Charging method and system of vehicle

Abstract

The invention provides a vehicle charging method and system. The method is at least applied to the mobile charging equipment and comprises the steps that first connection between the mobile charging equipment and a vehicle is established; the vehicle is a vehicle having a binding relationship with the mobile charging equipment; under the condition that an automatic charging request sent through the first connection is received, moving to a target position; and at the target position, a charging connector of the mobile charging equipment is inserted into a charging interface of the vehicle to charge the vehicle. According to the scheme, the full-automatic charging process without human intervention is realized, and the charging efficiency and convenience are improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to methods and systems for charging vehicles. Background Technology

[0002] With the popularization of new energy vehicles, vehicle charging technology is gradually developing towards intelligence and automation.

[0003] With the gradual maturation of autonomous driving and intelligent parking technologies, how to achieve a fully automated charging process without human intervention has become an urgent problem to be solved. Summary of the Invention

[0004] To address the aforementioned issues, this application provides at least a vehicle charging method and system that enables a fully automated charging process without human intervention, thereby improving charging efficiency and convenience.

[0005] The technical solution of this application is implemented as follows: In a first aspect, this application provides a first method for charging a vehicle. The method is applied to a mobile charging device and includes: establishing a first connection between the mobile charging device and a vehicle; the vehicle being a vehicle with a binding relationship to the mobile charging device; upon receiving an automatic charging request sent through the first connection, moving to a target location; and at the target location, inserting the charging connector of the mobile charging device into the charging port of the vehicle to charge the vehicle.

[0006] Secondly, this application provides a second method for charging a vehicle. The method is applied to a vehicle and includes: when the vehicle is detected to be parked in a target parking space, if a mobile charging device with a binding relationship to the vehicle exists, establishing a first connection between the vehicle and the mobile charging device; and, if charging conditions are met, sending an automatic charging request to the mobile charging device through the first connection, so that the mobile charging device automatically moves to the target location to charge the vehicle.

[0007] Thirdly, this application provides a first type of vehicle charging device, which is deployed on a mobile charging device. The device includes at least: a first establishing unit for establishing a first connection between the mobile charging device and the vehicle; the vehicle being a vehicle that has a binding relationship with the mobile charging device; a moving unit for moving to a target location upon receiving an automatic charging request sent through the first connection; and an inserting unit for inserting the charging connector of the mobile charging device into the charging interface of the vehicle at the target location to charge the vehicle.

[0008] Fourthly, this application provides a second type of vehicle charging device, which is deployed in a vehicle and includes at least: a second establishing unit, configured to establish a first connection between the vehicle and a mobile charging device if a mobile charging device with a binding relationship exists when the vehicle is detected to be parked in a target parking space; and a sending unit, configured to send an automatic charging request to the mobile charging device through the first connection when charging conditions are met, so that the mobile charging device automatically moves to the target location to charge the vehicle.

[0009] Fifthly, this application provides a vehicle including a memory and a processor, wherein the memory stores a computer program or instructions, and when the computer program or instructions are executed by the processor, the method provided in the second aspect is implemented.

[0010] In a sixth aspect, this application provides a mobile charging device, including a memory and a processor. The memory stores a computer program or instructions, and when the computer program or instructions are executed by the processor, they implement the method provided in the first aspect.

[0011] In a seventh aspect, this application provides a vehicle charging system, including the vehicle provided in the second aspect and the mobile charging device provided in the first aspect.

[0012] Eighthly, this application also provides a storage medium storing a computer program or instructions that, when executed by a processor, implement any one of the methods provided in the first or second aspect above.

[0013] Ninthly, this application also provides a computer program product comprising a computer program or instructions that, when executed by a processor, implement any one of the methods provided in the first or second aspect above.

[0014] This solution establishes a binding connection between the mobile charging device and the vehicle, receives automatic charging requests, intelligently moves to the target location, and finally automatically inserts the charging connector. This enables unattended automatic charging, reducing user workload, improving the charging experience, and promoting the intelligent development of private electric vehicle charging scenarios. It achieves fast and convenient unattended charging; the bound vehicle is also safer, enabling it to autonomously complete the charging operation, reducing user intervention, improving charging convenience, and effectively adapting to the automatic charging needs of unattended scenarios. Attached Figure Description

[0015] Figure 1 This is an optional schematic diagram of a vehicle charging scenario provided in an embodiment of this application; Figure 2This is a schematic diagram of a first optional process for a vehicle charging method provided in an embodiment of this application; Figure 3 This is a schematic diagram of a second optional process for a vehicle charging method provided in an embodiment of this application; Figure 4 This is a schematic diagram of an optional control architecture provided in an embodiment of this application; Figure 5 This is a schematic diagram of an optional structure of the home charging robot provided in an embodiment of this application; Figure 6 An optional schematic diagram of a home charging robot installed on the side of a parking space, as provided in an embodiment of this application; Figure 7 An optional schematic diagram of the installation of a home charging robot at the rear of a parking space, as provided in an embodiment of this application; Figure 8 A schematic diagram of an optional Bluetooth communication connection process provided in an embodiment of this application; Figure 9 This is a schematic diagram of an optional structure of the home charging robot before and after rotation, provided in an embodiment of this application. Figure 10 An optional flowchart illustrating the immediate charging process provided in an embodiment of this application; Figure 11 An optional flowchart illustrating the scheduled charging process provided in this application embodiment; Figure 12 This is a schematic diagram of an optional collision avoidance monitoring process provided in an embodiment of this application; Figure 13 A schematic diagram of an optional structure for a charging robot provided in this application embodiment, which moves from the side rear to the charging position on the side of the vehicle's charging port. Figure 14 This is a schematic diagram of an optional process for handling the end of charging provided in an embodiment of this application; Figure 15 A schematic diagram of an optional structure of a charging device for a first type of vehicle provided in this application embodiment; Figure 16 This is a schematic diagram of an optional structure of a charging device for a second type of vehicle provided in an embodiment of this application.

[0016] It should be noted that the terms "first" and "second" mentioned above are only used to distinguish between different options and do not represent the degree of superiority or inferiority of the options or their priority in the implementation process. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of the application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0018] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0019] In the following description, the terms "first," "second," and "third" are used only to distinguish different objects and do not represent a specific order of objects, nor are they constituting a chronological order. It is understood that "first," "second," and "third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0021] This application provides a method, apparatus, vehicle, device, system, storage medium, and program product for charging vehicles. The following describes various embodiments of the vehicle charging method, apparatus, vehicle, device, system, storage medium, and program product provided in this application.

[0022] First, let's explain the charging scenarios for vehicles.

[0023] refer to Figure 1 The contents shown include vehicle 10 and mobile charging device 20 attached to vehicle 10.

[0024] Vehicle 10 may include, but is not limited to: sedans, commercial vehicles, engineering vehicles, off-road vehicles, etc.

[0025] The mobile charging device 20 can be a charging station for mobile charging, or a charging robot. Here, the mobile charging device refers to a mobile charging device for home use.

[0026] The vehicle 10 is used to: when the vehicle is parked in the target parking space, if there is a mobile charging device that is bound to the vehicle, establish a first connection between the vehicle and the mobile charging device; when the charging conditions are met, send an automatic charging request to the mobile charging device through the first connection so that the mobile charging device can automatically move to the target location to charge the vehicle.

[0027] The mobile charging device 20 is used to: establish a first connection between the mobile charging device and the vehicle; the vehicle is a vehicle that has a binding relationship with the mobile charging device; upon receiving an automatic charging request sent through the first connection, move to a target location; at the target location, insert the charging connector of the mobile charging device into the charging port of the vehicle to charge the vehicle.

[0028] In a first aspect, embodiments of this application provide a first vehicle charging method, which is applied to a mobile charging device. The control method can be executed by a charging device deployed on the mobile charging device and implemented by a program stored in a memory by a processor.

[0029] The following explanation uses a mobile charging device as an example to illustrate the charging method for the first type of vehicle.

[0030] refer to Figure 2 The process may include, but is not limited to, S201 and S203 as described below.

[0031] S201. Establish the first connection between the mobile charging device and the vehicle.

[0032] Establishing the first connection refers to setting up the initial communication link between the mobile charging device and the vehicle via wireless communication (such as Bluetooth). This first connection is used for authentication and the transmission of subsequent operational commands. For example, when a vehicle pulls into a parking space, the vehicle's Bluetooth system scans for the paired mobile charging device and automatically initiates a connection request. After security authentication, pairing is completed, thus establishing a stable initial communication link.

[0033] The vehicle is one that is linked to a mobile charging device.

[0034] The pairing relationship between a mobile charging device and a vehicle refers to the process where, upon initial use, the user authorizes the pairing of the mobile charging device with the vehicle, creating a unique identifier. This pairing relationship ensures that only the designated vehicle can communicate and operate with the specific mobile charging device, enhancing the system's security and reliability.

[0035] By establishing an initial connection and setting up a binding relationship, the control system can ensure that the mobile charging device only responds to requests from legitimate vehicles, thereby improving system security and preventing unauthorized access or misoperation.

[0036] S202. Upon receiving an automatic charging request sent via the first connection, the mobile charging device moves to the target location.

[0037] Once the automatic charging request is sent to the mobile charging device through the first connection, the mobile charging device will control its moving mechanism (such as guide rail, rotating shaft, etc.) to move towards the target location where the vehicle charging port is located, according to a preset path planning algorithm.

[0038] The target location refers to the specific coordinates that the mobile charging device needs to reach before charging, and it is usually located near the side of the vehicle's charging port. The target location is dynamically calculated based on the installation environment and the vehicle's parking status to ensure that the robotic arm can be smoothly inserted into the charging port.

[0039] The movement here can include: rolling, movement of the slide rails (upper rail, lower rail), walking, etc.

[0040] By receiving automatic charging requests and controlling the robot to move to the target location, automatic charging preparation can be achieved without human intervention, reducing the need for manual plugging and unplugging of the charging gun and improving charging convenience and efficiency.

[0041] S203. At the target location, insert the charging connector of the mobile charging device into the vehicle's charging port to charge the vehicle.

[0042] A charging connector is a retractable robotic arm assembly integrated into the end of a mobile charging device. The end of the connector is equipped with a camera and a charging plug. Guided by visual information, the charging connector can accurately locate the vehicle's charging port and automatically plug and unplug the device.

[0043] A vehicle's charging interface refers to the standardized interface on an electric vehicle used to connect to an external power source, typically conforming to relevant standards. For example, a vehicle might have an AC charging interface, suitable for slow charging needs in a home setting. Of course, a DC high-voltage charging interface is also possible. The interface configuration depends on the specific circumstances. If two interfaces are configured, the choice is made based on actual needs.

[0044] By utilizing the vision recognition and motion control functions of the robotic arm's end effector, the charging connector insertion operation is accurately completed at the target location. This not only improves the safety and stability of the charging process but also significantly reduces the complexity of user operation, achieving one-button automatic charging.

[0045] In this embodiment, a binding connection is established between the mobile charging device and the vehicle. The device receives automatic charging requests, intelligently moves to the target location, and finally automatically inserts the charging connector. This enables unattended automatic charging, reducing user workload, improving the charging experience, and promoting the intelligent development of private electric vehicle charging scenarios.

[0046] The process of establishing a first connection between the mobile charging device and the vehicle in S201 will now be described. In one possible implementation, if the first connection is a first Bluetooth connection, the process may include, but is not limited to, S2011 to S2013 described below.

[0047] S2011, The mobile charging device receives the first connection request sent by the vehicle.

[0048] The first connection request is a communication connection request signal initiated by the vehicle to the mobile charging device. The first connection request is typically transmitted wirelessly (such as via Bluetooth) and indicates that the vehicle wishes to establish a connection with the mobile charging device in order to subsequently perform automatic charging operations.

[0049] The mechanism for receiving the first connection request ensures that only authorized vehicles can initiate the connection process, thereby preventing unauthorized devices from accessing the charging system and improving the system's security and reliability.

[0050] S2012, The mobile charging device determines whether the vehicle information in the first connection request is consistent with the vehicle information in the binding relationship.

[0051] A binding relationship refers to the unique correspondence established between the vehicle's Bluetooth system and the mobile charging device after the user pairs the device with their identity through the vehicle's infotainment system or mobile phone during the initial connection. The binding relationship is stored in the vehicle's control system and includes the vehicle's unique identifier, such as the Vehicle Identification Number (VIN) and Bluetooth address. The binding relationship serves as the basis for identity verification during subsequent connections.

[0052] In this step, after receiving the first connection request from the vehicle, the mobile charging device extracts the vehicle information from the request and compares it with the vehicle information in the stored binding relationships. If they match, it indicates that the vehicle is a legitimate binding object; otherwise, the connection request is rejected to prevent unauthorized devices from accessing the system.

[0053] S2013. When the vehicle information matches the vehicle information in the binding relationship, the mobile charging device sends a first feedback message for the first connection request to the mobile charging device to establish a first Bluetooth connection between the mobile charging device and the vehicle.

[0054] The first feedback information is used to indicate that the second verification has passed.

[0055] The first feedback message is an acknowledgment sent from the mobile charging device to the vehicle, indicating that the mobile charging device has been authenticated and a Bluetooth connection can be established. The first feedback message may include fields such as a status code, timestamp, and cryptographic signature, which are used to ensure communication security. Once the vehicle receives the first feedback message, it confirms a successful connection and proceeds to the subsequent charging preparation phase.

[0056] The second verification pass is a status indicator after identity verification is completed, indicating that the connection between the vehicle and the mobile charging device has been successfully authenticated, and the connection has the basic conditions for further interaction. This second verification pass mechanism ensures that only legally bound vehicles can initiate the charging process, effectively preventing accidental operations and potential security risks. The second verification may also include a password verification process.

[0057] For example, after a vehicle parks itself, its Bluetooth system actively scans for surrounding devices, identifies the paired mobile charging device, and initiates the first connection request. Upon receiving the first connection request, the mobile charging device verifies the connection based on pre-stored pairing information. If the pairing is successful, it returns a connection confirmation message, thus establishing a stable and reliable Bluetooth connection and providing a foundation for subsequent automatic charging operations.

[0058] In this embodiment, by introducing a binding-based authentication mechanism, vehicle identity verification can be completed before establishing a Bluetooth connection. Verifying vehicle identity before establishing a Bluetooth connection prevents unauthorized devices from accessing the charging system. Preventing unauthorized devices from accessing the charging system improves system security. Improved system security enables a more reliable and convenient automatic charging experience.

[0059] During the process of establishing a Bluetooth connection between the mobile charging device and the vehicle, if the vehicle's Bluetooth is not turned on, a notification can be sent to the user via the user's terminal device (such as a mobile phone) to remind the user to turn on Bluetooth, or a notification can be sent from the cloud to the vehicle to turn on Bluetooth.

[0060] The process of adjusting the vehicle's position based on the working range of the mobile charging device will be described below. This process may include, but is not limited to, S301 and S302 described below.

[0061] S301. The mobile charging device detects whether the vehicle's charging interface is outside the working range of the mobile charging device.

[0062] The working range of a mobile charging device refers to the physical space within which it can normally perform charging operations. This working range is determined by the maximum extension length of the charging robotic arm, the mobility of the robot chassis, and environmental safety boundaries. For example, if a charging robot is installed behind a parking space and rotates to the side of the parking space via a single-leg pivot structure for charging, its working range may be limited to a certain distance from the side of the parking space (e.g., no more than 50cm). If the vehicle is parked too far away or deviates from the preset path, the vehicle's charging port will be outside the working range of the mobile charging device, preventing automatic charging.

[0063] In this context, detection refers to determining the relative position of the vehicle's charging port to the mobile charging device using technologies such as visual recognition, LiDAR, and ultrasonic sensors. This can be implemented by: the mobile charging device capturing real-time images of the vehicle's charging port using a camera, comparing the captured images with a pre-stored coordinate model, and calculating whether the charging port is within its working range; or by controlling a robotic arm to move and, if it cannot reach the charging port, determining that the charging port is outside the mobile charging device's working range. By detecting in advance whether the vehicle's charging port is within the working range of the mobile charging device, the problem of plugging in failure due to positional deviation can be avoided before actual plugging in, thereby improving the success rate of automatic charging and system stability.

[0064] S302. When the charging interface of the vehicle is outside the working range of the mobile charging device, the mobile charging device sends first information to the mobile charging device so that the vehicle adjusts its position based on the first information so that the charging interface of the vehicle is within the working range of the mobile charging device.

[0065] The first piece of information indicates that the vehicle's charging port is outside the operating range of the mobile charging device.

[0066] The first information is a feedback signal or control command generated by the mobile charging device and sent to the vehicle control system to indicate that the current charging port is not within its effective operating range. The first information may include specific offset direction, distance values, or suggested adjustment paths, allowing the vehicle to perform corresponding positioning adjustments based on the content of the first information.

[0067] By introducing this step, it's possible to ensure the vehicle's position meets charging requirements before charging, avoiding the risk of charging failure or mechanical collisions due to incorrect positioning. This also improves the user experience, reduces the frequency of manual intervention, and achieves a truly automated charging process. Through these operations, the automatic charging control system can prevent robotic arm charging failures or collisions, improving the success rate and safety of the automatic charging system and enabling a more efficient home charging experience for electric vehicles.

[0068] The process of moving to the target position in S202 will be explained below.

[0069] In one possible implementation, upon receiving second information from the vehicle, the movement path is modified, and the vehicle moves to the target location based on the modified movement path; the second information is used to characterize the predicted collision event of the mobile charging device.

[0070] When the mobile charging device receives the second information from the vehicle, this information typically includes data about changes in the surrounding environment, obstacle detection results, or path conflict warnings. At this point, the mobile charging device dynamically adjusts its planned path based on this second information to ensure it safely reaches its target location. For example, if the vehicle detects a temporarily placed object or an approaching pedestrian, the mobile charging device will recalculate an obstacle avoidance path to avoid the risk of a collision.

[0071] The second piece of information is transmitted from the vehicle to the mobile charging device via Bluetooth. This information may include specific parameters such as coordinate offset, direction correction value, and obstacle type. These parameters are used to update the input parameters in the path planning algorithm in real time, thereby optimizing and adjusting the path to make it more reasonable and suited to the current scenario requirements.

[0072] In this embodiment, the system receives second information sent by the vehicle and modifies the movement path according to the received second information. As a result, the system can effectively cope with sudden environmental changes, thereby improving the safety of the mobile charging device and ensuring the stability and reliability of the automatic charging process.

[0073] In another possible implementation, upon receiving a second message from the vehicle, movement is paused, and upon receiving a third message, movement continues to the target location; the third message is used to characterize the disappearance of the collision event.

[0074] In another scenario, when the mobile charging device receives the second message, it can choose not to immediately modify the route, but instead pause the current movement and wait for further instructions. This mechanism is suitable for situations where obstacles cannot be bypassed or the system determines that the current path has significant uncertainties. If the system determines that the current path has significant uncertainties, the mobile charging device enters a pause state, waiting for the third message sent by the vehicle. This third message indicates confirmation that the obstacle has been cleared and permission to continue the task is granted.

[0075] The third message is also transmitted via Bluetooth and may include control commands such as resuming movement and confirming the path is safe. Only after the mobile charging device receives this third message will it restart the movement process and continue towards the target location. This setup avoids erroneous operations caused by misjudgments or uncontrollable factors, thereby enhancing the system's fault tolerance and further improving the robustness of the overall automatic charging process and user trust.

[0076] Secondly, embodiments of this application provide a second vehicle charging method, which is applied to a vehicle and can be executed by a charging device deployed in the vehicle, implemented by a program stored in a memory by a processor.

[0077] The following explanation uses a vehicle as an example to illustrate the charging method for this second type of vehicle.

[0078] refer to Figure 3 The process may include, but is not limited to, S401 and S402 described below.

[0079] S401. When a vehicle is detected parking in a target parking space, if a mobile charging device that is bound to the vehicle exists, establish the first connection between the vehicle and the mobile charging device.

[0080] A binding relationship refers to a pairing relationship established between a vehicle and a mobile charging device through user operation or system settings. This relationship identifies which mobile charging devices are providing services to a particular vehicle, thereby preventing unauthorized devices from connecting or performing charging operations. For example, a user can click the binding button on the vehicle's infotainment system. The vehicle's Bluetooth system initiates a Bluetooth pairing request. Upon receiving this request, the home charging robot performs security authentication. Once authentication is successful, the binding is completed, and the home charging robot's Identity Document (ID) information is stored in the vehicle's system. When the vehicle approaches and enters the target parking space, the vehicle's Bluetooth system actively scans for nearby Bluetooth devices and matches them with the bound IDs stored in the vehicle's system, achieving automatic connection.

[0081] The first connection refers to the relationship between the vehicle and the mobile charging device. For example, the first connection could be the connection method between the vehicle and the mobile charging device, the wireless communication method, etc. Bluetooth communication technology not only enables data transmission and control command interaction but also has an authentication mechanism to ensure that only authorized devices can participate in the subsequent charging process. The wireless connection established by Bluetooth communication technology features low power consumption, high stability, and strong security, making it suitable for automatic charging applications in short-range communication scenarios.

[0082] In this step, the vehicle uses its own sensors or positioning system (such as a geomagnetic sensor, camera recognition system, parking line recognition system, etc.) to detect whether it has correctly parked in the target parking space. The target parking space can be a pre-set residential parking space, private parking space, or other parking location designated for automatic charging. Once the vehicle confirms that it has parked in the target parking space, it checks whether there is a mobile charging device that is paired with the vehicle. If so, the first connection between the vehicle and the mobile charging device is immediately established, laying the foundation for the subsequent automatic charging process.

[0083] By detecting vehicles and connecting them to mobile charging devices, the connection establishment process can be completed quickly and reliably without human intervention, thus improving the overall charging experience.

[0084] During the process of establishing a Bluetooth connection between the mobile charging device and the vehicle, if the vehicle's Bluetooth is not turned on, a notification can be sent to the user via the user's terminal device (such as a mobile phone) to remind the user to turn on Bluetooth, or a notification can be sent from the cloud to the vehicle to turn on Bluetooth.

[0085] S402. When the charging conditions are met, the vehicle sends an automatic charging request to the mobile charging device through the first connection, so that the mobile charging device can automatically move to the target location to charge the vehicle.

[0086] Charging conditions are used to determine whether to send an automatic charging request. For example, if the battery level is detected to be below a threshold, the charging conditions are considered met, and an automatic charging request is automatically generated and sent. Another example is receiving an automatic charging control operation initiated by the user on the vehicle or a terminal device (e.g., a mobile phone), which generates and sends an automatic charging request.

[0087] An automatic charging request is a command signal sent by a vehicle to a mobile charging device attached to the vehicle, instructing the mobile charging device to initiate an automatic charging process. Automatic charging requests are used to instruct for a fully automated charging process that requires no human intervention. Automatic charging requests may include real-time automatic charging requests or scheduled charging requests, depending on the user's actual needs.

[0088] In this step, the vehicle first determines whether the charging conditions are met. If the charging conditions are met, it generates or receives an automatic charging request, and then sends the automatic charging request to the mobile charging device through the first connection, so that the mobile charging device can automatically move to the target location to charge the vehicle.

[0089] After receiving an automatic charging request, the portable charging device will automatically move to the target location according to a preset path planning algorithm. The target location refers to the final position the portable charging device needs to reach after completing its positioning so that its charging connector can be accurately inserted into the vehicle's charging port. The target location is usually dynamically calculated based on the vehicle's parking position and the location of the charging port. For example, if the portable charging device is installed at the rear of the parking space, it needs to first rotate 90° via its bottom pivot to move itself to the side of the parking space, and then slide along the guide rail to the vicinity of the vehicle's charging port, ready to insert the charging gun.

[0090] The entire process requires no human intervention, significantly improving charging efficiency and ease of use.

[0091] This method first initiates a first connection with a pre-attached mobile charging device after detecting that the vehicle has parked in the target parking space. This allows for a quick automatic charging request to the mobile charging device when charging conditions are met. Since the mobile charging device is pre-attached, establishing the first connection is relatively fast, enabling rapid and convenient unattended charging; moreover, the attached mobile charging device is safer. Furthermore, this allows the mobile charging device to autonomously complete the charging operation, reducing user intervention, improving charging convenience, and effectively adapting to the automatic charging needs in unattended scenarios. For example, in the automatic parking function, if the vehicle cannot be driven to the target parking space, it automatically initiates an automatic charging request and charges automatically through the mobile charging device, further improving the unattended automated charging process.

[0092] The following describes the process of establishing the first connection between the vehicle and the mobile charging device if there is a mobile charging device that is bound to the vehicle in S401.

[0093] In one possible implementation, if the first connection is a first Bluetooth connection, the process may include, but is not limited to, the following S4011 to S4014.

[0094] S4011. Scan Bluetooth signals around the vehicle and read Bluetooth information from mobile charging devices.

[0095] Bluetooth signals are wireless signals emitted by devices with Bluetooth communication capabilities, used for data transmission and identification between devices. In this application, the mobile charging device has a built-in Bluetooth module, which can continuously broadcast Bluetooth signals when powered on, so that it can be detected by the vehicle's Bluetooth system.

[0096] Bluetooth information refers to device-related information read via Bluetooth signals, typically including the device name, Universally Unique Identifier (UUID), and a description of the service category. In this application, the Bluetooth information also includes an identification field indicating whether the mobile charging device has established a binding relationship with the vehicle.

[0097] By scanning Bluetooth signals and reading Bluetooth information, the vehicle can quickly identify mobile charging devices that are paired with it, thus avoiding accidental connection to unpaired devices and improving the security and accuracy of the connection.

[0098] S4012. If the Bluetooth information of the mobile charging device is consistent with the Bluetooth information in the binding relationship, it indicates that the first verification is successful and the mobile charging device is determined to be a mobile charging device that has a binding relationship with the vehicle.

[0099] A pairing relationship refers to a pre-set pairing relationship between a vehicle and a mobile charging device. This relationship is typically set up by the user through the vehicle's infotainment system or a mobile application (APP) upon first use. The user stores the pairing relationship information in the vehicle's local database, which includes key data such as the device name, device address, and authorization status of the mobile charging device used.

[0100] Once the vehicle scans the Bluetooth information of the mobile charging device, it compares the read information with the local binding relationship data. If a match is successful, the first verification is considered passed, confirming that the mobile charging device is a trusted and bound device. The verification process may also include entering a password for verification.

[0101] By setting up a device authentication mechanism, it is ensured that only mobile charging devices bound to the vehicle are allowed to participate in the subsequent connection process, effectively preventing unauthorized devices from accessing the system and protecting user privacy and device security.

[0102] During implementation, if the Bluetooth information read contains the correct binding identifier field, the first verification can be considered successful, thus allowing the next step of the authentication process to proceed.

[0103] S4013, Send a first connection request to the mobile charging device.

[0104] The first connection request is a connection command initiated by the vehicle's Bluetooth system to notify the mobile charging device to attempt to establish a Bluetooth connection. The first connection request typically includes information such as the vehicle's identification, request type, and encrypted signature, which are provided to the other device for authentication.

[0105] The process of sending a connection request relies on Bluetooth protocol stack specifications, such as the Generic Attribute Profile (GATT) protocol in Bluetooth Low Energy (BLE). The vehicle, acting as a central device, actively initiates a connection request to the mobile charging device.

[0106] Through a standardized connection request mechanism, vehicles can reliably establish a communication channel with mobile charging devices, laying the foundation for subsequent data interaction.

[0107] S4014. Receive first feedback information from the mobile charging device regarding the first connection request; if the first feedback information indicates that the second verification is successful, establish a first Bluetooth connection between the vehicle and the mobile charging device.

[0108] The first feedback message is the response message returned by the mobile charging device after responding to the vehicle's initial connection request. The first feedback message typically includes fields such as the mobile charging device's device status, availability, and whether it accepts the connection. It may also contain an encrypted authentication code to further verify the authenticity of the communication between the two parties.

[0109] When the vehicle receives the first feedback message and parses the second verification success flag, it indicates that the mobile charging device has completed the vehicle's identity verification and agreed to establish a connection. After the vehicle receives the first feedback message and parses the second verification success flag, the vehicle and the mobile charging device formally establish the first Bluetooth connection and enter the data exchange phase.

[0110] After the first Bluetooth connection is established, the vehicle and the mobile charging device can communicate in two directions, including functions such as charging parameter query, control command issuance, and charging status synchronization, thereby supporting the efficient operation of the automatic charging system.

[0111] In practice, the entire connection process is a step-by-step verification and establishment process. First, devices are discovered via Bluetooth signals; then, device legitimacy is verified through binding relationships; subsequently, a connection request is initiated and feedback is awaited, ultimately completing the connection. This step-by-step verification mechanism significantly enhances the security and reliability of the connection, avoiding interference and attack risks from unauthorized devices. This ensures that only legitimate devices participate in the connection, thereby improving connection security and enabling the efficient and safe operation of the automatic charging system.

[0112] The vehicle charging method provided in this application embodiment may also include, but is not limited to, the process of binding the vehicle to a mobile charging device. This process may include, but is not limited to, S501 to S503 described below.

[0113] S501, Receive first operation.

[0114] The first operation is used to instruct the mobile charging device to be attached to charge the vehicle.

[0115] The first operation refers to the binding request initiated by the user through the vehicle's cockpit system (such as the in-vehicle infotainment system) or a mobile app. The purpose of this operation is to associate a specific mobile charging device with the current vehicle. The first operation is typically implemented by clicking a button or selecting a device, ensuring device matching and communication security during the subsequent charging process. Through the first operation, users can designate one or more mobile charging devices as the dedicated charging devices for the current vehicle, thereby improving the safety and accuracy of the charging process.

[0116] S502, in response to the first operation, sends a Bluetooth pairing request to the mobile charging device.

[0117] A Bluetooth pairing request is a connection request signal under a wireless communication protocol, initiated by the vehicle's Bluetooth system to establish an initial communication channel with a mobile charging device. A Bluetooth pairing request typically includes device identification information and an authentication key, allowing the mobile charging device to verify the source and confirm whether to accept the connection. The pairing mechanism described in the Bluetooth pairing request effectively prevents unauthorized devices from accessing the device, ensures the security of the communication link, and provides basic support for subsequent data interaction.

[0118] In practice, there is a direct causal relationship between the initial operation and the Bluetooth pairing request. Only after receiving a pairing request from the user will the system trigger the operation of sending a Bluetooth pairing request to the mobile charging device, thus allowing the system to proceed to the next step of the pairing process.

[0119] S503. After receiving a successful pairing feedback from the mobile charging device, establish a binding relationship between the vehicle and the mobile charging device.

[0120] A binding relationship refers to a long-term, effective communication and control relationship between a vehicle and a mobile charging device. Once Bluetooth pairing is successful, the unique identification information of the mobile charging device is recorded and bound to the vehicle's ID for storage. Establishing a binding relationship not only simplifies subsequent automatic identification and connection processes but also prevents interference from misoperation or unauthorized devices, thereby improving the overall system stability and user experience.

[0121] In practice, a successful response to a Bluetooth pairing request is a prerequisite for establishing a binding relationship. Only when the mobile charging device returns a pairing success feedback signal is it considered that the mobile charging device has completed authentication and connection preparation, thus allowing the identity information of the mobile charging device to be securely stored and the system to form a binding relationship with the vehicle.

[0122] In this embodiment, by introducing a first operation, a Bluetooth pairing request, and the establishment of a binding relationship, device authentication and binding can be completed before the vehicle starts automatic charging, thereby ensuring that only authorized mobile charging devices can participate in the subsequent charging process. This approach improves the security of the charging system, avoids security risks caused by unauthorized device access, prevents malfunctions or accidents due to incorrect connections, and ultimately achieves a more efficient, reliable, and intelligent automatic charging experience for electric vehicles.

[0123] The vehicle charging method provided in this application adjusts the vehicle's position when the parking location does not meet the standard, for example, when the vehicle's charging port is outside the working range of the mobile charging device. This process may include, but is not limited to, S601 and S602 described below.

[0124] S601. Upon receiving the first message from the mobile charging device, activate the automatic parking function.

[0125] The first piece of information indicates that the vehicle's charging port is outside the operating range of the mobile charging device.

[0126] Automatic parking is a function based on a vehicle's autonomous driving capabilities, enabling the vehicle to park precisely in a specific location without human intervention. The purpose of automatic parking is to enhance automation and reduce manual operation, especially in complex or narrow parking spaces. In this embodiment, the automatic parking function assists the vehicle in adjusting to the optimal charging position, thereby improving the success rate of automatic charging and the user experience.

[0127] When a vehicle attempts to charge automatically, if the mobile charging device detects that it cannot accurately insert the charging nozzle into the vehicle's charging port (e.g., due to parking position deviation or improper parking space adjustment), it sends a data packet called "First Message" to the vehicle. This data packet includes a status identifier field and the target location of the mobile charging device, clearly indicating that the vehicle's charging port is currently outside the mobile charging device's operational range. Upon receiving this data packet, the vehicle control system determines that the vehicle's position needs to be readjusted to ensure that subsequent charging operations can proceed smoothly. Based on the content of the received data packet, the vehicle control system triggers the automatic parking function.

[0128] Automatic parking is an advanced driver assistance function based on the vehicle's intelligent driving system. It uses the vehicle's sensors (such as radar and cameras) and positioning module to autonomously control the vehicle's steering, accelerator, and brakes to precisely adjust to a parking space. In specific scenarios, the automatic parking function is activated to automatically adjust the vehicle to a more suitable parking position, bringing the charging port within the operating range of the portable charging device.

[0129] S602. Under the automatic parking function, the vehicle adjusts its position in the target parking space based on the target position in the first information, so that the charging port of the adjusted vehicle is within the working range of the mobile charging device.

[0130] The working range refers to the operable space of the end effector of the mobile charging device's robotic arm. This space determines whether the end effector can be aligned with and inserted into the vehicle's charging port. The working range is set by the system, and this setting directly affects the feasibility and safety of automatic charging. The user or system adjusts the vehicle's position to ensure the charging port enters the operable space of the mobile charging device's robotic arm; this is a prerequisite for achieving automatic charging.

[0131] The first information is a data signal sent to the vehicle by the mobile charging device when it detects that the charging port is outside the device's operating range. This first information is used to notify the vehicle to activate the automatic parking function. For example, the first information may also include the charging port offset, target location coordinates, and the status of the mobile charging device.

[0132] After the automatic parking function is activated, the vehicle control system analyzes the target position parameters carried in the initial information. The target position is a reference coordinate point calculated by the mobile charging device (which can be the center position of the mobile charging device or the edge position of the vehicle on one side offset from that center position). It is usually located on the side of the parking space closest to the mobile charging device, ensuring that the vehicle's charging port is within the working range of the mobile charging device. The working range refers to the physical space range that the end effector of the mobile charging device's robotic arm can cover, that is, the effective area where the robotic arm can safely and stably perform plug-in and plug-out operations. The physical space range that the end effector of the mobile charging device's robotic arm can cover is usually determined by the maximum extension length and rotation angle of the robotic arm.

[0133] During the process, the vehicle control system plans an optimal path based on the target location and the current vehicle posture, gradually guiding the vehicle into the new parking position. Throughout this process, the onboard intelligent driving system monitors the surrounding environment in real time to ensure driving safety. Once the vehicle is in position, the vehicle control system reconfirms that the charging port is within its operating range. If the conditions are met, the subsequent automatic charging process continues.

[0134] In this embodiment, after receiving the first information from the mobile charging device, the automatic parking function is activated, and the vehicle position is adjusted based on the target location in the first information. By adjusting the vehicle position, the vehicle's charging port can be brought into the working range of the mobile charging device, thereby successfully completing the subsequent automatic charging operation. This improves the compatibility and success rate of the automatic charging system and enhances the user experience in unattended scenarios.

[0135] The vehicle charging method provided in this application embodiment can activate the collision avoidance monitoring function after initiating an automatic charging request. This process may include, but is not limited to, S701 to S703 described below.

[0136] S701. When the collision avoidance monitoring function is enabled, the vehicle's camera monitors the mobile charging device.

[0137] Collision avoidance monitoring is a safety mechanism activated during automatic charging to monitor and predict potential collision risks in real time. It collects environmental data using onboard cameras or other sensors and employs image recognition or model algorithms to determine whether there is a potential collision hazard between the mobile charging device and the vehicle, or between the mobile charging device and surrounding objects, or between the vehicle and surrounding objects. When a high probability of collision is detected, appropriate measures are taken to prevent an accident.

[0138] A camera is an image acquisition device installed on a vehicle, typically located in the front, rear, or side view area, to acquire visual information about the surrounding environment. In this embodiment, the camera is used to monitor the movement trajectory of the mobile charging device and its relative position to the vehicle in real time, as well as to track and identify various surrounding objects, predict their trajectories, and thus assess the possibility of a collision. The camera supports high-resolution video stream output and has intelligent image processing capabilities, enabling it to identify obstacles, pedestrians, and other vehicles.

[0139] A mobile charging device is a robotic device that can move autonomously and has a charging interface. When it receives an automatic charging request, the mobile charging device can plan its own path to the vehicle's charging port and complete the charging operation. Mobile charging devices are typically equipped with components such as a robotic arm, camera, communication module, and positioning system, and can achieve functions such as automatic plugging and unplugging of the charging gun and path adjustment.

[0140] When the anti-collision monitoring function is activated, real-time monitoring of mobile charging devices using cameras helps improve the safety of the automatic charging process. This monitoring method can avoid collisions caused by device misoperation and external environmental interference, thereby protecting the personal safety of users and the normal operation of the equipment.

[0141] S702. If the collision probability of the mobile charging device is detected to be greater than the first probability threshold, the first reminder information is output on the vehicle's display screen and / or on the terminal device connected to the vehicle.

[0142] The first alert message is used to warn of a predicted collision event involving a mobile charging device.

[0143] The first probability threshold is a preset value used to measure the likelihood of a collision between a mobile charging device and a vehicle. When the collision probability calculated by the system exceeds the first probability threshold, it is determined that there is a high risk of collision, and an early warning mechanism needs to be triggered. The first probability threshold can be dynamically adjusted according to the actual scenario. For example, the first probability threshold can be lowered in complex environments to increase sensitivity, while in open environments the system can be appropriately raised to reduce false alarms.

[0144] The display screen is the operating interface installed inside the vehicle, typically used to display navigation, vehicle status, entertainment, and other information. In this embodiment, the display screen can be used to display initial alert information, such as pop-up notifications, voice announcements, or flashing icons, to alert the driver or passengers to the current collision risk.

[0145] Terminal devices refer to external devices connected to the vehicle, such as mobile phones. Through linkage with terminal devices, initial alert information can be displayed simultaneously on multiple devices. Even when the driver is not in the vehicle, they can be promptly informed of any abnormal situations.

[0146] The initial warning message is a notification sent to users to inform them of the potential collision risk with the mobile charging device. This message can take various forms, including text descriptions, graphic symbols, and sound prompts, aiming to attract user attention and prompt appropriate action. For example, it might warn that the charging robot is about to enter a danger zone and to avoid it. This enhances interactivity and user-friendliness, and the initial warning message provides a basis for subsequent intervention measures.

[0147] S703, Send a second message to the mobile charging device so that the mobile charging device adjusts its response mode based on the instruction of the second message.

[0148] The second information is used to characterize the predicted collision event at the mobile charging device. This second information is a control signal emitted by the vehicle to notify the mobile charging device of the current collision risk and guide it to take appropriate countermeasures. The second information can be transmitted to the mobile charging device via Bluetooth, 4G networks, or other wireless communication methods.

[0149] The response methods include at least one of modifying the moving path, stopping the movement, and stopping the charging. The response method refers to the specific actions performed by the mobile charging device after receiving the second information, including but not limited to the following: Modify the moving path and adjust the originally set moving route to avoid obstacles or dangerous areas.

[0150] Execute the stop movement instruction: After receiving the stop movement instruction, immediately pause all movement operations, and the mobile charging device remains at its current position unchanged.

[0151] If it is detected that the current charging operation is in progress, control to interrupt the current charging process to prevent risks that may be caused by subsequent operations.

[0152] By sending the second information to the mobile charging device, the mobile charging device can flexibly adjust its own behavior according to the actual situation, improving the intelligence level of the mobile charging device and enhancing the safety of the overall operation of the mobile charging device.

[0153] The above method can effectively prevent the occurrence of collision accidents, thus ensuring the safety and reliability of the automatic charging process, and further providing a more convenient and intelligent charging experience for users. In this way, the multi-level and multi-terminal linkage method not only improves the reaction speed and accuracy of the system, but also greatly enhances the user's trust and sense of security in the automatic charging process.

[0154] Next, the process of determining that the vehicle meets the charging conditions will be described.

[0155] In a possible implementation manner, if it is detected that the remaining power of the vehicle is lower than the remaining power threshold, it is determined that the charging condition is met.

[0156] AWhen the vehicle battery management system detects that the remaining power of the current power battery is lower than the set remaining power threshold, it is determined that the charging condition is met. The remaining power threshold can be preset according to user-defined settings or based on the vehicle driving strategy. In the low-power warning mode, when the vehicle battery management system detects that the remaining power is lower than 15%, the charging condition will be triggered to prevent the vehicle from being unable to drive normally due to insufficient power. The judgment mechanism based on the remaining power can ensure that the vehicle starts the charging process at a reasonable time, improving the charging efficiency and usage experience.

[0157] In another possible implementation manner, when an automatic charging request is received, it is determined that the charging condition is met; the automatic charging request includes: real-time automatic charging request, reservation charging request.

[0158] When a user sends an automatic charging request via the vehicle's infotainment system or mobile phone, the request is considered one of the signals indicating that charging conditions have been met. Automatic charging requests can be categorized into two types: immediate execution and delayed execution, corresponding to real-time automatic charging requests and scheduled charging requests, respectively. Receiving explicit user instructions to confirm whether to initiate the charging process helps improve system controllability and safety, avoiding resource waste or safety hazards caused by misoperation.

[0159] Real-time automatic charging requests refer to requests from users that require automatic charging to begin immediately. Scheduled charging requests, on the other hand, are charging tasks that users pre-set to start at a specific time. These are typically used to coincide with periods of discounted electricity prices or low grid load, thereby reducing charging costs and optimizing energy utilization. This distinction between the two request methods gives the system greater flexibility, enabling it to adapt to user needs in different scenarios.

[0160] In this embodiment, by introducing a dual judgment mechanism of remaining power detection and automatic charging request into the charging conditions, it is possible to more accurately identify whether the charging process needs to be started. The introduction of this mechanism improves the timeliness and controllability of charging, and the application of this mechanism realizes a more intelligent and personalized charging management experience.

[0161] The following example, using a home charging robot as an example of a mobile charging device, illustrates the charging process of a vehicle through an embodiment.

[0162] The number of electric vehicles on the market continues to increase, and the number of charging stations continues to grow steadily. From the market demand side, with the increase in private charging stations, charging anxiety is gradually being alleviated, and manufacturers are beginning to optimize vehicle-charging station coordination solutions, striving to create a better charging experience for users. Reducing operational complexity and improving charging convenience have also become key areas of focus for manufacturers. Furthermore, with the continuous improvement of intelligent driving capabilities and the refinement of regulations, L3 intelligent driving is about to be commercialized, and valet parking functions, such as Automated Valet Parking (AVP) and Valet Parking Driver (VPD), are already entering a period of rapid growth. In valet parking scenarios, vehicles enter private parking spaces or charging spaces through autonomous driving. At this time, the driver is not in the car, making the demand for automatic charging without human intervention even stronger. With the continuous improvement of intelligent driving capabilities, automatic charging in unmanned scenarios will gradually become a necessity. This embodiment proposes an automatic charging system solution for electric vehicles, targeting AC home charging scenarios. It can reduce cumbersome charging operations such as plugging and unplugging charging guns, improving the charging experience. Furthermore, since it is a home charging personal charging robot, its system complexity is significantly reduced compared to DC fast charging commercial operation robots, which can greatly reduce the user's purchase cost.

[0163] The control architecture can be referenced. Figure 4 The components shown include: a home charging robot 401, a Bluetooth system 402, a vehicle control system 403 (including Bluetooth), a battery management system (BMS) 404, an intelligent driving system 405, a cockpit system 406, an in-vehicle communication terminal device 407 (Telematics BOX, TBOX), a vehicle cloud platform 408, a mobile app 409, and a vehicle electric charging port cover 410. These modules work together to enable automatic home charging of electric vehicles.

[0164] This home charging robot integrates an AC charging power supply system, a 4-way robotic arm (with a charging port integrated at the end of the arm), 4G networking, Bluetooth communication, camera recognition, a speaker, and indicator lights. Through visual positioning and 4-way robotic arm motion trajectory planning, it achieves functions such as automatic plugging and unplugging of the charging gun and automatic arm reset. The robot also features status monitoring, safety protection, and fault handling capabilities to ensure safe and stable operation.

[0165] The structure of a home charging robot can be referenced. Figure 5 The contents shown include robotic arm 501, end effector 502, control box 503, lifting mechanism 504, and manual charging gun 505.

[0166] For the deployment of home charging robots, you can refer to Figure 6 and Figure 7 The content shown. Figure 6 A schematic diagram of the installation of a home charging robot on the side of a parking space, including parking space 601 and the side-mounted home charging robot 602. Figure 7 This diagram illustrates the installation of a home charging robot at the rear of a parking space, including parking space 2 (701) and the rear-mounted home charging robot (702).

[0167] The vehicle-mounted Bluetooth system communicates with the home charging robot via Bluetooth to achieve identity authentication and device binding. After manually parking the vehicle or using the vehicle-mounted intelligent driving system, the user can initiate the automatic charging task before leaving the vehicle via the vehicle-mounted cockpit system (the vehicle-mounted infotainment system provides a user interface) or remotely via a mobile app after leaving the vehicle. The vehicle-mounted cockpit system then transmits the user's charging request information to the vehicle-mounted control system, or via the communication link of mobile app → vehicle cloud → in-vehicle communication terminal device (TBOX) → vehicle-mounted control system. Upon receiving the charging request information, the vehicle-mounted electric charging port cover opens. The vehicle-mounted control system then transmits the opening status of the electric charging port cover and the charging request information to the home charging robot. The home charging robot controls the extension of the charging robotic arm and uses a camera at the end of the robotic arm to visually scan the location of the vehicle's charging port in real time. It then controls the robotic arm to unfold and align with the charging port for insertion. Subsequently, the vehicle's power battery management system and the home charging robot control the AC charging process according to the conventional AC charging interaction control procedure, thereby achieving automatic charging of the vehicle. If the vehicle is fully charged (as determined by the power battery management system), or if the user terminates charging near the vehicle via the in-vehicle cockpit system or remotely via a mobile app, the charging termination information is transmitted to the vehicle control system. The vehicle control system then transmits the charging termination request to the charging robot via Bluetooth. The charging robot then controls its robotic arm to pull out the vehicle's charging port. After the robotic arm resets, it retracts into the charging robot's body, and the vehicle control system drives the vehicle's electric charging port cover to close.

[0168] This automatic charging system mainly achieves automatic vehicle charging through the following system interaction control process, which can be initially divided into Bluetooth communication connection, charging robot charging preparation, charging start, and charging end.

[0169] The Bluetooth communication connection process is described below. This process may include, but is not limited to, the implementation of the initial connection and subsequent connections. (Reference) Figure 8 The initial connection process shown may include, but is not limited to, S801 to S806. Subsequent connection processes may include, but are not limited to, S807 to S812.

[0170] S801, the cockpit system receives a Bluetooth connection request for the home robot initiated by the user.

[0171] S802, the vehicle control system initiates a Bluetooth pairing request.

[0172] S803, home robots undergo safety certification.

[0173] S804, Home Robot Confirmation Request Response.

[0174] S805, the vehicle control system establishes a connection.

[0175] S806, the vehicle control system binds and stores the ID of the home charging robot.

[0176] S807, the vehicle control system scans for nearby Bluetooth devices.

[0177] The S808 vehicle control system scans the charging robot's Bluetooth and matches the stored paired Bluetooth ID.

[0178] S809, the vehicle control system automatically requests Bluetooth connection.

[0179] S810, home robots undergo safety certification.

[0180] S811, Home Robot Request Response.

[0181] S812, the vehicle control system establishes a connection.

[0182] For the initial connection between the vehicle and the charging robot (without binding between them), the user needs to click the charging robot connection soft switch on the vehicle's infotainment system (vehicle cockpit system). The vehicle control system then initiates a Bluetooth pairing request. After receiving the pairing request, the home charging robot performs security authentication, establishes a Bluetooth communication connection, and the vehicle control system binds and stores the home charging robot's ID.

[0183] The vehicle's Bluetooth system will actively and periodically scan nearby Bluetooth devices. When the vehicle drives to the parking space, the vehicle's Bluetooth system will scan the charging robot's Bluetooth and find that it matches the stored paired Bluetooth ID. The vehicle's Bluetooth system will then automatically request a Bluetooth connection. The home charging robot will perform security authentication. After security authentication, it will send a request-response message and establish a communication connection with the charging robot.

[0184] The above process enables the vehicle-side Bluetooth system to authenticate and automatically connect with the charging robot.

[0185] The following section explains the charging preparation phase of the charging robot.

[0186] If the charging robot is installed behind the parking space, after the vehicle's Bluetooth system completes authentication and automatically connects with the robot, the robot first rotates 90° using its bottom pivot to move to the side of the parking space, and then enters standby mode. If the charging robot is installed on the side of the parking space, after the vehicle's Bluetooth system completes authentication and automatically connects with the robot, it enters standby mode.

[0187] The structure of the home charging robot before and after rotation can be referred to in Figure 9, including the structure 901 of the home charging robot before rotation and the structure 902 of the home charging robot after rotation. After rotation, the home charging robot rotates from the rear of the parking space to the side of the parking space.

[0188] The charging process will now be explained.

[0189] Charging can be initiated in the following ways: immediate charging (immediate initiation via the vehicle's infotainment system or mobile app) and scheduled charging (scheduled initiation via the vehicle's infotainment system or mobile app). Compared to ordinary charging stations, after initiating charging, the charging robot needs to automatically move to the side of the vehicle's charging port, perform real-time visual scanning of the charging port's location, control the robotic arm to extend and align with the charging port for insertion, and finally begin the charging process.

[0190] The instant charging process can be referenced. Figure 10 The contents shown include, but are not limited to, S1001 to S1026 below.

[0191] S1001. Users park their vehicles in parking spaces using manual or automatic parking.

[0192] S1002, The user clicks "Charge Now" on the vehicle's infotainment system interface.

[0193] S1003, The user sends a charging request command to the vehicle control system.

[0194] S1004, Vehicle charging condition check.

[0195] S1005. The user clicks "Charge Now" on the mobile APP interface.

[0196] S1006: The mobile APP sends a charging request command to the vehicle control system.

[0197] S1007, The vehicle control system failed the check to determine the vehicle's charging conditions.

[0198] S1008, The vehicle control system sends a request to the user to notify the cockpit system of a charging abnormality.

[0199] S1009, The vehicle control system sends a charging request command to the home charging robot.

[0200] S1010, the home charging robot moves to the charging position on the side of the vehicle's charging port.

[0201] S1011, The home charging robot sends a message indicating that the charging robot is ready to charge to the vehicle control system.

[0202] S1012, The vehicle control system activates the collision avoidance monitoring function.

[0203] S1013, Vehicle control system drives the vehicle's electric charging port cover to open. S1014, The vehicle control system sends the status of the charging port cover as open to the home charging robot.

[0204] S1015. The home charging robot scans the vehicle's charging port to determine whether the vehicle's location is within the working range of the robot's robotic arm.

[0205] S1016, The end of the control robotic arm of the home charging robot unfolds and is inserted into the vehicle charging port.

[0206] S1017, The home charging robot sends a notification to the vehicle control system that the vehicle is not within its working range.

[0207] S1018, The vehicle control system sends a request to the vehicle-side intelligent driving system for automatic parking.

[0208] S1019, The vehicle-side intelligent driving system controls the vehicle to automatically park out and then automatically park back in, adjusting the vehicle's parking position.

[0209] S1020: The vehicle-side intelligent driving system sends a parking completion message to the vehicle control system.

[0210] S1021, The vehicle control system opens the charging port cover.

[0211] S1022, The vehicle control system sends a message to the home charging robot indicating that the charging port cover is open and requests charging.

[0212] S1023, The end of the control robotic arm of the home charging robot unfolds and is inserted into the vehicle charging port.

[0213] S1024. The battery management system detected that the charging gun was inserted.

[0214] S1025, The battery management system charges according to the AC charging process requirements.

[0215] S1026. The home charging robot outputs electrical energy according to the AC charging process.

[0216] The process of scheduling a charging appointment can be found here. Figure 11 The contents shown include, but are not limited to, S1101 to S1128 below.

[0217] S1101. Users park their vehicles in parking spaces using manual or automatic parking.

[0218] S1102. Users can set a scheduled charging time on the vehicle's infotainment system interface.

[0219] S1103, The cockpit system sends a scheduled charging time and scheduled charging mode to the TBOX.

[0220] S1104. Users can set a scheduled charging time in the mobile APP interface.

[0221] S1105, The mobile APP sends a scheduled charging time to TBOX && scheduled charging mode.

[0222] S1106, TBOX timers based on scheduled charging mode and scheduled charging time.

[0223] When the S1107 and TBOX send a scheduled charging time to the vehicle control system, a charging request command is sent.

[0224] S1108, The vehicle control system checks the vehicle's charging conditions.

[0225] S1109, The vehicle control system failed the check to determine the vehicle's charging conditions.

[0226] S1110, The vehicle control system sends a request to the user to notify the cockpit system of a charging abnormality.

[0227] S1111, The vehicle control system sends a charging request command to the home charging robot.

[0228] S1112, The home charging robot moves to the charging position on the side of the vehicle's charging port.

[0229] S1113, The home charging robot sends a message indicating that the charging robot is ready to charge to the vehicle control system.

[0230] S1114, The vehicle control system activates the collision avoidance monitoring function.

[0231] S1115, Vehicle control system drives the opening of the vehicle's electric charging port cover. S1116, The vehicle control system sends the status of the charging port cover as open to the home charging robot.

[0232] S1117. The home charging robot scans the vehicle's charging port to determine whether the vehicle's location is within the working range of the robot's robotic arm.

[0233] S1118, The end of the control robotic arm of the home charging robot unfolds and is inserted into the vehicle charging port.

[0234] S1119. The home charging robot sends a notification to the vehicle control system that the vehicle is not within its working range.

[0235] S1120, The vehicle control system sends a request to the vehicle-side intelligent driving system for automatic parking.

[0236] S1121, The vehicle-side intelligent driving system controls the vehicle to automatically park out and then automatically park back in, adjusting the vehicle's parking position.

[0237] S1122, The vehicle-side intelligent driving system sends a parking completion message to the vehicle control system.

[0238] S1123, The vehicle control system opens the charging port cover.

[0239] S1124, The vehicle control system sends a message to the home charging robot that the charging port cover is open and requests charging.

[0240] S1125, The end of the control robotic arm of the home charging robot unfolds and is inserted into the vehicle charging port.

[0241] S1126. The battery management system detected that the charging gun was inserted.

[0242] S1127. The battery management system charges according to the AC charging process requirements.

[0243] S1128. The home charging robot outputs electrical energy according to the AC charging process.

[0244] The above-mentioned charging control process employs a collision avoidance monitoring and control method. Since the charging robot needs to move and rotate along the guide rail and axis, collisions with adjacent vehicles, pedestrians, and objects should be avoided under these conditions. Therefore, a collision avoidance monitoring process was designed, using vehicle-mounted cameras for model training to monitor the charging robot's operation in real time. If a collision risk occurs, the main control unit will control the charging robot to pause and resume its actions.

[0245] The collision avoidance monitoring process can be referenced. Figure 12 The contents shown include, but are not limited to, S1201 to S1210 below.

[0246] S1201, The vehicle control system sends a request to the intelligent driving system to enable the collision avoidance monitoring function.

[0247] S1202 The intelligent driving system detects an object approaching the vehicle or robot and triggers a collision avoidance warning.

[0248] S1203, the intelligent driving system sends a collision anomaly event alert to the home robot.

[0249] S1204, the intelligent driving system sends a collision anomaly event alert to the cockpit system.

[0250] S1205, Home charging robot is out of service.

[0251] S1206, The vehicle control system stopped charging.

[0252] S1207, The intelligent driving system sends a message to the home charging robot to resolve the collision anomaly.

[0253] S1208, the home charging robot has resumed operation.

[0254] S1209. The home charging robot scans the vehicle's charging port to determine whether the vehicle's location is within the working range of the robot's robotic arm.

[0255] S1210, the vehicle control system has resumed charging.

[0256] The charging robot can be referenced by moving from the side and rear to the charging position on the side of the vehicle's charging port. Figure 13 The content shown includes the position 1301 before the move and the position 1302 after the move.

[0257] The following describes the process of completing the charging process.

[0258] It can be triggered via APP or vehicle-mounted system. Once fully charged, it will automatically terminate the charging process. After the charging process is terminated, compared to the normal charging process, the charging robot needs to automatically remove the charging gun, retract the robotic arm, and control the guide rail motor and rotating shaft to return the charging robot to its initial position (the rear of the parking space or the side and rear of the charging port, depending on the robot's installation location).

[0259] refer to Figure 14 The charging completion process shown may include, but is not limited to, S1401 to S1412 described below.

[0260] S1401, The battery management system sends a message to the vehicle control system indicating that the battery is fully charged.

[0261] S1402, The user clicks "End Charging" on the vehicle's infotainment system interface.

[0262] S1403, The cockpit system sends a charging end command to the vehicle control system.

[0263] S1404, The vehicle control system sends a charging end command to the home charging robot.

[0264] S1405, Home charging robot controls the robotic arm to pull out the vehicle charging port.

[0265] S1406, The home charging robot sends a message to the vehicle control system indicating that the charging robot is ready to charge.

[0266] S1407, the home charging robot returns to its working position.

[0267] S1408, The home charging robot sends a message to the vehicle control system that the robot status is reset.

[0268] S1409, The vehicle control system disables the collision avoidance monitoring function.

[0269] S1410, The vehicle control system drives the vehicle's electric charging port cover to close.

[0270] S1411, The vehicle control system sends a charging completion message reminder to the cockpit system.

[0271] S1412, The vehicle control system sends a charging completion message reminder to the mobile APP.

[0272] This embodiment proposes an automatic charging system solution for electric vehicles, targeting AC home charging scenarios. It can reduce cumbersome charging operations such as plugging and unplugging charging guns, improving the charging experience. Furthermore, since it is a home charging personal charging robot, its system complexity is significantly reduced compared to DC fast charging commercial operation robots, which can greatly reduce the user's purchase cost.

[0273] Thirdly, embodiments of this application provide a charging device for a first type of vehicle, with reference to... Figure 15 The content shown describes a first type of vehicle charging device 150 deployed on a mobile charging device. The device includes at least: a first establishing unit 1501 for establishing a first connection between the mobile charging device and the vehicle; the vehicle being a vehicle that has a binding relationship with the mobile charging device; a moving unit 1502 for moving to a target location upon receiving an automatic charging request sent through the first connection; and an inserting unit 1503 for inserting the charging connector of the mobile charging device into the charging interface of the vehicle at the target location to charge the vehicle.

[0274] Fourthly, embodiments of this application provide a second type of vehicle charging device, referencing... Figure 16 As shown, a second type of vehicle charging device 160 is deployed on the vehicle, the device including at least a first establishing unit 1601 and a transmitting unit 1602.

[0275] The second establishing unit 1601 is used to establish a first connection between the vehicle and the mobile charging device if there is a mobile charging device that is bound to the vehicle when the vehicle is detected to be parked in the target parking space; the sending unit 1602 is used to send an automatic charging request to the mobile charging device through the first connection when the charging conditions are met, so that the mobile charging device can automatically move to the target location to charge the vehicle.

[0276] The descriptions of the above device embodiments are similar to those of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0277] Fifthly, this application provides a vehicle including a memory and a processor, wherein the memory stores a computer program or instructions, and when the computer program or instructions are executed by the processor, the method provided in the second aspect is implemented.

[0278] In a sixth aspect, this application provides a mobile charging device, including a memory and a processor. The memory stores a computer program or instructions, and when the computer program or instructions are executed by the processor, they implement the method provided in the first aspect.

[0279] In a seventh aspect, this application provides a vehicle charging system, including the vehicle provided in the second aspect and the mobile charging device provided in the first aspect.

[0280] Eighthly, this application also provides a storage medium storing a computer program or instructions that, when executed by a processor, implement any one of the methods provided in the first or second aspect above.

[0281] Ninthly, this application also provides a computer program product comprising a computer program or instructions that, when executed by a processor, implement any one of the methods provided in the first or second aspect above.

[0282] It should be noted that the descriptions of the above embodiments of storage media, devices, apparatuses, and program products are similar to the descriptions of the above method embodiments and have similar beneficial effects. For technical details not disclosed in the embodiments of storage media, devices, apparatuses, and program products of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0283] The above are merely embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for charging a vehicle, characterized in that, The method is applied to a mobile charging device, and the method includes: A first connection is established between the mobile charging device and the vehicle; the vehicle is a vehicle that has a binding relationship with the mobile charging device. Upon receiving an automatic charging request sent via the first connection, move to the target location; At the target location, the charging connector of the mobile charging device is inserted into the charging port of the vehicle to charge the vehicle.

2. The method according to claim 1, characterized in that, When the first connection is a first Bluetooth connection, establishing the first connection between the mobile charging device and the vehicle includes: Receive the first connection request sent by the vehicle; Determine whether the vehicle information in the first connection request is consistent with the vehicle information in the binding relationship; If the vehicle information matches the vehicle information in the binding relationship, a first feedback message for the first connection request is sent to the mobile charging device to establish a first Bluetooth connection between the mobile charging device and the vehicle; the first feedback message is used to indicate that the second verification is successful.

3. The method according to claim 1 or 2, characterized in that, Before inserting the charging connector of the mobile charging device into the charging port of the vehicle at the target location to charge the vehicle, the method further includes: Detect whether the vehicle's charging port is outside the operating range of the mobile charging device; If the vehicle's charging port is outside the working range of the mobile charging device, a first message is sent to the mobile charging device so that the vehicle adjusts its position based on the first message so that the vehicle's charging port is within the working range of the mobile charging device; the first message indicates that the vehicle's charging port is outside the working range of the mobile charging device.

4. The method according to claim 1 or 2, characterized in that, The movement to the target location includes: Upon receiving the second information sent by the vehicle, the movement path is modified, and the vehicle moves to the target location based on the modified movement path; the second information is used to indicate that a collision event is predicted to occur at the mobile charging device. Alternatively, upon receiving the second information sent by the vehicle, the movement may be paused, and upon receiving the third information, the movement may continue to the target location; the third information is used to indicate that the collision event has disappeared.

5. A method for charging a vehicle, characterized in that, The method is applied to a vehicle, and the method includes: When the vehicle is detected to be parked in the target parking space, if there is a mobile charging device that is bound to the vehicle, a first connection is established between the vehicle and the mobile charging device. When charging conditions are met, an automatic charging request is sent to the mobile charging device via the first connection, so that the mobile charging device can automatically move to the target location to charge the vehicle.

6. The method according to claim 1, characterized in that, When the first connection is a first Bluetooth connection, establishing a first connection between the vehicle and the mobile charging device if there is a mobile charging device that is bound to the vehicle includes: Scan the Bluetooth signals around the vehicle and read the Bluetooth information of the mobile charging device; If the Bluetooth information of the mobile charging device is consistent with the Bluetooth information in the binding relationship, the first verification is passed, and it is determined that the mobile charging device is a mobile charging device that has a binding relationship with the vehicle. Send a first connection request to the mobile charging device; The vehicle receives first feedback information from the mobile charging device in response to the first connection request; if the first feedback information indicates that the second verification is successful, a first Bluetooth connection is established between the vehicle and the mobile charging device.

7. The method according to claim 1, characterized in that, If the first connection is a first Bluetooth connection, before establishing the first connection between the vehicle and the mobile charging device if a mobile charging device with a binding relationship exists, the method further includes: Receive a first operation; the first operation is used to instruct a mobile charging device to be attached to charge the vehicle. In response to the first operation, a Bluetooth pairing request is sent to the mobile charging device; Upon receiving a successful pairing notification from the mobile charging device, a binding relationship is established between the vehicle and the mobile charging device.

8. The method according to any one of claims 5-7, characterized in that, After sending an automatic charging request to the mobile charging device via the first connection, the method further includes: Upon receiving the first information sent by the mobile charging device, the automatic parking function is activated; the first information indicates that the vehicle's charging port is outside the operating range of the mobile charging device. Under the automatic parking function, the position of the vehicle in the target parking space is adjusted based on the target position in the first information, so that the charging port of the adjusted vehicle is within the working range of the mobile charging device.

9. The method according to any one of claims 5-7, characterized in that, After sending an automatic charging request to the mobile charging device via the first connection, the method further includes: With the collision avoidance monitoring function enabled, the mobile charging device is monitored through the vehicle's camera. If the collision probability of the mobile charging device is detected to be greater than a first probability threshold, a first reminder message is output on the vehicle's display screen and / or on a terminal device connected to the vehicle; the first reminder message is used to remind that a collision event is predicted to occur with the mobile charging device. Send a second message to the mobile charging device so that the mobile charging device adjusts its response mode based on the instruction of the second message; the second message is used to characterize the prediction that a collision event has occurred in the mobile charging device; the response mode includes at least one of: modifying the movement path, stopping movement, and stopping charging.

10. The method according to any one of claims 5-7, characterized in that, The method further includes: If the remaining battery power of the vehicle is detected to be lower than the remaining battery power threshold, it is determined that the charging conditions are met; Upon receiving the automatic charging request, it is determined that the charging conditions are met; the automatic charging request includes: real-time automatic charging request and scheduled charging request.

11. A vehicle charging system, characterized in that, The system includes the mobile charging device according to any one of claims 1-4, and the vehicle according to any one of claims 5-10.

Images