A multi-scene cooperative home charging robot automatic charging control method and device

Abstract

The application discloses a multi-scene cooperative home charging robot automatic charging control method and device, relates to the technical field of intelligent charging, and comprises the following steps: judging charging precondition based on the vehicle gear state, the Bluetooth authentication state, and the relative position between the vehicle and the home charging robot; when it is determined that the charging precondition is met, entering the corresponding charging scene according to the matching of the scene trigger condition to perform linkage control on the charging port cover and the charging gun; wherein the charging scene comprises an automatic charging scene, an immediate charging scene and a reservation charging scene. Through vehicle-pile-network-cloud full-link cooperation, the application effectively solves the problems of poor charging scene adaptability, insufficient communication safety and action interference in the prior art, and significantly improves the convenience and user experience of new energy vehicle home charging.

Description

Technical Field

[0001] This application relates to the field of intelligent charging technology, specifically to an automatic charging control method and device for a home charging robot that coordinates multiple scenarios. Background Technology

[0002] With the rapid development of the new energy vehicle industry, users' demands for convenient and intelligent charging are increasing. Currently, home charging typically relies on users manually completing operations such as parking, opening the charging port cover, plugging in the charging gun, and unplugging it, which is cumbersome and provides a poor user experience. To improve the user charging experience and showcase the level of vehicle intelligence, the industry has begun exploring automatic charging technology. However, existing solutions suffer from limitations such as limited functional scenarios, poor device compatibility, complex wake-up logic, and insufficient communication security, making it difficult to achieve seamless, intelligent charging throughout the entire process. Summary of the Invention

[0003] This application provides a multi-scenario collaborative automatic charging control method and device for home charging robots, which can solve the technical problems existing in the prior art, such as single functional scenarios, poor device compatibility, complex wake-up logic, and insufficient communication security.

[0004] In a first aspect, embodiments of this application provide an automatic charging control method for a home charging robot that enables multi-scenario collaboration, including: Based on the vehicle's gear position, Bluetooth authentication status, and the relative position between the vehicle and the home charging robot, the preconditions for charging are determined. When the charging prerequisites are met, the system enters the corresponding charging scenario based on the matching of the scenario trigger conditions to perform linkage control of the charging port cover and the charging gun. The charging scenarios include automatic charging, immediate charging, and scheduled charging.

[0005] In conjunction with the first aspect, in one implementation, when the vehicle is in P gear, the Bluetooth authentication status is successful, and the relative position between the vehicle and the home charging robot is within a preset range, it is determined that the charging prerequisite is met. Regarding the Bluetooth authentication status, whether authentication is successful, the specific details include: VCU sends Bluetooth scanning requests to IVI or CDC via Controller Area Network; The IVI or CDC scans the Bluetooth broadcast signal of the home charging robot based on the Bluetooth scanning request, initiates a Bluetooth connection based on the stored Bluetooth MAC address of the home charging robot, and verifies the vehicle VIN in the home charging robot's Bluetooth broadcast signal after the connection is established. If the verification passes, the authentication is deemed successful, and the IVI or CDC sends the Bluetooth connection and authentication status back to the VCU. If the verification fails, the authentication is deemed unsuccessful.

[0006] In conjunction with the first aspect, in one implementation, for the entry of an automatic charging scenario: the vehicle's battery level is detected in real time. When the vehicle's battery level is lower than a preset threshold, the VCU controls the vehicle to actively confirm whether to start automatic charging. If no active confirmation is made within a preset time, the vehicle will start charging. For the immediate charging scenario: The VCU controls the vehicle or mobile terminal to actively confirm whether to start immediate charging. If active confirmation is made, the vehicle will start charging. For the entry of scheduled charging scenario: the vehicle or mobile terminal sets the scheduled charging time. When the scheduled charging time is reached, a Bluetooth connection is established between the vehicle and the home charging robot to charge the vehicle.

[0007] In conjunction with the first aspect, in one implementation method, the Bluetooth binding between the vehicle and the home charging robot specifically includes: The binding instruction sent by the TSP to the DMOC to the mobile terminal includes the home charging robot's SN code and the vehicle's VIN. The DMOC forwards the binding command to the vehicle's T-Box, which in turn forwards the binding command to the VCU. The VCU then controls the IVI to initiate Bluetooth scanning. IVI searches for the home charging robot's Bluetooth, verifies the VIN in the Bluetooth broadcast information, and stores the home charging robot's Bluetooth MAC address after successful verification. The VCU receives the vehicle's current latitude and longitude from the IVI, sets the latitude and longitude as the binding location of the home charging robot, and feeds it back to the IVI; The DMOC stores the correspondence between the home charging robot's SN code, vehicle account, home charging robot's Bluetooth MAC address, and vehicle VIN. The specific steps for unbinding Bluetooth between vehicles and home charging robots include: The mobile terminal sends an unbinding command to the DMOC, the unbinding command including the home charging robot's SN code, the vehicle's VIN, and the vehicle's current latitude and longitude. DMOC sends an unbinding command and the vehicle VIN to the corresponding home charging robot, and the home charging robot deletes the Bluetooth MAC address from the local whitelist. DMOC forwards the unbinding command to VCU through the communication link between TSP and T-Box. VCU clears the latitude and longitude of the stored home charging robot and triggers IVI to clear the stored Bluetooth MAC address.

[0008] In conjunction with the first aspect, in one implementation, the radio frequency binding between the vehicle and the home charging robot specifically includes: The mobile terminal sends the home charging robot's SN code and the vehicle's VIN to the DMOC. The DMOC sends the vehicle's VIN to the home charging robot, and the home charging robot stores the vehicle's VIN in its local whitelist. The DMOC extracts the robot's RF IDE address and sends it to the RVDC via the TSP. The RVDC then writes the RF IDE address into the ZCU or VIU and stores it using diagnostic commands. The specific steps for unbinding radio frequency signals between vehicles and home charging robots include: The mobile terminal sends an unbinding command to the DMOC, the DMOC sends the unbinding command and vehicle VIN to the home charging robot, and the home charging robot deletes the vehicle VIN from the local whitelist. The TSP sends an unbinding command and the charging pile RF IDE to the RVDC, and the RVDC clears the corresponding charging pile RF IDE address stored in the ZCU or VIU.

[0009] In conjunction with the first aspect, in one embodiment, the linkage control of the charging port cover and the charging gun specifically includes: The VCU sends a request to the BCM to open the charging port cover. After receiving the request, the BCM controls the charging port cover to open and sends the status of the charging port cover back to the VCU. After receiving feedback that the charging port cover is fully open, the VCU sends a charging gun insertion request to the home charging robot via Bluetooth. The home charging robot performs the insertion action and reports the operating status to the IVI or VCU after the insertion is completed, and then enters the charging process. When charging is finished or stopped, the VCU sends a request to the home charging robot to unplug the charging gun. The home charging robot then performs the unplugging action and reports its operating status back to the VCU. After receiving feedback that the charging port cover has been removed, the VCU sends a request to the BCM to close the charging port cover. The BCM then controls the charging port cover to close and sends feedback to the VCU that the charging port cover closure is complete.

[0010] In conjunction with the first aspect, in one embodiment, the home charging robot automatic charging control method further includes timeout handling logic: The timeout handling logic is as follows: if the charging port cover is opened but the charging gun is not inserted within a preset first time, or if the charging port cover is not closed within a preset second time after the charging gun is removed, or if the insertion / removal of the charging gun exceeds a preset third time, a timeout reminder is triggered and the charging port cover is forcibly closed or the device is put into sleep mode.

[0011] In conjunction with the first aspect, in one implementation, the vehicle is controlled to wake up when the user actively confirms the immediate charging button on the mobile terminal, starts timed charging and reaches the charging time, charges are completed, or receives a radio frequency signal from the home charging robot.

[0012] In conjunction with the first aspect, in one embodiment, the home charging robot automatic charging control method further includes mobile terminal interaction and IVI interaction; The mobile terminal interaction includes anomaly alerts, appointment reminders, location reminders, and function control; The abnormal alert is a pop-up notification pushed to the mobile terminal when Bluetooth connection fails, home charging robot malfunctions, or plugging or unplugging fails. The scheduled charging reminder is a notification sent to the mobile terminal after the scheduled charging is successfully set. The location alert is provided by the mobile terminal when the vehicle's location is inappropriate, indicating that the current charging location is unsuitable. The function control is to actively confirm the "charge now" button for the home charging robot displayed on the mobile terminal and then send a charging start request to the VCU. The IVI interaction includes animation display, scene setting, status display, and safety reminders; The animation is displayed as a dynamic animation during the insertion or removal of the gun, and a failure reminder text is superimposed when insertion or removal of the gun fails. The interface for setting up the scene supports selecting the power threshold and displaying the ready status of the home charging robot. The status display shows the "Instant Charge" button for the home charging robot in the "Instant Charge" scenario, and the estimated start time for charging and the "Instant Charge" button in the "Scheduled Charging" waiting scenario. The location reminder is a pop-up window on the large screen that prompts you to move the vehicle when its charging location is inconvenient. The safety alert is that when inserting or removing the gun, or when inserting or removing the gun fails, the VCU sends a warning to prohibit shifting gears, and the IVI displays a pop-up message to prohibit the user from shifting gears.

[0013] Secondly, embodiments of this application provide a multi-scenario collaborative automatic charging device for home charging robots, used to implement the multi-scenario collaborative automatic charging control method for home charging robots as described above, the device comprising: The perception layer is used to acquire vehicle location information, Bluetooth connection information, radio frequency signal information, charging port cover status information, and charging gun connection status information. The communication layer includes a Bluetooth communication sublayer and a radio frequency communication sublayer. The Bluetooth communication sublayer is used to enable encrypted data transmission between the vehicle and the home charging robot, and the radio frequency communication sublayer is used to enable radio frequency signal interaction between the vehicle and the charging device. The interaction layer is used to provide functions such as charging scenario settings, charging status display, and abnormal reminders. The control layer, with VCU as its core control unit, is connected to the perception layer, communication layer, and interaction layer via signals.

[0014] The technical solutions provided in this application have at least the following beneficial effects: (1) Improved the intelligence level and user experience of the charging process. By connecting the entire link of "vehicle-charging station-network-cloud" communication and control, the system realizes fully unmanned operation from automatic parking, automatic opening of the charging port cover, automatic plugging in of the charging gun and automatic unplugging of the charging gun, without the need for manual intervention by the user, which significantly improves the convenience and seamless experience of charging. At the same time, the system supports multiple scenario modes such as automatic charging, immediate charging and scheduled charging, which can adapt to the different driving habits and diverse charging needs of different users.

[0015] (2) Enhanced system platform compatibility and technology reusability. This application constructs a platform-based Bluetooth communication protocol and radio frequency communication protocol. The Bluetooth protocol can be used for interaction between various devices such as home charging piles and smart parking locks and vehicles. The radio frequency protocol can be adapted to the charging port cover opening requirements of different types of devices such as home charging piles and public charging piles. This platform-based design effectively reduces the development cost of multi-device adaptation and improves the universality and scalability of the technical solution.

[0016] (3) Improved system security and operational reliability. Regarding communication security, the AES128 encryption algorithm is used to encrypt Bluetooth communication data, combined with vehicle VIN code verification and a unique device binding mechanism, effectively preventing unauthorized device access and ensuring data transmission security. In terms of operation control, timeout handling mechanisms and linkage protection logic are set up for key actions such as Bluetooth connection, charging gun insertion, charging gun removal, and cap opening, avoiding interference or malfunctions between devices and improving system stability. Furthermore, a dedicated PNC wake-up function precisely controls the wake-up range and duration, effectively reducing the vehicle's static power consumption while ensuring the normal execution of the charging process.

[0017] (4) Improved human-computer interaction experience and operational safety. The system provides multi-dimensional charging status display and anomaly alerts through a mobile terminal application (APP) and in-vehicle infotainment system (IVI), enabling users to monitor charging progress in real time and respond promptly to malfunctions. Simultaneously, the system includes safety interlock reminders such as prohibiting gear shifting during charging to prevent equipment damage or safety risks due to user error, further enhancing the user-friendliness and safety of the charging process. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the automatic charging control method for a home charging robot with multi-scenario collaboration according to this application. Figure 2 This is a functional module diagram of an embodiment of the home charging robot automatic charging device for multi-scenario collaboration of this application. Detailed Implementation

[0019] 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.

[0020] In a first aspect, embodiments of this application provide an automatic charging control method for a home charging robot that coordinates multiple scenarios, see [link to relevant documentation]. Figure 1 As shown, it includes the following steps: S1: Based on the vehicle's gear position, Bluetooth authentication status, and the relative position between the vehicle and the home charging robot, determine the preconditions for charging. S2: When the charging preconditions are met, enter the corresponding charging scenario according to the matching of the scenario trigger conditions to perform linkage control of the charging port cover and the charging gun. The charging scenarios include automatic charging, immediate charging, and scheduled charging.

[0021] In this embodiment, the determination of the preconditions for charging is not a simple matter of acquiring a single signal, but a comprehensive determination of the vehicle's gear position, Bluetooth authentication status, and the relative position between the vehicle and the home charging robot.

[0022] Specifically, the system checks the vehicle's gear position to ensure it is in a physically safe, parked state; it checks the Bluetooth authentication status to prevent unauthorized devices from accessing the device; and it checks the relative position of the vehicle and the home charging robot to ensure the vehicle is within the effective travel range of the robot's arm. Only when all three conditions are met can the system enter the corresponding charging scenario based on the matching of scene trigger conditions, enabling coordinated control of the charging port cover and charging gun.

[0023] Furthermore, in one embodiment, ultrasonic radar is added to assist in determining the relative position of the vehicle and the home charging robot. Two ultrasonic radars are installed on the front bumper of the vehicle to detect the lateral and longitudinal distances between the vehicle and the home charging robot. The VCU (Vehicle Control Unit) integrates the latitude and longitude distance (error ±1m) and the ultrasonic radar distance (error ±0.1m) to comprehensively determine whether the vehicle is within the range of the home charging robot's robotic arm (lateral error ≤0.3m, longitudinal error ≤0.5m). Using ultrasonic radar to assist in the determination improves the accuracy of position detection, reduces position judgment errors caused by latitude and longitude errors, and further ensures the success rate of charging gun insertion.

[0024] Furthermore, in one embodiment, when the vehicle is in P gear, the Bluetooth authentication status is successful, and the relative position between the vehicle and the home charging robot is within a preset range, it is determined that the charging prerequisite is met. Regarding the Bluetooth authentication status, whether authentication is successful, the specific details include: The VCU sends a Bluetooth scanning request to the IVI (In-Vehicle Infotainment) or CDC (Central Display Controller) via the controller area network. The IVI or CDC scans the Bluetooth broadcast signal of the home charging robot based on the Bluetooth scanning request, initiates a Bluetooth connection based on the stored Bluetooth MAC (Media Access Control Address) of the home charging robot, and verifies the vehicle VIN (Vehicle Identification Number) in the home charging robot's Bluetooth broadcast signal after the connection is established. If the verification passes, the authentication is deemed successful, and the IVI or CDC sends the Bluetooth connection and authentication status back to the VCU. If the verification fails, the authentication is deemed unsuccessful.

[0025] In this embodiment, the preconditions for charging require the vehicle to be in Park (P) gear, the location to be reasonable, and Bluetooth authentication to pass a triple verification. Bluetooth authentication relies on the master-slave collaborative interaction between the VCU and the IVI (or CDC). First, the VCU sends a Bluetooth scan request to the IVI / CDC via the Controller Area Network (CAN) bus to initiate the authentication process. The IVI / CDC, acting as the Bluetooth communication execution unit, actively scans for the home charging robot's Bluetooth broadcast signal upon receiving the request and performs targeted connections based on the locally stored Bluetooth MAC address of the home charging robot, rather than blindly connecting to all visible devices, thus achieving initial device screening. After the physical link is successfully established, the IVI / CDC further verifies the legitimacy of the vehicle VIN carried in the home charging robot's broadcast information (e.g., the last 6 digits of the vehicle VIN). This is done by comparing the vehicle VIN in the broadcast information with the locally stored bound VIN. If they match, the home charging robot is determined to be a legitimate device bound to the current vehicle. At this point, the IVI / CDC sends a signal to the VCU containing the authentication success status (e.g., Bluetooth connection and authentication status = 0x4), thus completing the authentication loop. Conversely, if the MAC address cannot match or the VIN verification is inconsistent, authentication is deemed unsuccessful, and the system refuses to proceed with the subsequent charging process. This mechanism, through the dual protection of "MAC address whitelist filtering" and "dynamic VIN verification," effectively prevents unauthorized or unbound home charging robot devices from accessing the vehicle control network, ensuring the security of the communication link and the legitimacy of the charging action.

[0026] Furthermore, in one embodiment, for the entry of an automatic charging scenario: the vehicle's battery level is detected in real time. When the vehicle's battery level is lower than a preset threshold, the VCU controls the vehicle to actively confirm whether to start automatic charging. If no active confirmation is made within a preset time, the vehicle will start charging.

[0027] In one optional implementation, the user can pre-set the battery trigger threshold in the in-vehicle infotainment system (IVI) to be between 10% and 90%. When the vehicle's current battery level is below 10%, the vehicle control unit (VCU) will trigger the IVI to initiate an interactive prompt to the user, asking via voice announcement and pop-up display: "Do you want to start the home charging robot for automatic charging?" If the user does not perform any operation within 10 seconds, the system will default to agreeing and automatically execute the charging process. Subsequently, the VCU will sequentially issue commands to open the charging port cover and request automatic charging gun insertion to complete the subsequent charging preparation actions.

[0028] For the immediate charging scenario: The VCU controls the vehicle or mobile terminal to actively confirm whether to start immediate charging. If the active confirmation is made, the vehicle will start charging.

[0029] In one optional implementation, the vehicle control unit (VCU) sends an immediate charging display request to the in-vehicle infotainment system (IVI) and a mobile app, simultaneously displaying a "Robot Immediate Charging" button on both the IVI and the app. When the user clicks the button on the IVI, the VCU directly issues commands to open the charging port cover and request the charging gun. If the user clicks the button on the app, the system handles the situation differently depending on the vehicle's status: when the vehicle is not in sleep mode, the commands are transmitted to the VCU for execution via the TSP (Telematics Service Provider) and T-Box (Telematics Box); when the vehicle is in sleep mode, the system first wakes up the VCU and requests a Bluetooth connection, and only after the connection is successful does it issue commands to open the charging port cover and request the charging gun.

[0030] For the entry of scheduled charging scenario: the vehicle or mobile terminal sets the scheduled charging time. When the scheduled charging time is reached, a Bluetooth connection is established between the vehicle and the home charging robot to charge the vehicle.

[0031] In one optional implementation, users can preset a charging time via a mobile app or the in-vehicle infotainment system (IVI). Upon receiving this setting, the vehicle control unit (VCU) stores the scheduled charging identifier for the home charging robot. When the system time reaches the preset charging time, the VCU will actively wake up the IVI and request to establish a Bluetooth connection. After a successful Bluetooth connection, the VCU sequentially issues commands to open the charging port cover and request automatic charging gun insertion. Simultaneously, the IVI will display the start and end times of the scheduled charging to the user. Furthermore, during charging, if any abnormalities occur such as Bluetooth connection timeout, charging gun insertion timeout, or home charging robot malfunction, the system will automatically trigger a sleep mode to ensure vehicle safety and reduce energy consumption.

[0032] Furthermore, in one embodiment, the automatic charging method employs a platform-based dual communication protocol, including Bluetooth protocol and radio frequency protocol.

[0033] Bluetooth communication is implemented through Bluetooth Low Energy (BLE) technology. Bluetooth broadcast data includes: device type (1 byte, 0x01), device model (1 byte, 0x01 indicates a home charging robot), the last 6 digits of the vehicle VIN (divided into 3 groups, each group is 6 bytes), version (1 byte, 0x02) and version number (3 bytes), and the service UUID is fixed as 00001101-0000-1000-8000-00805f9b34fb.

[0034] Regarding the communication frame format, the system adopts a unified message structure, specifically: frame header (0x68, 1 byte) + data length (1 byte, value range 0x00~0x10) + encrypted data (16*N bytes) + CRC-16 checksum (2 bytes). To ensure communication security, the encrypted data uses the AES128-ECB symmetric encryption algorithm. The key consists of a fixed value (LANTU1234567, 14 bytes) and the last four digits of the vehicle VIN (A1A2A3A4, 2 bytes, where A1 is the fourth from the end, A2 is the third from the end, A3 is the second from the end, and A4 is the last digit). Furthermore, the plaintext encrypted data uses PKCS7 padding, with the padding byte value equal to the number of padding bytes.

[0035] Based on the above communication protocol, the following four main instructions are supported: vehicle authentication instruction (from vehicle to home charging robot, including 17-byte vehicle VIN), home charging robot authentication status feedback instruction (from home charging robot to vehicle, including VIN authentication result and device type), plug / unplug request instruction (from vehicle to home charging robot, including plug / unplug request), and home charging robot operation status feedback instruction (from robot to vehicle, including location rationality, operation status, and failure reason).

[0036] In some other embodiments, to further enhance the security of the communication link, the system adopts AES128-CBC encryption instead of the original ECB encryption. In this mode, an initialization vector (IV) is introduced into the encryption process. This IV is generated by a random number generated by the T-Box and securely synchronized to the home charging robot via the vehicle-cloud platform. Simultaneously, the encryption key generation rule is adjusted to: a 14-byte fixed string (LANTU87654321) concatenated with the last four digits (2 bytes) of the vehicle chassis number; the plaintext padding method continues to use the PKCS7 standard. Compared to the ECB mode, the AES128-CBC encryption method achieves chained association of encrypted blocks through IVs, effectively hiding the plaintext data pattern and significantly improving anti-cracking capabilities and overall security. Furthermore, the adjustment of the key generation rule and the upgrade of the communication protocol do not affect the compatibility between systems; the vehicle and the home charging robot can still successfully complete identity verification and establish a secure and reliable communication link.

[0037] The radio frequency communication protocol divides the identifier (IDE) into ranges based on device type. Specifically, the IDE range assigned to the home charging robot is from decimal 3400000000 to 3999999999, which corresponds to a value of 0x3 for the CAN bus signal ChargingGunKeyID.

[0038] When the ZCU (Zone Control Unit) / VIU (Vehicle Integration Unit) module receives the radio frequency signal, it parses the IDE address and compares it with the locally stored valid IDEs. If the verification passes, the module determines the device type based on the IDE's location within its designated zone and sends the corresponding ChargingGunKeyID signal to the BCM (Body Control Module). Upon receiving this signal, the BCM performs a logical judgment based on the current vehicle status (such as central locking status) to trigger and control the opening of the charging port cover.

[0039] The two protocols mentioned above respectively handle Bluetooth communication and radio frequency identification functions, jointly supporting key aspects such as identity authentication, operation command transmission, and charging port cover control for the home charging robot.

[0040] Furthermore, in one embodiment, the Bluetooth binding between the vehicle and the home charging robot specifically includes: The binding instruction sent by the mobile terminal is forwarded from the TSP to the DMOC (Drive Motor Output Control). The binding instruction includes the home charging robot's SN code and the vehicle's VIN. The DMOC forwards the binding command to the vehicle's T-Box, which in turn forwards the binding command to the VCU. The VCU then controls the IVI to initiate Bluetooth scanning. IVI searches for the home charging robot's Bluetooth, verifies the VIN in the Bluetooth broadcast information, and stores the home charging robot's Bluetooth MAC address after successful verification. The VCU receives the vehicle's current latitude and longitude from the IVI, sets the latitude and longitude as the binding location of the home charging robot, and feeds it back to the IVI; The DMOC stores the correspondence between the home charging robot's SN code, vehicle account, home charging robot's Bluetooth MAC address, and vehicle VIN. In one specific embodiment, the user sends a binding command by entering the home charging robot's SN number through the APP. The command is forwarded to the DMOC via the TSP. The DMOC sends a binding command containing the home charging robot's SN code and the vehicle's VIN to the vehicle's T-Box. The T-Box forwards the command to the VCU, and the VCU triggers the IVI to start Bluetooth scanning. The IVI manually searches for the home charging robot's Bluetooth (Bluetooth name: VOYAHRobot), verifies the last 6 digits of the VIN in the Bluetooth broadcast information, and stores the corresponding Bluetooth MAC address after a match. The VCU receives the current vehicle latitude and longitude sent by the IVI, stores it as the home charging robot's binding location (RobitLocation), and feeds it back to the IVI in a loop. The DMOC stores the binding relationship between the home charging robot's SN code, vehicle account, Bluetooth MAC address, and VIN. Each home charging robot is bound to only one vehicle VIN.

[0041] The specific steps for unbinding Bluetooth between vehicles and home charging robots include: The mobile terminal sends an unbinding command to the DMOC, the unbinding command including the home charging robot's SN code, the vehicle's VIN, and the vehicle's current latitude and longitude. DMOC sends an unbinding command and the vehicle VIN to the corresponding home charging robot, and the home charging robot deletes the Bluetooth MAC address from the local whitelist. DMOC forwards the unbinding command to VCU through the communication link between TSP and T-Box. VCU clears the latitude and longitude of the stored home charging robot and triggers IVI to clear the stored Bluetooth MAC address.

[0042] In one specific embodiment, the user initiates an unbinding request through the APP. The APP sends an unbinding instruction containing the home charging robot number, vehicle VIN, and current vehicle latitude and longitude to the DMOC. The DMOC sends the unbinding instruction and vehicle VIN to the corresponding home charging robot, and the home charging robot deletes the Bluetooth MAC address from its local whitelist. At the same time, the DMOC forwards the unbinding instruction to the VCU through the TSP-T-Box. The VCU clears the stored latitude and longitude of the home charging robot (by default, 0xFFFFFFFF) and triggers the IVI to clear the stored Bluetooth MAC address.

[0043] Furthermore, in one embodiment, the radio frequency binding between the vehicle and the home charging robot specifically includes: The mobile terminal sends the home charging robot's SN code and the vehicle's VIN to the DMOC. The DMOC sends the vehicle's VIN to the home charging robot, and the home charging robot stores the vehicle's VIN in its local whitelist. The DMOC extracts the robot's RF IDE address and sends it to the RVDC (Rear View Display Controller) via TSP. The RVDC then writes the RF IDE address into the ZCU or VIU and stores it using diagnostic commands.

[0044] In one specific embodiment, the user sends the home charging robot's serial number and vehicle VIN to the DMOC via an app. The DMOC then sends the vehicle VIN to the home charging robot, which stores the VIN in its local whitelist. The DMOC extracts the home charging robot's RF IDE address and sends it to the RVDC via the TSP. The RVDC writes the RF IDE to the ZCU / VIU and stores it using a diagnostic command (0x0C02). Each home charging robot is bound to only one vehicle VIN, and the RF IDE is assigned according to the device type (the home charging robot's IDE range is 3400000000~3999999999 decimal).

[0045] The specific steps for unbinding radio frequency signals between vehicles and home charging robots include: The mobile terminal sends an unbinding command to the DMOC, the DMOC sends the unbinding command and vehicle VIN to the home charging robot, and the home charging robot deletes the vehicle VIN from the local whitelist. The TSP sends an unbinding command and the charging pile RF IDE to the RVDC, and the RVDC clears the corresponding charging pile RF IDE address stored in the ZCU or VIU.

[0046] In one specific embodiment, the user sends an unbinding command to the DMOC via the APP. The DMOC sends the unbinding command and the vehicle VIN to the home charging robot. The home charging robot deletes the vehicle VIN from the local whitelist. The TSP sends the unbinding command and the charging pile RF IDE to the RVDC. The RVDC clears the corresponding RF IDE address stored in the ZCU / VIU.

[0047] Furthermore, in one embodiment, the linkage control of the charging port cover and the charging gun specifically includes: The VCU sends a request to the BCM to open the charging port cover. After receiving the request, the BCM controls the charging port cover to open and sends the status of the charging port cover back to the VCU. After receiving feedback that the charging port cover is fully open, the VCU sends a charging gun insertion request to the home charging robot via Bluetooth. The home charging robot performs the insertion action and reports the operating status to the IVI or VCU after the insertion is completed, and then enters the charging process. When charging is finished or stopped, the VCU sends a request to the home charging robot to unplug the charging gun. The home charging robot then performs the unplugging action and reports its operating status back to the VCU. After receiving feedback that the charging port cover has been closed, the VCU sends a request to the BCM to close the charging port cover. The BCM then controls the charging port cover to close and sends feedback to the VCU that the charging port cover has been closed. In this embodiment, the linkage control starts when the VCU receives the plug-in request and ends when the charging port cover closes. The specific process is as follows: The VCU receives the charging port opening request from the multi-scenario control module. When the conditions of "vehicle in P gear + Bluetooth authentication passed + location OK" are met, the VCU sends a request to the BCM to open the charging port cover. After receiving the request, the BCM controls the charging port cover to open and provides real-time feedback on the status of the charging port cover, which includes closed, opening, and fully open. Once the VCU receives feedback that the charging port cover is fully open, it sends a request to the home charging robot to plug in the charging gun. The home charging robot performs the insertion action and reports the operating status to the VCU. The operating status mainly includes insertion in progress, insertion completed, and insertion failed. Once the charging gun is inserted, the charging process begins. After charging is complete, the VCU sends a request to the home charging robot to unplug the gun. If the insertion fails, the reason is reported to the IVI / APP to remind the user to handle the issue. The home charging robot performs the action of pulling out the gun and reports the operating status to the VCU. The operating status includes pulling out the gun, pulling out the gun completed, and pulling out the gun failed. Once the VCU receives feedback that the charging gun has been successfully unplugged, it sends a request to the BCM to close the charging port cover. If the unplugging fails, the reason is reported to the IVI / APP. The BCM controls the charging port cover to close and provides feedback that the charging port cover is closed, thus ending the process. For charging port cover control, both direct control via VCU-BCM and radio frequency control are supported, with VCU-BCM control being the preferred method. When the VCU determines that the vehicle is in Park (P) gear, Bluetooth authentication is successful, and the location is OK, the VCU requests the BCM to open the cover. The BCM then provides feedback on the cover's status (fully closed, fully open, stopped, opening, closing). Once the charging gun is unplugged, the VCU requests the BCM to close the charging port cover. Preferably, the charging port cover automatically closes if no charging gun is plugged in within 2 minutes of opening, and automatically closes 5 seconds after the charging gun is unplugged, without responding to new opening requests during the timeout period.

[0048] For plug-in / plug-out control, the plug-in conditions are: Bluetooth authentication successful, location OK, vehicle in P gear, and charging port cover open. When the VCU sends a plug-in request, the home charging robot will retry twice if the plug-in fails. If it fails a third time, the reason for the failure will be reported via IVI / APP (e.g., location out of range, port cover not open, etc.). The plug-out conditions are: charging complete (SOC reaches target value), vehicle-side fault (e.g., BMS fault), charging pile malfunction, and power outage. Additionally, in scheduled trip, sentry mode, and refrigerator operation, the VCU will not control plug-out after charging is complete; the plug-out request will be sent when the usage time arrives. Furthermore, after charging to the target level, it will not automatically resume charging when the charging conditions are met again; the user needs to manually click the "Charge Now" button to trigger it.

[0049] Furthermore, in one embodiment, the automatic charging control method for the home charging robot further includes timeout handling logic: The timeout handling logic is as follows: if the charging port cover is opened but the charging gun is not inserted within a preset first time, or if the charging port cover is not closed within a preset second time after the charging gun is removed, or if the insertion / removal of the charging gun exceeds a preset third time, a timeout reminder is triggered and the charging port cover is forcibly closed or the device is put into sleep mode.

[0050] Preferably, if the charging port cover is not plugged in within 2 minutes after it is opened, the cover is not closed within 5 seconds after the charging port is unplugged, or the plugging / unplugging timeout exceeds 2 minutes, a timeout reminder will be triggered and the corresponding emergency logic will be executed, such as forcibly closing the cover or putting the device into sleep mode.

[0051] Building upon existing timeout handling logic, this embodiment further adds a charging port cover closing trigger function based on the home charging robot's position feedback. Specifically, after the home charging robot completes the unplugging operation, its robotic arm automatically returns to its initial position and sends a newly added "robotic arm return complete" signal (corresponding to a new command type, CmdType=0x04) to the VCU via Bluetooth. Upon receiving this signal, the VCU delays for 1 second before sending a charging port cover closing request to the BCM. During this delay, if the VCU detects that the charging gun has not been fully unplugged, it pauses the issuance of the closing command and simultaneously triggers an abnormality alert to prompt the user or system to intervene. This design, by using the robotic arm return signal as the trigger condition for charging port cover closing, effectively avoids mechanical interference between the cover and the charging gun that has not been fully withdrawn due to premature closure after unplugging, thereby significantly improving the timing coordination and operational safety of mechanical actions during the charging process.

[0052] Furthermore, in one embodiment, the vehicle is controlled to wake up when the user actively confirms the immediate charging button on the mobile terminal, starts timed charging and reaches the charging time, the charging ends, or receives a radio frequency signal from the home charging robot.

[0053] In this embodiment, a dedicated PNC wake-up function block for the home charging robot is provided. The wake-up trigger scenarios include the following five situations: ① The user clicks the "Home Charger Now" button on the APP; ② The vehicle is bound to the home charging robot and timed charging is started, and the current time reaches the preset charging time; ③ Charging ends (only applicable to home charging robot plug-in charging scenarios); ④ Receives an RF signal from the home charging robot (regardless of whether the home charging robot is bound). After any of the above scenarios are triggered, the PNC module sets the wake-up requirement, with a duration set to 5 minutes (configurable). The controllers involved in the wake-up include: VCOS / CDC (for enabling Bluetooth), VIU / ZCU (for RF processing), VCM-BCM (for charging port cover control), VCM-VCU (for logic decision-making), and OBC (for charging detection). Furthermore, for CDC models, an additional SOC wake-up condition is added: when the CDC's MCU is woken up, the home charging robot process flag bit sent by the VCU (this flag bit is associated with the process stage code) must be satisfied simultaneously to trigger the SOC chip wake-up.

[0054] In other embodiments, based on actual test data of the home charging robot's plug-in / plug-out time, the dedicated PNC wake-up duration is adjusted to 3 minutes (minimum 1.5 minutes, with a 0.5-minute redundancy reserve). For complex scenarios (such as plug-in retries), a dynamic duration adjustment mechanism is set: when the home charging robot reports a plug-in failure and triggers a retry, the wake-up time is automatically extended by 2 minutes, up to a maximum of 1 extension (total duration 5 minutes). By shortening the basic wake-up time, power consumption can be further reduced, and the dynamic adjustment mechanism can adapt to complex scenarios such as plug-in retries, ensuring the completion of actions and meeting the robot's plug-in / plug-out requirements.

[0055] Furthermore, in one embodiment, the home charging robot automatic charging control method further includes mobile terminal interaction and IVI interaction; The mobile terminal interaction includes anomaly alerts, appointment reminders, location reminders, and function control; The abnormal alert is a pop-up notification pushed to the mobile terminal when Bluetooth connection fails, home charging robot malfunctions, or plugging or unplugging fails. The scheduled charging reminder is a notification sent to the mobile terminal after the scheduled charging is successfully set. The location alert is provided by the mobile terminal when the vehicle's location is inappropriate, indicating that the current charging location is unsuitable. The function control is to actively confirm the "charge now" button for the home charging robot displayed on the mobile terminal and then send a charging start request to the VCU. The IVI interaction includes animation display, scene setting, status display, and safety reminders; The animation is displayed as a dynamic animation during the insertion or removal of the gun, and a failure reminder text is superimposed when insertion or removal of the gun fails. The interface for setting up the scene supports selecting the power threshold and displaying the ready status of the home charging robot. The status display shows the "Instant Charge" button for the home charging robot in the "Instant Charge" scenario, and the estimated start time for charging and the "Instant Charge" button in the "Scheduled Charging" waiting scenario. The location reminder is a pop-up window on the large screen that prompts you to move the vehicle when its charging location is inconvenient. The safety alert is that when inserting or removing the gun, or when inserting or removing the gun fails, the VCU sends a warning to prohibit shifting gears, and the IVI displays a pop-up message to prohibit the user from shifting gears.

[0056] This embodiment further elaborates on the human-machine interaction mechanism in the automatic charging control method of the home charging robot, which is mainly divided into two parts: mobile terminal interaction and IVI (in-vehicle infotainment system) interaction. The mobile terminal interaction is responsible for pushing various reminders to the user and supports remote control: when Bluetooth connection fails, the home charging robot malfunctions, or plugging or unplugging the charging gun fails, the terminal will display an error reminder; after successful timed charging setting, a reservation reminder will be sent; if the vehicle location is inappropriate, a location reminder will be pushed; the user can also actively confirm the "Charge Now" button on the terminal to send a charging start request to the VCU. Meanwhile, the IVI interaction focuses on visualization and safety management during the charging process: During plugging or unplugging the charging gun, the large screen displays dynamic animations and overlays failure text prompts upon failure; the scene settings interface supports selecting power thresholds and displays the home charging robot's ready status; in the "Charge Now" scenario, an "Instant Charging" button is displayed, while in the scheduled waiting phase, both the estimated start time and the "Instant Charging" button are displayed; when the vehicle's charging location is inappropriate, the large screen will pop up a reminder to move the vehicle; furthermore, in the states of plugging or unplugging, or plugging or unplugging failure, the VCU will send a command to prohibit gear shifting, and the IVI will display a pop-up prompt to prevent users from accidentally shifting gears, thus ensuring the safety of the charging process. The entire interaction design balances ease of operation, information transparency, and safety protection, enhancing the user's overall charging experience.

[0057] Furthermore, in one embodiment, the home charging robot automatic charging control system defines 24 core CAN signals and SOME / IP signals to achieve efficient collaborative communication between various electronic control units (ECUs). These signals include at least: Bluetooth switch status signal, Bluetooth scan request signal, Bluetooth connection and authentication status signal, home charging robot plug / unplug request signal, charging device type signal, charging port cover status signal, and gear shifting prohibition reminder signal. Each signal is configured with a specific signal length (in bits), a corresponding CAN identifier (CAN ID), a start byte and start bit in the data field, a signal transmission type (Cycle or Event), a specific encoding definition of the signal value, a sender, and a receiver. Through these signal definitions, it is ensured that the IVI, VCU, VIU, BCM, OBC, and other controllers can accurately interpret each other's instructions and statuses at each stage of the charging process, while meeting real-time response requirements, thereby guaranteeing the reliable execution of the entire automatic charging control logic. Furthermore, the specific parameters of all signals (such as bit length, ID allocation, starting position and numerical mapping) can be configured according to the actual network topology and communication matrix, but all follow the unified signal naming and definition specifications established in this embodiment to facilitate subsequent diagnosis, calibration and functional expansion.

[0058] Taking the instant charging scenario as an example, the specific process is as follows: Park the vehicle in the charging area and put it in Park (P). VCU sends a Bluetooth scan request to IVI / CDC via CAN; IVI / CDC scans the home charging robot's Bluetooth, actively connects based on the stored MAC address, verifies the last 6 digits of the vehicle's VIN in the Bluetooth broadcast, and after successful authentication, feeds back the Bluetooth connection and authentication status to the VCU. The home charging robot transmits vehicle location information via Bluetooth, and the VCU determines that the location is within the range of the robotic arm; The VCU sends the type of home charging robot and an immediate charging display request to the IVI / APP, and the IVI and APP display the immediate charging button; When a user clicks the "Charge Now" button on the IVI or the app, the IVI sends a charging start request to the VCU. After the VCU determines that the vehicle charging conditions are met, it sends a request to the BCM to open the charging port cover via CAN. The BCM controls the opening of the charging port cover. When the charging port cover is fully opened, it feeds back the status of the cover to the VCU. VCU sends a plug-in request to the home charging robot via Bluetooth, and the home charging robot performs the plug-in action. After the home charging robot is plugged in, it sends a status update to the IVI / VCU and begins the charging process. Once charging is complete (SOC reaches the target value) or the user clicks the stop charging button, the IVI sends a charging shutdown request to the VCU; The VCU sends a gun-drawing request to the home charging robot, and the home charging robot performs the gun-drawing action. After the home charging robot finishes unplugging the charging gun, it sends a feedback on its operating status to the IVI / VCU; The VCU sends a request to close the charging port cover to the BCM, and the BCM controls the charging port cover to close and provides feedback on the status. After the charging port cover is closed, the VCU cancels the charging wake-up and executes the hibernation process.

[0059] Secondly, embodiments of this application also provide an automatic charging device for a home charging robot that enables multi-scenario collaboration, see [link to relevant documentation]. Figure 2 As shown, the device includes: The perception layer is used to acquire vehicle location information, Bluetooth connection information, radio frequency signal information, charging port cover status information, and charging gun connection status information. The communication layer includes a Bluetooth communication sublayer and a radio frequency communication sublayer. The Bluetooth communication sublayer is used to enable encrypted data transmission between the vehicle and the home charging robot, and the radio frequency communication sublayer is used to enable radio frequency signal interaction between the vehicle and the charging device. The interaction layer is used to provide functions such as charging scenario settings, charging status display, and abnormal reminders. The control layer, with VCU as its core control unit, is connected to the perception layer, communication layer, and interaction layer via signals.

[0060] In this embodiment, the perception layer includes a vehicle location perception module (integrating a navigation module and a global navigation satellite system module, used to acquire the vehicle's real-time latitude, longitude, and heading angle), a Bluetooth connectivity perception module (integrated into the IVI (In-Vehicle Infotainment) / CDC (Central Display Controller), used to scan and receive robot Bluetooth signals), an RF signal receiving module (integrated into the ZCU (Zone Control Unit) / VIU (Vehicle Integration Unit), used to receive RF signals from the charging device), a charging port cover status perception module (integrated into the BCM (Body Control Module), used to detect the charging port cover's open / closed status), and a charging gun connection status perception module (integrated into the OBC (On-Board Charger), used to detect the charging gun's plug-in / unplugged status). Each perception module is connected to the control layer controller via a hardware interface and uploads perception data in real time.

[0061] The communication layer comprises a Bluetooth communication sublayer and a radio frequency (RF) communication sublayer. The Bluetooth communication sublayer employs a platform-based BLE (Bluetooth Low Energy) protocol to enable encrypted data transmission between the vehicle, the home charging robot, and the vehicle-to-cloud (V2X) platform. The RF communication sublayer uses a platform-based RF protocol to enable RF signal interaction between the vehicle and the charging equipment. The communication layer connects the vehicle, the home charging robot, the charging station cloud platform, and the V2X platform via wireless links.

[0062] The control layer uses the VCU (Vehicle Control Unit) as its core control unit, communicating with controllers such as IVI, BCM, ZCU / VIU, TBox (Telematics Control Unit), and OBC via CAN (Controller Area Network) bus and SOME / IP protocol. The VCU is responsible for multi-scenario charging logic decisions, command issuance, and status feedback. Each controller collaborates: IVI / CDC handles Bluetooth connectivity and interactive display; BCM controls the charging port cover; ZCU / VIU handles RF signal processing; TBox handles vehicle-to-cloud communication; and OBC handles charging control. Through these controllers, functions such as bonding / unbonding, Bluetooth connectivity, RF communication, charging port cover control, plug / unplug control, wake-up / sleep mode, and charging control are implemented.

[0063] The interaction layer includes a mobile app and an in-vehicle IVI screen, which connect to the vehicle cloud platform / TBox via a wireless link for user scenario settings, charging status viewing, and receiving abnormal alerts.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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 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.

[0068] 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.

[0069] 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 multi-scenario collaborative automatic charging control method for a home charging robot, characterized in that, include: Based on the vehicle's gear position, Bluetooth authentication status, and the relative position between the vehicle and the home charging robot, the preconditions for charging are determined. When the charging prerequisites are met, the system enters the corresponding charging scenario based on the matching of the scenario trigger conditions to perform linkage control of the charging port cover and the charging gun. The charging scenarios include automatic charging, immediate charging, and scheduled charging.

2. The multi-scenario collaborative automatic charging control method for home charging robots as described in claim 1, characterized in that: When the vehicle is in P gear, the Bluetooth authentication is successful, and the relative position between the vehicle and the home charging robot is within the preset range, the charging prerequisites are deemed to be met. Regarding the Bluetooth authentication status, whether authentication is successful, the specific details include: VCU sends Bluetooth scanning requests to IVI or CDC via Controller Area Network; The IVI or CDC scans the Bluetooth broadcast signal of the home charging robot based on the Bluetooth scanning request, initiates a Bluetooth connection based on the stored Bluetooth MAC address of the home charging robot, and verifies the vehicle VIN in the home charging robot's Bluetooth broadcast signal after the connection is established. If the verification passes, the authentication is deemed successful, and the IVI or CDC sends the Bluetooth connection and authentication status back to the VCU. If the verification fails, the authentication is deemed unsuccessful.

3. The multi-scenario collaborative automatic charging control method for home charging robots as described in claim 1, characterized in that: For the entry of automatic charging scenario: Real-time detection of vehicle battery level. When the vehicle battery level is lower than the preset threshold, the VCU controls the vehicle to actively confirm whether to start automatic charging. If no active confirmation is made within the preset time, the vehicle will start charging. For the immediate charging scenario: The VCU controls the vehicle or mobile terminal to actively confirm whether to start immediate charging. If active confirmation is made, the vehicle will start charging. For the entry of scheduled charging scenario: the vehicle or mobile terminal sets the scheduled charging time. When the scheduled charging time is reached, a Bluetooth connection is established between the vehicle and the home charging robot to charge the vehicle.

4. The multi-scenario collaborative automatic charging control method for home charging robots as described in claim 1, characterized in that: The Bluetooth pairing between the vehicle and the home charging robot specifically includes: The binding instruction sent by the TSP to the DMOC to the mobile terminal includes the home charging robot's SN code and the vehicle's VIN. The DMOC forwards the binding command to the vehicle's T-Box, which in turn forwards the binding command to the VCU. The VCU then controls the IVI to initiate Bluetooth scanning. IVI searches for the home charging robot's Bluetooth, verifies the VIN in the Bluetooth broadcast information, and stores the home charging robot's Bluetooth MAC address after successful verification. The VCU receives the vehicle's current latitude and longitude from the IVI, sets the latitude and longitude as the binding location of the home charging robot, and feeds it back to the IVI; The DMOC stores the correspondence between the home charging robot's SN code, vehicle account, home charging robot's Bluetooth MAC address, and vehicle VIN. The specific steps for unbinding Bluetooth between vehicles and home charging robots include: The mobile terminal sends an unbinding command to the DMOC, the unbinding command including the home charging robot's SN code, the vehicle's VIN, and the vehicle's current latitude and longitude. DMOC sends an unbinding command and the vehicle VIN to the corresponding home charging robot, and the home charging robot deletes the Bluetooth MAC address from the local whitelist. DMOC forwards the unbinding command to VCU through the communication link between TSP and T-Box. VCU clears the latitude and longitude of the stored home charging robot and triggers IVI to clear the stored Bluetooth MAC address.

5. The multi-scenario collaborative automatic charging control method for home charging robots as described in claim 1, characterized in that: The radio frequency (RF) bonding between vehicles and home charging robots specifically includes: The mobile terminal sends the home charging robot's SN code and the vehicle's VIN to the DMOC. The DMOC sends the vehicle's VIN to the home charging robot, and the home charging robot stores the vehicle's VIN in its local whitelist. The DMOC extracts the robot's RF IDE address and sends it to the RVDC via the TSP. The RVDC then writes the RF IDE address into the ZCU or VIU and stores it using diagnostic commands. The specific steps for unbinding radio frequency signals between vehicles and home charging robots include: The mobile terminal sends an unbinding command to the DMOC, the DMOC sends the unbinding command and vehicle VIN to the home charging robot, and the home charging robot deletes the vehicle VIN from the local whitelist. The TSP sends an unbinding command and the charging pile RF IDE to the RVDC, and the RVDC clears the corresponding charging pile RF IDE address stored in the ZCU or VIU.

6. The multi-scenario collaborative automatic charging control method for home charging robots as described in claim 1, characterized in that, The linkage control of the charging port cover and the charging gun specifically includes: The VCU sends a request to the BCM to open the charging port cover. After receiving the request, the BCM controls the charging port cover to open and sends the status of the charging port cover back to the VCU. After receiving feedback that the charging port cover is fully open, the VCU sends a charging gun insertion request to the home charging robot via Bluetooth. The home charging robot performs the insertion action and reports the operating status to the IVI or VCU after the insertion is completed, and then enters the charging process. When charging is finished or stopped, the VCU sends a request to the home charging robot to unplug the charging gun. The home charging robot then performs the unplugging action and reports its operating status back to the VCU. After receiving feedback that the charging port cover has been removed, the VCU sends a request to the BCM to close the charging port cover. The BCM then controls the charging port cover to close and sends feedback to the VCU that the charging port cover closure is complete.

7. The multi-scenario collaborative automatic charging control method for home charging robots as described in claim 6, characterized in that: The automatic charging control method for the home charging robot also includes timeout handling logic: The timeout handling logic is as follows: if the charging port cover is opened but the charging gun is not inserted within a preset first time, or if the charging port cover is not closed within a preset second time after the charging gun is removed, or if the insertion / removal of the charging gun exceeds a preset third time, a timeout reminder is triggered and the charging port cover is forcibly closed or the device is put into sleep mode.

8. The multi-scenario collaborative automatic charging control method for home charging robots as described in claim 1, characterized in that, When the user actively confirms the "Charge Now" button on the mobile terminal, starts timed charging and reaches the charging time, finishes charging, or receives a radio frequency signal from the home charging robot, the vehicle is controlled to wake up.

9. The multi-scenario collaborative automatic charging control method for home charging robots as described in claim 1, characterized in that: The automatic charging control method for the home charging robot also includes mobile terminal interaction and IVI interaction. The mobile terminal interaction includes anomaly alerts, appointment reminders, location reminders, and function control; The abnormal alert is a pop-up notification pushed to the mobile terminal when Bluetooth connection fails, home charging robot malfunctions, or plugging or unplugging fails. The scheduled charging reminder is a notification sent to the mobile terminal after the scheduled charging is successfully set. The location alert is provided by the mobile terminal when the vehicle's location is inappropriate, indicating that the current charging location is unsuitable. The function control is to actively confirm the "charge now" button for the home charging robot displayed on the mobile terminal and then send a charging start request to the VCU. The IVI interaction includes animation display, scene setting, status display, and safety reminders; The animation is displayed as a dynamic animation during the insertion or removal of the gun, and a failure reminder text is superimposed when insertion or removal of the gun fails. The interface for setting up the scene supports selecting the power threshold and displaying the ready status of the home charging robot. The status display shows the "Instant Charge" button for the home charging robot in the "Instant Charge" scenario, and the estimated start time for charging and the "Instant Charge" button in the "Scheduled Charging" waiting scenario. The location reminder is a pop-up window on the large screen that prompts you to move the vehicle when its charging location is inconvenient. The safety alert is that when inserting or removing the gun, or when inserting or removing the gun fails, the VCU sends a warning to prohibit shifting gears, and the IVI displays a pop-up message to prohibit the user from shifting gears.

10. A multi-scenario collaborative automatic charging device for home charging robots, characterized in that, The apparatus for implementing the multi-scenario collaborative automatic charging control method for a home charging robot as described in any one of claims 1 to 9 includes: The perception layer is used to acquire vehicle location information, Bluetooth connection information, radio frequency signal information, charging port cover status information, and charging gun connection status information. The communication layer includes a Bluetooth communication sublayer and a radio frequency communication sublayer. The Bluetooth communication sublayer is used to enable encrypted data transmission between the vehicle and the home charging robot, and the radio frequency communication sublayer is used to enable radio frequency signal interaction between the vehicle and the charging device. The interaction layer is used to provide functions such as charging scenario settings, charging status display, and abnormal reminders. The control layer, with VCU as its core control unit, is connected to the perception layer, communication layer, and interaction layer via signals.

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