A method for measuring the actual position of a vehicle plug

Abstract

This invention relates to the field of automatic charging technology for electric vehicles and discloses a method for measuring the actual pose of a vehicle plug. The method first uses the measurement components of a laser tracker to establish the planar equation of the socket contact surface and determine the pose transformation relationship between the pose measurement components and the vehicle plug. Then, detection points are arranged along the outer contour line on the plug contact surface to collect trajectory data during the vehicle interface connection process. Based on this, the spatial position of each detection point in the reference coordinate system is calculated. Furthermore, the directed distance from each detection point to the socket contact surface is calculated, and the positive or negative change of the minimum directed distance is used to determine whether the plug is in contact with the socket contact surface. Once contact is determined, the actual pose of the vehicle plug at the moment it just touches the socket contact surface is calculated through interpolation. This invention can complete all measurements using only a laser tracker and its measurement components, offering advantages such as simplified equipment, low cost, easy operation, and high measurement accuracy.

Description

Technical Field

[0001] This invention relates to the field of automatic charging technology for electric vehicles, specifically a method for measuring the actual position of a vehicle plug. Background Technology

[0002] With the rapid development of autonomous driving and automatic parking technologies for electric vehicles, automatic charging technology is gradually entering people's lives and work. Automatic charging equipment (such as charging robots) that replace manual labor in plugging and unplugging charging guns has become an important technological direction for improving charging convenience and safety. Currently, electric vehicle charging robots vary in appearance, weight, size, and performance, and the technical levels of different products or prototypes are inconsistent. The accuracy of vehicle interface connection is a crucial indicator for evaluating the robot's technical level, directly affecting the success rate of connecting the robot to the vehicle's plug and socket.

[0003] In terms of existing measurement technologies, common pose measurement methods include visual imaging, binocular vision localization, and ultrasonic pose measurement. For example, machine vision-based methods determine the target pose through image acquisition and feature recognition, but are greatly affected by factors such as lighting conditions and occlusion; while binocular vision-based methods can achieve 3D localization, the system is complex and the calibration process is cumbersome. Laser trackers, as a high-precision, large-size measurement device, have been applied in fields such as automobile manufacturing and robot calibration, but there is still no mature technical solution for measuring the actual pose of vehicle plugs.

[0004] In summary, the existing technology lacks a method for measuring the actual position of vehicle plugs that is simple to operate, easy to measure, and has high measurement accuracy, making it difficult to meet the actual needs of performance testing of automatic charging equipment. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method for measuring the actual position of a vehicle plug. This method has the advantages of requiring only a laser tracker and its measuring components to complete the measurement, resulting in simplified equipment, easy operation, low cost, high accuracy, and ease of engineering implementation, thus solving the aforementioned technical problems.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for measuring the actual position of a vehicle plug, comprising the following steps: S1: Establish the plane equation of the socket contact surface; S2: Install the pose measurement component and determine the pose transformation relationship; S3: Establish detection points along the outer contour of the vehicle plug on the plug contact surface; S4: Record the vehicle interface connection trajectory data and calculate the position coordinates of each detection point in the reference coordinate system based on the trajectory data; S5: Based on the plane equation and the position coordinates of the detection points, calculate the directed distance from each detection point to the socket contact surface; S6: Based on the directional distance, determine the positional relationship between the vehicle plug and the socket contact surface; S7: When it is determined that the outer contour of the vehicle plug is in contact with the contact surface of the socket, the actual position of the vehicle plug is calculated by interpolation coefficient.

[0007] As a preferred embodiment of the present invention, the plane equation of the socket contact surface in S1 is a point-normal equation, and its expression is: ; in, Here are the coordinates of the center point of the socket in the reference coordinate system. , and These are the x, y, and z coordinates of the center point of the socket, respectively. Let be the normal vector of the socket contact surface in the reference coordinate system. , and These are the x-component, y-component, and z-component of the plane normal vector, respectively. Let be the coordinates of any moving point on the plane. , and Let x, y, and z be the x, y, and z coordinates of any moving point on the plane, respectively. The pose of the socket contact surface is measured by fitting the socket coordinate system. The pose in the reference coordinate system is expressed as: , Indicates the first rotational component. Indicates the second rotational component. Indicates the third rotational component. Indicates the center point of the socket. , and These represent the three coordinate axes of the socket coordinate system, including the X-axis, Y-axis, and Z-axis.

[0008] As a preferred embodiment of the present invention, the method for determining the pose transformation relationship in S2 is specifically as follows: A pose measurement component is installed using a dedicated tooling, and the plug coordinate system is measured using a fitting method. The pose in the reference coordinate system is represented as Read the coordinate system of the pose measurement component from the laser tracker. The pose in the reference coordinate system is represented as Then, establish the homogeneous transformation matrix between the plug coordinate system and the component coordinate system. ,in, This represents the x-coordinate of the center point of the plug. This represents the y-coordinate of the center point of the plug. This represents the z-coordinate of the center point of the plug. The first rotational component represents the center point of the plug. The second rotational component represents the center point of the plug. The third rotational component represents the center point of the plug. This represents the x-coordinate of the pose measurement component. This represents the y-coordinate of the pose measurement component. This represents the z-coordinate of the pose measurement component. This represents the first rotational component of the pose measurement component. This represents the second rotational component of the pose measurement component. This represents the third rotational component of the pose measurement component. Indicates the center point of the plug. , and These represent the three coordinate axes of the plug coordinate system, including the X-axis, Y-axis, and Z-axis. Indicates the center point of the pose measurement component. , and These represent the three coordinate axes of the pose measurement component, including the X-axis, Y-axis, and Z-axis.

[0009] As a preferred embodiment of the present invention, in step S3, the detection points established along the outer contour line of the vehicle plug are evenly distributed along the outer contour line of the vehicle plug on the plug contact surface, and the number of detection points is not less than 75. The coordinates of each detection point in the plug coordinate system are: ; in, Indicates the first The coordinates of each detection point in the plug coordinate system; , and They represent the first The x, y, and z coordinates of each detection point in the plug coordinate system; This indicates the total number of testing sites.

[0010] As a preferred embodiment of the present invention, the vehicle interface connection trajectory data in S4 specifically comprises: the running trajectory of the vehicle plug, which is continuously collected starting when the vehicle plug is about to be inserted into the vehicle socket. The running trajectory of the vehicle plug includes the pose of each sampling point in the plug coordinate system, and its expression is as follows: ; in, , and They represent the first The x, y, and z coordinates of each trajectory sampling point in the plug coordinate system; Indicates the first The first rotational component of the coordinate system of the plug at each trajectory sampling point; Indicates the first The second rotational component of the coordinate system of the plug at each trajectory sampling point; Indicates the first The third rotation component of the coordinate system of the plug at each trajectory sampling point.

[0011] As a preferred embodiment of the present invention, the expression for the position coordinates of each detection point in the reference coordinate system in S4 is as follows: ; in, Indicates the first The first trajectory sampling point The location coordinates of each detection point; , and They were respectively in the second The first trajectory sampling point The x, y, and z coordinates of each detection point in the reference coordinate system; This indicates the number of trajectory sampling points.

[0012] As a preferred embodiment of the present invention, the formula for calculating the directed distance from each detection point to the socket contact surface in step S5 is as follows: ; in, Indicates the first The trajectory sampling point The directed distance from each detection point to the socket contact surface; Indicates the first The trajectory sampling point The position coordinates of each detection point in the reference coordinate system , and They were respectively in the second The first trajectory sampling point The x, y, and z coordinates of each detection point in the reference coordinate system; Here are the coordinates of the center point of the socket in the reference coordinate system. , and These are the x, y, and z coordinates of the center point of the socket, respectively. Let be the normal vector of the socket contact surface in the reference coordinate system. , and These are the x-component, y-component, and z-component of the plane normal vector, respectively.

[0013] As a preferred embodiment of the present invention, determining the positional relationship between the vehicle plug and the socket contact surface in step S6 includes the following steps: S6.1: Calculate the first... The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface. ,in, Indicates the first The trajectory sampling point The directed distance from each detection point to the socket contact surface. This indicates the total number of testing sites. This indicates taking the minimum value; S6.2: Minimum value based on directed distance To determine whether the vehicle plug is in contact with the socket contact surface, specifically: when When >0, determine the first The outer contour of the vehicle plug at each trajectory sampling point has not yet contacted the socket contact surface. When ≤0, determine the first The outer contour of the vehicle plug at each trajectory sampling point just touches or has passed through the socket contact surface; S6.3: Calculate the moment when the vehicle plug and socket contact surfaces come into contact. Two adjacent trajectory sampling points must meet the following rules: ; in, Indicates the first The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface; At this point, the outer contour line of the vehicle plug is determined to be at the [missing information]. The trajectory sampling point and the first The trajectory sampling points make contact with the socket contact surface.

[0014] 9. The method for measuring the actual position of a vehicle plug according to claim 1, characterized in that: the expression for the interpolation coefficient in step S7 is as follows: ; in, Represents the interpolation coefficients when the actual pose is achieved; Indicates the first The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface; Indicates the first The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface.

[0015] As a preferred embodiment of the present invention, the expression for the actual position of the vehicle plug in step S7 is as follows: ; in, This indicates the correct position of the vehicle's plug. , and These are the x, y, and z coordinates of the actual position of the vehicle plug, respectively. The first rotational component is the actual position of the vehicle plug. The second rotational component is the actual position of the vehicle plug. The third rotational component is the actual position of the vehicle plug; Represents the interpolation coefficients when the actual pose is achieved; , and They represent the first The trajectory sampling points are located in the x, y, and z coordinates of the plug coordinate system; Indicates the first The first rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The second rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The trajectory sampling points are located in the third rotation component of the plug coordinate system; , and They represent the first The trajectory sampling points are located at the x, y, and z coordinates of the plug coordinate system; Indicates the first The first rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The second rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The trajectory sampling points are located in the third rotational component of the plug coordinate system.

[0016] Compared with the prior art, the present invention provides a method for measuring the actual position of a vehicle plug, which has the following advantages: 1. This invention can measure the actual position of the vehicle plug using a laser tracker and its spatial point coordinate measurement component and pose measurement component, without the need for other complex measurement equipment. This significantly reduces the cost of testing equipment and simplifies the testing system architecture. It is currently the measurement solution with the fewest devices used in the industry and has good economic and engineering practicality.

[0017] 2. This invention calibrates the detection points on the outer contour line of the vehicle plug on the plug contact surface and calculates the directed distance from each detection point to the socket contact surface. It uses the critical moment when the minimum directed distance changes from positive to negative to determine the contact state between the plug and the socket. The measurement logic is clear and the steps are simple. It does not require complicated image processing or calibration processes, which greatly improves the testing efficiency.

[0018] 3. This invention fully ensures the complete description of the geometric features of the outer contour by uniformly setting no less than 75 detection points along the outer contour line on the plug contact surface and increasing the density of detection points on local protruding line segments; combined with the linear interpolation algorithm to accurately calculate the pose at the critical moment of contact, it effectively improves the measurement accuracy of the actual pose and provides a reliable data foundation for the accurate evaluation of the vehicle interface connection accuracy. Attached Figure Description

[0019] Figure 1 A schematic diagram illustrating the concepts related to vehicle plugs and vehicle sockets; Figure 2 This is a schematic diagram of the fitting method; Figure 3 A schematic diagram showing the distribution of detection points along the outer contour of the vehicle plug on the plug contact surface. Figure 4 This is a schematic diagram of the process of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-4 A method for measuring the actual position of a vehicle plug includes the following steps: S1: Establish the plane equation of the socket contact surface; The plane equation of the socket contact surface is a point-normal form equation, and its expression is: ; in, Here are the coordinates of the center point of the socket in the reference coordinate system. , and These are the x, y, and z coordinates of the center point of the socket, respectively. Let be the normal vector of the socket contact surface in the reference coordinate system. , and These are the x-component, y-component, and z-component of the plane normal vector, respectively. Let be the coordinates of any moving point on the plane. , and Let x, y, and z be the x, y, and z coordinates of any moving point on the plane, respectively. The pose of the socket contact surface is measured by fitting the socket coordinate system. The pose in the reference coordinate system is expressed as: , Indicates the first rotational component. Indicates the second rotational component. Indicates the third rotational component. Indicates the center point of the socket. , and These represent the three coordinate axes of the socket coordinate system, including the X-axis, Y-axis, and Z-axis, as shown in the diagram. Figure 1 As shown; A schematic diagram of the fitting method is shown below. Figure 2 As shown, the measurement steps are as follows: Step A1: Obtain coordinates using the point coordinate measurement component Figure 2 After determining the coordinates of several points in the blue area, the Z-axis is determined using a mathematical fitting method (such as the least squares method). Step A2: Obtain coordinates using the point coordinate measurement component Figure 2 After determining the coordinates of several points in the red area, a mathematical fitting method (such as the least squares method) is used to determine the socket contact surface. Step A3: Determine the ideal insertion pose using the Z-axis and the socket contact surface; S2: Install the pose measurement component and determine the pose transformation relationship; The specific method for determining the pose transformation relationship is as follows: A pose measurement component is installed using a dedicated fixture, and the plug coordinate system is measured using a fitting method. The pose in the reference coordinate system is represented as Read the coordinate system of the pose measurement component from the laser tracker. The pose in the reference coordinate system is represented as Then, establish the homogeneous transformation matrix between the plug coordinate system and the component coordinate system. ,in, This represents the x-coordinate of the center point of the plug. This represents the y-coordinate of the center point of the plug. This represents the z-coordinate of the center point of the plug. The first rotational component represents the center point of the plug. The second rotational component represents the center point of the plug. The third rotational component represents the center point of the plug. This represents the x-coordinate of the pose measurement component. This represents the y-coordinate of the pose measurement component. This represents the z-coordinate of the pose measurement component. This represents the first rotational component of the pose measurement component. This represents the second rotational component of the pose measurement component. This represents the third rotational component of the pose measurement component. Indicates the center point of the plug. , and These represent the three coordinate axes of the plug coordinate system, including the X-axis, Y-axis, and Z-axis. Indicates the center point of the pose measurement component. , and These represent the three coordinate axes of the pose measurement component, including the X-axis, Y-axis, and Z-axis. S3: Establish detection points along the outer contour of the vehicle plug on the plug contact surface; Establishing test points along the outer contour of the vehicle plug involves evenly distributing them along the outer contour of the plug on the contact surface, with a minimum of 75 test points. The coordinates of each detection point in the plug coordinate system are: ; in, Indicates the first The coordinates of each detection point in the plug coordinate system; , and They represent the first The x, y, and z coordinates of each detection point in the plug coordinate system; Indicates the total number of testing sites; The distribution diagram of the detection points of the outer contour line is shown below. Figure 3 As shown, when setting up the detection points, the possibility of contact between the outer contour of the vehicle plug and the contact surface of the socket should also be considered. For locally protruding line segments, the number of detection points should be increased appropriately. S4: Record the vehicle interface connection trajectory data and calculate the position coordinates of each detection point in the reference coordinate system based on the trajectory data; The trajectory of the vehicle plug is continuously collected starting as it is about to be inserted into the vehicle socket. The trajectory includes the pose of each sampling point in the plug coordinate system, and its expression is as follows: ; in, , and They represent the first The x, y, and z coordinates of each trajectory sampling point in the plug coordinate system; Indicates the first The first rotational component of the coordinate system of the plug at each trajectory sampling point; Indicates the first The second rotational component of the coordinate system of the plug at each trajectory sampling point; Indicates the first The third rotational component of the coordinate system of the plug at each trajectory sampling point; The expressions for the position coordinates of each detection point in the reference coordinate system are as follows: ; in, Indicates the first The first trajectory sampling point The location coordinates of each detection point; , and They were respectively in the second The first trajectory sampling point The x, y, and z coordinates of each detection point in the reference coordinate system; Indicates the number of trajectory sampling points; S5: Based on the plane equation and the position coordinates of the detection points, calculate the directed distance from each detection point to the socket contact surface; The formula for calculating the directed distance from each detection point to the socket contact surface is as follows: ; in, Indicates the first The trajectory sampling point The directed distance from each detection point to the socket contact surface; Indicates the first The trajectory sampling point The position coordinates of each detection point in the reference coordinate system , and They were respectively in the second The first trajectory sampling point The x, y, and z coordinates of each detection point in the reference coordinate system; Here are the coordinates of the center point of the socket in the reference coordinate system. , and These are the x, y, and z coordinates of the center point of the socket, respectively. Let be the normal vector of the socket contact surface in the reference coordinate system. , and These are the x-component, y-component, and z-component of the plane normal vector, respectively. S6: Determine the positional relationship between the vehicle plug and socket contact surfaces based on directed distance, including the following steps: S6.1: Calculate the first... The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface. ,in, Indicates the first The trajectory sampling point The directed distance from each detection point to the socket contact surface. This indicates the total number of testing sites. This indicates taking the minimum value; S6.2: Minimum value based on directed distance To determine whether the vehicle plug is in contact with the socket contact surface, specifically: when When >0, determine the first The outer contour of the vehicle plug at each trajectory sampling point has not yet contacted the socket contact surface. When ≤0, determine the first The outer contour of the vehicle plug at each trajectory sampling point just touches or has passed through the socket contact surface; S6.3: Calculate the moment when the vehicle plug and socket contact surfaces come into contact. Two adjacent trajectory sampling points must meet the following rules: ; in, Indicates the first The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface; At this point, the outer contour line of the vehicle plug is determined to be at the [missing information]. The trajectory sampling point and the first The trajectory sampling points make contact with the socket contact surface; S7: When it is determined that the outer contour of the vehicle plug is in contact with the contact surface of the socket, the actual position of the vehicle plug is calculated by the interpolation coefficient. The expressions for the interpolation coefficients are as follows: ; in, Represents the interpolation coefficients when the actual pose is achieved; Indicates the first The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface; Indicates the first The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface; The expression for the actual position of the vehicle plug is as follows: ; in, This indicates the correct position of the vehicle's plug. , and These are the x, y, and z coordinates of the actual position of the vehicle plug, respectively. The first rotational component is the actual position of the vehicle plug. The second rotational component is the actual position of the vehicle plug. The third rotational component is the actual position of the vehicle plug; Represents the interpolation coefficients when the actual pose is achieved; , and They represent the first The trajectory sampling points are located in the x, y, and z coordinates of the plug coordinate system; Indicates the first The first rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The second rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The trajectory sampling points are located in the third rotation component of the plug coordinate system; , and They represent the first The trajectory sampling points are located at the x, y, and z coordinates of the plug coordinate system; Indicates the first The first rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The second rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The trajectory sampling points are located in the third rotational component of the plug coordinate system.

[0022] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for measuring the actual position of a vehicle plug, characterized in that: Includes the following steps: S1: Establish the plane equation of the socket contact surface; S2: Install the pose measurement component and determine the pose transformation relationship; S3: Establish detection points along the outer contour of the vehicle plug on the plug contact surface; S4: Record the vehicle interface connection trajectory data and calculate the position coordinates of each detection point in the reference coordinate system based on the trajectory data; S5: Based on the plane equation and the position coordinates of the detection points, calculate the directed distance from each detection point to the socket contact surface; S6: Based on the directional distance, determine the positional relationship between the vehicle plug and the socket contact surface; S7: When it is determined that the outer contour of the vehicle plug is in contact with the contact surface of the socket, the actual position of the vehicle plug is calculated by interpolation coefficient.

2. The method for measuring the actual position of a vehicle plug according to claim 1, characterized in that: The plane equation of the socket contact surface in S1 is a point-normal equation, and its expression is: ； in, Here are the coordinates of the center point of the socket in the reference coordinate system. , and These are the x, y, and z coordinates of the center point of the socket, respectively. Let be the normal vector of the socket contact surface in the reference coordinate system. , and These are the x-component, y-component, and z-component of the plane normal vector, respectively. Let be the coordinates of any moving point on the plane. , and Let x, y, and z be the x, y, and z coordinates of any moving point on the plane, respectively. The pose of the socket contact surface is measured by fitting the socket coordinate system. The pose in the reference coordinate system is expressed as: , Indicates the first rotational component. Indicates the second rotational component. Indicates the third rotational component. Indicates the center point of the socket. , and These represent the three coordinate axes of the socket coordinate system, including the X-axis, Y-axis, and Z-axis.

3. The method for measuring the actual position of a vehicle plug according to claim 1, characterized in that: The specific method for determining the pose transformation relationship in S2 is as follows: A pose measurement component is installed using a dedicated fixture, and the plug coordinate system is measured using a fitting method. The pose in the reference coordinate system is represented as Read the coordinate system of the pose measurement component from the laser tracker. The pose in the reference coordinate system is represented as Then, establish the homogeneous transformation matrix between the plug coordinate system and the component coordinate system. ,in, This represents the x-coordinate of the center point of the plug. This represents the y-coordinate of the center point of the plug. This represents the z-coordinate of the center point of the plug. The first rotational component represents the center point of the plug. The second rotational component represents the center point of the plug. The third rotational component represents the center point of the plug. This represents the x-coordinate of the pose measurement component. This represents the y-coordinate of the pose measurement component. This represents the z-coordinate of the pose measurement component. This represents the first rotational component of the pose measurement component. This represents the second rotational component of the pose measurement component. This represents the third rotational component of the pose measurement component. Indicates the center point of the plug. , and These represent the three coordinate axes of the plug coordinate system, including the X-axis, Y-axis, and Z-axis. Indicates the center point of the pose measurement component. , and These represent the three coordinate axes of the pose measurement component, including the X-axis, Y-axis, and Z-axis.

4. The method for measuring the actual position of a vehicle plug according to claim 1, characterized in that: In step S3, the detection points established along the outer contour of the vehicle plug are evenly distributed along the outer contour of the vehicle plug on the plug contact surface, and the number of detection points is not less than 75. The coordinates of each detection point in the plug coordinate system are: ； in, Indicates the first The coordinates of each detection point in the plug coordinate system; , and They represent the first The x, y, and z coordinates of each detection point in the plug coordinate system; This indicates the total number of testing sites.

5. The method for measuring the actual position of a vehicle plug according to claim 1, characterized in that: The vehicle interface connection trajectory data in S4 specifically refers to the continuous acquisition of the vehicle plug's trajectory as it is about to be inserted into the vehicle socket. The vehicle plug's trajectory includes the pose of each sampling point in the plug coordinate system, and its expression is as follows: ; in, , and They represent the first The x, y, and z coordinates of each trajectory sampling point in the plug coordinate system; Indicates the first The first rotational component of the coordinate system of the plug at each trajectory sampling point; Indicates the first The second rotational component of the coordinate system of the plug at each trajectory sampling point; Indicates the first The third rotation component of the coordinate system of the plug at each trajectory sampling point.

6. The method for measuring the actual position of a vehicle plug according to claim 1, characterized in that: The expressions for the position coordinates of each detection point in S4 in the reference coordinate system are as follows: ； in, Indicates the first The first trajectory sampling point The location coordinates of each detection point; , and They were respectively in the second The first trajectory sampling point The x, y, and z coordinates of each detection point in the reference coordinate system; This indicates the number of trajectory sampling points.

7. The method for measuring the actual position of a vehicle plug according to claim 1, characterized in that: The formula for calculating the directed distance from each detection point to the socket contact surface in S5 is as follows: ； in, Indicates the first The trajectory sampling point The directed distance from each detection point to the socket contact surface; Indicates the first The trajectory sampling point The position coordinates of each detection point in the reference coordinate system , and They were respectively in the second The first trajectory sampling point The x, y, and z coordinates of each detection point in the reference coordinate system; Here are the coordinates of the center point of the socket in the reference coordinate system. , and These are the x, y, and z coordinates of the center point of the socket, respectively. Let be the normal vector of the socket contact surface in the reference coordinate system. , and These are the x-component, y-component, and z-component of the plane normal vector, respectively.

8. The method for measuring the actual position of a vehicle plug according to claim 1, characterized in that: Determining the positional relationship between the vehicle plug and the socket contact surface in step S6 includes the following steps: S6.1: Calculate the first... The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface. ,in, Indicates the first The trajectory sampling point The directed distance from each detection point to the socket contact surface. This indicates the total number of testing sites. This indicates taking the minimum value; S6.2: Minimum value based on directed distance To determine whether the vehicle plug is in contact with the socket contact surface, specifically: when When >0, determine the first The outer contour of the vehicle plug at each trajectory sampling point has not yet contacted the socket contact surface. When ≤0, determine the first The outer contour of the vehicle plug at each trajectory sampling point just touches or has passed through the socket contact surface; S6.3: Calculate the moment when the vehicle plug and socket contact surfaces come into contact. Two adjacent trajectory sampling points must meet the following rules: ； in, Indicates the first The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface; At this point, the outer contour line of the vehicle plug is determined to be at the [missing information]. The trajectory sampling point and the first The trajectory sampling points make contact with the socket contact surface.

9. The method for measuring the actual position of a vehicle plug according to claim 1, characterized in that: The expressions for the interpolation coefficients in S7 are as follows: ； in, Represents the interpolation coefficients when the actual pose is achieved; Indicates the first The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface; Indicates the first The minimum directed distance from all detection points at each trajectory sampling point to the socket contact surface.

10. The method for measuring the actual position of a vehicle plug according to claim 1, characterized in that: The expression for the actual position of the vehicle plug in S7 is as follows: ； in, This indicates the correct position of the vehicle's plug. , and These are the x, y, and z coordinates of the actual position of the vehicle plug, respectively. The first rotational component is the actual position of the vehicle plug. The second rotational component is the actual position of the vehicle plug. The third rotational component is the actual position of the vehicle plug; Represents the interpolation coefficients when the actual pose is achieved; , and They represent the first The trajectory sampling points are located in the x, y, and z coordinates of the plug coordinate system; Indicates the first The first rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The second rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The trajectory sampling points are located in the third rotation component of the plug coordinate system; , and They represent the first The trajectory sampling points are located at the x, y, and z coordinates of the plug coordinate system; Indicates the first The first rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The second rotational component of the trajectory sampling points in the plug coordinate system; Indicates the first The trajectory sampling points are located in the third rotational component of the plug coordinate system.

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