Charging control method, device, apparatus, and computer-readable storage medium

Abstract

A charging control method, device and equipment and computer readable storage medium, relating to electric vehicle automatic charging technical field, including when the vehicle terminal receives the target signal sent by the home charging robot, judging whether the target robot identification information in the target signal matches the pre-stored binding relationship, the binding relationship at least includes the association of vehicle identification information and robot identification information; if it matches, control the charging port cover to open, and send the gun insertion instruction to the home charging robot through the remote communication module, and send the gun pulling instruction after the charging is finished, so that the home charging robot responds to the gun insertion instruction to perform the charging gun insertion operation, and responds to the gun pulling instruction to perform the charging gun pulling operation; when it is detected that the charging gun of the home charging robot is in the disconnected state, control the charging port cover to close. The present application can effectively realize the full-process automatic collaborative charging control between the vehicle charging port cover and the home charging robot, and improve the charging safety.

Description

Technical Field

[0001] This application relates to the field of automatic charging technology for electric vehicles, specifically to a charging control method, device, equipment, and computer-readable storage medium. Background Technology

[0002] With the rapid development of new energy vehicle technology, the market share of electric vehicles is increasing daily, and charging convenience has become one of the key factors affecting user experience. Currently, when charging electric vehicles through home charging robots (i.e., home charging robots), the focus is only on the insertion and removal of the charging gun by the robot's robotic arm, and the charging port cover on the vehicle side cannot be controlled. This means that users still need to get out of the car to manually open the charging port cover after parking and manually close it after charging is complete, failing to achieve truly fully unmanned operation. In addition, some vehicle solutions that support automatic cover opening not only lack identity verification, posing a safety hazard of signal duplication or unauthorized devices approaching and accidentally triggering the cover opening, but also lack coordinated control between the charging gun status and the charging port cover. This can easily lead to situations where the home charging robot has removed the charging gun but the vehicle has not closed the cover in time, resulting in the risk of water, dust, or foreign object blockage, or the home charging robot has not removed the charging gun but the vehicle has closed the cover prematurely, causing damage to the robotic arm.

[0003] It is evident that how to achieve fully automated collaborative charging control between vehicle charging port covers and home charging robots, and improve charging safety, is a problem that urgently needs to be solved. Summary of the Invention

[0004] This application provides a charging control method, apparatus, device, and computer-readable storage medium, which can effectively realize fully automated collaborative charging control between the vehicle charging port cover and the home charging robot, and improve charging safety.

[0005] In a first aspect, embodiments of this application provide a charging control method, which is applied to a vehicle terminal, and the method includes the following steps: When a target signal is received from a home charging robot, it is determined whether the target robot identification information in the target signal matches the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information. If matched, the charging port cover is opened, and a charging gun insertion command is sent to the home charging robot via the remote communication module. After charging is completed, a charging gun removal command is sent, so that the home charging robot can perform the charging gun insertion operation in response to the charging gun insertion command and the charging gun removal operation in response to the charging gun removal command. When the charging gun of the home charging robot is detected to be disconnected, the charging port cover is closed.

[0006] In conjunction with the first aspect, in one implementation, after the if-matching step, the method further includes: A challenge code is randomly generated, and the challenge code is hashed based on the pre-stored target key to generate the target code; The challenge code is sent to the home charging robot, which then performs a hash operation based on the challenge code and the pre-stored target key to generate a response code. When the response code sent by the home charging robot is received, if the response code is found to be the same as the target code, the step of controlling the opening of the charging port cover is executed.

[0007] In conjunction with the first aspect, in one embodiment, prior to the step of sending insertion and removal commands to the home charging robot via the remote communication module, the method further includes: Determine whether the connection with the remote communication module has timed out; If so, the home charging robot is authenticated based on the pre-stored local passwordless token, and after successful authentication, the plug-in command and the pull-out command are sent to the home charging robot respectively. If not, then the remote communication module will send the insertion and removal commands to the home charging robot respectively.

[0008] In conjunction with the first aspect, in one embodiment, the method further includes: A local passwordless token is periodically obtained from the remote communication module, and the local passwordless token has an expiration time.

[0009] Secondly, embodiments of this application provide a charging control device, the charging control device including a vehicle terminal, the vehicle terminal being used for: When a target signal is received from a home charging robot, it is determined whether the target robot identification information in the target signal matches the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information. If matched, the charging port cover is opened, and a charging gun insertion command is sent to the home charging robot via the remote communication module. After charging is completed, a charging gun removal command is sent, so that the home charging robot can perform the charging gun insertion operation in response to the charging gun insertion command and the charging gun removal operation in response to the charging gun removal command. When the charging gun of the home charging robot is detected to be disconnected, the charging port cover is closed.

[0010] Thirdly, this application provides a charging control method, which is applied to a home charging robot, and the method includes the following steps: When the target vehicle is detected to have arrived at the designated location, a target signal containing robot identification information is sent to the vehicle terminal of the target vehicle based on the pre-stored binding relationship. The vehicle terminal then determines whether to open the charging port cover and generate a charging gun insertion command based on the target signal and the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information. When a charging gun insertion command is received from the vehicle terminal via the remote communication module, the charging gun insertion operation is performed in response to the charging gun insertion command. When the vehicle terminal receives a gun-pulling command sent through the remote communication module, it performs a gun-pulling operation in response to the command, putting the charging gun in a disconnected state so that the vehicle terminal can control the charging port cover to close based on the disconnected state of the charging gun.

[0011] In conjunction with the third aspect, in one embodiment, the method further includes: When a challenge code is received from the vehicle terminal, a hash operation is performed based on the challenge code and the pre-stored target key to generate a response code. The challenge code is randomly generated by the vehicle terminal after determining that the target robot identification information in the target signal matches the binding relationship. The response code is sent to the vehicle terminal so that the vehicle terminal can control whether to open the charging port cover and generate a charging gun insertion command based on the consistency between the response code and the target code. The target code is generated by the vehicle terminal after performing a hash operation on the challenge code based on a pre-stored target key.

[0012] Fourthly, embodiments of this application provide a charging control device, which includes a home charging robot, the home charging robot being used for: When the target vehicle is detected to have arrived at the designated location, a target signal containing robot identification information is sent to the vehicle terminal of the target vehicle based on the pre-stored binding relationship. The vehicle terminal then determines whether to open the charging port cover and generate a charging gun insertion command based on the target signal and the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information. When a charging gun insertion command is received from the vehicle terminal via the remote communication module, the charging gun insertion operation is performed in response to the charging gun insertion command. When the vehicle terminal receives a gun-pulling command sent through the remote communication module, it performs a gun-pulling operation in response to the command, putting the charging gun in a disconnected state so that the vehicle terminal can control the charging port cover to close based on the disconnected state of the charging gun.

[0013] Fifthly, embodiments of this application provide a charging control device, the charging control device including a processor, a memory, and a charging control program stored in the memory and executable by the processor, wherein when the charging control program is executed by the processor, it implements the steps of the charging control method as described above.

[0014] Sixthly, embodiments of this application provide a computer-readable storage medium storing a charging control program, wherein when the charging control program is executed by a processor, it implements the steps of the charging control method as described above.

[0015] The beneficial effects of the technical solutions provided in this application include: When the vehicle terminal receives the target signal from the home charging robot, it determines whether the target robot identification information in the target signal matches the pre-stored binding relationship. This binding relationship at least includes the association between the vehicle identification information and the robot identification information, establishing a "whitelist" mechanism. This prevents the vehicle terminal from responding to arbitrary signals, but only to specific robot identifications that have a clear binding relationship with its own vehicle identification. This effectively prevents accidental triggering caused by unauthorized devices and improves the access security of the vehicle's physical interface. If a match is found, the charging port cover is opened, and the charging gun insertion and removal commands are sent to the home charging robot via the remote communication module. The home charging robot responds to the insertion command to insert the charging gun and responds to the removal command after charging is complete. The system executes the charging gun removal operation. When the charging gun of the home charging robot is detected to be disconnected, it controls the charging port cover to close. As can be seen, the vehicle terminal takes over the execution control of the charging port cover, incorporating it into the state machine of the automated charging process. Opening the cover becomes an automatic action after identity verification, and closing the cover becomes an automatic action after charging is disconnected. This completely eliminates the need for users to get out of the vehicle at the two critical points of charging start and end, significantly improving the user experience. Furthermore, it achieves precise timing coordination between the actions of the home charging robot and the cover, protecting the charging robot's robotic arm from crush damage and ensuring the charging port cover closes promptly when not charging, preventing water, dust, or foreign object blockage, thus improving safety and reliability. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the first embodiment of the charging control method of this application; Figure 2 This is a schematic diagram of the charging control system involved in the embodiments of this application; Figure 3 This is a schematic diagram of the information binding and unbinding process involved in the embodiments of this application; Figure 4 This is a detailed flowchart illustrating the charging control method involved in the embodiments of this application; Figure 5 This is a flowchart illustrating the second embodiment of the charging control method of this application; Figure 6 This is a schematic diagram of the hardware structure of the charging control device involved in the embodiments of this application. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0019] In a first aspect, embodiments of this application provide a charging control method.

[0020] In one embodiment, reference is made to Figure 1 , Figure 1 This is a schematic flowchart of the first embodiment of the charging control method of this application. The charging control method is applied to a vehicle terminal, such as... Figure 1 As shown, the charging control method includes: Step S10: When a target signal sent by the home charging robot is received, determine whether the target robot identification information in the target signal matches the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information.

[0021] Exemplary, see Figure 2As shown, the vehicle terminals in this embodiment include, but are not limited to, a VCU controller (Vehicle Control Unit), a central control unit (CCU) controller, a BCM (Body Control Module) controller, a VIU (Vehicle Integration Unit) controller, and a TBOX (Telematics Box) controller. The VCU controller is primarily used for charging process control; the CCU controller is used to set the charging cutoff SOC (State of Charge), charging mode (e.g., immediate charging / scheduled charging), and scheduled charging start and end times; the BCM controller controls the electric charging port cover; the VIU controller has a radio frequency receiving module and a transmitting module, and can also act as an actuator for opening and closing the electric charging port cover; the TBOX controller has a 4G communication module, which can serve as a communication bridge between the vehicle-side controllers and the cloud server for 4G signal transmission. It is worth noting that the vehicle-side controllers can communicate with each other via CAN (Controller Area Network).

[0022] It should be noted that home charging robots are typically fixedly installed on the ground, using a robotic arm to perform the plugging and unplugging action. It is worth noting that the home charging robot in this embodiment is equipped with a 4G communication module and a radio frequency communication module to enable data interaction with the vehicle-side terminal and the remote communication module. Furthermore, the remote communication module includes, but is not limited to, a cloud server and a user's mobile application. The cloud server may include a TSP (Telematics Service Provider) vehicle cloud server and a DMOC (Data Management Operation Center) charging pile cloud server. The mobile application is used to set the charging mode of the home charging robot, perform binding operations between the home charging robot and the vehicle, etc. In addition, the cloud server and the application can interact via 4G communication.

[0023] To ensure the charging port cover only opens when a vehicle approaches the "home" robot, avoiding the risk of any device opening the cover in a public environment, this embodiment requires identity verification between the home charging robot and the vehicle before controlling the opening of the charging port cover. Based on this, this embodiment will pre-bind identity information between the vehicle terminal and the home charging robot via a remote communication module for subsequent identity verification during charging control. It is worth noting that the aforementioned identity information binding refers to the information association binding between the vehicle terminal's vehicle identification information and the home charging robot's robot identification information. The vehicle identification information can be a VIN (Vehicle Identification Number), a license plate number, or other unique identifiers; similarly, the robot identification information can be an RFID (Integrated Development Environment) number (such as one of the numbers 3900000000-3999999999 shown in Table 1), a serial number, or other unique identifiers; also without limitation.

[0024] Table 1. Correspondence between IDE numbers and charging devices

[0025] Specifically, taking the example where the vehicle identification information is a VIN code and the robot identification information is radio frequency IDE information, see [link to relevant documentation]. Figure 3 As shown, users can enter their vehicle's VIN code and the charging station number of the home charging robot on the mobile app, click the binding switch, and then send the binding command, vehicle VIN code, and charging station number to the TSP; the TSP forwards the binding command, vehicle VIN code, and charging station number to the DMOC; the DMOC sends the binding command and vehicle VIN code to the home charging robot; the home charging robot stores the vehicle VIN code in its own controller to form a binding relationship between the VIN code and the RF IDE; simultaneously, the DMOC queries the server for the corresponding RF IDE information based on the charging station number of the home charging robot (each home charging robot has a unique RF IDE code, and when the home charging robot connects to the DMOC, it will store the charging station number and RF IDE information in the DMOC to ensure that the charging station number and RF IDE are uniquely matched); the DMOC sends the binding command and the RF IDE information corresponding to the charging station number to the TSP; the TSP sends the received binding command and RF IDE to the TBOX; the TBOX sends the received binding command and RF IDE to the VIU; the VIU stores the RF IDE information in its own memory to form a binding relationship between the VIN code and the RF IDE, thus completing the identity information binding.

[0026] When a user clicks the unbinding switch on the app, the mobile app sends the unbinding command, vehicle VIN code, and charging station number to the TSP; the TSP forwards the unbinding command, vehicle VIN code, and charging station number to the DMOC; the DMOC sends the unbinding command and vehicle VIN code to the home charging robot; upon receiving the unbinding command, the home charging robot clears the stored vehicle VIN code to complete the unbinding of identity information; simultaneously, the DMOC queries the server for the corresponding RF IDE information based on the charging station number of the home charging robot, and sends the found RF IDE information corresponding to the charging station number, along with the unbinding command, to the TSP; the TSP sends the received unbinding command and RF IDE to the TBOX; the TBOX sends the received unbinding command and RF IDE to the VIU; upon receiving the unbinding command, the VIU clears the stored RF IDE information to complete the unbinding of identity information.

[0027] Based on this, see Figure 4 As shown, when the user turns on the automatic charging switch on the mobile app (or the user can also turn on automatic charging through the central control unit and forward the automatic charging mode to the VCU controller via CAN communication), the mobile app will send the automatic charging mode to the TSP; upon receiving the automatic charging mode, the TSP forwards the automatic charging mode to the VCU controller via the TBOX, at which point the VCU controller will memorize the automatic charging mode; simultaneously, the home charging robot will identify whether the vehicle has arrived at the charging location. Once the vehicle is identified, it will send a target signal containing the RF IDE to the VIU via RF communication; when the VIU receives the target signal, it will verify whether the RF IDE matches its pre-stored binding relationship, i.e., whether the received RF IDE is the same as the stored RF IDE, to identify whether the home charging robot is a bound home charging robot. Only when the RF IDE information of a bound home charging robot is identified will the subsequent automatic charging process be initiated. It is understandable that the automatic charging mode can be set on the app. Once set, each time the vehicle identifies the corresponding RF IDE information, it will initiate the automatic opening of the charging port cover and automatic insertion of the charging gun.

[0028] As can be seen, this embodiment establishes a "whitelist" mechanism, which prevents the vehicle terminal from responding to arbitrary signals, but only to specific robot identifiers that have a clear binding relationship with its own vehicle identifier. This can effectively prevent false triggering caused by unauthorized devices and improve the access security of the vehicle's physical interface.

[0029] Step S20: If a match is found, the charging port cover is opened, and a charging gun insertion command is sent to the home charging robot via the remote communication module. After charging is completed, a charging gun removal command is sent, so that the home charging robot can perform the charging gun insertion operation in response to the charging gun insertion command and the charging gun removal operation in response to the charging gun removal command.

[0030] In this exemplary embodiment, if the identity verification matches (i.e., the VIU determines that the RF IDE matches its pre-stored binding relationship, meaning the received RF IDE is the same as the stored RF IDE), then the RF IDE is forwarded to the VCU. If the identity verification does not match, the RF IDE is not forwarded. After receiving the RF IDE from the VIU, the VCU requests the BCM to open the charging port cover, i.e., it sends an open charging port cover command to the BCM. After receiving the open charging port cover command from the VCU, the BCM requests the VIU to open the charging port cover, i.e., it sends an open charging port cover command to the VIU. Upon receiving the open charging port cover command, the VIU executes the action of opening the charging port cover. Simultaneously, the VIU detects charging... Regarding the opening and closing status of the charging port cover, when it is detected that the cover is open, the system will report this status to the BCM, so that the BCM can relay this information to the VCU. The VCU, upon detecting the open status, sends a charging gun insertion command to the TBOX. The TBOX, upon receiving the VCU's command, sends the vehicle's VIN code and the command together to the TSP. The TSP forwards the vehicle's VIN code and the command to the DMOC. The DMOC verifies the vehicle's VIN code and its unique corresponding charging station number, then sends the command to the home charging robot corresponding to that station number. Upon receiving the command, the home charging robot performs the insertion action. Simultaneously, when the VCU detects that the charging gun is connected, the charging process begins.

[0031] During the charging process, the VCU continuously monitors whether the preset charging termination conditions are met (the specific charging termination conditions can be determined according to actual needs and are not limited here). Once the charging termination conditions are met, a gun removal command is sent to the TBOX. After receiving the gun removal command from the VCU, the TBOX sends the vehicle VIN code and the gun removal command together to the TSP, so that the TSP forwards the vehicle VIN code and the gun removal command to the DMOC. The DMOC verifies the vehicle VIN code and its unique corresponding charging station number, and then sends the gun removal command to the home charging robot corresponding to the charging station number. The home charging robot executes the gun removal action after receiving the gun removal command.

[0032] Step S30: When it is detected that the charging gun of the home charging robot is in a disconnected state, control the charging port cover to close.

[0033] Exemplary, see Figure 4As shown, the VCU continuously monitors whether the charging gun is disconnected. If it detects that the charging gun is not connected, it requests the BCM to close the charging port cover, i.e., it sends a command to the BCM to close the charging port cover. After receiving the command, the BCM requests the VIU to close the charging port cover, i.e., it forwards the command to the VIU. Upon receiving the command, the VIU executes the action of closing the charging port cover, thus completing the automatic charging of the vehicle. This achieves precise timing coordination between the actions of the home charging robot and the actions of the charging port cover, protecting the charging robot's robotic arm from crush damage and ensuring that the charging port cover is closed promptly when not charging, preventing water, dust, or foreign objects from entering and clogging it, thereby improving safety and reliability. It is evident that in this embodiment, the vehicle terminal takes over the execution control of the charging port cover and incorporates it into the state machine of the automated charging process. Opening the cover becomes an automatic action after identity verification, and closing the cover becomes an automatic action after charging is disconnected, completely eliminating the need for the user to get out of the vehicle at the two key points of charging start and end, significantly improving the user experience.

[0034] Furthermore, in one embodiment, after the if-matching step, the method further includes: A challenge code is randomly generated, and the challenge code is hashed based on the pre-stored target key to generate the target code; The challenge code is sent to the home charging robot, which then performs a hash operation based on the challenge code and the pre-stored target key to generate a response code. When the response code sent by the home charging robot is received, if the response code is found to be the same as the target code, the step of controlling the opening of the charging port cover is executed.

[0035] As an example, in this embodiment, when the vehicle terminal is bound to the home charging robot, in addition to establishing the association between the vehicle identification information and the robot identification information, a target key can be generated through the cloud server or the vehicle terminal, such as a random string with a length of 256 bits. The target key is then stored in the secure storage area of ​​the vehicle terminal and the secure storage area of ​​the home charging robot, respectively, so as to realize the local fixed storage of the target key and use it for local calculation in subsequent communication processes.

[0036] Based on this, once the vehicle terminal confirms that the home charging robot is the one it has bound to based on the target signal sent by the home charging robot, it will perform a secondary security verification: The vehicle terminal can generate a random number as a challenge code through its built-in random number generator. To prevent replay attacks, the challenge code can be set to have an expiration time, for example, a valid time window of 5 seconds. Then, the vehicle terminal reads the locally pre-stored target key and performs a hash operation on the challenge code using a preset hash algorithm (such as HMAC-SHA256) to generate the target code. At the same time, the vehicle terminal can send the challenge code directly to the home charging robot via radio frequency communication, or sequentially via TBOX, TSP, and DMOC. After receiving the challenge code, the home charging robot reads its own... The same target key pre-stored locally is hashed using the same hash algorithm as the vehicle terminal to generate a response code, which is then sent to the vehicle terminal via radio frequency communication. Alternatively, the response code can be sent to the vehicle terminal sequentially via DMOC, TSP, and TBOX. The vehicle terminal receives the response code returned by the home charging robot and compares it with the locally generated target code. If the response code is exactly the same as the target code, it means that the home charging robot holds the correct key, and the vehicle terminal determines that the authentication is successful and executes the step of controlling the opening of the charging port cover, thereby effectively improving control security. If the two are different, or if the vehicle terminal does not receive the response code within a preset time (e.g., 5 seconds), the vehicle terminal determines that the authentication has failed, keeps the charging port cover closed, and can generate a security alarm log and upload it to the cloud.

[0037] It should be noted that the methods and principles of random number generation and hash operation are common knowledge in this field, and will not be elaborated here for the sake of brevity.

[0038] Furthermore, in one embodiment, before sending the insertion and removal commands to the home charging robot via the remote communication module, the method further includes: Determine whether the connection with the remote communication module has timed out; If so, the home charging robot is authenticated based on the pre-stored local passwordless token, and after successful authentication, the plug-in command and the pull-out command are sent to the home charging robot respectively. If not, then send the insertion and removal commands to the home charging robot via the remote communication module; The vehicle terminal periodically obtains a local passwordless token from the remote communication module, and the local passwordless token has an expiration time.

[0039] As an example, in this embodiment, when the vehicle terminal and the home charging robot are in a good network environment, or directly and periodically perform the following steps to obtain a local passwordless token with a time limit: the vehicle terminal and the home charging robot send a token application request to the cloud server. After the cloud server verifies the validity of the binding relationship between the vehicle and the home charging robot, it generates a local passwordless token. The token contains the following technical fields: (1) device identification, such as the bound vehicle VIN code and the home charging robot's RFID; (2) validity period, i.e., the effective time and expiration time of the token (e.g., the validity period is 24 hours or 7 days); (3) digital signature, i.e., the cloud server uses a private key to sign the above information to prevent the token from being tampered with; then the encrypted token is sent to the secure storage area of ​​the vehicle terminal and the local storage of the home charging robot respectively, i.e., both parties store the token as a trust credential in the offline state.

[0040] Based on this, the vehicle terminal can send a heartbeat packet to the cloud server and start a timer. If a confirmation response is received from the cloud server within a preset time threshold (e.g., 10 seconds), it is determined that the connection with the cloud server has not timed out (i.e., the network is available), and the vehicle terminal forwards the insertion and removal commands to the home charging robot through the cloud server. If no confirmation response is received from the cloud server within the preset time threshold (e.g., 10 seconds), it is determined that the connection with the cloud server has timed out (i.e., the network is unavailable), and the vehicle terminal reads the pre-stored local passwordless token. It first verifies the token's integrity (digital signature verification) and validity period. If the token is invalid or expired, the process terminates and the user is prompted to connect to the internet. If the token has... If the token is valid and not expired, the local password-free token information is sent to the home charging robot via radio frequency communication. The home charging robot compares and verifies the token information stored locally. After successful authentication, the vehicle terminal no longer attempts to send commands through the remote communication module, but directly interacts with the home charging robot via radio frequency communication to perform charging gun insertion and removal commands. At the same time, after verifying that the token and commands are correct, the home charging robot executes the corresponding charging gun insertion and removal operations, thereby ensuring that users can still use the automatic charging function in weak network environments. This avoids charging failures caused by network problems. Furthermore, offline mode is not indiscriminately open, but is based on pre-stored encrypted tokens for authentication, which can effectively prevent the device from being illegally controlled in offline mode.

[0041] Secondly, embodiments of this application also provide a charging control device.

[0042] In one embodiment, the charging control device includes a vehicle terminal, the vehicle terminal being used for: When a target signal is received from a home charging robot, it is determined whether the target robot identification information in the target signal matches the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information. If matched, the charging port cover is opened, and a charging gun insertion command is sent to the home charging robot via the remote communication module. After charging is completed, a charging gun removal command is sent, so that the home charging robot can perform the charging gun insertion operation in response to the charging gun insertion command and the charging gun removal operation in response to the charging gun removal command. When the charging gun of the home charging robot is detected to be disconnected, the charging port cover is closed.

[0043] Furthermore, in one embodiment, the vehicle terminal is also used for: A challenge code is randomly generated, and the challenge code is hashed based on the pre-stored target key to generate the target code; The challenge code is sent to the home charging robot, which then performs a hash operation based on the challenge code and the pre-stored target key to generate a response code. When the response code sent by the home charging robot is received, if the response code is found to be the same as the target code, the step of controlling the opening of the charging port cover is executed.

[0044] Furthermore, in one embodiment, the vehicle terminal is also used for: Determine whether the connection with the remote communication module has timed out; If so, the home charging robot is authenticated based on the pre-stored local passwordless token, and after successful authentication, the home charging robot is sent with plug-in and plug-out commands. If not, then perform the steps of sending insertion and removal commands to the home charging robot via the remote communication module.

[0045] Furthermore, in one embodiment, the vehicle terminal is also configured to: periodically obtain a local passwordless token from the remote communication module, the local passwordless token having an expiration time.

[0046] The functions of the vehicle terminal in the charging control device correspond to the steps in the first embodiment of the charging control method, and their functions and implementation processes will not be described in detail here.

[0047] Thirdly, embodiments of this application also provide another charging control method.

[0048] In one embodiment, reference is made to Figure 5 , Figure 5 This is a flowchart illustrating a second embodiment of the charging control method of this application. The charging control method is applied to home charging robots, such as... Figure 5 As shown, the charging control method includes: Step N10: When the target vehicle is detected to have arrived at the designated location, a target signal containing robot identification information is sent to the vehicle terminal of the target vehicle based on the pre-stored binding relationship. The vehicle terminal then determines whether to open the charging port cover and generate a charging gun insertion command based on the target signal and the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information.

[0049] As an example, it should be noted that the structural composition of the vehicle terminal, home charging robot, and remote communication module involved in this embodiment, as well as the method of binding identity information, are the same as those in the first embodiment described above. For the sake of brevity, they will not be repeated here.

[0050] In this embodiment, the home charging robot identifies whether a vehicle has arrived at the charging location (i.e., the designated location, or the charging parking space). Once the vehicle is identified, it sends a target signal containing the radio frequency IDE to the target vehicle's VIU via radio frequency communication based on the pre-stored binding relationship. When the VIU receives the target signal, it verifies whether the radio frequency IDE matches its own pre-stored binding relationship to identify whether the home charging robot is a bound robot. Only when the radio frequency IDE information of a bound home charging robot is identified will the subsequent automatic charging process be initiated, such as controlling the opening of the charging port cover and generating a charging gun insertion command. It should be noted that the method and principle of vehicle identification implemented by the home charging robot are common knowledge in the field, and will not be elaborated here for the sake of brevity.

[0051] Step N20: When the vehicle terminal receives the plug-in command sent through the remote communication module, the charging gun insertion operation is performed in response to the plug-in command.

[0052] As an example, in this embodiment, the plug-in command is generated after the VCU detects that the charging port cover is in an open state, and is transmitted to the home charging robot in sequence through TBOX, TSP and DMOC; based on this, once the home charging robot receives the plug-in command, it will respond to the plug-in command by performing the corresponding plug-in action.

[0053] Step N30: ​​When the vehicle terminal receives a gun-pulling command sent through the remote communication module, it performs a gun-pulling operation in response to the gun-pulling command, so that the charging gun is in a disconnected state, so that the vehicle terminal can control the charging port cover to close based on the charging gun being in a disconnected state.

[0054] Exemplary and understandable, during the charging process, the VCU continuously monitors whether the preset charging termination conditions are met. Once the charging termination conditions are met, a gun-unplugging command is generated and transmitted to the home charging robot sequentially via TBOX, TSP, and DMOC. Based on this, once the home charging robot receives the gun-unplugging command, it will respond by performing the corresponding gun-unplugging action to disconnect the charging gun. This allows the vehicle terminal to control the closing of the charging port cover based on the disconnected state of the charging gun. It is evident that in this embodiment, the execution of actions such as plugging and unplugging the charging gun by the home charging robot relies entirely on the identity verification results and charging status recognition results of its corresponding vehicle terminal. This achieves precise timing coordination between the actions of the home charging robot and the actions of the charging port cover, protecting the charging robot's robotic arm from crush damage and ensuring that the charging port cover closes promptly when not charging, preventing water, dust, or foreign object blockage, thus improving safety and reliability.

[0055] Furthermore, in one embodiment, the method further includes: When a challenge code is received from the vehicle terminal, a hash operation is performed based on the challenge code and the pre-stored target key to generate a response code. The challenge code is randomly generated by the vehicle terminal after determining that the target robot identification information in the target signal matches the binding relationship. The response code is sent to the vehicle terminal so that the vehicle terminal can control whether to open the charging port cover and generate a charging gun insertion command based on the consistency between the response code and the target code. The target code is generated by the vehicle terminal after performing a hash operation on the challenge code based on a pre-stored target key.

[0056] In this exemplary embodiment, the home charging robot can also obtain a target key through a cloud server or vehicle terminal and store it in a local secure storage area for local computation during subsequent communication. Based on this, after the vehicle terminal confirms that the home charging robot is the one it has bound to based on the target signal sent by the home charging robot, it will perform a secondary security verification: the vehicle terminal generates a random number as a challenge code, reads the locally pre-stored target key, and performs a hash operation on the challenge code using a preset hash algorithm to generate a target code; simultaneously, the vehicle terminal can send the challenge code directly to the home charging robot via radio frequency communication, or sequentially via TBOX, TSP, and DMOC; upon receiving the challenge code, the home charging robot will read the same locally pre-stored target key, perform a hash operation using the same hash algorithm as the vehicle terminal, and generate a target code. The system generates a response code and sends it to the vehicle terminal via radio frequency communication. Alternatively, the response code can be sent to the vehicle terminal sequentially via DMOC, TSP, and TBOX. After receiving the response code from the home charging robot, the vehicle terminal compares it with the locally generated target code. If the response code and target code are identical, it indicates that the home charging robot possesses the correct key, and the vehicle terminal determines that the authentication is successful and proceeds to control the opening of the charging port cover, thereby effectively improving control security. If the two codes are different, or if the vehicle terminal does not receive the response code within a preset time (e.g., 5 seconds), the vehicle terminal determines that the authentication has failed, keeps the charging port cover closed, and can generate a security alarm log and upload it to the cloud.

[0057] Fourthly, embodiments of this application also provide another charging control device.

[0058] In one embodiment, the charging control device includes a home charging robot, the home charging robot being used for: When the target vehicle is detected to have arrived at the designated location, a target signal containing robot identification information is sent to the vehicle terminal of the target vehicle based on the pre-stored binding relationship. The vehicle terminal then determines whether to open the charging port cover and generate a charging gun insertion command based on the target signal and the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information. When a charging gun insertion command is received from the vehicle terminal via the remote communication module, the charging gun insertion operation is performed in response to the charging gun insertion command. When the vehicle terminal receives a gun-pulling command sent through the remote communication module, it performs a gun-pulling operation in response to the command, putting the charging gun in a disconnected state so that the vehicle terminal can control the charging port cover to close based on the disconnected state of the charging gun.

[0059] Furthermore, in one embodiment, the home charging robot is also used for: When a challenge code is received from the vehicle terminal, a hash operation is performed based on the challenge code and the pre-stored target key to generate a response code. The challenge code is randomly generated by the vehicle terminal after determining that the target robot identification information in the target signal matches the binding relationship. The response code is sent to the vehicle terminal so that the vehicle terminal can control whether to open the charging port cover and generate a charging gun insertion command based on the consistency between the response code and the target code. The target code is generated by the vehicle terminal after performing a hash operation on the challenge code based on a pre-stored target key.

[0060] The functions of the home charging robot in the above-mentioned charging control device correspond to the steps in the second embodiment of the above-mentioned charging control method, and their functions and implementation processes will not be described in detail here.

[0061] Fifthly, embodiments of this application provide a charging control device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0062] Reference Figure 6 , Figure 6 This is a schematic diagram of the hardware structure of the charging control device involved in the embodiments of this application. In the embodiments of this application, the charging control device may include a processor, a memory, a communication interface, and a communication bus.

[0063] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0064] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting devices within the charging control device, as well as interfaces used for interconnecting the charging control device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0065] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0066] The processor can be a general-purpose processor, which can call the charging control program stored in the memory and execute the charging control method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the charging control program is called can be referred to in the various embodiments of the charging control method of this application, and will not be repeated here.

[0067] Those skilled in the art will understand that Figure 6 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0068] Sixthly, embodiments of this application also provide a computer-readable storage medium.

[0069] The present application has a readable storage medium storing a charging control program, wherein when the charging control program is executed by a processor, it implements the steps of the charging control method described above.

[0070] The method implemented when the charging control program is executed can be referred to in various embodiments of the charging control method of this application, and will not be repeated here.

[0071] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0072] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0073] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0074] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0075] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0076] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0077] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A charging control method, characterized in that, The method is applied to a vehicle terminal, and the method includes the following steps: When a target signal is received from a home charging robot, it is determined whether the target robot identification information in the target signal matches the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information. If matched, the charging port cover is opened, and a charging gun insertion command is sent to the home charging robot via the remote communication module. After charging is completed, a charging gun removal command is sent, so that the home charging robot can perform the charging gun insertion operation in response to the charging gun insertion command and the charging gun removal operation in response to the charging gun removal command. When the charging gun of the home charging robot is detected to be disconnected, the charging port cover is closed.

2. The charging control method as described in claim 1, characterized in that, Following the step of matching, the method further includes: A challenge code is randomly generated, and the challenge code is hashed based on the pre-stored target key to generate the target code; The challenge code is sent to the home charging robot, which then performs a hash operation based on the challenge code and the pre-stored target key to generate a response code. When the response code sent by the home charging robot is received, if the response code is found to be the same as the target code, the step of controlling the opening of the charging port cover is executed.

3. The charging control method as described in claim 1, characterized in that, Before the steps of sending insertion and removal commands to the home charging robot via the remote communication module, the method further includes: Determine whether the connection with the remote communication module has timed out; If so, the home charging robot is authenticated based on the pre-stored local passwordless token, and after successful authentication, the plug-in command and the pull-out command are sent to the home charging robot respectively. If not, then the remote communication module will send the insertion and removal commands to the home charging robot respectively.

4. The charging control method as described in claim 3, characterized in that, The method further includes: A local passwordless token is periodically obtained from the remote communication module, and the local passwordless token has an expiration time.

5. A charging control method, characterized in that, The method is applied to a home charging robot, and the method includes the following steps: When the target vehicle is detected to have arrived at the designated location, a target signal containing robot identification information is sent to the vehicle terminal of the target vehicle based on the pre-stored binding relationship. The vehicle terminal then determines whether to open the charging port cover and generate a charging gun insertion command based on the target signal and the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information. When a charging gun insertion command is received from the vehicle terminal via the remote communication module, the charging gun insertion operation is performed in response to the charging gun insertion command. When the vehicle terminal receives a gun-pulling command sent through the remote communication module, it performs a gun-pulling operation in response to the command, putting the charging gun in a disconnected state so that the vehicle terminal can control the charging port cover to close based on the disconnected state of the charging gun.

6. The charging control method as described in claim 5, characterized in that, The method further includes: When a challenge code is received from the vehicle terminal, a hash operation is performed based on the challenge code and the pre-stored target key to generate a response code. The challenge code is randomly generated by the vehicle terminal after determining that the target robot identification information in the target signal matches the binding relationship. The response code is sent to the vehicle terminal so that the vehicle terminal can control whether to open the charging port cover and generate a charging gun insertion command based on the consistency between the response code and the target code. The target code is generated by the vehicle terminal after performing a hash operation on the challenge code based on a pre-stored target key.

7. A charging control device, characterized in that, The charging control device includes a vehicle terminal, which is used for: When a target signal is received from a home charging robot, it is determined whether the target robot identification information in the target signal matches the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information. If matched, the charging port cover is opened, and a charging gun insertion command is sent to the home charging robot via the remote communication module. After charging is completed, a charging gun removal command is sent, so that the home charging robot can perform the charging gun insertion operation in response to the charging gun insertion command and the charging gun removal operation in response to the charging gun removal command. When the charging gun of the home charging robot is detected to be disconnected, the charging port cover is closed.

8. A charging control device, characterized in that, The charging control device includes a home charging robot, which is used for: When the target vehicle is detected to have arrived at the designated location, a target signal containing robot identification information is sent to the vehicle terminal of the target vehicle based on the pre-stored binding relationship. The vehicle terminal then determines whether to open the charging port cover and generate a charging gun insertion command based on the target signal and the pre-stored binding relationship. The binding relationship includes at least the association between vehicle identification information and robot identification information. When a charging gun insertion command is received from the vehicle terminal via the remote communication module, the charging gun insertion operation is performed in response to the charging gun insertion command. When the vehicle terminal receives a gun-pulling command sent through the remote communication module, it performs a gun-pulling operation in response to the command, putting the charging gun in a disconnected state so that the vehicle terminal can control the charging port cover to close based on the disconnected state of the charging gun.

9. A charging control device, characterized in that, The charging control device includes a processor, a memory, and a charging control program stored in the memory and executable by the processor, wherein when the charging control program is executed by the processor, it implements the steps of the charging control method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a charging control program, wherein when the charging control program is executed by a processor, it implements the steps of the charging control method as described in any one of claims 1 to 6.

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