WO2023193535A1 - 一种充电桩的还枪控制方法、装置、充电桩及介质 - Google Patents

一种充电桩的还枪控制方法、装置、充电桩及介质 Download PDF

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Publication number
WO2023193535A1
WO2023193535A1 PCT/CN2023/077954 CN2023077954W WO2023193535A1 WO 2023193535 A1 WO2023193535 A1 WO 2023193535A1 CN 2023077954 W CN2023077954 W CN 2023077954W WO 2023193535 A1 WO2023193535 A1 WO 2023193535A1
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WO
WIPO (PCT)
Prior art keywords
gun
change
signal strength
charging pile
charging
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PCT/CN2023/077954
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English (en)
French (fr)
Inventor
陈勇
许云峰
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深圳市道通合创数字能源有限公司
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Publication of WO2023193535A1 publication Critical patent/WO2023193535A1/zh

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present application relates to the technical field of charging piles, and in particular to a charging pile return control method, device, charging pile and medium.
  • the traditional charging pile return gun detection relies on threshold detection, specifically by judging the detection threshold of the detection sensor set on the gun holder of the charging pile to determine the gun insertion status.
  • the ultrasonic gun return detection is based on the sensor on the gun holder.
  • the infrared signal sensor detects the intensity of the ultrasonic signal reflected by the gun head to complete the recharge detection. When the intensity is greater than the preset value, it is considered that the charging gun is inserted back into the socket; when the intensity is less than the preset threshold, it is considered that the charging gun is not inserted into the socket.
  • the inventor of the present application found that when using threshold detection to return the gun, due to aging of the detection module components of the charging gun and charging pile, differences in installation environments, etc., the structure changes, resulting in actual detection. There is a big difference between the value and the standard threshold, which often leads to abnormal judgments, affects the accuracy of return gun detection, and also affects the user experience and increases after-sales costs.
  • the purpose of the embodiments of this application is to provide a charging pile return control method, charging pile and medium, which can accurately determine the user's charging gun return operation.
  • embodiments of the present application provide a method for controlling the return of a charging pile, which is applied to a charging pile.
  • the charging pile is provided with a gun holder, and the charging pile is connected to the charging gun; the method include:
  • the current operation is determined to be a gun-drawing operation
  • the current operation is a gun insertion operation
  • the change threshold value for withdrawing a gun and the change threshold value for inserting a gun are opposite numbers to each other.
  • obtaining the change in signal strength generated between the charging gun and the gun holder includes:
  • the second time node After reaching the first preset duration, record the second signal strength value of the second time node; the second time node is the sum of the first time node and the first preset duration;
  • the difference obtained by subtracting the first signal strength value from the second signal strength value is taken as the signal strength change.
  • recording the second signal strength value of the second time node after reaching the first preset time period includes:
  • the change threshold for gun withdrawal is a negative number
  • the change threshold for gun insertion is a positive number
  • the method further includes:
  • the signal intensity change is a negative number, it is determined whether the signal intensity change is less than the gun withdrawal change threshold.
  • the method further includes:
  • the gun insertion change threshold is calculated based on the test signal intensity change value.
  • calculating the insertion gun change threshold based on the test signal strength change value includes:
  • the method further includes:
  • test signal intensity change is less than the threshold, fault information is prompted.
  • embodiments of the present application also provide a charging pile return gun control device, which is applied to the charging pile.
  • the device includes:
  • An acquisition module is configured to acquire the change in signal intensity generated between the charging gun and the gun base when the charging pile is in a non-charging state.
  • a gun-drawing confirmation module configured to determine that the current operation is a gun-drawing operation when it is detected that the change in signal strength is less than the gun-drawing change threshold;
  • a gun insertion confirmation module configured to determine that the current operation is a gun insertion operation when it is detected that the signal strength change is greater than the gun insertion change threshold;
  • the change threshold value for withdrawing a gun and the change threshold value for inserting a gun are opposite numbers to each other.
  • this application also provides a charging pile, which includes:
  • a memory the memory is communicatively connected to the processor, the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor The method as described in the first aspect can be performed.
  • the present application also provides a computer-readable storage medium.
  • the computer-readable storage medium stores computer-executable instructions.
  • the charging pile is caused to execute as follows: The method described in any one of the first aspects.
  • the embodiments of the present application provide the charging pile return control method, device, charging pile and medium.
  • the charging pile detects that the charging gun is not in the charging state
  • the current operation is determined to be the gun withdrawal operation
  • the current operation is determined to be the insertion gun operation. Gun operation.
  • the change threshold of gun withdrawal and the change threshold of gun insertion are inverse numbers of each other, by detecting the relationship between the signal intensity change and the gun insertion change threshold or the gun withdrawal change threshold, it can be known whether the signal intensity change changes from small to large or from small to large. From large to small, and the intensity of the change is stable, thereby determining whether to insert the gun or withdraw the gun, and improve the accuracy of the gun return detection; furthermore, since the change in signal strength is detected, when the noise generated from the outside interferes, it will not It will affect the detection of signal strength changes and prevent interference caused by external background noise.
  • Figure 1 is an interaction diagram between the charging pile and the charging gun of this application
  • FIG. 2 is a schematic flow chart of an embodiment of the charging pile return control method of the present application.
  • Figure 3 is an interaction diagram between the charging pile, the charging gun and the host computer of this application;
  • FIG. 4 is a schematic structural diagram of an embodiment of the charging pile return control device of the present application.
  • FIG. 5 is a schematic diagram of the hardware structure of the controller in one embodiment of the charging pile of the present application.
  • the charging pile 10 includes a controller 11 and a charging gun base 100, and the charging pile 10 is connected to the charging gun 20; charging The gun base 100 provided on the pile 10 allows the charging gun 20 to be inserted into the gun base 100 to realize the user's gun return operation; the gun base 100 is provided with a distance sensor, and the gun head of the charging gun 20 is provided with an ultrasonic or infrared signal transmitting module , the distance sensor on the gun base 100 can detect the signal strength on the gun head. When the gun head of the charging gun 20 is closer to the gun base, the signal strength detected by the distance sensor is greater; when the gun head of the charging gun 20 is farther away from the gun base, The further away, the smaller the signal strength detected by the distance sensor.
  • FIG. 2 is a schematic flowchart of an embodiment of the charging pile return control method of the present application.
  • the method can be executed by the controller 11 in the charging pile.
  • the method includes steps S201 to S203.
  • the charging pile detects that the charging gun is not charging. This may be the case when the user completes the charging order for the electric vehicle using the charging gun, or the charging order is not started, or the user inserts the charging gun into the gun holder but does not start charging. The status of the order. It can be used as long as the charging pile is not charging.
  • the charging pile When the charging pile is in a non-charging state, the charging pile detects the change in signal intensity generated between the charging gun and the gun holder.
  • the distance sensor on the gun holder can be used to detect the ultrasonic or infrared signal emission set on the gun head of the charging gun. Changes in signal strength produced by the module.
  • step S201 may include:
  • the second time node After reaching the first preset duration, record the second signal strength value of the second time node; the second time node is the sum of the first time node and the first preset duration;
  • the difference obtained by subtracting the first signal strength value from the second signal strength value is taken as the signal strength change.
  • the controller 11 of the charging pile detects the signal strength value of the gun head at the first time node through the distance sensor on the gun base, and records it as the first signal strength value, and, Record the first signal strength value of the first time node; then, after the first preset time period, the second time node is reached, that is, the second time node is equal to the sum of the first time node and the first preset time period, and the charging pile
  • the controller 11 detects the signal strength value of the gun head at the second time node through the distance sensor on the gun seat, records it as the second signal strength value, and records the second signal strength value at the second time node, and then records the second signal strength value at the second time node.
  • the difference obtained by subtracting the first signal strength value from the two signal strength values is taken as the signal strength change.
  • recording the second signal strength value at the second time node may include:
  • the charging pile samples the signal strength value collected by the distance sensor at a sampling frequency of 100ms.
  • the sampling window is 1s
  • the charging pile The controller 11 continuously samples, and after each sampling, calculates the average of the signal sampling values within the sampling window as the first signal sampling value, that is, obtains a first signal sampling value every 1 s; then, removes multiple first signal sampling values The remaining first signal sample value after the maximum value and the minimum value among the signal sample values is recorded as the second signal sample value; and then the average value of multiple second signal sample values is calculated to obtain the second signal strength value.
  • the change threshold value for withdrawing a gun and the change threshold value for inserting a gun are opposite numbers to each other.
  • the change threshold of gun withdrawal and the change threshold of gun insertion are inverse numbers of each other, that is, when the change threshold of gun withdrawal is a negative number, the change threshold of gun insertion is a positive number.
  • the change threshold of gun withdrawal is -150, then The gun insertion change threshold is 150.
  • the signal strength change is a positive number, it is judged whether the signal strength change is greater than the gun insertion change threshold. Correspondingly, if the signal strength change is a negative number, it is judged whether the signal strength change is smaller than the gun removal change threshold. Gun change threshold.
  • the signal strength change is 180, which is a positive number, then it is determined whether the signal strength change of 180 is greater than the gun insertion change threshold of 150. Obviously, the signal strength change of 180 is greater than the gun insertion change threshold of 150, then it is determined that the current operation is a gun insertion operation.
  • the signal strength change is -180, which is a negative number
  • the judgment on the operation of pulling out or inserting the charging gun is stopped.
  • the current operation is determined to be a gun withdrawal operation; If the signal intensity change is greater than the gun insertion change threshold, it is determined that the current operation is a gun insertion operation.
  • the change threshold of gun withdrawal and the change threshold of gun insertion are opposite numbers of each other, through detection
  • the relationship between the signal intensity change and the gun insertion change threshold or the gun withdrawal change threshold can know whether the signal intensity change changes from small to large or from large to small, and the intensity of the change is stable, thereby determining whether the action of inserting the gun or withdrawing the gun is , improve the accuracy of gun return detection; furthermore, since it detects changes in signal strength, when noise generated from the outside interferes, it will not affect the detection of changes in signal strength, and can prevent interference caused by external background noise.
  • the method further includes:
  • the gun insertion change threshold is calculated based on the test signal intensity change value.
  • the charging pile when the charging pile is in a non-charging state, as shown in Figure 3, the charging pile is connected to the upper computer 30, and the user operates on the upper computer 30, causing the upper computer 30 to generate a threshold determination instruction, and then the upper computer 30 sends the threshold determination instruction. is sent to the charging pile 10, and the charging pile 10 receives the threshold determination instruction.
  • the charging pile After receiving the threshold determination instruction, the charging pile collects the changes in test signal strength within a period of time.
  • a period of time is the second preset time, and the second preset time can be 1 minute.
  • the charging pile samples the signal of the detection sensor on the gun holder at a certain frequency. The sampling method is similar to the aforementioned signal intensity change. Obtain Test signal strength changes Delta_Test.
  • the threshold can be set in advance, and the threshold can be the signal strength value when the charging pile and charging gun are detected before leaving the factory. If the test signal strength change Delta_Test is greater than threshold, it means that the charging pile detects a reasonable change in signal strength. At this time, the change threshold of the insertion gun is calculated based on the change in test signal strength.
  • calculating the gun insertion change threshold based on the test signal intensity change value includes:
  • the gun insertion change threshold is represented by Delta1 and the constant is represented by k
  • the gun insertion change threshold Delta1 test signal intensity change Delta_Test*k.
  • the distance sensor on the gun holder of the charging pile and the ultrasonic or infrared signal transmitting module on the gun head of the charging gun may cause errors in the measured signal strength values.
  • the actual signal strength change is smaller than the measured signal strength change before leaving the factory. Therefore, in order to prevent the signal strength change from being too small and resulting in inaccurate gun return detection, the measured signal strength change is multiplied by a value less than A constant of 1 is used to expand the detection range of signal intensity changes and serve as the gun insertion change threshold to improve the accuracy of gun insertion operation judgment.
  • the gun withdrawal change threshold Delta2 -Delta1.
  • the method may further include:
  • test signal intensity change is less than the threshold, fault information is prompted.
  • a fault message can be prompted, prompting the user to perform multiple operations, or find a solution to the fault to re-measure the change threshold of the insertion gun.
  • An embodiment of the present application also provides a charging pile return gun control device. Please refer to Figure 4, which shows the structure of a charging pile return gun control device provided by an embodiment of the present application.
  • the charging pile return gun control device The control device 400 includes:
  • the intensity change acquisition module 401 is used to acquire the signal intensity change generated between the charging gun and the gun base when the charging pile is in a non-charging state.
  • the gun-drawing confirmation module 402 is used to determine that the current operation is a gun-drawing operation when it is detected that the signal intensity change is less than the gun-drawing change threshold;
  • the gun insertion confirmation module 403 is used to determine that the current operation is a gun insertion operation when it is detected that the signal strength change is greater than the gun insertion change threshold;
  • the change threshold value for withdrawing a gun and the change threshold value for inserting a gun are opposite numbers to each other.
  • the current operation is determined to be a gun withdrawal operation; when it is detected When the signal intensity change is greater than the gun insertion change threshold, the current operation is determined to be a gun insertion operation.
  • the change threshold of gun withdrawal and the change threshold of gun insertion are inverse numbers of each other, by detecting the relationship between the signal intensity change and the gun insertion change threshold or the gun withdrawal change threshold, it can be known whether the signal intensity change changes from small to large or from small to large.
  • the intensity change acquisition module 401 is also used to:
  • the second time node After reaching the first preset duration, record the second signal strength value of the second time node; the second time node is the sum of the first time node and the first preset duration;
  • the difference obtained by subtracting the first signal strength value from the second signal strength value is taken as the signal strength change.
  • the intensity change acquisition module 401 is also used to:
  • the change threshold for gun withdrawal is a negative number, and the change threshold for gun insertion is a positive number; the gun return control device 400 of the charging pile also includes a judgment module 404 for:
  • the signal intensity change is a negative number, it is determined whether the signal intensity change is less than the gun withdrawal change threshold.
  • the charging pile return gun control device 400 also includes a gun insertion change threshold acquisition module 405 for:
  • the gun insertion change threshold is calculated based on the test signal intensity change value.
  • the gun insertion change threshold acquisition module 405 is also used to:
  • the gun insertion change threshold acquisition module 405 is also used to:
  • test signal intensity change is less than the threshold, fault information is prompted.
  • the above-mentioned device can execute the method provided by the embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method.
  • the above-mentioned device can execute the method provided by the embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method.
  • the methods provided in the embodiments of this application please refer to the methods provided in the embodiments of this application.
  • FIG. 5 is a schematic diagram of the hardware structure of the controller 11 in an embodiment of the charging pile. As shown in Figure 5, the controller 11 includes:
  • a processor 111 and a memory 112 are taken as an example.
  • the processor 111 and the memory 112 can be connected through a bus or other means.
  • the connection through a bus is taken as an example.
  • the memory 112 can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions corresponding to the charging pile return control method in the embodiment of the present application. / module (for example, the intensity change acquisition module 401, the gun withdrawal confirmation module 402, the gun insertion confirmation module 403, the judgment module 404, and the gun insertion change threshold acquisition module 405 shown in Figure 4).
  • the processor 111 executes various functional applications and data processing of the controller 11 by running non-volatile software programs, instructions and modules stored in the memory 112, that is, implementing the charging pile return control method of the above method embodiment. .
  • the memory 112 may include a storage program area and a storage data area, wherein the storage program area may store an operating system and an application program required for at least one function; the storage data area may store data created according to the use of the charging pile's return control device. wait.
  • the memory 112 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.
  • the memory 112 optionally includes memories remotely located relative to the processor 111 , and these remote memories can be connected to the charging pile through a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.
  • the one or more modules are stored in the memory 112, and when executed by the one or more processors 111, execute the charging pile return control method in any of the above method embodiments, for example, execute the above description Method steps S201 to S203 in Figure 2; implement the functions of modules 401-405 in Figure 4.
  • Embodiments of the present application provide a computer-readable storage medium that stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as a processor in Figure 5 111, the above one or more processors can be enabled to execute the charging pile return control method in any of the above method embodiments, for example, execute the method steps S201 to S203 in Figure 2 described above; implement the method in Figure 4 Functions of modules 401-405.
  • the device embodiments described above are only illustrative.
  • the units described as separate components may or may not be physically separated.
  • the components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware.
  • the programs can be stored in a computer-readable storage.
  • the medium when the program is executed, it may include the processes of the above-mentioned method embodiments.
  • the storage medium can be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)

Abstract

本申请实施例涉及充电桩领域，公开了一种充电桩的还枪控制方法、装置、充电桩及介质。其中，所述方法包括：在所述充电桩处于不充电状态时，获取所述充电枪与所述枪座之间产生的信号强度变化；当检测到所述信号强度变化小于拔枪变化阈值，确定当前操作为拔枪操作；当检测到所述信号强度变化大于插枪变化阈值，确定所述当前操作为插枪操作；其中，所述拔枪变化阈值与所述插枪变化阈值互为相反数。本申请能够准确判断是插枪还是拔枪动作，提高还枪检测的准确性；再者，由于检测的是信号强度变化，当外界产生的噪声干扰时，不会影响信号强度变化的检测，可以防止外界背景噪声带来的干扰。

Description

一种充电桩的还枪控制方法、装置、充电桩及介质
本申请要求于2022年4月6日提交中国专利局、申请号为202210359421.8、申请名称为“一种充电桩的还枪控制方法、装置、充电桩及介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及充电桩技术领域，尤其涉及一种充电桩的还枪控制方法、装置、充电桩及介质。
背景技术
传统的充电桩还枪检测，依靠阈值检测，具体为通过判断设置在充电桩的枪座上的检测传感器的检测阈值来实现对插枪状态的判断，比如超声波还枪检测就是通过枪座上的红外信号传感器，检测枪头反射的超声波信号的强度来完成还清检测，强度大于预设值时，认为充电枪插回插座；小于预设阈值时，认为充电枪没有插入插座。
本申请发明人在实现本申请实施例的过程中，发现：采用阈值检测还枪操作的时候，由于充电枪和充电桩的检测模块器件老化，安装环境差异等原因，结构改变，导致实际检测的值和标准阈值有较大差异，经常会导致异常判断，影响还枪检测的准确性，并且，还会影响用户体验，增加售后成本。
发明内容
本申请实施例的目的是提供一种充电桩的还枪控制方法、充电桩及介质，能够准确判断用户对充电枪的还枪操作。
为解决上述技术问题，本申请实施例采用以下技术方案：
第一方面，本申请实施例中提供给了一种充电桩的还枪控制方法，应用于充电桩，所述充电桩上设有枪座，且所述充电桩与充电枪连接；所述方法包括：
在所述充电桩处于不充电状态时，获取所述充电枪与所述枪座之间产生的信号强度变化；
当检测到所述信号强度变化小于拔枪变化阈值，确定当前操作为拔枪操作；
当检测到所述信号强度变化大于插枪变化阈值，确定所述当前操作为插枪操作；
其中，所述拔枪变化阈值与所述插枪变化阈值互为相反数。
在一些实施例中，所述获取所述充电枪与所述枪座之间产生的信号强度变化，包括：
记录第一时间节点的第一信号强度值；
在达到第一预设时长后，记录第二时间节点的第二信号强度值；所述第二时间节点为所述第一时间节点与所述第一预设时长的和；
将所述第二信号强度值减去所述第一信号强度值获得的差值，作为所述信号强度变化。
在一些实施例中，所述在达到第一预设时长后，记录第二时间节点的第二信号强度值，包括：
在所述第一时间节点达到所述第二时间节点的过程中，获取多个第一信号采样值；
去除所述多个第一信号采样值中的最大值和最小值后，获得多个第二信号采样值；
计算多个所述第二信号采样值的均值，获得所述第二信号强度值。
在一些实施例中，所述拔枪变化阈值为负数，且所述插枪变化阈值为正数；所述方法还包括：
如果所述信号强度变化为正数，则判断所述信号强度变化是否大于所述插枪变化阈值；
如果所述信号强度变化为负数，则判断所述信号强度变化是否小于所述拔枪变化阈值。
在一些实施例中，所述方法还包括：
在所述充电桩处于不充电状态时，接收上位机发送的阈值确定指令；
基于所述阈值确定指令，在到达第二预设时长时，获取测试信号强度变化；
如果所述测试信号强度变化大于阈值，则基于所述测试信号强度变化值计算所述插枪变化阈值。
在一些实施例中，所述基于所述测试信号强度变化值计算所述插枪变化阈值，包括：
将所述测试信号强度变化乘以一个大于0且小于1的常数，获得所述插枪变化阈值。
在一些实施例中，在所述获取测试信号强度变化之后，所述方法还包括：
如果所述测试信号强度变化小于所述阈值，则提示故障信息。
第二方面，本申请实施例还提供一种充电桩的还枪控制装置，应用于充电桩，所述装置包括：
获取模块，用于在所述充电桩处于不充电状态时，获取所述充电枪与所述枪座之间产生的信号强度变化。
拔枪确认模块，用于当检测到所述信号强度变化小于拔枪变化阈值，确定当前操作为拔枪操作；
插枪确认模块，用于当检测到所述信号强度变化大于插枪变化阈值，确定所述当前操作为插枪操作；
其中，所述拔枪变化阈值与所述插枪变化阈值互为相反数。
第三方面，本申请还提供一种充电桩，所述充电桩包括：
至少一个处理器，以及
存储器，所述存储器与所述处理器通信连接，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如第一方面所述的方法。
第四方面，本申请还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，当所述计算机可执行指令被充电桩执行时，使所述充电桩执行如第一方面任一项所述的方法。
本申请实施例的有益效果：区别于现有技术的情况，本申请实施例提供的充电桩的还枪控制方法、装置、充电桩及介质，充电桩在检测到充电枪不处于充电状态时，当检测到充电枪与枪座之间产生的信号强度变化小于拔枪变化阈值，确定当前操作为拔枪操作；当检测到所述信号强度变化大于插枪变化阈值，确定所述当前操作为插枪操作。并且，由于拔枪变化阈值与插枪变化阈值互为相反数，因此，通过检测信号强度变化与插枪变化阈值或拔枪变化阈值之间的关系，能够知道信号强度变化是从小变到大还是从大变到小，且变化的强度稳定，从而确定是插枪还是拔枪动作，提高还枪检测的准确性；再者，由于检测的是信号强度变化，当外界产生的噪声干扰时，不会影响信号强度变化的检测，可以防止外界背景噪声带来的干扰。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请充电桩与充电枪的交互图；
图2是本申请充电桩的还枪控制方法的一个实施例的流程示意图；
图3是本申请充电桩的与充电枪及上位机的交互图；
图4是本申请充电桩的还枪控制装置的一个实施例的结构示意图；
图5是本申请充电桩的一个实施例中控制器的硬件结构示意图。
具体实施方式
下面结合具体实施例对本申请进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本申请，但不以任何形式限制本申请。应当指出的是，对本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进。这些都属于本申请的保护范围。
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
需要说明的是，如果不冲突，本申请实施例中的各个特征可以相互结合，均在本申请的保护范围之内。另外，虽然在装置示意图中进行了功能模块划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置中的模块划分，或流程图中的顺序执行所示出或描述的步骤。此外，本文所采用的“第一”、“第二”、“第三”等字样并不对数据和执行次序进行限定，仅是对功能和作用基本相同的相同项或相似项进行区分。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本说明书中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本申请各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
本申请实施例提供的充电桩的还枪控制方法和装置可以应用于充电桩，如图1所示，充电桩10包括控制器11和枪座100，且充电桩10与充电枪20连接；充电桩10上设的枪座100，使得充电枪20可以插入枪座100内，实现用户还枪操作；枪座100上设有距离传感器，充电枪20的枪头上设有超声波或红外信号发射模块，枪座100上的距离传感器能够检测枪头上的信号强度，当充电枪20的枪头越靠近枪座，距离传感器检测到的信号强度越大；当充电枪20的枪头距离枪座越远，距离传感器检测到的信号强度越小。
请参见图2，为应用于本申请的充电桩的还枪控制方法的实施例的流程示意图，所述方法可以由充电桩中的控制器11执行，该方法包括步骤S201-步骤S203。
S201：在所述充电桩处于不充电状态时，获取所述充电枪与所述枪座之间产生的信号强度变化。
充电桩检测到充电枪处于不充电状态，可以是用户使用充电枪对电动汽车充电订单完成的情况，也可以是没有开启充电订单的情况，还可以是用户将充电枪插入枪座但是没有开启充电订单的情况。只要是充电桩处于不充电的状态均可。
在所述充电桩处于不充电状态时，充电桩检测充电枪与枪座之间产生的信号强度变化，可以通过枪座上的距离传感器，检测充电枪的枪头上设置的超声波或红外信号发射模块产生的信号强度变化。
在其中一些实施方式中，为了获得信号强度变化，步骤S201可以包括：
记录第一时间节点的第一信号强度值；
在达到第一预设时长后，记录第二时间节点的第二信号强度值；所述第二时间节点为所述第一时间节点与所述第一预设时长的和；
将所述第二信号强度值减去所述第一信号强度值获得的差值，作为所述信号强度变化。
具体地，在所述充电桩处于不充电状态时，充电桩的控制器11通过枪座上的距离传感器检测第一时间节点下枪头的信号强度值，记为第一信号强度值，并且，记录第一时间节点的第一信号强度值；然后，在经过第一预设时长后，到达第二时间节点，即第二时间节点等于第一时间节点与第一预设时长的和，充电桩的控制器11通过枪座上的距离传感器检测第二时间节点下枪头的信号强度值，记为第二信号强度值，并且，记录第二时间节点的第二信号强度值，然后，将第二信号强度值减去所述第一信号强度值获得的差值，作为所述信号强度变化。
例如，第一时间节点为1s时，第一信号强度值为20；第一预设时长为3s，因此，在过了3s后，达到第二时间节点，为4s时，第二信号强度值为200，此时，将第二信号强度值减去第一信号强度值获得差值为200-20＝180，差值180作为信号强度变化。
又例如，第一时间节点为1s时，第一信号强度值为200；第一预设时长为3s，因此，在过了3s后，达到第二时间节点，为4s时，第二信号强度值为20，此时，将第二信号强度值减去第一信号强度值获得差值为20-200＝-180，差值-180作为信号强度变化。
在其中一些实施方式中，为了准确获取第二信号强度值，在达到第一预设时长后，记录第二时间节点的第二信号强度值，可以包括：
在所述第一时间节点达到所述第二时间节点的过程中，获取多个第一信号采样值；
去除所述多个第一信号采样值中的最大值和最小值后，获得多个第二信号采样值；
计算多个所述第二信号采样值的均值，获得所述第二信号强度值。
具体地，在所述第一时间节点达到所述第二时间节点的过程中，充电桩以100ms的采样频率对距离传感器采集到的信号强度值进行采样，例如，采样窗口为1s，充电桩的控制器11不间断采样，每次采样后，计算采样窗口内的信号采样值的均值，作为第一信号采样值，即每隔1s后获得一个第一信号采样值；然后，去除多个第一信号采样值中的最大值和最小值后剩余的第一信号采样值，记为第二信号采样值；再计算多个第二信号采样值的平均值，从而获得第二信号强度值。
S202：当检测到所述信号强度变化小于拔枪变化阈值，确定当前操作为拔枪操作；
S203：当检测到所述信号强度变化大于插枪变化阈值，确定所述当前操作为插枪操作；
其中，所述拔枪变化阈值与所述插枪变化阈值互为相反数。
具体地，拔枪变化阈值与所述插枪变化阈值互为相反数，即，在拔枪变化阈值为负数的时候，插枪变化阈值为正数，例如，拔枪变化阈值为-150，则插枪变化阈值为150。
因此，如果信号强度变化为正数，则判断所述信号强度变化是否大于所述插枪变化阈值，对应地，如果所述信号强度变化为负数，则判断所述信号强度变化是否小于所述拔枪变化阈值。
例如，信号强度变化为180，为正数，则判断信号强度变化180是否大于插枪变化阈值150，很明显，信号强度变化180大于插枪变化阈值150，则确定当前操作为插枪操作。
又例如，信号强度变化为-180，为负数，则判断信号强度变化-180是否小于拔枪变化阈值-150，很明显，信号强度变化-180小于拔枪变化阈值-150，则确定当前操作为拔枪操作。
通过拔枪操作和插枪操作的准确判断，实现对还枪的准确控制。
在其中一些实施方式中，如果充电桩处于充电状态，则停止对充电枪的拔枪或插枪操作判断。
本申请实施例，充电桩在检测到充电枪不处于充电状态时，当检测到充电枪与枪座之间产生的信号强度变化小于拔枪变化阈值，确定当前操作为拔枪操作；当检测到所述信号强度变化大于插枪变化阈值，确定所述当前操作为插枪操作。并且，由于拔枪变化阈值与插枪变化阈值互为相反数，因此，通过检测 信号强度变化与插枪变化阈值或拔枪变化阈值之间的关系，能够知道信号强度变化是从小变到大还是从大变到小，且变化的强度稳定，从而确定是插枪还是拔枪动作，提高还枪检测的准确性；再者，由于检测的是信号强度变化，当外界产生的噪声干扰时，不会影响信号强度变化的检测，可以防止外界背景噪声带来的干扰。
在其中一些实施方式中，为了获得插枪变化阈值和拔枪变化阈值，所述方法还包括：
在所述充电桩处于不充电状态时，接收上位机发送的阈值确定指令；
基于所述阈值确定指令，在到达第二预设时长时，获取测试信号强度变化；
如果所述测试信号强度变化大于阈值，则基于所述测试信号强度变化值计算所述插枪变化阈值。
具体地，在充电桩处于不充电状态时，如图3所示，将充电桩连接上位机30，用户在上位机30操作，使得上位机30生成阈值确定指令，然后上位机30将阈值确定指令发送给充电桩10，充电桩10接收所述阈值确定指令。
充电桩在接收到阈值确定指令后，在一段时间内进行测试信号强度变化的采集。一段时间为第二预设时长，第二预设时长可以为1分钟，在一分钟内，充电桩对枪座上的检测传感器的信号按照一定频率采样，采样方式与前述信号强度变化类似，获得测试信号强度变化Delta_Test。
然后，对测试信号强度变化Delta_Test与阈值之间的关系进行判断，阈值可以提前设置，且阈值可以是充电桩和充电枪出厂前检测到插枪时候的信号强度值，如果测试信号强度变化Delta_Test大于阈值，则说明充电桩检测到合理的信号强度变化，此时，基于测试信号强度变化计算插枪变化阈值。
进一步地，基于所述测试信号强度变化值计算所述插枪变化阈值，包括：
将所述测试信号强度变化值乘以一个大于0且小于1的常数，获得所述插枪变化阈值。
具体地，比如，插枪变化阈值用Delta1表示，常数用k表示，则插枪变化阈值Delta1＝测试信号强度变化Delta_Test*k。
由于现有技术中，充电桩的枪座上的距离传感器、充电枪的枪头上的超声波或红外信号发射模块可能存在硬件上的差异，会引起测量到的信号强度值存在误差，再比如，由于硬件器件老化等原因，导致实际上的信号强度变化比出厂时的测量信号强度变化小，因此，为了防止信号强度变化过小而导致还枪检测不够准确，将测量信号强度变化乘以一个小于1的常数，以扩大信号强度变化的检测范围，作为插枪变化阈值，以提高插枪操作判断的准确度。
对应地，在获得插枪变化阈值Delta1后，由于插枪变化阈值与拔枪变化阈值互为相反数，因此，拔枪变化阈值Delta2＝-Delta1。
在其中一些实施方式中，在所述获取测试信号强度变化之后，所述方法还可以包括：
如果所述测试信号强度变化小于所述阈值，则提示故障信息。
具体地，在获取测试信号强度变化后，如果测试信号强度变化小于阈值，那么，说明可能用户操作有误，或者是枪座上的距离传感器、充电枪的枪头上的超声波或红外信号发射模块可能故障，引起测量处于不合理的状态，因此，可以提示故障信息，提示用户多次操作，或者找到故障解决方案，以重新测量插枪变化阈值。
本申请实施例还提供了一种充电桩的还枪控制装置，请参阅图4，其示出了本申请实施例提供的一种充电桩的还枪控制装置的结构，该充电桩的还枪控制装置400包括：
强度变化获取模块401，用于在所述充电桩处于不充电状态时，获取所述充电枪与所述枪座之间产生的信号强度变化。
拔枪确认模块402，用于当检测到所述信号强度变化小于拔枪变化阈值，确定当前操作为拔枪操作；
插枪确认模块403，用于当检测到所述信号强度变化大于插枪变化阈值，确定所述当前操作为插枪操作；
其中，所述拔枪变化阈值与所述插枪变化阈值互为相反数。
本申请的实施例，充电桩在检测到充电枪不处于充电状态时，当检测到充电枪与枪座之间产生的信号强度变化小于拔枪变化阈值，确定当前操作为拔枪操作；当检测到所述信号强度变化大于插枪变化阈值，确定所述当前操作为插枪操作。并且，由于拔枪变化阈值与插枪变化阈值互为相反数，因此，通过检测信号强度变化与插枪变化阈值或拔枪变化阈值之间的关系，能够知道信号强度变化是从小变到大还是从大变到小，且变化的强度稳定，从而确定是插枪还是拔枪动作，提高还枪检测的准确性；再者，由于检测的是信号强度变化，当外界产生的噪声干扰时，不会影响信号强度变化的检测，可以防止外界背景噪声带来的干扰。
在一些实施例中，强度变化获取模块401，还用于：
记录第一时间节点的第一信号强度值；
在达到第一预设时长后，记录第二时间节点的第二信号强度值；所述第二时间节点为所述第一时间节点与所述第一预设时长的和；
将所述第二信号强度值减去所述第一信号强度值获得的差值，作为所述信号强度变化。
在一些实施例中，强度变化获取模块401，还用于：
在所述第一时间节点达到所述第二时间节点的过程中，获取多个第一信号采样值；
去除所述多个第一信号采样值中的最大值和最小值后，获得多个第二信号采样值；
计算多个所述第二信号采样值的均值，获得所述第二信号强度值。
在一些实施例中，所述拔枪变化阈值为负数，且所述插枪变化阈值为正数；充电桩的还枪控制装置400还包括判断模块404，用于：
如果所述信号强度变化为正数，则判断所述信号强度变化是否大于所述插枪变化阈值；
如果所述信号强度变化为负数，则判断所述信号强度变化是否小于所述拔枪变化阈值。
在一些实施例中，充电桩的还枪控制装置400还包括插枪变化阈值获取模块405，用于：
在所述充电桩处于不充电状态时，接收上位机发送的阈值确定指令；
基于所述阈值确定指令，在到达第二预设时长时，获取测试信号强度变化；
如果所述测试信号强度变化大于阈值，则基于所述测试信号强度变化值计算所述插枪变化阈值。
在一些实施例中，插枪变化阈值获取模块405，还用于：
将所述测试信号强度变化乘以一个大于0且小于1的常数，获得所述插枪变化阈值。
在一些实施例中，插枪变化阈值获取模块405，还用于：
如果所述测试信号强度变化小于所述阈值，则提示故障信息。
需要说明的是，上述装置可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果。未在装置实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
图5为充电桩的一个实施例中控制器11的硬件结构示意图，如图5所示，控制器11包括：
一个或多个处理器111、存储器112。图5中以一个处理器111、一个存储器112为例。
处理器111、存储器112可以通过总线或者其他方式连接，图5中以通过总线连接为例。
存储器112作为一种计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的充电桩的还枪控制方法对应的程序指令/模块(例如，附图4所示的强度变化获取模块401、拔枪确认模块402、插枪确认模块403、判断模块404、插枪变化阈值获取模块405)。处理器111通过运行存储在存储器112中的非易失性软件程序、指令以及模块，从而执行控制器11的各种功能应用以及数据处理，即实现上述方法实施例的充电桩的还枪控制方法。
存储器112可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据充电桩的还枪控制装置的使用所创建的数据等。此外，存储器112可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器112可选包括相对于处理器111远程设置的存储器，这些远程存储器可以通过网络连接至充电桩。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器112中，当被所述一个或者多个处理器111执行时，执行上述任意方法实施例中的充电桩的还枪控制方法，例如，执行以上描述的图2中的方法步骤S201至步骤S203；实现图4中的模块401-405的功能。
上述产品可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图5中的一个处理器111，可使得上述一个或多个处理器可执行上述任意方法实施例中的充电桩的还枪控制方法，例如，执行以上描述的图2中的方法步骤S201至步骤S203；实现图4中的模块401-405的功能。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施例的描述，本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储 介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(RandomAccessMemory,RAM)等。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种充电桩的还枪控制方法，应用于充电桩，所述充电桩上设有枪座，且所述充电桩与充电枪连接；所述方法包括：
    在所述充电桩处于不充电状态时，获取所述充电枪与所述枪座之间产生的信号强度变化；
    当检测到所述信号强度变化小于拔枪变化阈值，确定当前操作为拔枪操作；
    当检测到所述信号强度变化大于插枪变化阈值，确定所述当前操作为插枪操作；
    其中，所述拔枪变化阈值与所述插枪变化阈值互为相反数。
  2. 根据权利要求1所述的方法，所述获取所述充电枪与所述枪座之间产生的信号强度变化，包括：
    记录第一时间节点的第一信号强度值；
    在达到第一预设时长后，记录第二时间节点的第二信号强度值；所述第二时间节点为所述第一时间节点与所述第一预设时长的和；
    将所述第二信号强度值减去所述第一信号强度值获得的差值，作为所述信号强度变化。
  3. 根据权利要求2所述的方法，所述在达到第一预设时长后，记录第二时间节点的第二信号强度值，包括：
    在所述第一时间节点达到所述第二时间节点的过程中，获取多个第一信号采样值；
    去除所述多个第一信号采样值中的最大值和最小值后，获得多个第二信号采样值；
    计算多个所述第二信号采样值的均值，获得所述第二信号强度值。
  4. 根据权利要求1所述的方法，所述拔枪变化阈值为负数，且所述插枪变化阈值为正数；所述方法还包括：
    如果所述信号强度变化为正数，则判断所述信号强度变化是否大于所述插枪变化阈值；
    如果所述信号强度变化为负数，则判断所述信号强度变化是否小于所述拔枪变化阈值。
  5. 根据权利要求1所述的方法，所述方法还包括：
    在所述充电桩处于不充电状态时，接收上位机发送的阈值确定指令；
    基于所述阈值确定指令，在到达第二预设时长时，获取测试信号强度变化；
    如果所述测试信号强度变化大于阈值，则基于所述测试信号强度变化值计算所述插枪变化阈值。
  6. 根据权利要求5所述的方法，所述基于所述测试信号强度变化值计算所述插枪变化阈值，包括：
    将所述测试信号强度变化乘以一个大于0且小于1的常数，获得所述插枪变化阈值。
  7. 根据权利要求5所述的方法，在所述获取测试信号强度变化之后，所述方法还包括：
    如果所述测试信号强度变化小于所述阈值，则提示故障信息。
  8. 一种充电桩的还枪控制装置，应用于充电桩，所述装置包括：
    获取模块，用于在所述充电桩处于不充电状态时，获取所述充电枪与所述枪座之间产生的信号强度变化；
    拔枪确认模块，用于当检测到所述信号强度变化小于拔枪变化阈值，确定当前操作为拔枪操作；
    插枪确认模块，用于当检测到所述信号强度变化大于插枪变化阈值，确定所述当前操作为插枪操作；
    其中，所述拔枪变化阈值与所述插枪变化阈值互为相反数。
  9. 一种充电桩，所述充电桩包括：
    至少一个处理器，以及
    存储器，所述存储器与所述处理器通信连接，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-7任一项所述的方法。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，当所述计算机可执行指令被充电桩执行时，使所述充电桩执行如权利要求1-7任一项所述的方法。
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