From 785a6b60aa3da45eadf159dfa6f019040a2c670f Mon Sep 17 00:00:00 2001
From: huaqiang <chenhuaqiang1998@qq.com>
Date: Tue, 22 Sep 2026 09:08:08 +0800
Subject: [PATCH] =?UTF-8?q?=E9=99=90=E5=88=B6=E4=BD=8E=E7=94=B5=E9=87=8F?=
 =?UTF-8?q?=E5=9B=9E=E5=85=85=E6=95=B0=E5=80=BC?=
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---
 .../pages/EquipmentManagementPage.vue         | 43 +++++++++++++++++--
 1 file changed, 40 insertions(+), 3 deletions(-)

diff --git a/src/views/dashboard1/pages/EquipmentManagementPage.vue b/src/views/dashboard1/pages/EquipmentManagementPage.vue
index 3aabe85..27fb158 100644
--- a/src/views/dashboard1/pages/EquipmentManagementPage.vue
+++ b/src/views/dashboard1/pages/EquipmentManagementPage.vue
@@ -1161,6 +1161,22 @@ function buildDevicePlans(device: DeviceRecord): PatrolTask[] {
   ];
 }
 
+// 自动回充低电量阈值上限：必须低于车端"充电完成脱离阈值"(95%)并留出滞后余量，
+// 否则会出现"充到 95% 自动脱离 → 电量回落到阈值以下 → 又自动回充"的反复触发
+const MAX_LOW_BATTERY_THRESHOLD = 90;
+
+// 阈值统一下限与默认值，和 charging_dock 节点保持一致的量级
+const MIN_LOW_BATTERY_THRESHOLD = 1;
+const DEFAULT_LOW_BATTERY_THRESHOLD = 30;
+
+// 把阈值收敛到 [1, 90]；非法值回落到默认阈值
+function clampLowBatteryThreshold(value: number | undefined) {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    return DEFAULT_LOW_BATTERY_THRESHOLD;
+  }
+  return Math.min(MAX_LOW_BATTERY_THRESHOLD, Math.max(MIN_LOW_BATTERY_THRESHOLD, Math.round(value)));
+}
+
 // 回充配置默认值与 charging_dock 节点保持一致：默认开启自动回充，阈值 30%
 function buildDockConfig(device: DeviceRecord): DockConfigState {
   return {
@@ -1171,7 +1187,7 @@ function buildDockConfig(device: DeviceRecord): DockConfigState {
     preDockY: device.preDockY,
     preDockYaw: device.preDockYaw,
     autoRechargeEnabled: device.autoRechargeEnabled ?? true,
-    lowBatteryThreshold: device.lowBatteryThreshold ?? 30,
+    lowBatteryThreshold: clampLowBatteryThreshold(device.lowBatteryThreshold),
   };
 }
 
@@ -2522,6 +2538,16 @@ function fillDockPoseFromRobot(mode: "dock" | "preDock") {
   scheduleMapCanvasRender();
 }
 
+// 输入框即时收敛阈值，避免页面上留下超过上限的值
+function normalizeDockThreshold() {
+  if (!currentConfig.value) {
+    return;
+  }
+  currentConfig.value.dock.lowBatteryThreshold = clampLowBatteryThreshold(
+    currentConfig.value.dock.lowBatteryThreshold,
+  );
+}
+
 // 保存充电点与自动回充配置；后端保存后会同步下发给在线小车
 async function saveDockConfig() {
   const device = currentConfiguredDevice.value;
@@ -2530,10 +2556,21 @@ async function saveDockConfig() {
     return;
   }
 
+  // 阈值上限收敛：超过上限会与车端 95% 的自动脱离阈值形成自激反复
+  const rawThreshold = Number(config.dock.lowBatteryThreshold);
+  const overLimit = !Number.isFinite(rawThreshold) || rawThreshold > MAX_LOW_BATTERY_THRESHOLD;
+  const threshold = clampLowBatteryThreshold(rawThreshold);
+  config.dock.lowBatteryThreshold = threshold;
+
   await updateRosCarDockConfig({
     id: device.id,
     ...config.dock,
+    lowBatteryThreshold: threshold,
   });
+
+  if (overLimit) {
+    dockConfigMessage.value = `自动回充阈值最高 ${MAX_LOW_BATTERY_THRESHOLD}%，已按上限 ${threshold}% 保存`;
+  }
 }
 
 // 在地图上绘制充电点/预对接点标记
@@ -3349,8 +3386,8 @@ watch(
                   </label>
                   <label class="dock-threshold">
                     <span>阈值</span>
-                    <input v-model.number="currentConfig.dock.lowBatteryThreshold" max="99" min="1" step="1"
-                      type="number" />
+                    <input v-model.number="currentConfig.dock.lowBatteryThreshold" :max="MAX_LOW_BATTERY_THRESHOLD"
+                      :min="MIN_LOW_BATTERY_THRESHOLD" step="1" type="number" @change="normalizeDockThreshold" />
                     <span>%</span>
                   </label>
                 </div>