Charging assembly docking method, computer device, and storage medium

Abstract

The application discloses a docking method of a charging assembly, a computer device and a storage medium, acquires sea level data of a vehicle and a charging robot and determines a docking reference height based on the data, establishes a unified physical reference system for the charging assemblies of both sides, further measures distance sets of the vehicle charging assembly and the robot charging assembly relative to the same docking reference height, so that the height states of both sides are quantitatively described under the same reference, calculates the height deviation of the vehicle charging assembly and the robot charging assembly in the docking direction according to the distance sets, adjusts the height of the vehicle charging assembly and / or the robot charging assembly according to the height deviation, and the height deviation is less than a deviation threshold until the height deviation is less than the deviation threshold, and the robot charging assembly and the vehicle charging assembly are docked to control the charging robot to charge the vehicle, so that the problem that the traditional scheme cannot be cooperatively adjusted due to the lack of a unified reference and needs to rely on direct mutual measurement and is easily affected by signal interruption is solved.

Description

Technical Field

[0001] This invention relates to the field of charging alignment technology, specifically to a method for docking charging components, a computer device, and a storage medium. Background Technology

[0002] Existing automatic charging docking solutions for electric vehicles typically rely on onboard cameras, radar, and other sensors to visually locate and measure the distance to the charging interface of the charging robot or charging station. By recognizing the other party's position and posture, the robot guides its own charging components to complete the docking. This type of solution requires the vehicle and robot to maintain a direct sensor signal link throughout the docking process, with each party measuring its relative position using itself as a reference frame.

[0003] However, since the vehicle and the robot are different moving entities, their sensors have different measurement benchmarks. When the charging component's posture changes due to ground tilt, suspension deformation, or load changes on one side, the other side has difficulty accurately sensing this change, resulting in a decrease in docking accuracy. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a docking method for charging components, a computer device, and a storage medium to solve the problem that direct mutual measurement between vehicles and robots lacks a common reference baseline, and that the measurement data of both parties are prone to mutual interference, making it difficult to effectively distinguish the sources of their respective height errors.

[0005] In a first aspect, embodiments of the present invention provide a docking method for a charging component, the method comprising: The system acquires sea level data of the location of the vehicle and the charging robot, and determines the docking reference height based on the sea level data. The vehicle is equipped with a vehicle charging component, and the charging robot is equipped with a robot charging component. The first set of distances between the vehicle charging component and the docking reference height, and the second set of distances between the robot charging component and the docking reference height are measured respectively. Based on the first distance set and the second distance set, calculate the height deviation between the vehicle charging component and the robot charging component in the docking direction; Based on the height deviation, the height of the vehicle charging component and / or the robot charging component is adjusted until the height deviation is less than the deviation threshold. The robot charging component and the vehicle charging component are connected to control the charging robot to charge the vehicle.

[0006] The docking method for charging components provided in this invention first acquires sea level data of the vehicle and charging robot's locations and determines the docking reference height based on this data, thus establishing a unified physical reference system for both charging components. This solves the problem in existing technologies where each component uses its own reference system, leading to inconsistent measurement references and difficulty in decoupling height errors. Furthermore, by separately measuring a first set of distances and a second set of distances between the vehicle charging component and the robot charging component relative to the same docking reference height, the height states of both components can be quantified under the same reference, thus solving the problem of decreased docking accuracy caused by different sensor measurement references. Moreover, by calculating the height deviation between the two components in the docking direction based on the first and second set of distances, and coordinating the height adjustment devices of both components according to this height deviation until the height deviation is less than a deviation threshold, docking is completed. This effectively distinguishes and compensates for the errors of both components, solving the problems of traditional solutions where the lack of a unified reference prevents coordinated adjustment and reliance on direct mutual measurement makes them susceptible to signal interruptions. In summary, this invention inevitably achieves coordinated height adjustment between the vehicle and the charging robot under a unified reference, complementary error compensation, and a stable and reliable docking process, ultimately improving the accuracy, robustness, and success rate of charging docking.

[0007] In conjunction with the first aspect, in one embodiment, the sea level data includes first sea level data, second sea level data, and reference sea level data, wherein the first sea level data is obtained by the vehicle and the second sea level data is obtained by the charging robot. The process of acquiring sea level data of the location of the vehicle and the charging robot, and determining the docking reference height based on the sea level data, includes: Receive reference sea level data of the vehicle's location from the server; Determine whether the first sea level data is consistent with the reference sea level data, and whether the second sea level data is consistent with the reference sea level data; If the first sea level data is consistent with the reference sea level data, and / or the second sea level data is consistent with the reference sea level data, then the reference sea level data shall be used as the docking reference height; If both the first sea level data and the second sea level data are inconsistent with the reference sea level data, then the average value of the first sea level data, the second sea level data, and the reference sea level data shall be used as the docking reference height.

[0008] The technical solution provided by this invention first receives reference sea level data from the server and acquires first sea level data measured by the vehicle itself and second sea level data measured by the charging robot itself. This establishes a foundation for the fusion and comparison of sea level data from the server, vehicle, and robot, solving the problem of measurement errors or local anomalies that may exist from a single data source. Furthermore, by separately determining whether the first and second sea level data are consistent with the reference sea level data, and adaptively selecting the method for determining the docking reference height based on the determination results, reliable reference data is directly used when any of the measured data matches the reference data, avoiding the damage to accuracy caused by invalid averaging. This solves the defect of simple averaging that may introduce abnormal data and reduce the accuracy of the reference. Moreover, when both measured data are inconsistent with the reference data, the average of the three is used as the docking reference height, minimizing random errors even when there are deviations in the data from multiple sources. In summary, this invention inevitably achieves multi-source fusion verification, adaptive optimal selection, and error amortization optimization of the sea level reference, ultimately improving the accuracy and robustness of the docking reference height.

[0009] In conjunction with the first aspect, in one embodiment, the vehicle charging component includes at least one vehicle reference point, the robot charging component includes at least one robot reference point, and there is a point-to-point correspondence between the at least one vehicle reference point and the at least one robot reference point.

[0010] The technical solution provided by this invention provides a fine-grained spatial positioning basis for subsequent height measurement and error calculation because the vehicle charging component includes at least one vehicle reference point and the robot charging component includes at least one robot reference point, and there is a point-to-point correspondence between the two. This solves the problem that measuring only the charging component as a whole cannot detect local tilt or deformation. Furthermore, by using the correspondence between multiple discrete reference points, the distance data of each point relative to the docking reference height can be obtained, enabling accurate description of the charging component's attitude at multiple points. This solves the problem that the overall measurement method cannot capture local height differences of the component, leading to gaps between points during docking. Moreover, since each pair of corresponding points can independently participate in height deviation calculation and adjustment allocation, the vehicle and robot can achieve fine-grained calibration and error compensation point-by-point during docking. In summary, this invention inevitably achieves multi-point perception of the charging component's attitude, accurate identification of local deviations, and coordinated adjustment point-by-point, ultimately improving the overall fit and reliability of the charging docking.

[0011] In conjunction with the first aspect or its corresponding implementation, in one implementation, calculating the height deviation between the vehicle charging component and the robot charging component in the docking direction based on the first distance set and the second distance set includes: For each pair of vehicle reference points and robot reference points with a point-to-point correspondence, a first distance between the vehicle reference point and the docking reference height is obtained from the first distance set, and a second distance between the robot reference point and the docking reference height is obtained from the second distance set. Based on the first distance and the second distance, the docking distance between the vehicle reference point and the robot reference point is determined; Based on the docking distance, the height deviation between the vehicle reference point and the robot reference point is calculated.

[0012] The technical solution provided by this invention, for each pair of vehicle and robot reference points with point-to-point correspondence, obtains their respective first and second distances relative to the docking reference height from a first and a second distance set, respectively. This decomposes the overall height deviation of the charging component into independent height data for each point pair, solving the problem that the overall measurement method cannot locate the source of local deviation. Furthermore, by determining the docking distance between each pair of reference points based on the first and second distances, the cumulative error of the vehicle and robot on their respective sides can be uniformly quantified, thus solving the defect that it is difficult to combine the distances on both sides into the actual docking distance when measured separately. Moreover, by calculating the height deviation point-by-point based on the docking distance of each point pair, the deviation at each point can be independently identified and quantified, providing an accurate deviation basis for subsequent fine-tuning point-by-point adjustments. In summary, this invention inevitably achieves point-level decoupling of local deviations of the charging component, unified quantification of distances on both sides, and accurate calculation of point-by-point deviations, ultimately improving the accuracy of height deviation calculation and the targeting of docking adjustments.

[0013] In conjunction with the first aspect, in one embodiment, the vehicle is equipped with a first height adjustment device, and the charging robot is equipped with a second height adjustment device; The step of adjusting the height of the vehicle charging component and / or the robot charging component based on the height deviation until the height deviation is less than a deviation threshold includes: For each pair of vehicle reference points and robot reference points with a point-to-point correspondence, a first distance between the vehicle reference point and the docking reference height is obtained from the first distance set, and a second distance between the robot reference point and the docking reference height is obtained from the second distance set. Determine whether the height deviation is less than or equal to the deviation adjustment threshold, wherein the deviation adjustment threshold is determined based on the vehicle adjustment range corresponding to the first height adjustment device and the robot adjustment range corresponding to the second height adjustment device; If so, based on the first distance and the vehicle adjustment range, a first adjustment amount to be undertaken by the first height adjustment device is determined, and the height of the vehicle charging component is adjusted according to the first adjustment amount; based on the second distance and the robot adjustment range, a second adjustment amount to be undertaken by the second height adjustment device is determined, and the height of the robot charging component is adjusted according to the second adjustment amount until the height deviation is less than the deviation threshold. If not, an autonomous driving intervention command is generated. Based on the autonomous driving intervention command, the vehicle is controlled to move to a new position that meets the adjustment range. Then, the height of the vehicle charging component and / or the robot charging component is readjusted until the height deviation is less than the deviation threshold.

[0014] The technical solution provided by this invention obtains a first distance and a second distance for each pair of reference points with a point-to-point correspondence, and determines whether the height deviation is less than or equal to a deviation adjustment threshold jointly determined by both parties' adjustment ranges. This pre-assesses whether the adjustment capabilities of both parties are sufficient to eliminate the current deviation before adjustment is executed, solving the problem that blind adjustment may lead to insufficient adjustment or failure to achieve docking. On this basis, when the height deviation can be eliminated jointly, the first adjustment amount and the second adjustment amount are allocated to both parties according to the vehicle's adjustment range and the robot's adjustment range, respectively, so as to make reasonable use of the adjustment capabilities of both parties, thereby solving the problem that adjustment on one side may lead to excessive adjustment burden or exceed the capability range of the other party. Furthermore, when the height deviation exceeds the sum of the adjustment capabilities of both parties, an autonomous driving intervention command is generated to control the vehicle to move to a new position that meets the adjustment range and then re-execute the adjustment. This allows the deviation to fall back to the adjustable range through position adjustment even in extreme terrain or large deviation conditions, thereby solving the defect that adjustment cannot be completed due to poor ground conditions or excessive initial deviation. In summary, the embodiments of the present invention can achieve pre-assessment of adjustment capabilities, reasonable allocation of adjustment amounts between the two parties, and intervention of autonomous driving assistance under extreme conditions, and ultimately improve the adaptability and success rate of charging docking.

[0015] In conjunction with the first aspect or its corresponding implementation, in one implementation, the method of determining a second adjustment amount to be undertaken by the second height adjustment device based on the second distance and the robot adjustment range, and adjusting the height of the robot charging component according to the second adjustment amount, includes: Compare the second distance with the robot's adjustment range; If the second distance is less than or equal to the robot's adjustment range, the second distance is used as the second adjustment amount, and the second height adjustment device is controlled to adjust the height based on the second adjustment amount; When the second distance is greater than the robot adjustment range, the maximum value of the robot adjustment range is used as the second adjustment amount, and the difference between the maximum value of the robot adjustment range and the second distance is used as the compensation adjustment amount. The second height adjustment device is controlled to perform height adjustment based on the second adjustment amount, and the first height adjustment device is controlled to perform supplementary height adjustment based on the compensation adjustment amount.

[0016] The technical solution provided by this invention compares the second distance of the robot's reference point with the robot's adjustment range and adopts different adjustment strategies based on the comparison results. This pre-assesses whether the robot's own capabilities are sufficient to eliminate distance deviations on its side before adjustment execution, solving the problem of adjustment failure caused by the robot blindly executing adjustment commands beyond its capabilities. Furthermore, when the second distance is less than or equal to the robot's adjustment range, the second distance is directly used as the second adjustment amount for the robot to independently complete the adjustment, enabling the robot to autonomously eliminate its own deviations within its capabilities. This solves the inefficiency problem of complex coordination and communication when unilateral adjustment does not require intervention from the other party. Moreover, when the second distance is greater than the robot's adjustment range, the maximum value of the robot's adjustment range is used as the second adjustment amount, and the excess is used as a compensation adjustment amount for supplementary adjustment by the vehicle's first height adjustment device. This allows the robot to automatically trigger the vehicle's compensation mechanism when its capabilities are insufficient. In summary, this invention inevitably achieves autonomous judgment of robot adjustment capabilities, independent adjustment within its capabilities, and complementary compensation from the vehicle when capabilities are insufficient, ultimately improving the collaborative efficiency and docking success rate of both parties' height adjustments.

[0017] In conjunction with the first aspect, in one embodiment, controlling the charging robot to charge the vehicle includes: Multi-dimensional signal source data is acquired in real time from at least one signal source, the multi-dimensional signal source data including at least one of the following: vehicle own sensor data, robot own sensor data, historical environmental data, surrounding fixed equipment sensor data, and real-time sea level data; Calculate the average value of the multi-dimensional signal source data at the current moment, and use it as a reference value for real-time adjustment; Based on the real-time adjustment reference value, the first height adjustment device of the vehicle and / or the second height adjustment device of the charging robot are controlled to perform height correction.

[0018] The technical solution provided by this invention acquires multi-dimensional data in real time from multiple signal sources, including vehicle sensors, robot sensors, historical environmental data, sensors from surrounding fixed equipment, and real-time sea level data. This constructs a redundant and complementary all-around perception system, solving the problem of uninterrupted docking when a single signal source's data is missing due to obstruction, interference, or malfunction. Furthermore, by calculating the average value of the multi-dimensional signal source data at the current moment as a real-time adjustment reference value, the measurement results from multiple independent data sources are cross-checked and errors are canceled out, thus solving the problem of inaccurate adjustment commands caused by random fluctuations or local anomalies in single-source data. Moreover, by dynamically controlling the height adjustment devices of the vehicle and / or robot based on the real-time adjustment reference value for height correction, even with slight ground fluctuations or environmental changes during charging, both parties can maintain a precise docking posture. This solves the problem of traditional solutions failing to sense and compensate for external disturbances after docking and requiring interruption and restart upon environmental changes. In summary, this invention inevitably achieves redundant complementarity of multi-source data, average suppression of random errors, and uninterrupted dynamic correction during charging, ultimately improving the continuity and anti-disturbance capability of the charging process.

[0019] In conjunction with the first aspect or its corresponding implementation, in one implementation, the method further includes: If any of the at least one signal sources experiences a signal anomaly, the signal source experiencing the signal anomaly is identified as an abnormal signal source, and the historical charging record of the abnormal signal source is obtained. Based on the historical charging records, a signal replacement value is determined, and the abnormal signal source is temporarily corrected based on the signal replacement value to obtain replacement signal source data; Based on the backup signal source data, calculate the average value of the multi-dimensional signal source data at the current moment, as a reference value for real-time adjustment; Based on the real-time adjustment reference value, the first height adjustment device of the vehicle and / or the second height adjustment device of the charging robot are controlled to perform height correction.

[0020] The technical solution provided by this invention, when any signal source experiences an anomaly, identifies that signal source as the abnormal signal source and acquires its historical charging records. This allows for immediate location of the fault source and retrieval of historical data for backup upon the occurrence of an anomaly, solving the problem of multi-source fusion system failure and inability to calculate real-time adjustment reference values ​​due to signal interruption or fluctuation. Furthermore, by determining a signal replacement value based on historical charging records and temporarily correcting the abnormal signal source to obtain replacement signal source data, the abnormal signal source can be smoothly replaced by historical data before recovery, allowing multi-source fusion calculation to continue. This solves the defect of the entire adjustment system being forced to degrade or stop due to a single-point signal failure. Moreover, by calculating the average value of multi-dimensional signal source data based on the replacement signal source data as the real-time adjustment reference value and controlling the height adjustment device accordingly for height correction, the system can maintain the same adjustment output capability as in normal conditions during signal anomalies, and seamlessly switch back to real-time data after the abnormal signal recovers. In summary, this invention inevitably achieves rapid location of signal anomalies, automatic replacement and fusion of historical data, and uninterrupted height correction during anomalies, ultimately improving the fault tolerance and operational continuity of the charging docking system.

[0021] Secondly, embodiments of the present invention provide a docking device for a charging component, the device comprising: The reference determination module is used to acquire sea level data of the location of the vehicle and the charging robot, and determine the docking reference height based on the sea level data. The vehicle is equipped with a vehicle charging component, and the charging robot is equipped with a robot charging component. The distance measurement module is used to measure a first set of distances between the vehicle charging component and the docking reference height, and a second set of distances between the robot charging component and the docking reference height, respectively. The deviation calculation module is used to calculate the height deviation between the vehicle charging component and the robot charging component in the docking direction based on the first distance set and the second distance set; A height adjustment module is used to adjust the height of the vehicle charging component and / or the robot charging component according to the height deviation until the height deviation is less than a deviation threshold. The component docking module is used to dock with the robot charging component and the vehicle charging component to control the charging robot to charge the vehicle.

[0022] Thirdly, embodiments of the present invention provide a computer device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the docking method of the charging component described in the first aspect or any corresponding embodiment.

[0023] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions for causing a computer to execute the docking method of the charging component according to the first aspect or any corresponding embodiment. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating a docking method for a charging component according to some embodiments of the present invention; Figure 2 This is a structural block diagram of a docking device for a charging component according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0027] In traditional solutions, vehicles and charging robots typically determine their positional relationship by directly measuring each other. The vehicle measures the robot's position using its onboard cameras and radar, while the robot measures the vehicle's position using its onboard sensors. This mutual measurement method lacks a common reference baseline; each party uses its own frame of reference, leading to interference between the measurement data. For example, point A on the vehicle needs to measure its distances to multiple points on the robot, and point B on the robot also needs to measure its distances to multiple points on the vehicle. After obtaining this data, complex classification and matching processes are required, which is not only computationally intensive but also prone to errors in point correspondence, such as point a on the vehicle incorrectly being matched with point B on the robot instead of its corresponding point A.

[0028] Based on this, the present invention provides an embodiment of a docking method for a charging component. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0029] This embodiment provides a docking method for charging components. Figure 1 This is a flowchart of a docking method for a charging component according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps: Step S101: Obtain sea level data of the location of the vehicle and the charging robot, and determine the docking reference height based on the sea level data. The vehicle is equipped with a vehicle charging component, and the charging robot is equipped with a robot charging component.

[0030] Step S102: Measure the first set of distances between the vehicle charging component and the docking reference height, and the second set of distances between the robot charging component and the docking reference height.

[0031] Step S103: Calculate the height deviation between the vehicle charging component and the robot charging component in the docking direction based on the first distance set and the second distance set.

[0032] Step S104: Adjust the height of the vehicle charging component and / or robot charging component according to the height deviation until the height deviation is less than the deviation threshold.

[0033] Step S105: Connect the robot charging component and the vehicle charging component to control the charging robot to charge the vehicle.

[0034] The docking method for charging components provided in this embodiment first acquires sea level data of the vehicle and charging robot's locations and determines the docking reference height based on this data, thus establishing a unified physical reference system for both charging components. This solves the problem in existing technologies where each component uses its own reference system, leading to inconsistent measurement references and difficulty in decoupling height errors. Furthermore, by separately measuring a first set of distances and a second set of distances between the vehicle charging component and the robot charging component relative to the same docking reference height, the height states of both components can be quantified under the same reference, thus solving the problem of decreased docking accuracy caused by different sensor measurement references. Moreover, by calculating the height deviation between the two components in the docking direction based on the first and second set of distances, and coordinating the height adjustment devices of both components according to this height deviation until the height deviation is less than a deviation threshold, docking is completed. This effectively distinguishes and compensates for the errors of both components, solving the problems of traditional solutions where the lack of a unified reference prevents coordinated adjustment and reliance on direct mutual measurement makes them susceptible to signal interruptions. In summary, this embodiment inevitably achieves coordinated height adjustment between the vehicle and the charging robot under a unified reference, complementary error compensation, and a stable and reliable docking process, ultimately improving the accuracy, robustness, and success rate of charging docking.

[0035] Therefore, this embodiment of the invention introduces the sea level as a unified natural reference surface that does not depend on any moving subject. The vehicle and the charging robot no longer directly measure each other, but instead measure relative to this common baseline of the sea level. Specifically, the vehicle measures the distances of multiple preset points on its charging component relative to the sea level, obtaining one set of distance data; similarly, the charging robot measures the distances of multiple preset points on its charging component relative to the same sea level, obtaining another set of distance data. Since both are based on the same sea level reference, the measurement data are comparable and correspondent, and there is no data interference problem caused by mutual measurement.

[0036] Based on the sea level baseline, multiple preset points on the vehicle charging component can form an inclined plane in space. The tilt angle and spatial orientation of this plane are uniquely determined by the distance of each point relative to the sea level. Similarly, multiple preset points on the robot charging component also form another inclined plane in space, thus transforming the docking between the vehicle charging component and the robot charging component into the alignment between the two spatial planes.

[0037] In traditional discrete point-to-point docking, multiple points on the vehicle need to be matched one by one with corresponding points on the robot. Due to factors such as distance, clarity, and occlusion, errors in point identification or mismatches can easily occur. However, in planar-to-planar docking, it is only necessary to align the plane where the vehicle's charging components are located with the plane where the robot's charging components are located, and all preset points will naturally align synchronously, eliminating the need for complex point-by-point matching.

[0038] When all pre-defined docking points with corresponding point relationships are successfully docked, and there are no gaps between each docking point, the two planes are considered successfully docked. For example, the vehicle charging component has five charging circle points, and the robot charging component also has five corresponding charging circle points. When the five vehicle circles and the five robot circles completely overlap, and the edges of each circle completely overlap without intersecting, the two planes are considered successfully docked. This embodiment of the invention introduces the sea level as a common baseline, transforming the mutual measurement between the vehicle and the robot into independent measurements by both parties to the same baseline, eliminating data interference caused by mutual measurement; by constructing the distance data of multiple points into a spatial plane, it achieves an upgrade from point-to-point alignment to plane-to-plane alignment, improving docking accuracy and stability; and by providing an intuitive and reliable judgment standard based on plane overlap docking success determination.

[0039] The steps described above will be explained in detail below.

[0040] In step S101, sea level data of the location of the vehicle and the charging robot are acquired, and docking reference height is determined based on the sea level data. The vehicle is equipped with a vehicle charging component, and the charging robot is equipped with a robot charging component.

[0041] In one embodiment, the sea level data includes first sea level data, second sea level data, and reference sea level data, wherein the first sea level data is obtained by vehicle mapping and the second sea level data is obtained by charging robot mapping. Acquire sea level data of the location of the vehicle and charging robot, and determine the docking reference height based on the sea level data, including: Receive reference sea level data of the vehicle's location from the server; Determine whether the first sea level data is consistent with the reference sea level data, and whether the second sea level data is consistent with the reference sea level data; If the first sea level data is consistent with the reference sea level data, and / or the second sea level data is consistent with the reference sea level data, then the reference sea level data shall be used as the docking reference height; If both the first and second sea level data are inconsistent with the reference sea level data, the average value of the first, second, and reference sea level data will be used as the docking reference height.

[0042] Sea level data refers to the height of the vehicle and charging robot's location relative to the global sea level reference. Sea level data is not a fixed constant; local sea level heights vary across different geographical locations. Therefore, it is necessary to obtain real-time sea level data for the vehicle and charging robot's location. In this embodiment, the sea level data includes data from three sources: first sea level data, second sea level data, and reference sea level data.

[0043] The first sea level data refers to the sea level data obtained by the vehicle itself. Specifically, the vehicle obtains this data in real time through its onboard sea level mapping sensors. For example, the vehicle can be equipped with a radar mapping unit, which calculates its height relative to the sea level by emitting radar waves to the ground and receiving the echoes; or it can be equipped with a camera mapping unit, which analyzes the relative relationship between the surrounding environment and the sea level using visual algorithms. The first sea level data obtained by the vehicle reflects the actual sea level state at the vehicle's current location.

[0044] The second sea level data refers to the sea level data obtained by the charging robot itself. The charging robot is also equipped with a sea level mapping sensor, which measures the height of its current position relative to the sea level in real time. The second sea level data reflects the actual sea level state at the charging robot's current location.

[0045] Reference sea level data refers to the standard sea level data for the vehicle's location, issued by the server. The server pre-stores precise sea level mapping data for different geographical locations. This data comes from professional surveying institutions or satellite remote sensing data, and has high authority and stability. After the vehicle arrives at a certain location, it obtains its geographic coordinates through its own positioning unit and uploads these coordinates to the server. The server then looks up the corresponding sea level data based on the coordinates and issues this data to the vehicle as the reference sea level data.

[0046] In this embodiment, it is first necessary to establish a docking reference height as a unified reference for subsequent measurement of the respective height status of the vehicle charging component and the robot charging component.

[0047] First, the vehicle sends a request to the server to receive reference sea level data indicating the vehicle's location. Specifically, the vehicle and server establish a connection via a wireless communication network. After determining its geographical location, the vehicle sends a request for reference sea level data to the server. This request contains the vehicle's current geographic coordinates. Upon receiving the request, the server retrieves the corresponding sea level data from the sea level database based on the geographic coordinates, encapsulates this data into a response message, and returns it to the vehicle. The vehicle then extracts the reference sea level data from this response message.

[0048] Next, the vehicle acquires the first sea level data obtained through its own mapping. For example, the vehicle can use its onboard sea level mapping sensor to perform real-time mapping and obtain the first sea level data.

[0049] Furthermore, the vehicle also needs to acquire the second sea level data obtained by the charging robot. Specifically, the charging robot uses its onboard sea level mapping sensor to perform real-time mapping to obtain the second sea level data, and then sends the second sea level data to the vehicle through the wireless communication link between the vehicle and the charging robot, so that the vehicle receives the second sea level data.

[0050] After acquiring the three types of sea level data from the server, the vehicle itself, and the robot, it is determined whether the first sea level data is consistent with the reference sea level data, and whether the second sea level data is consistent with the reference sea level data. In this embodiment, consistency determination refers to determining whether the difference between the two sea level data is within an acceptable error range. For example, the vehicle compares its own measured first sea level data with the received reference sea level data, calculating the absolute value of the difference. If the absolute value is less than a preset consistency threshold, the first sea level data is determined to be consistent with the reference sea level data; otherwise, it is determined to be inconsistent. The consistency threshold can be set according to measurement accuracy requirements and actual application scenarios. Similarly, the vehicle compares the received second sea level data with the reference sea level data, calculating the absolute value of the difference. If the absolute value is less than a preset consistency threshold, the vehicle determines that the second sea level data is consistent with the reference sea level data; otherwise, it is determined to be inconsistent. In this embodiment, the consistency thresholds used when comparing the two types of sea level data—from the vehicle and the server, and from the robot and the server—can be completely identical, or they can be set separately according to actual conditions.

[0051] The docking reference height is determined based on the assessment results from sea level data. The assessment results correspond to the following different methods for determining the docking reference height: If the vehicle-mounted system determines that the first sea level data is consistent with the reference sea level data, but the second sea level data is inconsistent with the reference sea level data, this indicates that the vehicle-mounted system's mapping data is accurate and reliable, while the charging robot's mapping data may contain errors. In one implementation, since the reference data itself has high authority and is consistent with the first sea level data mapped by the vehicle-mounted system, the reference sea level data can be directly determined as the docking reference height. In another implementation, to further smooth out any possible random errors in the charging robot's mapping data, the average of the first sea level data, the second sea level data, and the reference sea level data can be determined as the docking reference height. By introducing the second sea level data into the averaging process, the charging robot's height measurement during subsequent docking can maintain a certain continuity with the reference.

[0052] If the vehicle-mounted system determines that the second sea level data is consistent with the reference sea level data, but the first sea level data is inconsistent with the reference sea level data, this indicates that the charging robot's mapping data is accurate and reliable, and the first sea level data mapped by the vehicle-mounted system may contain errors. In one implementation, the reference sea level data can also be directly determined as the docking reference height. In another implementation, to smooth out any random errors that may exist in the vehicle-mounted mapping data, the average of the first sea level data, the second sea level data, and the reference sea level data can be determined as the docking reference height.

[0053] If the vehicle determines that both the first and second sea level data are consistent with the reference sea level data, then the three data are highly consistent, and the reference sea level data has the highest reliability. Therefore, the reference sea level data is directly determined as the docking reference height.

[0054] If the vehicle determines that both the first and second sea level data are inconsistent with the reference sea level data, it indicates a discrepancy among the three sets of data, and using data from any one of them alone could lead to errors. In this case, the average of the first, second, and reference sea level data is determined as the docking reference height. Specifically, the first, second, and reference sea level data are added together and then divided by the number of sea level data points acquired by the vehicle to obtain the average value.

[0055] In this embodiment, by first receiving reference sea level data from the server and acquiring first sea level data measured by the vehicle itself and second sea level data measured by the charging robot itself, a foundation for fusion and comparison of sea level data from the server, vehicle, and robot is established, solving the problem of measurement errors or local anomalies that may exist from a single data source. Furthermore, by separately determining whether the first and second sea level data are consistent with the reference sea level data, and adaptively selecting the method for determining the docking reference height based on the determination results, reliable reference data is directly used when any of the surveyed data matches the reference data, avoiding the damage to accuracy caused by invalid averaging. This solves the defect of simple averaging that may introduce abnormal data and reduce the accuracy of the reference. Moreover, when both surveyed data and the reference data are inconsistent, the average of the three is used as the docking reference height, minimizing random errors even when there are deviations in the data from multiple sources. In summary, this embodiment necessarily achieves multi-source fusion verification, adaptive optimal selection, and error amortization optimization of the sea level reference, ultimately improving the accuracy and robustness of the docking reference height.

[0056] In one embodiment, the vehicle charging component includes at least one vehicle reference point, and the robot charging component includes at least one robot reference point, with a point-to-point correspondence between the at least one vehicle reference point and the at least one robot reference point.

[0057] In this embodiment, vehicle reference points refer to multiple measurement reference points pre-set on the vehicle charging assembly. The vehicle charging assembly is a component on the vehicle that docks with the charging robot, such as a charging interface panel or charging receiver plate on the bottom of the vehicle. Multiple points are pre-selected at different locations on the charging assembly. These points are used to measure the distance of various local positions of the charging assembly relative to the docking reference height. For example, a vehicle reference point can be set at each of the four corners of the charging assembly, multiple vehicle reference points can be evenly distributed along the edges of the charging assembly, or multiple vehicle reference points can be set together in the central and edge areas of the charging assembly. The number and distribution of vehicle reference points can be flexibly determined according to the shape, size, and docking accuracy requirements of the vehicle charging assembly. Generally, the more vehicle reference points set, the more accurate the description of the charging assembly's attitude, but the corresponding measurement and calculation workload will also increase.

[0058] For example, the vehicle charging component has a planar structure, and multiple vehicle reference points, such as the first vehicle reference point, the second vehicle reference point, the third vehicle reference point, and the fourth vehicle reference point, are set at the corners of the plane. The position coordinate information of these four vehicle reference points is stored in the database at the vehicle end for point positioning during subsequent distance measurement.

[0059] Robot reference points refer to multiple measurement reference points pre-set on the robot charging assembly. The robot charging assembly is a component of the charging robot that interfaces with the vehicle, such as the end of the charging arm or the charging contact panel. Multiple robot reference points are pre-selected at different locations on the robot charging assembly. The number of these robot reference points is the same as the number of vehicle reference points, and each robot reference point has a pre-defined positional correspondence with its corresponding vehicle reference point.

[0060] For example, the robot charging component can also be a planar structure, with multiple robot reference points (a first robot reference point, a second robot reference point, a third robot reference point, and a fourth robot reference point) set at the four corners of the rectangular plane. Referring to the aforementioned example of vehicle reference points, a point-to-point correspondence can be established between the first vehicle reference point and the first robot reference point to represent the docking relationship between the upper left corner of the vehicle charging component and the upper left corner of the robot charging component; a point-to-point correspondence can be established between the second vehicle reference point and the second robot reference point to represent the docking relationship between the upper right corner of the vehicle charging component and the upper right corner of the robot charging component; a point-to-point correspondence can be established between the third vehicle reference point and the third robot reference point to represent the docking relationship between the lower left corner of the vehicle charging component and the lower left corner of the robot charging component; and a point-to-point correspondence can be established between the fourth vehicle reference point and the fourth robot reference point to represent the docking relationship between the lower right corner of the vehicle charging component and the lower right corner of the robot charging component. The position coordinate information of these four robot reference points is also stored in the database configured in the charging robot.

[0061] Point-to-point mapping refers to the pre-defined matching relationship between vehicle reference points and robot reference points. For example, before the vehicle and charging robot leave the factory or are used, the correspondence between each vehicle reference point on the vehicle charging assembly and each robot reference point on the robot charging assembly is pre-determined. Once the point-to-point mapping is established, the vehicle and charging robot only need to focus on the distance difference between corresponding points during docking, without needing to handle the complex geometric relationships between non-corresponding points. The point-to-point mapping can be stored on a server and accessed by both parties.

[0062] During the initial pairing, the vehicle and the charging robot establish a point correspondence through handshake communication. The vehicle sends its own vehicle reference point quantity, number, and location information to the charging robot, and receives the robot reference point quantity, number, and location information from the charging robot and sends it back to the vehicle. Both parties agree to establish a one-to-one correspondence according to the numbering order, and each stores the point correspondence for subsequent distance measurement and height deviation calculation.

[0063] By setting multiple vehicle and robot reference points with corresponding point relationships, the vehicle can obtain refined height data of various local positions of the charging component. In this way, even if the vehicle or robot charging component tilts, twists, or undergoes local deformation, the vehicle can accurately perceive these local deviations through the distance values ​​at each point. For example, when the vehicle charging component tilts, the distance values ​​of the four vehicle reference points will show a distribution characteristic of being larger on one side and smaller on the other. At this time, the tilt direction and degree can be determined based on this distribution characteristic, so as to make targeted adjustments to the vehicle's posture.

[0064] In this embodiment, since the vehicle charging component includes at least one vehicle reference point and the robot charging component includes at least one robot reference point, and there is a point-to-point correspondence between the two, a fine-grained spatial positioning foundation is provided for subsequent height measurement and error calculation. This solves the problem that measuring only the charging component as a whole cannot detect local tilt or deformation. Furthermore, by using the correspondence between multiple discrete reference points, the distance data of each point relative to the docking reference height can be obtained separately, enabling accurate description of the charging component's attitude at multiple points. This solves the problem that the overall measurement method struggles to capture local height differences of the component, leading to gaps between points during docking. Moreover, since each pair of corresponding points can independently participate in height deviation calculation and adjustment allocation, fine-grained calibration and error compensation can be achieved point-by-point during the docking process between the vehicle and the robot. In summary, this embodiment inevitably achieves multi-point perception of the charging component's attitude, accurate identification of local deviations, and point-by-point coordinated adjustment, ultimately improving the overall fit and reliability of the charging docking.

[0065] In step S102, a first set of distances between the vehicle charging component and the docking reference height, and a second set of distances between the robot charging component and the docking reference height are measured respectively.

[0066] In this embodiment, the first distance set refers to the set of distance values ​​of each vehicle reference point relative to the docking reference height, as measured by the vehicle. The vehicle uses its own onboard distance measurement sensors, such as laser rangefinders, ultrasonic sensors, or visual rangefinders, to measure the vertical distance of each vehicle reference point relative to the docking reference height determined in step S101. After the measurement is completed, a set containing multiple distance values ​​is obtained, and each distance value in the set corresponds to a vehicle reference point.

[0067] Specifically, the vehicle sends a measurement command to the distance measurement sensor. The distance measurement sensor first locates the position of the first vehicle reference point based on the stored position coordinate information, transmits a measurement signal to that position, receives the reflected signal, and calculates the distance of that position relative to the ground based on the time difference between signal transmission and reception. After the vehicle's control unit obtains this ground distance, it calculates the vertical distance of the first vehicle reference point relative to the docking reference height determined in step S101, in conjunction with this distance. For example, the vertical distance of the first vehicle reference point is equal to the difference between the distance of that point relative to the ground and the docking reference height. Then, the above process is repeated to measure the vertical distances of the second, third, and fourth vehicle reference points relative to the docking reference height in sequence. After the measurement is completed, a first distance set is obtained, which contains at least one distance value, each corresponding to at least one vehicle reference point.

[0068] For example, if four vehicle reference points are A, B, C, and D, and the measured distances of these four points relative to the docking reference height are 3 cm, 3.1 cm, 2.9 cm, and 3 cm respectively, then the first distance set is {3cm, 3.1cm, 2.9cm, 3cm}.

[0069] In this embodiment, the second distance set refers to the set of distance values ​​measured by the charging robot relative to the docking reference height for each robot reference point. The charging robot uses its onboard distance measurement sensors to measure the vertical distance of each robot reference point relative to the docking reference height determined in step S101. After measurement, the charging robot obtains a set containing multiple distance values, each corresponding to a robot reference point. After completing the measurement, the charging robot transmits this second distance set to the vehicle via the wireless communication link between the vehicle and the charging robot.

[0070] Specifically, the distance measurement sensor of the charging robot first locates the position of the first robot reference point based on the stored position coordinate information, and measures the vertical distance of this point relative to the docking reference height. Then, the above process is repeated to measure the vertical distances of the second, third, and fourth robot reference points relative to the docking reference height in sequence. After the measurement is completed, a second distance set is obtained, which contains at least one distance value, each corresponding to at least one robot reference point.

[0071] For example, if four robot reference points are E, F, G, and H, and the measured distances of these four points relative to the docking reference height are 5 cm, 5.2 cm, 4.8 cm, and 5.1 cm, respectively, then the second distance set is {5cm, 5.2cm, 4.8cm, 5.1cm}. The vehicle-mounted device can receive and store this second distance set sent by the charging robot via a wireless communication link for subsequent height deviation calculations.

[0072] In step S103, the height deviation between the vehicle charging component and the robot charging component in the docking direction is calculated based on the first distance set and the second distance set.

[0073] In one implementation, the height deviation between the vehicle charging component and the robot charging component in the docking direction is calculated based on a first distance set and a second distance set, including: For each pair of vehicle reference points and robot reference points with a point-to-point correspondence, the first distance between the vehicle reference point and the docking reference height is obtained from the first distance set, and the second distance between the robot reference point and the docking reference height is obtained from the second distance set. Based on the first distance and the second distance, determine the docking distance between the vehicle reference point and the robot reference point; Based on the docking distance, the height deviation between the vehicle reference point and the robot reference point is calculated.

[0074] In this embodiment, the first distance refers to the distance value between a certain vehicle reference point and the docking reference height, obtained from the first distance set. The first distance set contains the distance values ​​of at least one vehicle reference point, with each distance value corresponding to a vehicle reference point. When it is necessary to calculate the height deviation of a pair of corresponding points, the distance value corresponding to that vehicle reference point can be found from the first distance set according to the point correspondence, and that distance value can be used as the first distance.

[0075] For example, the first distance set contains four distance values, corresponding to the first vehicle reference point, the second vehicle reference point, the third vehicle reference point, and the fourth vehicle reference point, respectively. The vehicle-side database stores the mapping relationship between vehicle reference points and distance values. When it is necessary to obtain the first distance of the first vehicle reference point, the corresponding value is first read from the first distance set according to the mapping relationship. For example, if the first distance set is {3cm, 3.1cm, 2.9cm, 3cm}, and the distance value corresponding to the first vehicle reference point is 3cm, then 3cm can be used as the first distance of the first vehicle reference point.

[0076] In this embodiment, the second distance refers to the distance value between a certain robot reference point and the docking reference height, obtained from the second distance set. The second distance set contains the distance values ​​of multiple robot reference points, each corresponding to a robot reference point. After receiving the second distance set sent by the charging robot, the vehicle-mounted device stores the set locally. When it is necessary to calculate the height deviation of a pair of corresponding points, the device searches for the distance value corresponding to that robot reference point in the second distance set according to the point correspondence, and uses that distance value as the second distance.

[0077] For example, the second distance set contains four distance values, corresponding to the first robot reference point, the second robot reference point, the third robot reference point, and the fourth robot reference point, respectively. The vehicle-side storage maintains a mapping relationship between robot reference points and distance values. When the second distance of the first robot reference point needs to be obtained, the corresponding value can be directly read from the second distance set stored on the vehicle-side according to the mapping relationship. For example, if the second distance set is {5cm, 5.2cm, 4.8cm, 5.1cm}, and the distance value corresponding to the first robot reference point is 5cm, then 5cm will be used as the second distance of the first robot reference point.

[0078] In this embodiment, the docking distance refers to the total distance between the vehicle reference point and the robot reference point, which have a point-to-point correspondence, in the docking direction. Specifically, this embodiment uses the docking reference height as a common reference plane. The vehicle reference point is located on one side of this reference plane, and the robot reference point is located on the same side of the reference plane. The sum of the distances from each to the reference plane is the straight-line distance between them. That is, when the vehicle charging component and the robot charging component dock, the positions of the vehicle reference point and the corresponding robot reference point need to be in contact or close to each other. Therefore, the actual distance between them is equal to the distance of the vehicle reference point relative to the docking reference height plus the distance of the robot reference point relative to the same docking reference height.

[0079] For example, the first distance corresponding to the first vehicle reference point is 3cm, and the second distance corresponding to the first robot reference point is 5cm. Adding these two distances together gives a docking distance of 8cm between the first vehicle reference point and the first robot reference point. Similarly, the same calculation is performed on the corresponding points of the second, third, and fourth pairs. For example, if the first distance of the second vehicle reference point is 3.1cm and the second distance of the second robot reference point is 5.2cm, then the docking distance is 8.3cm; if the first distance of the third vehicle reference point is 2.9cm and the second distance of the third robot reference point is 4.8cm, then the docking distance is 7.7cm; if the first distance of the fourth vehicle reference point is 3cm and the second distance of the fourth robot reference point is 5.1cm, then the docking distance is 8.1cm.

[0080] Height deviation refers to the overall degree of deviation between the vehicle charging component and the robot charging component in the docking direction. In this embodiment, the height deviation between the vehicle reference point and the robot reference point can be determined based on the docking distance of each pair of corresponding points. Height deviation is used to characterize the deviation of the docking distance from the ideal docking state. For example, the average value of all docking distances can be used as the height deviation, or the difference between the maximum and minimum values ​​of all docking distances can be used as the height deviation, or the sum of the squares of the differences between each docking distance and a preset target distance can be used as the height deviation. Different calculation methods are suitable for different docking accuracy requirements and application scenarios.

[0081] For example, if the height deviation is calculated using the average value method, after obtaining the docking distances of four pairs of corresponding points as 8cm, 8.3cm, 7.7cm and 8.1cm respectively, these four values ​​are added together to get a total of 32.1cm. Then, the sum is divided by 4 to get an average value of 8.025cm. This average value of 8.025cm is taken as the current height deviation. This height deviation reflects the average distance between the vehicle charging component and the robot charging component in the docking direction. Based on this height deviation, it can be determined whether height adjustment is needed and the amount of adjustment can be determined.

[0082] In another example, if the height deviation is calculated using the difference between the maximum and minimum values, after obtaining the docking distances of four pairs of corresponding points as 8cm, 8.3cm, 7.7cm and 8.1cm respectively, the maximum value is 8.3cm and the minimum value is 7.7cm, with a difference of 0.6cm. This difference of 0.6cm is taken as the current height deviation. This height deviation reflects the maximum degree of inconsistency between the vehicle charging component and the robot charging component in the docking direction. When this difference is less than a preset threshold, it indicates that the docking distance between each point is relatively uniform and the posture between the vehicle charging component and the robot charging component is basically parallel.

[0083] In this embodiment, for each pair of vehicle and robot reference points with a point-to-point correspondence, the first distance and second distance relative to the docking reference height are obtained from the first and second distance sets, respectively. This decomposes the overall height deviation of the charging component into independent height data for each point pair, solving the problem that the overall measurement method cannot locate the source of local deviation. Furthermore, by determining the docking distance between each pair of reference points based on the first and second distances, the cumulative error of the vehicle and robot on their respective sides can be uniformly quantified, thus solving the defect that it is difficult to combine the distances on both sides into the actual docking distance when measured separately. Moreover, since the height deviation is calculated point-by-point based on the docking distance of each point pair, the deviation at each point can be independently identified and quantified, providing an accurate basis for subsequent fine-tuning point-by-point adjustments. In summary, this embodiment inevitably achieves point-level decoupling of local deviations of the charging component, unified quantification of distances on both sides, and accurate calculation of point-by-point deviations, ultimately improving the accuracy of height deviation calculation and the targeted nature of docking adjustments.

[0084] In step S104, the height of the vehicle charging component and / or robot charging component is adjusted according to the height deviation until the height deviation is less than the deviation threshold.

[0085] In one embodiment, the vehicle is equipped with a first height adjustment device, and the charging robot is equipped with a second height adjustment device. Based on the height deviation, the height of the vehicle charging components and / or robot charging components is adjusted until the height deviation is less than the deviation threshold, including: For each pair of vehicle reference points and robot reference points with a point-to-point correspondence, the first distance between the vehicle reference point and the docking reference height is obtained from the first distance set, and the second distance between the robot reference point and the docking reference height is obtained from the second distance set. Determine whether the height deviation is less than or equal to the deviation adjustment threshold, wherein the deviation adjustment threshold is determined based on the vehicle adjustment range corresponding to the first height adjustment device and the robot adjustment range corresponding to the second height adjustment device. If so, based on the first distance and the vehicle adjustment range, a first adjustment amount is determined to be undertaken by the first height adjustment device, and the height of the vehicle charging component is adjusted according to the first adjustment amount; based on the second distance and the robot adjustment range, a second adjustment amount is determined to be undertaken by the second height adjustment device, and the height of the robot charging component is adjusted according to the second adjustment amount until the height deviation is less than the deviation threshold. If not, an autonomous driving intervention command is generated. Based on the autonomous driving intervention command, the vehicle is controlled to move to a new position that meets the adjustment range. Then, the height of the vehicle charging components and / or robot charging components is readjusted until the height deviation is less than the deviation threshold.

[0086] In this embodiment, the first height adjustment device refers to an actuator installed on the vehicle for adjusting the height of the vehicle charging component. It may include the vehicle's active suspension system, air suspension system, electromagnetic suspension system, or a specially designed lifting mechanism. By controlling the first height adjustment device, the position of the vehicle charging component relative to the docking reference height can be raised or lowered. Specifically, the first height adjustment device has a vehicle adjustment range, which refers to the upper and lower limits of the lifting and lowering amplitude that the first height adjustment device can achieve. For example, if the vehicle's active suspension system can raise the height by a maximum of 5 cm and lower it by a minimum of 3 cm, then the vehicle adjustment range is from a 5 cm raise to a 3 cm lower. The specific value of the vehicle adjustment range depends on the vehicle's hardware configuration and design parameters.

[0087] In this embodiment, the second height adjustment device refers to an actuator installed on the charging robot for adjusting the height of the robot's charging components. It may include the charging robot's lifting arm, telescopic legs, hydraulic lifting mechanism, or electric push rod. By controlling the second height adjustment device, the position of the robot's charging components relative to the docking reference height can be raised or lowered. Specifically, the second height adjustment device has a robot adjustment range, which refers to the upper and lower limits of the lifting and lowering amplitude that the second height adjustment device can achieve. For example, if the charging robot's lifting arm can be raised by a maximum of 7 cm and lowered by a minimum of 2 cm, then the robot adjustment range is from a 7 cm increase to a 2 cm decrease. The specific value of the robot adjustment range depends on the charging robot's hardware configuration and design parameters.

[0088] The deviation adjustment threshold is a critical value used to determine whether the current height deviation can be eliminated within the combined capabilities of the vehicle's adjustment range and the robot's adjustment range. It can be determined based on the vehicle's adjustment range corresponding to the first height adjustment device and the robot's adjustment range corresponding to the second height adjustment device. For example, the deviation adjustment threshold can be the sum of the maximum value of the vehicle's adjustment range and the maximum value of the robot's adjustment range. If the maximum adjustment amount of the vehicle is 5 cm and the maximum adjustment amount of the robot is 7 cm, then the deviation adjustment threshold is 12 cm. Another example is that the deviation adjustment threshold can be a multiple of the smaller of the maximum value of the vehicle's adjustment range and the maximum value of the robot's adjustment range. Further, the height deviation calculated in step S103 is compared with this deviation adjustment threshold to determine whether the adjustment capabilities of both are sufficient to eliminate the current height deviation.

[0089] If the height deviation is less than the deviation adjustment threshold, a first adjustment amount is determined based on the first distance and the vehicle's adjustment range, and the height of the vehicle charging component is adjusted according to the first adjustment amount. Then, a second adjustment amount is determined based on the second distance and the robot's adjustment range, and the height of the robot charging component is adjusted according to the second adjustment amount until the height deviation is less than the deviation threshold. Here, the first adjustment amount refers to the height adjustment amount performed by the first height adjustment device, and the second adjustment amount refers to the height adjustment amount performed by the second height adjustment device.

[0090] In one optional implementation, the vehicle preferentially undertakes an adjustment amount equivalent to the first distance. For example, if the first distance is 3 centimeters and the maximum adjustment range of the vehicle is 5 centimeters, then the vehicle determines its first adjustment amount to be 3 centimeters, that is, it raises the vehicle charging component by 3 centimeters using the first height adjustment device, making the first distance zero. In another optional implementation, based on the overall height deviation, a portion of the adjustment amount can be allocated to the vehicle within its adjustment range, with the remaining portion handled by the charging robot.

[0091] In one optional implementation, the charging robot undertakes an adjustment amount equivalent to the second distance. For example, if the second distance is 5 cm and the robot's maximum adjustment range is 7 cm, then the charging robot determines the second adjustment amount to be 5 cm, that is, it raises the robot's charging component by 5 cm using the second height adjustment device, making the second distance zero. In another optional implementation, based on the overall height deviation, a portion of the adjustment amount is allocated within the charging robot's own adjustment range, with the remaining portion undertaken by the vehicle.

[0092] If not, an autonomous driving intervention command is generated. Based on the autonomous driving intervention command, the vehicle is controlled to move to a new position that meets the adjustment range. Then, the height of the vehicle charging components and / or robot charging components is readjusted until the height deviation is less than the deviation threshold.

[0093] The autonomous driving intervention command refers to the control command generated by the vehicle when the height deviation exceeds the common adjustment range of both the vehicle and the charging robot. This command triggers the vehicle's autonomous driving system, controlling the vehicle to autonomously move to a new location. The selection criterion for the new location is that the height deviation between the vehicle's charging components and the charging robot's charging components falls within the sum of the vehicle's and robot's adjustment ranges at that location. After the vehicle moves into position, steps S101 to S104 are repeated to reacquire sea level data, remeasure distance sets, recalculate the height deviation, and attempt height adjustment again.

[0094] In this embodiment, the vehicle is equipped with a first height adjustment device, and the charging robot is equipped with a second height adjustment device. A communication link has been established between the vehicle and the charging robot, allowing them to exchange data in real time.

[0095] When adjusting the height, the first distance of each vehicle reference point and the second distance of each robot reference point are first obtained. For example, from the first distance set, the first distance of the first vehicle reference point is read as 3 cm, the first distance of the second vehicle reference point as 3.1 cm, the first distance of the third vehicle reference point as 2.9 cm, and the first distance of the fourth vehicle reference point as 3 cm. And from the second distance set, the second distance of the first robot reference point is read as 5 cm, the second distance of the second robot reference point as 5.2 cm, the second distance of the third robot reference point as 4.8 cm, and the second distance of the fourth robot reference point as 5.1 cm.

[0096] Next, it is determined whether the height deviation is less than or equal to the deviation adjustment threshold. Assuming that the height deviation calculated in step S103 is 8.025 cm, the maximum adjustment range of the vehicle is 5 cm, and the maximum adjustment range of the robot is 7 cm, the deviation adjustment threshold can be set to the sum of the two, i.e., 12 cm. Since 8.025 cm is less than 12 cm, it is determined that the height deviation is within the common range of the adjustment capabilities of both parties.

[0097] Furthermore, the vehicle determines the first adjustment amount to be undertaken by the first height adjustment device based on the first distance and the vehicle's adjustment range. In this embodiment, it can be set that the vehicle prioritizes undertaking the adjustment amount equivalent to the first distance of each vehicle reference point. For example, the first height adjustment device can be controlled to adjust the vehicle's body posture, such as raising the vehicle charging component by 3 cm, so that the first distance of the first vehicle reference point changes from 3 cm to 0 cm, while simultaneously adjusting the height of the other vehicle reference points, so that the first distance of the second vehicle reference point changes from 3.1 cm to 0 cm, the first distance of the third vehicle reference point changes from 2.9 cm to 0 cm, and the first distance of the fourth vehicle reference point changes from 3 cm to 0 cm.

[0098] On the other hand, after the vehicle completes its adjustment, a vehicle adjustment status is generated. This status refers to the information generated after the vehicle has completed its initial height adjustment, indicating that the vehicle charging components have completed the height adjustment according to the predetermined amount. Specifically, the vehicle adjustment status may include the following information: the vehicle reference point identifier where the adjustment has been completed, the first adjustment amount corresponding to each adjusted reference point, the current first distance value of each reference point after adjustment, and an adjustment completion flag on the vehicle side. When a reference point is raised or lowered to the target height, that point is marked as adjusted and a vehicle adjustment status containing that point's information is generated. This vehicle adjustment status is sent to the charging robot so that the robot knows the adjustment amount completed on the vehicle side and can accurately calculate the remaining adjustment amount that the robot still needs to undertake.

[0099] After receiving the vehicle adjustment status, the charging robot determines the second adjustment amount based on the second distance and the robot adjustment range. In one optional embodiment, the charging robot undertakes an adjustment amount equivalent to the second distance of each robot reference point, controlling the second height adjustment device to adjust the robot's body posture. For example, raising the robot charging component by 5 cm changes the second distance of the first robot reference point from 5 cm to 0 cm. Simultaneously, the height of other robot reference points is adjusted, changing the second distance of the second robot reference point from 5.2 cm to 0 cm, the second distance of the third robot reference point from 4.8 cm to 0 cm, and the second distance of the fourth robot reference point from 5.1 cm to 0 cm. After the charging robot completes the adjustment, it generates a robot adjustment status. The robot adjustment status refers to the status information generated after the charging robot completes the height adjustment of its assigned second adjustment amount, indicating that the robot charging component has completed the height adjustment according to the predetermined adjustment amount. Specifically, the robot adjustment status may include the following information: the robot reference point identifiers that the charging robot has completed adjustment, the second adjustment amount corresponding to each completed robot reference point, the current second distance value of each robot reference point after adjustment, and the adjustment completion flag on the robot side. Once a robot's reference point is raised or lowered to the target height, the charging robot marks that point as adjusted and generates a robot adjustment status containing that point's information. The charging robot then sends this status to the vehicle, informing the vehicle of the adjustments made by the charging robot and facilitating subsequent adjustments or docking confirmations.

[0100] After receiving the robot adjustment status from the charging robot, the vehicle remeasures the first distance between each vehicle reference point and the second distance between each robot reference point. It confirms that all first and second distances are close to zero, the docking distance is also close to zero, and the height deviation is less than the preset deviation threshold. Thus, it is determined that the height adjustment is complete and the subsequent docking steps can proceed.

[0101] In another optional implementation, if the height deviation is 15 cm, the maximum adjustment range of the vehicle is 5 cm, and the maximum adjustment range of the robot is 7 cm, the sum of their adjustment capabilities is 12 cm. Since 15 cm is greater than 12 cm, the height deviation is determined to exceed the deviation adjustment threshold. At this point, the vehicle generates an autonomous driving intervention command and sends it to the vehicle's autonomous driving system. After receiving the command, the autonomous driving system controls the vehicle to move slowly to find a relatively flat location. During the movement, the vehicle continuously monitors the change in height deviation between the vehicle's charging components and the charging robot's charging components. For example, after the vehicle moves to a new location, the remeasured height deviation decreases to 10 cm, which is less than the sum of their adjustment capabilities of 12 cm. The vehicle stops moving and repeats the aforementioned height adjustment process until the height deviation is less than the deviation threshold.

[0102] In another optional implementation, a point-by-point adjustment method can be used for the vehicle and the charging robot. For example, the first distance between the first vehicle reference point and the second distance between the first robot reference point are 3 cm and 5 cm respectively. The first height adjustment device is then controlled to raise the position of the first vehicle reference point by 3 cm, and the second height adjustment device is controlled to raise the position of the first robot reference point by 5 cm. After the adjustment is completed, the docking distance of the first pair of corresponding points changes from 8 cm to 0 cm. The same point-by-point adjustment operation is then performed on the second, third, and fourth pairs of reference points in the vehicle and the charging robot until the docking distance of all reference points is less than a preset threshold. This point-by-point adjustment method is suitable for scenarios where both the vehicle charging component and the robot charging component have multi-point independent adjustment capabilities, such as scenarios where each reference point is equipped with an independent height adjustment unit, enabling more precise local calibration.

[0103] In this embodiment, by acquiring the first and second distances for each pair of reference points with a point-to-point correspondence, and determining whether the height deviation is less than or equal to the deviation adjustment threshold jointly determined by both parties' adjustment ranges, the adjustment capabilities of both parties are pre-assessed to ensure they are sufficient to eliminate the current deviation before adjustment execution. This solves the problem that blind adjustment may lead to insufficient adjustment or failure to achieve docking. Furthermore, when the height deviation can be jointly eliminated, the first and second adjustment amounts are allocated to both parties based on the vehicle's and robot's adjustment ranges, respectively. This ensures the rational utilization of each party's adjustment capabilities, thus solving the problem that unilateral adjustment may overburden the other party or exceed its capacity. Moreover, when the height deviation exceeds the sum of both parties' adjustment capabilities, an autonomous driving intervention command is generated to control the vehicle to move to a new position that meets the adjustment range before re-executing the adjustment. This allows the deviation to fall back to the adjustable range through position adjustment even in extreme terrain or large deviation conditions, thus solving the defect that adjustment cannot be completed due to poor ground conditions or excessive initial deviation. In summary, this embodiment inevitably achieves pre-assessment of adjustment capabilities, rational allocation of adjustment amounts between both parties, and autonomous driving assistance intervention in extreme conditions, ultimately improving the adaptability and success rate of charging docking.

[0104] In one embodiment, a second adjustment amount, to be performed by a second height adjustment device, is determined based on a second distance and the robot's adjustment range, and the height of the robot charging assembly is adjusted according to the second adjustment amount. The method includes: Compare the second distance with the robot's adjustment range; If the second distance is less than or equal to the robot's adjustment range, the second distance is used as the second adjustment amount, and the second height adjustment device is controlled to adjust the height based on the second adjustment amount. When the second distance is greater than the robot's adjustment range, the maximum value of the robot's adjustment range is used as the second adjustment amount, and the difference between the maximum value of the robot's adjustment range and the second distance is used as the compensation adjustment amount. The second height adjustment device is controlled to perform height adjustment based on the second adjustment amount, and the first height adjustment device is controlled to perform supplementary height adjustment based on the compensation adjustment amount.

[0105] The robot adjustment range in this embodiment refers to the upper and lower limits of height adjustment achievable by the second height adjustment device. Typically, the maximum value represents the positive adjustment capability, and the minimum value represents the negative adjustment capability. For ease of explanation, this embodiment uses positive adjustment (raising) as an example; the principle of negative adjustment (lowering) is symmetrical and will not be repeated here.

[0106] Before the second height adjustment device performs height adjustment, the second distance is first compared with the robot's adjustment range to determine whether the charging robot's own capabilities are sufficient to independently eliminate the height deviation represented by the second distance.

[0107] When the second distance is less than or equal to the robot's adjustment range, it indicates that the charging robot itself is capable of independently eliminating the height deviation represented by the second distance. In this case, the second distance is used as the second adjustment value, and the second height adjustment device is controlled to adjust the height based on this second adjustment value.

[0108] For example, assuming the second distance is 5 cm and the maximum adjustment range of the robot is 7 cm, after comparison, it is found that 5 cm is less than 7 cm, indicating that the charging robot's own capability is sufficient to complete the adjustment independently. Therefore, 5 cm can be directly determined as the second adjustment amount, and an adjustment command containing the adjustment amount of 5 cm is sent to the second height adjustment device. After receiving the command, the second height adjustment device drives the lifting mechanism to raise the robot charging component by 5 cm. After the raising is completed, the distance between the robot's reference point and the docking reference height is measured again, confirming that the second distance has become 0 cm. At this point, a robot adjustment state is generated, and the charging robot sends this robot adjustment state to the vehicle, informing the vehicle that the point has been independently adjusted by the charging robot.

[0109] In another example, the second distance is exactly equal to the maximum value of the robot's adjustment range, for example, both are 7 centimeters. After comparison, it is found that they are equal. At this time, it is also determined that its own ability is sufficient to complete the adjustment. 7 centimeters can be directly determined as the second adjustment amount, and the second height adjustment device is controlled to rise by 7 centimeters, so that the second distance becomes 0 centimeters. At this time, the robot adjustment state is generated, and the robot adjustment state is also sent to the vehicle.

[0110] When the second distance exceeds the robot's adjustment range, it indicates that the charging robot's own capability is insufficient to independently eliminate the height deviation represented by the second distance. In this case, the maximum value of the robot's adjustment range can be used as the second adjustment amount, allowing the charging robot to perform the adjustment within its capabilities. Simultaneously, the difference between the maximum value of the robot's adjustment range and the second distance is calculated and used as a compensation adjustment amount, which is then supplemented by the vehicle's first height adjustment device.

[0111] For example, if the second distance is 10 cm and the maximum adjustment range of the robot is 7 cm, a comparison reveals that 10 cm is greater than 7 cm. Therefore, it is determined that the charging robot's own capability is insufficient to independently complete the adjustment. Thus, the maximum adjustment range of 7 cm is defined as the second adjustment amount, and an adjustment command containing the information of 7 cm is sent to the second height adjustment device. Upon receiving the command, the second height adjustment device drives the lifting mechanism to raise the robot charging component by 7 cm. After the raising is complete, the charging robot again measures the distance between the robot's reference point and the docking reference height, confirming that the second distance has changed from 10 cm to 3 cm.

[0112] At the same time, the difference between the maximum value of the robot's adjustment range and the second distance is calculated, that is, the absolute value of 7 cm minus 10 cm, to obtain a compensation adjustment amount of 3 cm. This compensation adjustment amount of 3 cm is sent to the vehicle through the wireless communication link between the vehicle and the charging robot, and the vehicle is informed that the compensation adjustment amount needs to be performed at the corresponding vehicle reference point.

[0113] After receiving the compensation adjustment amount, the vehicle controls the first height adjustment device to perform supplementary height adjustment based on the compensation adjustment amount. The vehicle obtains the current position of the vehicle reference point that has a point-to-point correspondence with the current robot reference point, determines that it needs to be raised by 3 centimeters from the current position of the vehicle reference point, and therefore controls the first height adjustment device to raise the position of the vehicle reference point by 3 centimeters. After the raising is completed, it is confirmed that the first distance of the vehicle reference point has decreased accordingly, and the docking distance of the corresponding points becomes 0 centimeters. The vehicle further sends the current vehicle adjustment status to the charging robot, and both parties confirm that the point has completed all adjustments.

[0114] For point-to-point adjustment in multi-point scenarios, in a specific example, assume that there are four vehicle reference points on the vehicle charging component and four robot reference points on the robot charging component. There is a one-to-one correspondence between the four points. The above adjustment process is performed on the four robot reference points in sequence.

[0115] First, the first robot reference point is processed. For example, if the second distance of the first robot reference point is 5 cm and the maximum adjustment range of the robot is 7 cm, since 5 cm is less than 7 cm, 5 cm is directly used as the second adjustment amount. The second height adjustment device is then used to raise the position of the first robot reference point by 5 cm to complete the adjustment independently.

[0116] Next, the second robot reference point is processed. Assuming the second distance of the second robot reference point is 6 cm and the maximum adjustment range of the robot is 7 cm, since 6 cm is less than 7 cm, 6 cm is used as the second adjustment amount. The second height adjustment device is controlled to raise the position of the second robot reference point by 6 cm to complete the adjustment independently.

[0117] Next, the third robot reference point is processed. Assume the second distance of the third robot reference point is 10 cm, and the maximum adjustment range of the robot is 7 cm. Since 10 cm is greater than 7 cm, 7 cm is used as the second adjustment amount, and the second height adjustment device is controlled to raise the position of the third robot reference point by 7 cm. After the increase, the residual second distance of the third robot reference point is 3 cm. At this point, the compensation adjustment amount is calculated to be 3 cm, and this compensation adjustment amount is sent to the vehicle. After receiving the compensation adjustment amount, the vehicle controls the first height adjustment device to raise the position of the third vehicle reference point corresponding to the third robot reference point by 3 cm. After the adjustment is completed, the distances of the corresponding points relative to the reference sea level are equal, meaning they are at the same height.

[0118] Finally, the fourth robot reference point is processed. Assuming the second distance of the fourth robot reference point is 8 cm and the maximum adjustment range of the robot is 7 cm, since 8 cm is greater than 7 cm, 7 cm is used as the second adjustment amount. The second height adjustment device is controlled to raise the position of the fourth robot reference point by 7 cm. After the increase, the residual second distance of the fourth robot reference point is 1 cm. At this point, the compensation adjustment amount is calculated to be 1 cm, and this compensation adjustment amount is sent to the vehicle. After receiving the compensation adjustment amount, the vehicle controls the first height adjustment device to raise the position of the fourth vehicle reference point corresponding to the fourth robot reference point by 1 cm. After the adjustment is completed, the distances of the corresponding points relative to the reference sea level are equal, meaning they are at the same height. Through the above point-by-point processing, the vehicle and the charging robot complete all height adjustments.

[0119] In this embodiment, all adjustment amounts requiring compensation are summarized and sent to the vehicle. For example, in the four location scenarios described above, the third robot reference point requires a 3 cm compensation, the fourth robot reference point requires a 1 cm compensation, and the other two locations require no compensation. The charging robot summarizes the compensation adjustments as follows: 3 cm compensation for the third vehicle reference point and 1 cm compensation for the fourth vehicle reference point, and sends this summary information to the vehicle. After receiving the summary information, the vehicle simultaneously controls the first height adjustment device to perform supplementary adjustments of 3 cm and 1 cm for the third and fourth vehicle reference points, respectively. This reduces the number of communications between the vehicle and the charging robot, improving adjustment efficiency.

[0120] In another optional implementation, after receiving the compensation adjustment amount from the charging robot, the vehicle determines whether its first height adjustment device has sufficient adjustment capability to execute the compensation adjustment. For example, the maximum adjustment capability of the vehicle's first height adjustment device is 5 cm, but the compensation adjustment amount requires the vehicle to rise by 6 cm, exceeding the vehicle's adjustment range. In this case, the vehicle feeds back the excess to the charging robot, which then readjusts its adjustment strategy. The charging robot can reduce its second adjustment amount from the original 7 cm to 6 cm, retaining a larger residual deviation, and then recalculate the compensation adjustment amount. Alternatively, the charging robot and the vehicle can negotiate, each adjusting a portion of the adjustment amount, so that the adjustment burden of both is within their respective capabilities, in order to cope with complex scenarios where both parties have limited adjustment capabilities and need to cooperate with each other.

[0121] In this embodiment, by comparing the second distance of the robot's reference point with the robot's adjustment range and adopting different adjustment strategies based on the comparison results, the robot's own capabilities are pre-assessed to ensure it can eliminate distance deviations on its side before adjustment execution. This solves the problem of adjustment failure caused by the robot blindly executing adjustment commands beyond its capabilities. Furthermore, when the second distance is less than or equal to the robot's adjustment range, the second distance is directly used as the second adjustment amount for the robot to independently complete the adjustment. This allows the robot to autonomously eliminate its own deviations within its capabilities, thus solving the inefficiency problem of complex coordination and communication when unilateral adjustment does not require intervention from the other side. Moreover, when the second distance is greater than the robot's adjustment range, the maximum value of the robot's adjustment range is used as the second adjustment amount, and the excess is used as a compensation adjustment amount by the vehicle's first height adjustment device for supplementary adjustment. This allows the robot to automatically trigger the vehicle's compensation mechanism when its capabilities are insufficient. In summary, this embodiment achieves autonomous judgment of the robot's adjustment capabilities, independent adjustment within its capabilities, and complementary compensation from the vehicle when capabilities are insufficient, ultimately improving the collaborative efficiency and docking success rate of both parties' height adjustments.

[0122] In step S105, the robot charging component and the vehicle charging component are docked to control the charging robot to charge the vehicle.

[0123] In one implementation, controlling the charging robot to charge and recharge the vehicle includes: Multi-dimensional signal source data is acquired in real time from at least one signal source, including at least one of the following: vehicle sensor data, robot sensor data, historical environmental data, sensor data from surrounding fixed equipment, and real-time sea level data. Calculate the average value of multi-dimensional signal source data at the current moment, and use it as a reference value for real-time adjustment; Based on real-time adjustment reference values, the vehicle's first height adjustment device and / or the charging robot's second height adjustment device are controlled to perform height correction.

[0124] In this embodiment, the multi-dimensional signal source data refers to the environmental perception data acquired in real time from multiple different sources during the vehicle's charging process. These data sources are not weighted and belong to the same weight level, mutually verifying and checking each other. The multi-dimensional signal source data includes vehicle's own sensor data, robot's own sensor data, historical environmental data, sensor data from surrounding fixed equipment, and real-time sea level data.

[0125] Vehicle-generated sensor data is data obtained by the vehicle in real time through its onboard cameras, radar, lidar and other sensors, which can include information such as the vehicle's current position, attitude, distribution of surrounding obstacles and ground flatness.

[0126] The robot's own sensor data is obtained by the charging robot through its onboard cameras, radar, lidar and other sensors, which map the surrounding environment in real time. This data can include the charging robot's current position, posture, extension status of the charging arm and surrounding environment information. The charging robot can transmit this data to the vehicle through a wireless communication link.

[0127] Historical environmental data is a pre-stored environmental mapping history of the locations of vehicles and charging robots on the server side. It has strong spatiotemporal reference constraints and includes spatial dimension, time dimension, environmental element attribute dimension, vertical multi-layer structure dimension, and semantic and management dimension.

[0128] The spatial dimension uses surveying benchmarks to obtain precise geographic coordinates and elevations of environmental elements, forming a realistic 3D base and serving as the geographic anchor for all environmental data. After acquiring its own geographic location, the vehicle retrieves the corresponding 3D spatial data from the server to compare the current survey results with historical records. The temporal dimension records the collection time or period of environmental parameters. The vehicle can obtain historical data at different time scales from the server, such as daily, seasonal, or annual variation data, to determine whether the current ground condition falls within the normal fluctuation range. The environmental element attribute dimension covers atmospheric parameters, water body indicators, soil parameters, noise levels, and ecological indicators, used to determine whether there are any anomalies in the surrounding environment, such as ground slippage or soil looseness, which may affect the stability of charging docking. The vertical multi-layer structure dimension describes the vertical profile of the atmosphere, water stratification, or the distribution of underground aquifers. In the charging docking scenario, this dimension's data can be used to determine whether the geological structure below the ground is stable and whether there are potential risks such as surface subsidence or underground cavities. The semantic and management dimensions include metadata such as data source, monitoring equipment, quality label, functional area and responsible entity. The credibility and timeliness of historical environmental data can be assessed based on this metadata, and a decision can be made on whether to use the data for verification.

[0129] Peripheral fixed equipment sensor data refers to data collected by fixed equipment around the vehicle's location. This equipment includes fixed cameras, radar, weather sensors, and other devices installed at charging stations, streetlights, and buildings. These fixed devices continuously monitor the surrounding environment, acquiring information such as ground conditions, weather conditions, and the movement of people and vehicles, and upload this data to a server. The vehicle can then retrieve this data from the server for comparison and verification with its own mapping results.

[0130] Real-time sea level data refers to the continuous acquisition of real-time sea level data at the vehicle and charging robot's location during the charging process. This data is used to monitor whether tidal changes or other fluctuations occur in the sea level. The real-time sea level data serves as a dynamic benchmark, which is compared with the docking benchmark height determined in step S101 to determine whether the benchmark height needs to be updated.

[0131] In one example, during charging, the vehicle continuously monitors the surrounding ground conditions. If its own camera detects a slight depression in the ground, causing a jump in the distance value of a vehicle reference point in the first distance set, the vehicle does not immediately adjust its altitude. Instead, it first retrieves sensor data from the charging robot on the server for comparison. The charging robot's radar mapping data also shows a depression at the same location, confirming the consistency between the two sensor data. Further, it retrieves sensor data from nearby fixed devices in the cloud; images captured by nearby fixed cameras show that a depression does indeed exist at that location. The vehicle then retrieves historical environmental data from the cloud; historical data shows that the ground at this location was flat in past mapping records, indicating that the depression is newly appeared. Finally, it retrieves real-time sea level data, confirming that there are no abnormal fluctuations in the sea level. Through cross-verification of data from multiple signal sources, it confirms that the depression does exist and its depth is 2 centimeters.

[0132] At this time, the first height adjustment device is controlled to make height correction based on the real-time adjustment reference value. For example, the average value of the multi-dimensional signal source data at the current moment is calculated, and the ground depression depth is found to be 2.1 cm. This average value is then used as the real-time adjustment reference value to control the first height adjustment device to lower the vehicle charging component by 2.1 cm, and the second height adjustment device to lower the robot charging component by 2.1 cm to compensate for the height change caused by the ground depression. During the adjustment process, the vehicle maintains the charging connection with the charging robot, and the charging and energy replenishment operation is uninterrupted.

[0133] In another example, inconsistencies arise between the vehicle's own sensor data and the charging robot's sensor data. The vehicle's camera mapping shows the ground as flat, while the charging robot's radar mapping shows a raised area. In this case, the vehicle requests data from nearby fixed sensors in the cloud. The data from these fixed sensors shows the ground is flat, consistent with the vehicle's mapping. The vehicle then retrieves historical environmental data from the cloud. Historical data shows the ground at this location has always been flat. After integrating data from multiple signal sources, the vehicle determines that the charging robot's radar mapping data may be inaccurate and decides not to perform height adjustment. This decision is then sent to the charging robot, which recalibrates its own sensors based on the feedback.

[0134] In another example, the vehicle and the charging robot have docked, and the robot is charging the vehicle. At this moment, a strong gust of wind causes the charging robot to sway slightly, resulting in a minor change in the height of its charging components. The vehicle's first height adjustment device and the charging robot's second height adjustment device continue to operate, monitoring the height status of their respective charging components in real time. The vehicle's camera sensors capture this height change in the robot's charging components, measuring an upward shift of 0.5 cm in real time. The charging robot's own attitude sensors also detect the same 0.5 cm shift and transmit this data to the vehicle.

[0135] After acquiring multi-dimensional signal source data, the vehicle calculates the average value of this data as a real-time adjustment reference value. For example, if the vehicle's own sensor data is 0.5 cm, the charging robot's sensor data is 0.5 cm, the surrounding fixed equipment's sensor data is 0.4 cm, historical environmental data shows a normal fluctuation range within 0.5 cm, and real-time sea level data remains unchanged, the calculated average value is 0.48 cm. Based on this real-time adjustment reference value, the first height adjustment device is controlled to adjust the vehicle's charging components upwards by 0.48 cm to follow the charging robot's height changes. Simultaneously, the charging robot, based on its received adjustment commands, controls the second height adjustment device for fine-tuning. Both components move synchronously during the charging process, maintaining good contact at the charging interface, ensuring uninterrupted charging operation.

[0136] In another example, a slight ground undulation occurs at the location of the vehicle and charging robot, such as when a heavy vehicle passes by, causing a brief ground subsidence. Multiple sensors on the vehicle simultaneously detect this change, and multiple distance values ​​in the first distance set change synchronously. Further verification using multi-dimensional signal source data confirms that the undulation is global rather than a local fault. The average of the multi-dimensional signal source data is calculated, yielding a ground subsidence of 1 cm. The first height adjustment device then lowers the vehicle's charging components by 1 cm, simultaneously lowering the robot's charging components by 1 cm, maintaining a constant relative height, while the charging operation continues. Once the heavy vehicle has left, the ground returns to its original state, and the vehicle and charging robot synchronously rise again to their original height.

[0137] In another example, the ground depression was more severe, and the height adjustment device alone could not fully compensate for it. Based on the verification results of multi-dimensional signal source data, the vehicle determined that it needed to move to a safer and more stable charging environment. Therefore, the vehicle was controlled to move slowly forward. During the movement, the vehicle and the charging robot maintained a charging connection, ensuring uninterrupted charging. The vehicle's first height adjustment device and the charging robot's second height adjustment device continuously operated, dynamically adjusting their respective heights based on the real-time average value of the multi-dimensional signal source data to compensate for height changes caused by ground undulations during movement. Once the vehicle reached a new, flat location, the first and second distance sets were remeasured to confirm that the height deviation was less than the deviation threshold. The vehicle then stopped moving, and both parties continued the charging process.

[0138] In this embodiment, multi-dimensional data is acquired in real time from multiple signal sources, including the vehicle's own sensors, the robot's own sensors, historical environmental data, sensors from surrounding fixed equipment, and real-time sea level data. This constructs a redundant and complementary all-around perception system, solving the problem of uninterrupted docking when a single signal source's data is missing due to obstruction, interference, or malfunction. Furthermore, by calculating the average value of the multi-dimensional signal source data at the current moment as a real-time adjustment reference value, the measurement results from multiple independent data sources are cross-checked, and errors cancel each other out. This solves the problem of inaccurate adjustment commands caused by random fluctuations or local anomalies in single-source data. Moreover, by dynamically controlling the height adjustment devices of the vehicle and / or robot based on the real-time adjustment reference value for height correction, even with slight ground fluctuations or environmental changes during charging, both parties can maintain a precise docking posture. This solves the problem of traditional solutions failing to sense and compensate for external disturbances after docking and requiring interruption and restart upon environmental changes. In summary, this embodiment achieves redundant complementarity of multi-source data, average suppression of random errors, and uninterrupted dynamic correction during charging, ultimately improving the continuity and anti-disturbance capability of the charging process.

[0139] In one implementation, the method further includes: If any one of the at least one signal sources experiences a signal anomaly, the signal source experiencing the signal anomaly is identified as an abnormal signal source, and the historical charging records of the abnormal signal source are obtained. Based on historical charging records, a signal replacement value is determined, and abnormal signal sources are temporarily corrected based on the signal replacement value to obtain replacement signal source data; Based on the data from the backup signal sources, the average value of the multi-dimensional signal source data at the current moment is calculated and used as a reference value for real-time adjustment. Based on real-time adjustment reference values, the vehicle's first height adjustment device and / or the charging robot's second height adjustment device are controlled to perform height correction.

[0140] In this embodiment, signal anomaly refers to the state where the signal source cannot provide normal and reliable real-time measurement data, which can include two situations: The first is signal interruption, that is, the signal source is completely unable to transmit data, such as the wireless communication link between the vehicle and the charging robot being disconnected, the network connection of surrounding fixed equipment failing, or cloud services being temporarily unavailable; the second is data fluctuation exceeding a preset range, that is, although the signal source can transmit data, the measured values ​​show drastic jumps or significantly deviate from the reasonable range, such as the vehicle radar sensor being affected by strong electromagnetic interference causing the ranging value to fluctuate greatly, or the camera's image recognition error exceeding the normal range due to rainy or foggy weather. When any signal source exhibits either of the above two situations, the signal source is determined to be an abnormal signal source.

[0141] Historical charging records refer to the archives of historical data stored by the vehicle and charging robot during past charging docking processes. These records are stored in the vehicle's local storage unit and simultaneously backed up to the cloud. During each charging docking process, the vehicle records the measurement data provided by each signal source during that docking, the accuracy ranking of the data, the number of times the data was accessed, and the context of any data disconnection points.

[0142] In one optional implementation, the vehicle's historical charging records contain performance data of each signal source during the past n charging docking processes. Based on this historical data, the accuracy ranking and reliability score of each signal source can be calculated. Each record may include: signal source identifier, the measurement value provided by the signal source during the docking, the deviation between the value and the actual environmental value, the continuity of the signal source's data during the docking, and whether the signal source experienced any abnormalities and the time when the abnormalities occurred.

[0143] The signal replacement value refers to the alternative data automatically generated based on the historical charging records of a signal source when an anomaly occurs. The signal replacement value can be the average of measurement data from the abnormal signal source extracted from the historical charging records for a predetermined number of times before the chain break point. The predetermined number of times can be set according to the actual application scenario; for example, it can be set to 10 times, which means taking the arithmetic mean of the measurement data provided by the signal source in the 10 most recent charging connections before the chain break point. If the historical records are insufficient for the predetermined number of times, the average of all available historical data is used.

[0144] In one example, the charging robot's own sensor data experienced a signal interruption. The vehicle detected that the charging robot had not sent any sensor data for three consecutive seconds, determining that the charging robot's signal source was abnormal. The vehicle immediately accessed the locally stored historical charging records to find the sensor data provided by the charging robot in the past 10 charging dockings. The history showed that the environmental height data provided by the charging robot in the past 10 dockings were: 5.1 cm, 5.0 cm, 5.2 cm, 4.9 cm, 5.1 cm, 5.0 cm, 5.2 cm, 5.1 cm, 4.9 cm, and 5.0 cm. The average of these 10 values ​​was calculated to be 5.05 cm, and this average value of 5.05 cm was used as the signal replacement value for the charging robot's signal source.

[0145] Alternate signal source data refers to the alternative dataset constructed for abnormal signal sources after the vehicle temporarily replaces the real-time data of the abnormal signal source with a substitute signal value. The vehicle maintains the data structure of the abnormal signal source unchanged, only replacing the measured values ​​with the substitute signal values; other metadata such as signal source identifier, data type, and timestamp remain unchanged. Therefore, in the calculation of the average value of multi-dimensional signal source data, abnormal signal sources can still participate in the calculation, and the entire fusion calculation will not fail due to data loss.

[0146] In one example, the five-dimensional signal source data under normal conditions includes: vehicle's own sensor data at 5.0 cm, charging robot's own sensor data at 5.1 cm, historical environment data from the cloud at 5.0 cm, surrounding fixed equipment sensor data at 5.0 cm, and real-time sea level data at 5.0 cm. The average value is calculated to yield a real-time adjustment reference value of 5.02 cm.

[0147] When the charging robot's own sensor data experiences a signal interruption, the signal source is identified as an abnormal signal source. Based on historical charging records, a replacement signal value of 5.05 cm is calculated. Therefore, the real-time data of the charging robot's signal source is temporarily replaced with the replacement signal source data of 5.05 cm. At this time, the data used for averaging become: vehicle's own sensor data 5.0 cm, replacement signal source data 5.05 cm, cloud historical environmental data 5.0 cm, surrounding fixed equipment sensor data 5.0 cm, and real-time sea level data 5.0 cm. The average of these five data points is calculated to be 5.01 cm. This average value is used as a real-time adjustment reference value to continue controlling the height adjustment device for height correction.

[0148] In another example, a charging robot is charging a vehicle, and all five-dimensional signal sources are functioning normally. Suddenly, the network connection to nearby fixed equipment is interrupted, preventing the vehicle from obtaining sensor data from the cloud. Upon detecting this anomaly, the signal source of the nearby fixed equipment is identified as the faulty source. A request is then made to the server to send historical charging records. After receiving these records, the robot searches for the measurement values ​​of the sensor data from the nearby fixed equipment in the 10 most recent charging dockings before the connection failure point. The historical records show that the ground flatness data provided by the nearby fixed equipment in the past 10 dockings were: 0 cm, 0.1 cm, 0 cm, 0.1 cm, 0 cm, 0 cm, 0.1 cm, 0 cm, 0.1 cm, 0 cm, 0.1 cm, 0 cm. The average of these 10 values ​​is calculated to be 0.04 cm. This average value is used as the signal replacement value to construct the backup signal source data.

[0149] Next, data from a backup signal source is used to replace the real-time data of the abnormal signal in the calculation of the five-way average. For example, if the vehicle's own sensor data is 0.1 cm, the charging robot's sensor data is 0.1 cm, the cloud-based historical environmental data is 0 cm, the real-time sea level data is 0 cm, and the backup signal source data is 0.04 cm, the calculated average is 0.048 cm. This value is used as the real-time adjustment reference value to control the first height adjustment device for height correction. When the network connection of the surrounding fixed equipment is restored, it receives real-time sensor data again, restores the signal source's status to normal, stops using the backup signal source data, and switches back to real-time data for average calculation. The switching process is smooth, and the real-time adjustment reference value does not change drastically.

[0150] In another optional implementation, the vehicle-side stores the historical accuracy ranking of each signal source. The accuracy ranking is derived statistically from the deviation between the measurement data of each signal source during multiple past charging docking attempts and the actual environmental values. Deviation is inversely proportional to accuracy; that is, the smaller the deviation, the higher the accuracy ranking. When a signal source malfunctions, if its historical accuracy ranking is high, it indicates that its historical data is highly reliable, and the average of its historical data can be directly used as a signal replacement value. If its historical accuracy ranking is low, it indicates that its historical data itself may have significant errors, and a replacement value can be obtained from the historical data of other signal sources with higher accuracy rankings, or a weighted average of the historical data from multiple high-ranking signal sources can be used as the signal replacement value.

[0151] For example, if the charging robot's sensor signal is abnormal, but the charging robot ranks last among the five signal sources in historical accuracy, its historical data has low reliability. In this case, instead of directly using the charging robot's own historical data as a substitute, the historical measurement value corresponding to the current time is extracted from the historical data of the vehicle's own sensor and the surrounding fixed equipment sensors with the highest accuracy ranking, and the weighted average value is calculated as the signal substitute value of the charging robot's signal source, which further improves the reliability of the substitute data.

[0152] In one optional implementation, after the abnormal signal source returns to normal, the status of the abnormal signal source is continuously monitored. When it is detected that the data provided by the signal source for a continuous period of time is within a reasonable range and there are no drastic fluctuations, the vehicle determines that the signal source has returned to normal.

[0153] At this point, parallel verification is performed for a period of time. This involves simultaneously calculating the average value using both the backup signal source data and the recovered real-time data, and comparing the differences between the two calculation results. If the difference is less than the preset switching threshold, it indicates that the real-time data has stabilized and is consistent with historical patterns. Therefore, the weight of the real-time data is gradually increased, while the weight of the backup data is gradually decreased. After several steps of gradual switching, the system eventually switches back to real-time data completely. If the difference is still large, the backup mode is maintained, and the system waits for the real-time data to stabilize further before attempting to switch. This avoids sudden changes in the real-time adjustment reference value caused by a sudden switch, ensuring the smoothness of the height adjustment.

[0154] In this embodiment, when any signal source experiences an anomaly, that source is identified as the anomalous signal source, and its historical charging records are retrieved. This allows for immediate location of the fault source and retrieval of historical data for backup upon the occurrence of an anomaly, resolving the problem of multi-source fusion system failure and inability to calculate real-time adjustment reference values ​​due to signal interruption or fluctuations. Furthermore, by determining a substitute signal value based on historical charging records and temporarily correcting the anomalous signal source to obtain substitute signal source data, the anomalous signal source can be smoothly replaced by historical data before recovery, allowing multi-source fusion calculations to continue. This solves the defect of a single-point signal failure forcing the entire adjustment system to degrade or stop. Moreover, by calculating the average value of multi-dimensional signal source data based on the substitute signal source data as the real-time adjustment reference value and controlling the height adjustment device accordingly for height correction, the system can maintain the same adjustment output capability as in normal conditions during signal anomalies, and seamlessly switch back to real-time data after the anomalous signal recovers. In summary, this embodiment achieves rapid location of signal anomalies, automatic substitution and fusion of historical data, and uninterrupted height correction during anomalies, ultimately improving the fault tolerance and operational continuity of the charging docking system.

[0155] This embodiment also provides a docking device for a charging component, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0156] This embodiment provides a docking device for a charging component, such as... Figure 2 As shown, it includes: The reference determination module 201 is used to acquire sea level data of the location of the vehicle and the charging robot, and determine the docking reference height based on the sea level data. The vehicle is equipped with a vehicle charging component, and the charging robot is equipped with a robot charging component.

[0157] The distance measurement module 202 is used to measure a first set of distances between the vehicle charging component and the docking reference height, and a second set of distances between the robot charging component and the docking reference height.

[0158] The deviation calculation module 203 is used to calculate the height deviation between the vehicle charging component and the robot charging component in the docking direction based on the first distance set and the second distance set.

[0159] The height adjustment module 204 is used to adjust the height of the vehicle charging component and / or robot charging component according to the height deviation until the height deviation is less than the deviation threshold.

[0160] The component docking module 205 is used to dock with the robot charging component and the vehicle charging component to control the charging robot to charge and replenish the vehicle.

[0161] In one embodiment, the sea level data includes first sea level data, second sea level data, and reference sea level data, wherein the first sea level data is obtained by vehicle mapping, and the second sea level data is obtained by charging robot mapping; the reference determination module 201 includes: The reference data acquisition unit is used to receive reference sea level data of the vehicle's location from the server.

[0162] The sea level comparison unit is used to determine whether the first sea level data is consistent with the reference sea level data, and whether the second sea level data is consistent with the reference sea level data.

[0163] The first reference determination unit is used to use the reference sea level data as the docking reference height if the first sea level data is consistent with the reference sea level data, and / or the second sea level data is consistent with the reference sea level data.

[0164] The second reference determination unit is used to take the average value of the first sea level data, the second sea level data and the reference sea level data as the docking reference height if both the first sea level data and the second sea level data are inconsistent with the reference sea level data.

[0165] In one embodiment, the vehicle charging component includes at least one vehicle reference point, and the robot charging component includes at least one robot reference point, with a point-to-point correspondence between the at least one vehicle reference point and the at least one robot reference point.

[0166] In one embodiment, the deviation calculation module 203 includes: The distance acquisition unit is used to acquire, for each pair of vehicle reference points and robot reference points with a point-to-point correspondence, a first distance between the vehicle reference point and the docking reference height from a first distance set, and a second distance between the robot reference point and the docking reference height from a second distance set.

[0167] The docking distance determination unit is used to determine the docking distance between the vehicle reference point and the robot reference point based on the first distance and the second distance.

[0168] The deviation calculation unit is used to calculate the height deviation between the vehicle reference point and the robot reference point based on the docking distance.

[0169] In one embodiment, the vehicle is equipped with a first height adjustment device, and the charging robot is equipped with a second height adjustment device; the height adjustment module 204 includes: The distance acquisition subunit is used to acquire, for each pair of vehicle reference points and robot reference points with point correspondence, a first distance between the vehicle reference point and the docking reference height from a first distance set, and a second distance between the robot reference point and the docking reference height from a second distance set.

[0170] The deviation judgment unit is used to determine whether the height deviation is less than or equal to the deviation adjustment threshold, wherein the deviation adjustment threshold is determined based on the vehicle adjustment range corresponding to the first height adjustment device and the robot adjustment range corresponding to the second height adjustment device.

[0171] The first height adjustment unit is configured to, if so, determine a first adjustment amount to be undertaken by the first height adjustment device based on the first distance and the vehicle adjustment range, and adjust the height of the vehicle charging component according to the first adjustment amount; determine a second adjustment amount to be undertaken by the second height adjustment device based on the second distance and the robot adjustment range, and adjust the height of the robot charging component according to the second adjustment amount until the height deviation is less than the deviation threshold.

[0172] The second height adjustment unit is used to generate an autonomous driving intervention command if not, and then control the vehicle to move to a new position that meets the adjustment range based on the autonomous driving intervention command, and then readjust the height of the vehicle charging component and / or robot charging component until the height deviation is less than the deviation threshold.

[0173] In one embodiment, the first height adjustment unit includes: The adjustment range comparison subunit is used to compare the second distance with the robot's adjustment range.

[0174] The second adjustment amount determination subunit is used to, when the second distance is less than or equal to the robot adjustment range, use the second distance as the second adjustment amount and control the second height adjustment device to perform height adjustment based on the second adjustment amount; when the second distance is greater than the robot adjustment range, use the maximum value of the robot adjustment range as the second adjustment amount, and use the difference between the maximum value of the robot adjustment range and the second distance as the compensation adjustment amount.

[0175] The first height adjustment subunit is used to control the second height adjustment device to perform height adjustment based on the second adjustment amount, and to control the first height adjustment device to perform supplementary height adjustment based on the compensation adjustment amount.

[0176] In one embodiment, the component docking module 205 includes: The signal source data acquisition unit is used to acquire multi-dimensional signal source data in real time from at least one signal source. The multi-dimensional signal source data includes at least one of the following: vehicle's own sensor data, robot's own sensor data, historical environmental data, surrounding fixed equipment sensor data, and real-time sea level data.

[0177] The average value calculation unit is used to calculate the average value of multi-dimensional signal source data at the current moment, as a reference value for real-time adjustment.

[0178] The height correction unit is used to control the first height adjustment device of the vehicle and / or the second height adjustment device of the charging robot to perform height correction based on the real-time adjustment reference value.

[0179] In one embodiment, the component docking module 205 further includes: The historical data acquisition unit is used to identify the signal source with the abnormal signal source as an abnormal signal source if any of the at least one signal source has a signal abnormality, and to acquire the historical charging record of the abnormal signal source.

[0180] The temporary correction unit is used to determine the signal replacement value based on historical charging records, and to temporarily correct the abnormal signal source based on the signal replacement value to obtain the replacement signal source data.

[0181] The substitute calculation unit is used to calculate the average value of multi-dimensional signal source data at the current moment based on the substitute signal source data, as a reference value for real-time adjustment.

[0182] The alternative correction unit is used to control the vehicle's first height adjustment device and / or the charging robot's second height adjustment device to perform height correction based on real-time adjustment reference values.

[0183] In this embodiment, the docking device of the charging component is presented in the form of a functional unit. Here, a unit refers to an ASIC circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0184] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0185] This invention also provides a computer device having the above-described features. Figure 2 The docking device for the charging component is shown.

[0186] The following is a detailed reference. Figure 3 The diagram illustrates a structural schematic suitable for implementing a computer device according to embodiments of the present invention. The computer device may include a processor (e.g., a central processing unit, a graphics processing unit, etc.) 301, which can perform various appropriate actions and processes based on a program stored in a read-only memory (i.e., ROM 302) or a program loaded from memory 308 into random access memory (i.e., RAM 303). The RAM 303 also stores various programs and data required for the operation of the computer device. The processor 301, ROM 302, and RAM 303 are interconnected via a bus 304. Input / output (i.e., I / O interface 305) is also connected to the bus 304.

[0187] Typically, the following devices can be connected to I / O interface 305: input devices 306 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 307 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 308 including, for example, magnetic tapes, hard disks, etc.; and communication devices 309. Communication device 309 allows the computer device to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 3 Computer equipment with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0188] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 309, or installed from a memory 308, or installed from a ROM 302. When the computer program is executed by the processor 301, it performs the functions defined in the docking method of the charging component according to embodiments of the present invention.

[0189] Figure 3 The computer device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.

[0190] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the docking method of the charging component shown in the above embodiments is implemented.

[0191] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0192] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A docking method for a charging component, characterized in that, The method includes: The system acquires sea level data of the location of the vehicle and the charging robot, and determines the docking reference height based on the sea level data. The vehicle is equipped with a vehicle charging component, and the charging robot is equipped with a robot charging component. The first set of distances between the vehicle charging component and the docking reference height, and the second set of distances between the robot charging component and the docking reference height are measured respectively. Based on the first distance set and the second distance set, calculate the height deviation between the vehicle charging component and the robot charging component in the docking direction; Based on the height deviation, the height of the vehicle charging component and / or the robot charging component is adjusted until the height deviation is less than the deviation threshold. The robot charging component and the vehicle charging component are connected to control the charging robot to charge the vehicle.

2. The method according to claim 1, characterized in that, The sea level data includes first sea level data, second sea level data, and reference sea level data, wherein the first sea level data is obtained by the vehicle and the second sea level data is obtained by the charging robot. The process of acquiring sea level data of the location of the vehicle and the charging robot, and determining the docking reference height based on the sea level data, includes: Receive reference sea level data of the vehicle's location from the server; Determine whether the first sea level data is consistent with the reference sea level data, and whether the second sea level data is consistent with the reference sea level data; If the first sea level data is consistent with the reference sea level data, and / or the second sea level data is consistent with the reference sea level data, then the reference sea level data shall be used as the docking reference height; If both the first sea level data and the second sea level data are inconsistent with the reference sea level data, then the average value of the first sea level data, the second sea level data, and the reference sea level data shall be used as the docking reference height.

3. The method according to claim 1, characterized in that, The vehicle charging component includes at least one vehicle reference point, and the robot charging component includes at least one robot reference point. There is a point-to-point correspondence between the at least one vehicle reference point and the at least one robot reference point.

4. The method according to claim 3, characterized in that, The step of calculating the height deviation between the vehicle charging component and the robot charging component in the docking direction based on the first distance set and the second distance set includes: For each pair of vehicle reference points and robot reference points with a point-to-point correspondence, a first distance between the vehicle reference point and the docking reference height is obtained from the first distance set, and a second distance between the robot reference point and the docking reference height is obtained from the second distance set. Based on the first distance and the second distance, the docking distance between the vehicle reference point and the robot reference point is determined; Based on the docking distance, the height deviation between the vehicle reference point and the robot reference point is calculated.

5. The method according to claim 1, characterized in that, The vehicle is equipped with a first height adjustment device, and the charging robot is equipped with a second height adjustment device; The step of adjusting the height of the vehicle charging component and / or the robot charging component based on the height deviation until the height deviation is less than a deviation threshold includes: For each pair of vehicle reference points and robot reference points with a point-to-point correspondence, a first distance between the vehicle reference point and the docking reference height is obtained from the first distance set, and a second distance between the robot reference point and the docking reference height is obtained from the second distance set. Determine whether the height deviation is less than or equal to the deviation adjustment threshold, wherein the deviation adjustment threshold is determined based on the vehicle adjustment range corresponding to the first height adjustment device and the robot adjustment range corresponding to the second height adjustment device; If so, based on the first distance and the vehicle adjustment range, a first adjustment amount to be undertaken by the first height adjustment device is determined, and the height of the vehicle charging component is adjusted according to the first adjustment amount; based on the second distance and the robot adjustment range, a second adjustment amount to be undertaken by the second height adjustment device is determined, and the height of the robot charging component is adjusted according to the second adjustment amount until the height deviation is less than the deviation threshold. If not, an autonomous driving intervention command is generated. Based on the autonomous driving intervention command, the vehicle is controlled to move to a new position that meets the adjustment range. Then, the height of the vehicle charging component and / or the robot charging component is readjusted until the height deviation is less than the deviation threshold.

6. The method according to claim 5, characterized in that, The method of determining a second adjustment amount to be undertaken by the second height adjustment device based on the second distance and the robot adjustment range, and adjusting the height of the robot charging component according to the second adjustment amount, includes: Compare the second distance with the robot's adjustment range; If the second distance is less than or equal to the robot's adjustment range, the second distance is used as the second adjustment amount, and the second height adjustment device is controlled to adjust the height based on the second adjustment amount; When the second distance is greater than the robot adjustment range, the maximum value of the robot adjustment range is used as the second adjustment amount, and the difference between the maximum value of the robot adjustment range and the second distance is used as the compensation adjustment amount. The second height adjustment device is controlled to perform height adjustment based on the second adjustment amount, and the first height adjustment device is controlled to perform supplementary height adjustment based on the compensation adjustment amount.

7. The method according to claim 1, characterized in that, The control of the charging robot to charge the vehicle includes: Multi-dimensional signal source data is acquired in real time from at least one signal source, the multi-dimensional signal source data including at least one of the following: vehicle own sensor data, robot own sensor data, historical environmental data, surrounding fixed equipment sensor data, and real-time sea level data; Calculate the average value of the multi-dimensional signal source data at the current moment, and use it as a reference value for real-time adjustment; Based on the real-time adjustment reference value, the first height adjustment device of the vehicle and / or the second height adjustment device of the charging robot are controlled to perform height correction.

8. The method according to claim 7, characterized in that, The method further includes: If any of the at least one signal sources experiences a signal anomaly, the signal source experiencing the signal anomaly is identified as an abnormal signal source, and the historical charging record of the abnormal signal source is obtained. Based on the historical charging records, a signal replacement value is determined, and the abnormal signal source is temporarily corrected based on the signal replacement value to obtain replacement signal source data; Based on the backup signal source data, calculate the average value of the multi-dimensional signal source data at the current moment, as a reference value for real-time adjustment; Based on the real-time adjustment reference value, the first height adjustment device of the vehicle and / or the second height adjustment device of the charging robot are controlled to perform height correction.

9. A docking device for a charging component, characterized in that, The device includes: The reference determination module is used to acquire sea level data of the location of the vehicle and the charging robot, and determine the docking reference height based on the sea level data. The vehicle is equipped with a vehicle charging component, and the charging robot is equipped with a robot charging component. The distance measurement module is used to measure a first set of distances between the vehicle charging component and the docking reference height, and a second set of distances between the robot charging component and the docking reference height, respectively. The deviation calculation module is used to calculate the height deviation between the vehicle charging component and the robot charging component in the docking direction based on the first distance set and the second distance set; A height adjustment module is used to adjust the height of the vehicle charging component and / or the robot charging component according to the height deviation until the height deviation is less than a deviation threshold. The component docking module is used to dock with the robot charging component and the vehicle charging component to control the charging robot to charge the vehicle.

10. A computer device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to perform the method of any one of claims 1 to 8.

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