgment, determining whether the current state is characterized by no interference, moderate interference, or significant interference. This process allows the same mechanical deviation to have different judgment effects under different towing stages, enabling a more accurate reflection of the actual impact of mechanical state on end-stop stability during long-stroke charging cable towing. Through the above processing, the generation process of the coupled interference description forms a closed-loop logic of cable chain deviation → cable tension deviation → end-stop approach stage → overall interference level. Based on the description of coupling interference, a hierarchical judgment is made to generate coupling interference judgment results. For example, when the robot is in the end-point docking section, the cable chain state deviates from the description. The force state of the gun wire deviates from the description Cable chain deviation ratio Then the basic mechanical deviation is If the impact coefficient of the final stop segment is... Then the coupling interference is If the classification judgment will include Set to no interference. Set to medium interference. If a significant disturbance is defined, the state is considered a moderate disturbance, and subsequent decisions regarding whether to execute a release adjustment can be made based on the release adjustment trigger conditions. If the conditions are the same... and Occurring in the long-distance transport segment, the stage impact coefficient is relatively low, resulting in... If the value is relatively small, towing control can be maintained to avoid prematurely triggering adjustments.

[0027] The present invention is further configured such that generating the coordinated pre-docking state includes: The controller identifies the current interference level based on the coupling interference determination result and determines whether to initiate release adjustment based on the current segmented towing status. Specifically, the controller reads the coupling interference determination result (no interference / controllable interference / significant interference) and combines it with the current segmented towing status to determine whether to initiate release adjustment. The determination rule is as follows: when the coupling interference determination result is significant interference, it is directly determined that release adjustment needs to be performed; when the coupling interference determination result is controllable interference and the current segmented towing status is at the end docking stage, it is determined that release adjustment needs to be performed; otherwise, release adjustment is not initiated. This determination ensures that release adjustment is triggered only when approaching docking and the interference has a real impact on fine stopping, avoiding premature adjustment during long-distance towing phases that could lead to a decrease in operational efficiency. Output trigger flag. ; When it is determined that a release adjustment is needed, the positional deviation between the robot's current position and the target transport area is compared, and the release adjustment orientation is determined in conjunction with the current transport direction; specifically, when... At this time, the controller determines the release adjustment orientation based on the positional relationship between the robot's current position and the target transport area. If the current transport direction is positive, the target transport area's entry boundary is used as the reference. For reference, calculate the positional deviation: ,like Adjust the transport direction while maintaining the original direction; if If this indicates that the boundary has been entered or crossed, a slight reverse movement will be made along the guide rail. When the towing direction is reversed, a symmetrical rule is applied. The adjustment direction is determined for reference. This process ensures that the release adjustment always revolves around the boundary of the target towing area, allowing the cable chain and gun line to complete their shape and force release before entering the target area. Output release adjustment orientation. ; The deviation descriptions of the cable chain state and the force deviation descriptions of the gun wire are used to classify the release demand. Based on the release demand level, the release adjustment range is determined, and the robot is controlled to correct the execution position along the release adjustment direction to obtain the adjusted position. Specifically, based on the cable chain state deviation description... Deviation from the description of the force state of the gun line Demand levels are established. First, a comprehensive deviation is constructed: ,in This is the drag chain deviation ratio coefficient, determined during the system debugging phase based on the relative weights of the drag chain rebound effect and the gun wire force effect. With preset grading threshold , Comparison yields the release demand level: when At that time, it was a low demand level; when At that time, the demand level was medium; when The demand level was initially high. The adjustment range for the release was then determined based on the demand level. The release adjustment range represents the distance of position correction along the guide rail direction. Its value is derived from the superposition of the chain rebound displacement range and the gun wire force release displacement range, and was measured through multiple runs during the system debugging phase. When the release demand level increases, This increases accordingly, ensuring that larger deviations can be released through sufficient displacement. Output release adjustment range. The controller adjusts the orientation based on the release. and release adjustment range The robot is controlled to perform position correction, moving a corresponding distance along the guide rail to obtain the adjusted position. During the position correction process, information on the cable chain morphology and the force on the gun line is continuously collected, and the cable chain deviation description is updated after the correction is completed. Deviation from the description of the force state of the gun line This process, through an adjustment-detection-update method, aims to straighten the cable chain from a bent state and stabilize the stress on the cable. The adjusted position, cable chain shape, and cable gun force information are verified. If the position deviation, cable chain shape deviation, and cable gun force deviation all meet the pre-docking requirements, a coordinated pre-docking state is generated. Specifically, after completing the position correction, the controller acquires the adjusted robot position. The updated cable chain status deviates from the description. Deviating from the description of the force state of the gun line And then verify and judge the three. First, determine the location status. Based on the target towing area , will the current position Compare with the boundary of the target towing area; when When the robot is located outside the target transport area and the distance between it and the entry boundary is less than a preset approach distance range, the current position is considered to meet the pre-docking position conditions. The approach distance range is derived from the tolerance settings on both sides of the target transport area, ensuring the robot has a stable transition space before entering the target area. Next, the cable chain morphology is determined. The adjusted cable chain morphology deviates from the described... This is compared to the allowable range of the cable chain reference configuration. The allowable range of the cable chain reference configuration is derived from the stable operating range of the cable chain under various segmented towing conditions, and is formed during the system debugging phase by recording the maximum deviation value of each sampling point during normal towing. If the value is less than or equal to this allowable range, the cable chain is considered to be in a stable deployable state. Next, the tension state of the gun wire is assessed. The adjusted tension state of the gun wire deviates from the description. The force is compared with the reference allowable range of the gun wire. This allowable range is derived from the stable range of force changes in the gun wire during normal towing, and is formed by recording the fluctuation range of the gun wire tension under undisturbed conditions during the system commissioning phase. When the force is less than or equal to the allowable range, the gun line force is considered to have returned to a stable state. After the above three types of judgments are completed, the controller performs consistency verification on the three types of results. When the position state, cable chain configuration state, and gun line force state all meet the corresponding conditions, the pre-cooperative docking state is generated. This state indicates that the robot has completed its position adjustment before entering the target transport area, and both the cable chain and the gun line are within a controllable range, allowing it to enter the precise end-of-line docking control stage. If any judgment result does not meet the conditions, the pre-cooperative docking state is not generated, and the release adjustment judgment continues to be executed in the next control cycle, thus forming a closed-loop process of adjustment-detection-readjustment. When it is determined that no release adjustment is needed, the robot's current position, cable chain configuration, and cable tension information are coordinated and confirmed. If the current position, cable chain configuration, and cable tension meet the pre-docking requirements, a coordinated pre-docking state is directly generated. Specifically, when it is determined that no release adjustment is needed, the controller enters the coordination and confirmation process. In this process, no position correction is performed; instead, the current position and corresponding mechanical state are continuously verified for stability. The controller acquires the robot's current position over multiple consecutive control cycles. The system collects information on the cable chain morphology and the gun wire force, comparing the current data with the previous cycle to generate changes in position, cable chain morphology, and gun wire force. These continuous changes are used to determine if the system is in a stable convergence process: when the robot's current position continuously approaches the target transport area boundary along the transport direction, and the position change gradually decreases, while neither the cable chain morphology nor the gun wire force changes abruptly, the system is considered to be in a natural and coordinated convergence state. Based on this, the positional relationship between the current position and the target transport area is assessed. When the current position is outside the target transport area and the distance to the target transport area boundary is less than a preset approach range, it indicates that the robot has entered the pre-docking transition area. Simultaneously, the current cable chain morphology information is compared with the cable chain reference morphology range; when the morphology changes at each sampling point of the cable chain are within the reference range, the cable chain is considered to be in a stable deployment state. The gun wire force information is similarly compared; when the force change remains within the reference force fluctuation range, the gun wire is considered to be in a stable force state. When the aforementioned proximity relationship, cable chain stability, and force stability are simultaneously established within a series of control cycles, the controller confirms that the system can reach a pre-docking stability state without additional release adjustments under the current operating path, thereby generating a coordinated pre-docking state. This state is not formed by a single determination, but by a stable result obtained through continuous sampling and verification. When an increase in positional deviation, a sudden change in the drag chain shape, or abnormal fluctuations in the gun wire force occur within any cycle, the coordination confirmation process is terminated, and the coupling interference determination process is re-entered, thus ensuring that the pre-coordinated docking state is generated only when the system's natural convergence conditions are met.

[0028] The present invention is further configured such that the step of performing end-of-pipe fine-stop control based on the pre-docking state includes: The decision to enter the final stop control stage is based on the pre-docking state. Specifically, the pre-docking state indicates that the robot is near the target transport area, and the cable chain configuration and cable tension meet the requirements for final stop control. This state is generated by the previous release adjustment or coordination confirmation process and is an entry condition for final stop control. The PLC controller reads the pre-docking state in each motion control cycle, simultaneously acquiring the robot's current position and current segment transport status. When the pre-docking state is valid and the current segment transport status is the final stop segment, the robot enters the final stop control stage. If the pre-docking state is invalid, or the robot is still in a long-distance transport segment or approaching a transition segment, the robot does not enter the final stop control stage. This decision prevents the robot from directly performing a final stop when the cable chain configuration or cable tension is not yet stable, reducing the risk of disturbance during the final position correction process. If the system determines that it has not entered the final stop control stage, it maintains the current towing control state. Specifically, when it determines that the system has not entered the final stop control stage, the PLC controller maintains the current towing control state and continues to execute towing control according to the current segmented operation configuration. If the robot is approaching the transition segment, it continues to execute the speed convergence control of the transition segment; if the pre-docking state has not yet been met, it continues to collect robot position information, cable chain morphology information, and cable tension information, and returns to the coupling interference judgment or coordination confirmation process. The output of this process is not a final stop control command, but rather maintains the current interval operation state, allowing the system to continue to complete the state convergence required to enter the final stop stage. After entering the final stop control phase, the target final stop position is determined based on the robot's current position, the target transport area, and the transport direction. Specifically, after determining that the final stop control phase has begun, the PLC controller determines the target final stop position based on the robot's current position, the target transport area, and the transport direction. The target transport area is denoted as... ,in and These represent the two boundaries of the target transport area. The final stop target location. The target can be positioned at the center of the transport area, or it can be corrected by adjusting the installation offset of the automatic gun insertion mechanism. If there is no installation offset, then: If there is a fixed installation offset between the gun head clamping position and the vehicle interface First, the target center position is offset and corrected, and then the correction result is limited to the target towing area: ,in, The structural offset is caused by the charging gun clamping assembly and the gun insertion actuator during the installation and commissioning phase. This indicates boundary constraints, ensuring that the final stop target position does not exceed the target towing area. Through this process, the final stop target position corresponds to the mega-target towing area while also accommodating actual gun installation errors. The final stop control quantity is determined based on the positional deviation between the robot's current position and the target position for final stop, and position correction control is executed according to preset final stop operating parameters; specifically, the PLC controller acquires the robot's current position in each control cycle. and the terminal precision stopping target position Comparison, resulting in end-position deviation: The end-efficiency stop control variable represents the robot's low-speed position correction command within the current control cycle. The controller determines the motion direction based on the direction of the position deviation, determines the correction speed based on the magnitude of the position deviation, and limits the correction speed within the preset stop operation parameters. These preset stop operation parameters are derived from the servo robot's low-speed running capability, automatic gun insertion tolerance, and repeatability accuracy requirements, and are used to ensure a smooth position correction process. The speed control variable can be generated in the following form: ,in, The terminal precision stopping ratio coefficient represents the velocity correction intensity corresponding to a unit position deviation; The upper limit of the terminal's precise stopping speed is derived from the low-speed operation requirements at the terminal; `sat` indicates amplitude limiting processing. The controller will... The motion commands are converted into servo drive commands, causing the robot to gradually converge towards the end-effector's precise stopping target position along the guide rail. When the position error is less than the allowable error for precise stopping, the controller stops outputting position correction commands and maintains the robot's current position. The allowable error for precise stopping can be determined by the allowable error for automatic gun insertion and the robot's repeatability, with reference to the repeatability. It is usually set to a value no greater than the allowable error of the insertion gun; After the position correction control is completed, the robot's position information, cable chain morphology information, and gun wire force information after precise stopping are collected. Specifically, after the position correction control is completed, the PLC controller keeps the robot stationary for a short period of time and collects the robot's position information, cable chain morphology information, and gun wire force information after precise stopping. Before collection, the three types of data are timestamped and aligned. The position data uses stable values ​​within a continuous control cycle, the cable chain morphology information is freed from single-point mutations, and the gun wire force information is filtered to remove instantaneous pulse fluctuations. After processing, the robot's position information, cable chain morphology information, and gun wire force information after precise stopping are formed, which serve as inputs for subsequent stable docking determination. This collection process can confirm whether there are still residual states in the cable chain and gun wire that affect docking stability after the robot completes position convergence. In a specific implementation scenario, the target towing area is [11.970m, 12.030m], and the target position for precise stopping at the end without installation offset is 12.000m. After entering the end-point docking section, the robot's current position is 11.940m, with an end-point position deviation of 0.060m. The PLC controller outputs a low-speed correction command according to the end-point fine-stop operation parameters, causing the robot to move forward. As the position gradually approaches 12.000m, the control input decreases as the position deviation decreases. When the robot's position converges to the range of 11.996m to 12.004m, the position deviation meets the allowable error for fine-stopping, and position correction stops. Subsequently, the robot's position information, cable carrier morphology information, and gun wire force information after fine-stopping are collected, and the stable docking determination process begins. This process ensures that the end-point fine-stopping is driven by position deviation and gradually converges, avoiding overshoot caused by high-speed entry into the target area, and providing stable input for subsequent gun insertion and interlocking determination.

[0029] The present invention is further configured such that generating a stable docking determination result based on the robot's position information, cable chain morphology information, and gun wire force information after precise stopping includes: Based on the robot's position information after precise stopping and the target position of the end effector, the positional deviation of the robot's position after precise stopping relative to the target position is determined, and a positional deviation status after precise stopping is generated; specifically, the PLC controller records the preprocessed robot position as... The terminal precision stopping target position is recorded as The target position for the final stop is derived from the previous final stop control step, and is represented by a plus sign indicating the position the robot should converge to within the target transport area. The controller first compares... and The relative relationship is used to determine whether the robot is within the allowable range of the target towing area, and then the position deviation after precise stopping is calculated: ,in, This indicates the deviation of the robot's actual position after precision stopping from the target position of the end effector. If... If the position error is less than or equal to the preset position tolerance, a position qualification status is generated; if... If the position deviation exceeds the preset position tolerance, a position failure status is generated. The preset position tolerance is derived from the visual insertion gun tolerance and the repeatability of the guide robot. The robot's repeatability meets the ±5mm requirement, so this tolerance can be set according to both the insertion gun alignment requirements and the repeatability. The position deviation status after fine stopping is used to indicate whether the robot has stopped within the space range where insertion can be performed; Based on the cable chain morphology information after precise stopping and the preset cable chain reference morphology information, the deviation of the cable chain morphology after precise stopping is determined, and the cable chain morphology residual state is generated. Specifically, the PLC controller compares the cable chain morphology information after precise stopping with the preset cable chain reference morphology information. The cable chain morphology information represents the deployed state, bent state, or key segment posture of the cable chain after precise stopping; the preset cable chain reference morphology information comes from the normal morphology range of the cable chain recorded during the system debugging phase when the robot is stably docked and there is no abnormal pulling of the cable. For key segments of the cable chain, the current morphology quantity can be recorded as... The corresponding reference morphological quantity is denoted as The allowable fluctuation range of this reference point is denoted as This results in a residual in the cable chain shape. ,in, The number of critical cable chain segments involved in the judgment. This range of segment morphological fluctuations is derived from normal towing and stable docking during the commissioning phase. If If the residual value is less than or equal to the allowable residual threshold for the cable chain shape, then a qualified cable chain shape is generated; if... If the residual error exceeds the allowable threshold, a non-compliant cable chain condition is generated. This condition indicates whether the cable chain still exhibits a tendency to spring back, turn back, or accumulate locally after a precise stop. Based on the cable tension information after precise stopping and the preset cable reference tension information, the cable tension deviation after precise stopping is determined, and the cable tension residual state is generated. Specifically, the PLC controller compares the cable tension information after precise stopping with the preset cable reference tension information. The cable tension information represents the tension state of the cable relative to the robot's gripping end or stress relief structure after precise stopping; the preset cable reference tension information is derived from the tension range recorded during the system debugging phase when the robot is stably docked and the cable is in a normal relaxed or allowable tension state. The cable tension after precise stopping is denoted as... The preset gun line reference force is denoted as The allowable fluctuation range under normal stress is denoted as This results in a residual force on the gun line: ,in, This originates from the range of force fluctuations in the gun line under normal parking conditions. If If the residual value is less than or equal to the allowable residual value of the gun wire stress, then a qualified gun wire stress state is generated; if If the residual error exceeds the allowable threshold, a condition of unqualified gun wire tension is generated. This condition indicates whether the gun wire still suffers from insufficient tension, traction, or release after precision stopping. The consistency of the position deviation, cable chain morphology residual, and cable tension residual after precise stopping is determined. A stable stopping determination result is generated when all three conditions—position deviation, cable chain morphology deviation, and cable tension deviation—meet the stopping requirements. Specifically, the PLC controller performs consistency determination on the position deviation, cable chain morphology residual, and cable tension residual after precise stopping. This consistency determination means that all three conditions must simultaneously meet the stopping requirements: the robot position meets the insertion alignment requirements, the cable chain morphology meets the stable deployment requirements, and the cable tension meets the allowable stress requirements. The stable stopping determination result can be denoted as... When the position, cable chain shape, and cable tension are all met simultaneously, then... This indicates that a stable stop has been achieved; when any state is unqualified, it is ordered that... This indicates that stable docking has not been achieved. To avoid misjudgment from a single sampling, the PLC controller repeatedly executes the above consistency check over several consecutive control cycles. Only when all consecutive checks meet the requirements will a stable docking result be output. If the requirements are not met, plug-in control is not executed, and the system returns to end-point fine-stop control or release adjustment control for readjustment. The charging gun insertion control is executed based on the stable docking determination result. Specifically, when the stable docking determination result is true, the PLC controller outputs an insertion permission signal to the automatic insertion mechanism, controlling the insertion mechanism to perform the charging gun insertion action according to the preset insertion stroke and insertion speed. During the insertion process, the force information of the charging cable and the position feedback of the insertion mechanism are continuously monitored. If the force of the charging cable suddenly increases or the insertion stroke is abnormal, the insertion action is stopped and a system fault status is output. When the insertion mechanism completes the preset insertion stroke and no abnormal force is detected, the insertion action is confirmed to be completed. This control ensures that the insertion action is based on a stable state of position, cable chain, and charging cable force, reducing insertion deviations caused by robot micro-motion, cable chain rebound, or residual tension in the charging cable. In a specific implementation scenario, the target position for end-effector precision stopping is 12.000m, the robot position after precision stopping is 12.003m, and the allowable position error is 0.005m. Generates a qualified position status. Residual morphology of the cable chain after precise stopping. The allowable residual threshold for the cable chain configuration is 0.20, resulting in a qualified cable chain configuration. The residual force on the gun wire after precise stopping is also considered. The allowable residual threshold for the charging cable force is 0.18, generating a qualified charging cable force state. When all three states meet the requirements for multiple consecutive control cycles, a stable docking judgment result is output, and the PLC controller triggers the charging gun insertion control. If, in another case, the position deviation meets the requirements, but the charging cable force residual rises to 0.30, the stable docking judgment result is invalid, the system does not trigger the insertion action, and returns to the adjustment process. This comparison illustrates that the stable docking judgment not only depends on the robot's position but also simultaneously constrains the cable carrier shape and the charging cable force, thereby improving the reliability of the insertion control.

[0030] The present invention is further configured such that the step of performing interlocking analysis to generate charging permission results includes: After the charging gun is inserted, the high-voltage interlock status, gun wire temperature status, and system fault status of the charging interface are collected. Specifically, in this embodiment, after the rail-mounted charging robot completes the charging gun insertion, the PLC controller enters the charging permission interlock determination process. The input objects include the stable docking determination result, high-voltage interlock status, gun wire temperature status, and system fault status, and the output object is the charging permission result. The high-voltage interlock status is collected by the charging interface HVIL circuit, the gun wire temperature status is collected by the NTC temperature detection unit at the gun wire or gun head, and the system fault status is formed by the PLC summarizing emergency stop, limit, overload, communication abnormality, insertion abnormality, and drive abnormality. After the charging gun insertion control is completed, the PLC controller first keeps the charging circuit in an unstarted state, and then collects the high-voltage interlock status, gun wire temperature status, and system fault status of the charging interface. The high-voltage interlock status indicates whether the interlock circuit between the charging gun and the vehicle interface is closed, and its original signal comes from the HVIL circuit; the charging gun wire temperature status indicates the current thermal state of the charging gun wire or head, and its original signal comes from the NTC temperature detection unit; the system fault status indicates whether there is a fault in the current control system that prohibits charging, and its sources include emergency stop signals, travel limit signals, drive overload signals, communication abnormal signals, and plug-in abnormal signals. To avoid signal jitter at the moment of plug-in, the PLC controller reads the above statuses in several consecutive control cycles and timestamps the interlock, temperature, and fault data in the same cycle; when the high-voltage interlock signal remains closed in a continuous cycle, the temperature sampling does not show a single-point change, and the system fault signal does not show an abnormal mark, this set of data is used as a valid interlock input; A permissible temperature state is generated by comparing the current gun wire temperature with preset permissible temperature conditions, and a permissible fault state is determined based on the system fault status. Specifically, the PLC controller performs a permissible judgment on the gun wire temperature state. The current gun wire temperature is recorded as... The preset maximum allowable temperature is recorded as ,in The allowable operating temperature of the charging cable and nozzle, as well as the charging pile safety policy, are written into the controller during the system commissioning phase. And when the temperature does not continuously rise to near the upper limit within the continuous sampling period, a temperature allowable state is generated; when If the temperature continues to rise and reaches the preset over-temperature warning condition, a temperature prohibition state is generated. System fault states are generated from the PLC fault table. When emergency stop, limit switch, overload, communication abnormality, plug-in abnormality, and drive abnormality are not triggered, a fault allowance state is generated; when any fault is triggered, a fault prohibition state is generated. This process converts continuous temperature data and discrete fault signals into allowance states that can participate in interlocking combinations. The stable docking determination result, high-voltage interlock status, temperature allowable status, and fault allowable status are interlocked and combined to generate an interlocking determination status; specifically, the PLC controller records the stable docking determination result as... The high-voltage interlock status is recorded as The permissible temperature state is recorded as The fault-allowed state is recorded as The stable docking determination result is derived from the consistency judgment of the preceding position deviation, the cable chain morphology residual, and the gun wire stress residual; the high-voltage interlock status is derived from the HVL closure detection after gun insertion; the temperature allowable status is derived from the comparison of the gun wire temperature with the temperature allowable conditions; and the fault allowable status is derived from the system fault summary. The interlock determination status can be expressed as: When all four states are allowed, This indicates that the mechanical docking, electrical interlock, thermal state, and system operating state all meet the charging start conditions; when any of these states is prohibited, This indicates that there are unmet interlocking conditions. This interlocking combination ensures that the charging permitting result is simultaneously constrained by mechanical stability and electrical safety conditions, preventing charging from being initiated solely based on the closure of the high-voltage interlock. The charging permission is determined based on the interlock determination status, and a charging permission result is generated. Specifically, the PLC controller outputs the charging permission result based on the interlock determination status. When this occurs, a charging permission result is generated, and a charging permission signal is sent to the charging pile control side, causing the charging pile to enter the subsequent handshake or start the charging process; when When charging is prohibited, a charging prohibition result is generated, and the charging circuit remains in an inactive state, while a prohibition reason flag is output. The prohibition reason flag can be formed by unmet interlock items, such as stable docking not being established, high-voltage interlock not being closed, gun wire temperature exceeding the limit, or system fault existing. This output result participates in subsequent state judgment. When the charging prohibition state is established, it can be used as the trigger basis for reversal reset control; when the charging permission state is established, the system continues to monitor the charging process and continues to receive charging process status feedback from the charging pile.

[0031] The present invention is further configured such that, based on the charging permission result and the charging process status fed back by the charging pile, the state determination is performed, and the reversal reset control is executed when it is determined that charging is prohibited or charging is completed, including: The process involves acquiring the charging permission result, the charging process status fed back by the charging pile, and the robot's current position. Specifically, after generating the charging permission result, the PLC controller obtains the result from its internal interlocking decision process and acquires the charging process status through the communication interface with the charging pile. The charging permission result indicates whether the charging process is currently allowed, and its value can include "charging allowed" or "charging prohibited." The charging process status, fed back by the charging pile, indicates whether the robot is not started, charging in progress, charging completed, or abnormally terminated. The robot's current position is acquired by an absolute encoder and a laser positioning sensor, used to determine the starting point for the retraction control. The PLC controller performs continuous periodic confirmation of the charging process status. When the same status remains consistent across multiple consecutive communication refresh cycles, it is considered a valid status. The robot's current position undergoes timestamp alignment and position stability screening to avoid communication jitter or instantaneous positioning fluctuations affecting the retraction judgment. This step forms the basic input required for retraction reset, including the charging permission result, the valid charging process status, and the current robot guide rail position. The charging completion status is determined based on the charging process status. The charging completion status and the charging permission result are combined to generate a reset trigger status. Specifically, the PLC controller first performs stage recognition of the charging process status. When the charging pile feedback status is "charging complete," a charging completion status is generated; when the charging pile feedback status is "charging in progress" or "not started," a charging completion status is not generated. Then, the charging completion status is combined with the charging permission result to form the reset trigger status. The charging permission result can be denoted as... ,in This indicates that charging is permitted. Indicates that charging is prohibited; records the charging completion status as ,in This indicates that charging is complete. Indicates incomplete. Reset trigger state. It can be represented as: , ,in, This indicates that a rollback reset needs to be initiated. This indicates maintaining the current charging process state or the current docking state. Through this combinational logic, the two scenarios of charging prohibition and charging completion are uniformly transformed into the same reset trigger state, giving subsequent rollback control a clear initiation condition; When the reset trigger state is established, the retraction direction and retraction target are determined based on the robot's current position and preset standby position, and retraction reset control is executed according to preset retraction operation parameters; specifically, when the reset trigger state is established... At this time, the PLC controller calls the preset standby position as the retraction target. The preset standby position is the initial docking position of the guide rail set during the system installation and commissioning phase, used to restore the robot, cable chain, and gun line to a standby state. The robot's current position is recorded as... Record the preset standby position as The positional deviation between the two is: ,when When the pullback direction is determined to be the positive direction of the guide rail; when When, the direction of pullback is determined to be the opposite direction of the guide rail; when When the robot is in a position close to its standby position, the PLC controller controls its retraction according to preset retraction parameters. These preset parameters include retraction speed, acceleration / deceleration limits, and retraction stop conditions, derived from the robot's operational debugging results and the cable chain's stability requirements. During the retraction process, the controller continuously collects the robot's position and confirms that the current position gradually approaches the preset standby position along the retraction direction. If the direction of position change is inconsistent with the retraction direction, or if a limit switch, overload, or communication abnormality occurs, the retraction stops and a system fault status is output. The positional deviation between the retracted robot position and the preset standby position is determined. If the deviation is within the allowable range of the preset standby position, the retraction reset is completed. Specifically, after the robot executes the retraction control, the PLC controller obtains the robot's position after retraction. and compare it with the preset standby position. By comparing the two, we can determine the positional deviation after the pullback: The preset standby position allowable range is used to represent the deviation range within which the robot is allowed to be considered to have returned to the standby position. It originates from the guide rail positioning accuracy, the mechanical limit clearance of the standby position, and the cable chain reset stability requirements. The robot's repeatability is ±5mm, and this allowable range can be set to cover the repeatability error and the standby mechanical clearance. When When the robot is within the preset standby position range, the PLC controller confirms the retraction reset is complete and stops the retraction movement, putting the robot, cable chain, and gun line into standby mode; when When the position deviation exceeds the allowable range, the controller continues to perform low-speed retraction correction until the position deviation meets the allowable range, or outputs a reset abnormality status when the allowable number of corrections is exceeded. This step ensures that the retraction reset is completed from the trigger action to the position confirmation result, avoiding simply executing the retraction command without confirming the actual return to the standby position. In a specific implementation scenario, the electrical allowable result is to prohibit charging, i.e. Even if the charging process has not yet been completed, the PLC controller still generates a reset trigger state. Initiate retraction and reset. If the robot's current position is... The default standby position is Then the positional deviation The retraction direction is determined to be the reverse direction of the guide rail, and the robot is controlled to return to the standby position along the guide rail in the opposite direction. After retraction, the robot's position is... If the preset standby position allowable range is ±0.005m, then If the requirements are met, the PLC controller confirms the successful retraction and reset. If the charging permission result is "charging permitted" and the charging pile feedback status is "charging in progress," then... The system maintains the current charging process state and does not perform a reversal reset. This implementation method ensures that the reversal control is activated only when charging is prohibited or completed, and confirms the reset result by the position deviation after reversal, thereby improving the closed-loop control reliability of the towing system in the event of the charging process ending or abnormal prohibition.

[0032] The present invention is further characterized in that it includes: After the robot completes its retraction and reset, the force information of the gun wire and the morphology information of the cable chain are collected. Specifically, after determining that the robot has retracted to the allowable range of the preset standby position, the PLC controller controls the robot to remain stationary and collects the force information of the gun wire and the morphology information of the cable chain over several consecutive control cycles. During the collection process, the force data and cable chain morphology data at the same moment are timestamped and aligned; instantaneous pulse fluctuations are filtered out from the force information of the gun wire, and abrupt changes in a single sampling point are eliminated from the morphology information of the cable chain. Only when the change in the continuous sampling results is within the allowable fluctuation range of the sensor is it considered as valid state information after reset. This processing can avoid the influence of minor vibrations when the robot just stops and transient effects of cable chain rebound on the correction of reference information. Based on the deviation between the reset gun wire force information and the preset gun wire reference force information, the preset gun wire reference force information is corrected to generate updated gun wire reference force information; specifically, the PLC controller records the reset gun wire force information as... The currently stored preset gun line reference force information is recorded as The preset reference force information for the cable represents the baseline force level of the cable in standby or normal reset states. The initial value can be acquired during system installation and debugging when the robot is in standby position and the cable is in a normally extended state. The controller first compares... and Differences in force result in force deviations. When the force deviation is within the range of small sensor fluctuations, the current preset gun wire reference force information is maintained; when the force deviation is continuous and no fault state is triggered, the preset gun wire reference force information is gradually corrected according to the direction of deviation, generating updated gun wire reference force information. in, For the updated gun line reference force information, This is a reference force correction factor, with a value range of 0 < This is used to control the magnitude of a single correction, preventing a single reset sample value from directly overwriting the reference value. This correction coefficient can be determined during system debugging based on the stability of the force detection; a larger value is used when detection stability is high, and a smaller value is used when detection fluctuations are significant. Through this processing, the gun wire reference force information can be calibrated according to changes in clamping state and natural deformation of the gun wire caused by long-term use, while avoiding reference drift caused by a single abnormal sample. Based on the deviation between the reset cable chain configuration information and the preset cable chain reference configuration information, the preset cable chain reference configuration information is corrected to generate updated cable chain reference configuration information. Specifically, the PLC controller records the reset cable chain configuration information as follows: Record the currently stored preset drag chain reference shape information as The preset cable chain reference morphology information represents the baseline morphology of the cable chain in its normal reset and extended states. It can be composed of the position, orientation, or extended length of key cable chain segments. The initial values ​​are obtained from the cable chain's normal reset state during system installation and commissioning. (Controller comparison) and The differences result in deviations in the cable chain shape. When the cable chain shape deviation is within the normal swing range, the current preset cable chain reference shape information is maintained; when the shape deviation persists but does not meet the conditions for cable chain jamming or entanglement, the preset cable chain reference shape information is progressively corrected according to the deviation direction to generate updated cable chain reference shape information. ,in, For the updated drag chain reference form information, This is a reference morphological correction factor, with a value range of 0 < This is used to limit the magnitude of a single correction. If the cable chain morphology information consists of multiple key segments, the above correction is performed on each key segment separately, and the set of corrected key segment morphologies is used as the updated cable chain reference morphology information. This process allows the reference morphology to be calibrated according to the natural morphological changes of the cable chain after long-term bending, while avoiding writing jamming, reversal, or abnormal stacking states into the reference baseline.

[0033] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for linkage control of long-stroke charging gun cable towing, characterized in that, include: Receive charging task information from the charging pile, obtain the charging location information of the target vehicle, collect the robot's current location information for location matching and direction determination, and determine the target towing area; The robot's movement process between its current position and the target towing area is divided into intervals. Based on the interval division results, preset segmented operation parameters are called to execute towing control and generate segmented towing status. During the towing control process, robot position information, cable chain morphology information, and cable gun force information are collected. Combined with the segmented towing states, correlation analysis is performed to generate coupling interference judgment results. This includes: acquiring robot position information, cable chain morphology information, cable gun force information, and the current segmented towing state during towing control; generating a cable chain state deviation description by comparing the cable chain morphology information with preset cable chain reference morphology information; generating a cable gun force state deviation description by comparing the cable gun force information with preset cable gun reference force information; determining the robot's current position relative to the target towing area based on robot position information, the target towing area, and the current segmented towing state, and generating an end-point docking state description; correlating the cable chain state deviation description, cable gun force state deviation description, and end-point docking state description to generate a coupling interference description; and performing hierarchical judgment based on the coupling interference description to generate a coupling interference judgment result. Based on the coupling interference determination results, release adjustment control is executed when coupling interference exists, generating a coordinated pre-docking state. This includes: identifying the current interference level based on the coupling interference determination results, and determining whether to initiate release adjustment in conjunction with the current segmented towing state; when it is determined that release adjustment is required, comparing the positional deviation between the robot's current position and the target towing area, and determining the release adjustment orientation in conjunction with the current towing direction; classifying the release demand based on the deviation description of the cable chain state and the deviation description of the gun wire force state, determining the release adjustment range based on the release demand level, and controlling the robot to perform position correction along the release adjustment orientation to obtain the adjusted position; verifying the adjusted position, the adjusted cable chain shape information, and the adjusted gun wire force information, and generating a coordinated pre-docking state when the position deviation, cable chain shape deviation, and gun wire force deviation all meet the pre-docking requirements; when it is determined that release adjustment is not required, coordinating and confirming the robot's current position, cable chain shape information, and gun wire force information, and directly generating a coordinated pre-docking state when the current position, cable chain shape state, and gun wire force state meet the pre-docking requirements. Based on the state before coordinated docking, the end-point fine-stop control is executed. Based on the robot position information, drag chain shape information and gun wire force information after fine-stopping, a stable docking judgment result is generated. Based on the stable docking judgment result, the charging gun plugging control is executed. The system collects the high-voltage interlock status of the charging interface, the temperature status of the charging gun wire, and the system fault status. It then performs interlock analysis on the stable parking determination results, high-voltage interlock status, temperature status, and system fault status to generate a charging permission result. The status is determined based on the charging permission result and the charging process status fed back by the charging pile. When it is determined that charging is prohibited or charging is completed, the reversal and reset control is executed.

2. The method for linkage control of long-stroke charging gun cable towing according to claim 1, characterized in that, The target transport area includes: Receive charging task information from the charging pile and extract the charging location information of the target vehicle from the charging task information; Collect the robot's current position information, and perform guide rail orientation mapping processing on the robot's current position information to generate robot guide rail position data; The center position of the target towing area is generated by matching the target vehicle's charging location information and the preset guide rail reference information. The direction is determined and the towing direction is generated based on the positional relationship between the robot guide rail position data and the center position of the target towing area; The target docking area is determined based on the center location of the target towing area and the towing direction, and the target towing area is generated.

3. The method for linkage control of long-stroke charging gun cable towing according to claim 2, characterized in that, The robot's movement between its current position and the target transport area is divided into intervals. Based on the interval division results, preset segmented operation parameters are invoked to execute transport control and generate segmented transport states, including: Based on the robot guide rail position data, the target towing area, and the towing direction, determine the starting position and ending boundary of the towing process; Based on the starting position and ending boundary of the towing process, the movement process between the robot's current position and the target towing area is divided into intervals, namely, long-distance towing segment, approach transition segment and end docking segment, and interval division results are generated. Based on the interval division results, the corresponding preset segmented operation parameters are called to generate the segmented operation configuration; The towing control is executed according to the segmented operation configuration. The status of the interval to which the robot's current position belongs is determined, and the segmented towing status is generated by combining the interval status determination result and the robot's current position.

4. The method for linkage control of long-stroke charging gun cable towing according to claim 1, characterized in that, The final precise stop control, based on the pre-dock status, includes: Determine whether to enter the final fine-stop control phase based on the pre-dock status; If it is determined that the final stop control phase has not been entered, maintain the current towing control status; After entering the end-point precision stop control stage, the end-point precision stop target position is determined based on the robot's current position, target towing area, and towing direction; The final stop control quantity is determined based on the positional deviation between the robot's current position and the target position for final stop, and position correction control is executed according to the preset final stop operation parameters; After the position correction control is completed, the robot's position information, cable morphology information, and gun wire force information are collected after the precise stop.

5. The method for linkage control of long-stroke charging gun cable towing according to claim 4, characterized in that, Based on the robot's position information, cable chain morphology information, and gun wire force information after precise stopping, a stable docking determination result is generated, including: Based on the robot's position information after fine stopping and the end-effector fine stopping target position, determine the position deviation of the robot's position after fine stopping relative to the end-effector fine stopping target position, and generate the position deviation status after fine stopping; Based on the cable chain shape information after precise stopping and the preset cable chain reference shape information, determine the deviation of the cable chain shape after precise stopping and generate the cable chain shape residual state; Based on the force information of the gun line after fine stopping and the preset reference force information of the gun line, determine the force deviation of the gun line after fine stopping and generate the force residual state of the gun line; Consistency judgment is made on the position deviation state, drag chain shape residual state and gun line force residual state after fine stopping. Stable stopping judgment result is generated when the position deviation, drag chain shape deviation and gun line force deviation all meet the stopping requirements. The charging gun connection control is executed based on the stable parking determination result.

6. The method for linkage control of long-stroke charging gun cable towing according to claim 5, characterized in that, The interlocking analysis generates charging permission results including: After the charging gun is inserted, the high voltage interlock status of the charging interface, the temperature status of the charging wire, and the system fault status are collected. The temperature allowable state is generated by comparing the gun wire temperature status with the preset temperature allowable conditions, and the fault allowable state is determined based on the system fault status. The stable parking determination result, high voltage interlock status, temperature allowable status and fault allowable status are interlocked and combined to generate the interlock determination status; Based on the interlock determination status, a charging permission determination is made, and a charging permission result is generated.

7. The method for linkage control of long-stroke charging gun cable towing according to claim 1, characterized in that, Based on the charging permission result and the charging process status fed back by the charging pile, a status judgment is made, and when it is determined that charging is prohibited or charging is completed, a reversal reset control is executed, including: Obtain the charging permission result, the charging process status fed back by the charging pile, and the robot's current position; The charging completion status is determined based on the charging process status, and the charging completion status and the charging permission result are combined to generate the reset trigger status. When the reset trigger state is established, the retraction direction and retraction target are determined according to the robot's current position and preset standby position, and the retraction reset control is executed according to the preset retraction operation parameters. The positional deviation between the robot's position after retraction and the preset standby position is determined, and the retraction and reset are completed when the positional deviation is within the allowable range of the preset standby position.

8. The method for linkage control of long-stroke charging gun cable towing according to claim 7, characterized in that, Also includes: After completing the retraction and reset, collect the force information of the gun wire and the drag chain morphology information after the reset; Based on the deviation between the reset gun wire force information and the preset gun wire reference force information, the preset gun wire reference force information is corrected to generate updated gun wire reference force information. Based on the deviation between the reset cable chain shape information and the preset cable chain reference shape information, the preset cable chain reference shape information is corrected to generate updated cable chain reference shape information.

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