1. A communication apparatus which is wirelessly connected to a first terminal and is connected to a plurality of networks corresponding to different security levels and including a first network of a first security level which is a lowest security level of the security levels and a second network of a second security level of the security levels, the communication apparatus comprising:
a wireless LAN control unit configured to connect to the first terminal and communicate with the first terminal; and
an authentication unit configured to (a) authenticate the first terminal, to (b) select one of the first security level and the second security level based on an authentication result of the first terminal, a first terminal identifier and a first password corresponding to one of the networks, the first terminal identifier and the first password being transmitted from the first terminal and received by the wireless LAN control unit, and to (c) generate, when the second security level is selected, a cryptographic key used in a first cryptographic algorithm corresponding to the second security level, wherein
the wireless LAN control unit (a) transmits when the second security level is selected, the cryptographic key and an identifier of the first cryptographic algorithm to the first terminal, (b) transfers, when the second security level is selected, a first data item to the second network and a second data item to the first terminal, the first data item obtained by being encrypted by the first terminal using the first cryptographic algorithm and the cryptographic key, and received from the first terminal, and the second data item addressed to the first terminal and received from the second network; and
(c) transfers, when the first security level is selected, a third data item to the first network and a fourth data item to the first terminal, the third data item received from the first terminal, and the fourth data item addressed to the first terminal and received from the first network.
2. The communication apparatus according to claim 1, wherein the wireless LAN control unit comprises:
a memory to store the first cryptographic algorithm corresponding to the second security level, and the identifier of the first cryptographic algorithm;
a decrypting unit configured to decrypt the first data item by using the first cryptographic algorithm and the cryptographic key;
a transfer unit configured to transfer the first data item decrypted to the second network;
an encrypting unit configured to encrypt the second data item by using the first cryptographic algorithm and the cryptographic key; and
a transfer unit configured to transfer the second data item encrypted to the first terminal.
3. The communication apparatus according to claim 1, wherein the authentication unit comprises:
a memory to store a plurality of registration data items including a first registration data item having the first terminal identifier, the first registration data item including the second security level and a password necessary to access the second network, wherein
the authentication unit selects the second security level included in the first registration data item, when the authentication result is successful and the first password corresponds to the password included in the first registration data item.
4. The communication apparatus according to claim 1, wherein the memory in the wireless LAN control unit stores a plurality of cryptographic algorithms including the first cryptographic algorithm, the cryptographic algorithms having different cryptographic strengths in correspondence with security levels.
5. The communication apparatus according to claim 3, wherein the registration data items include a group of registration data items each having the first terminal identifier, each of the registration data items of the group includes an independent security level and an independent password, and the first registration data item belongs to the group.
6. The communication apparatus according to claim 1, wherein the authentication unit selects the first security level, when the authentication result of the first terminal is not success.
7. The communication apparatus according to claim 5, wherein the authentication unit selects the first security level, when the registration data items included in the group fail to include the password corresponding to the first password.
8. A communicating method for communicating between a first terminal and one of a plurality of networks corresponding to different security levels and including a first network of a first security level which is a lowest security level of the security levels and a second network of a second security level of the security levels, the communicating method comprising:
(a) storing a first cryptographic algorithm corresponding to the second security level and an identifier of the first cryptographic algorithm in a memory device;
(b) authenticating the first terminal to obtain an authentication result of the first terminal;
(c) selecting one of the first security level and the second security level based on the authentication result of the first terminal, a first terminal identifier, and a first password corresponding to one of the networks, the first terminal identifier and the first password being transmitted by the first terminal;
(d) generating, when the second security level is selected, a cryptographic key used in the first cryptographic algorithm;
(e) transmitting, when the second security level is selected, the cryptographic key and the identifier of the first cryptographic algorithm to the first terminal;
(f) transferring, when the second security level is selected, a first data item to the second network and a second data item to the first terminal, the first data item obtained by being encrypted by the first terminal using the first cryptographic algorithm and the cryptographic key, and is transmitted by the first terminal, and the second data item addressed to the first terminal and transmitted from the second network; and
(g) transferring, when the first security level is selected, a third data item to the first network and a fourth data item to the first terminal, the third data item transmitted by the first terminal, and the fourth data item addressed to the first terminal and transmitted from the first network.
9. The communicating method according to claim 8, wherein the transferring (f) includes:
decrypting the first data item by using the first cryptographic algorithm and the cryptographic key;
transferring the first data item decrypted to the second network;
encrypting the second data item by using the first cryptographic algorithm and the cryptographic key; and
transferring the second data item encrypted to the first terminal.
10. The communicating method according to claim 8, wherein the selecting (c) includes:
storing, in a second memory device, a plurality of registration data items including a first registration data item having the first terminal identifier, the first registration data item including the second security level and a password necessary to access the second network; and
selecting the second security level included in the first registration data item, when the authentication result of the first terminal is successful and the first password corresponds to the password included in the first registration data item.
11. The communicating method according to claim 10, wherein the registration data items include a group of registration data items each having the first terminal identifier, each of the registration data items belonging to the group includes an independent security level and an independent password, and the first registration data item belongs to the group.
12. The communicating method according to claim 8, wherein the selecting (c) selects the first security level, when the authentication result of the first terminal is failed.
13. The communicating method according to claim 11, wherein the selecting (c) selects the first security level, when the registration data items included in the group fail to include the password corresponding to the first password.
14. The communicating method according to claim 8, wherein
the authenticating (b) authenticates the first terminal via a communication apparatus and a third network whose security level is higher than the security levels; and
the selecting (c) selects, based on the authentication result of the first terminal, the first terminal identifier and the first password, the first terminal identifier and the first password being transferred via the communication apparatus and the third network.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for charging an electric vehicle, comprising:
identifying vehicle information corresponding to the electric vehicle based on an electronic image of the electric vehicle;
retrieving from an electronically stored database a location of a charging port on the electric vehicle based on the vehicle information; and
robotically moving a charging connector according to the retrieved location to engage the charging port of the electric vehicle to charge a battery.
2. The method of claim 1, further comprising:
acquiring a plurality of two-dimensional (2D) images of a field of view;
determining whether the electric vehicle has entered the field of view based on an analysis of the plurality of images;
extracting a plurality of features of the electric vehicle from each image; and
tracking a position and pose of the electric vehicle while the electric vehicle is in motion using the extracted features.
3. The method of claim 2, further comprising:
constructing a three-dimensional (3D) model of the electric vehicle using the plurality of 2D images, wherein
identifying the vehicle information is based on a comparison of features in the 3D model of the electric vehicle with corresponding features in a plurality of 3D vehicle model candidates stored in the database.
4. The method of claim 2, further comprising:
rotating each of a plurality of three-dimensional (3D) vehicle model candidates stored in the database to match a pose of the electric vehicle in each of the plurality of 2D images; and
converting each rotated 3D vehicle model candidate to a 2D vehicle model candidate,
wherein identifying the vehicle information is based on a comparison of features in each of the 2D plurality of images with corresponding features in each 2D vehicle model candidate.
5. The method of claim 2, wherein the position and pose of the electric vehicle are different in each of the plurality of 2D images, and the position and pose of the electric vehicle in each image are used to identify the vehicle information.
6. The method of claim 2, further comprising:
acquiring an additional plurality of 2D images, wherein the additional plurality of 2D images have a viewpoint different from the plurality of 2D images of the field of view, and include the charging connector and the charging port;
verifying the location of the charging port on the electric vehicle using the additional plurality of 2D images; and
guiding the charging connector towards the charging port using the additional plurality of 2D images.
7. The method of claim 2, further comprising:
using background-subtraction to determine whether the electric vehicle has entered the field of view.
8. The method of claim 1, wherein identifying vehicle information comprises comparing the electronic image of the electric vehicle with a plurality of vehicle model candidates stored in the database.
9. The method of claim 8, further comprising:
calculating a similarity score for each of the vehicle model candidates stored in the vehicle database; and
selecting a vehicle model candidate having a highest similarity score,
wherein the vehicle information is identified using the selected vehicle model candidate.
10. The method of claim 1, wherein the identified vehicle information includes a make of the electric vehicle, a model of the electric vehicle, and a year of the electric vehicle, and the location of the charging port on the electric vehicle is identified using a vehicle model candidate stored in the database having a same make, model and year as the electric vehicle.
11. The method of claim 1, further comprising:
robotically disengaging the charging connector from the charging port on the electric vehicle.
12. The method of claim 1, further comprising:
robotically removing a door covering the charging port on the electric vehicle prior to engaging the charging connector into the charging port; and
robotically covering the charging port with the door subsequent to disengaging the charging connector from the charging port.
13. The method of claim 1, further comprising:
receiving customer billing information using a radio-frequency identification (RFID) tag mounted on the electric vehicle; and
transmitting the customer billing information to a remote billing system.
14. The method of claim 1, further comprising:
downloading an update to the database from a remote system upon determining that the update is available.
15. A method for charging an electric vehicle, comprising:
identifying vehicle information corresponding to the electric vehicle using a radio-frequency identification (RFID) tag on the electric vehicle;
retrieving from an electronically stored database a location of a charging port on the electric vehicle based on the vehicle information; and
robotically moving a charging connector according to the retrieved location to engage the charging port of the electric vehicle to charge a battery.
16. The method of claim 15, further comprising:
acquiring a plurality of images of a field of view;
determining whether the electric vehicle has entered the field of view based on an analysis of the plurality of images;
extracting a plurality of features of the electric vehicle from each image; and
tracking a position and pose of the electric vehicle while the electric vehicle is in motion using the extracted features.
17. The method of claim 16, further comprising:
acquiring an additional plurality of images, wherein the additional plurality of images have a viewpoint different from the plurality of images of the field of view, and include the charging connector and the charging port;
verifying the location of the charging port on the electric vehicle using the additional plurality of images; and
guiding the charging connector towards the charging port using the additional plurality of images.
18. The method of claim 15, wherein the identified vehicle information includes a make of the electric vehicle, a model of the electric vehicle, and a year of the electric vehicle, and
the location of the charging port on the electric vehicle is identified using a vehicle model candidate stored in the database having a same make, model and year as the electric vehicle.
19. The method of claim 15, further comprising:
robotically disengaging the charging connector from the charging port on the electric vehicle.
20. The method of claim 15, further comprising:
robotically removing a door covering the charging port on the electric vehicle prior to engaging the charging connector into the charging port; and
robotically covering the charging port with the door subsequent to disengaging the charging connector from the charging port.
21. A system for charging an electric vehicle, comprising:
a first camera, configured to acquire an electronic image of the electric vehicle;
an electronic database;
a processor, configured to identify vehicle information corresponding to the electric vehicle based on the electronic image of the electric vehicle, and retrieve from the electronic database a location of a charging port on the electric vehicle based on the vehicle information; and
a robotic arm, configured to move a charging connector according to the retrieved location to engage the charging port of the electric vehicle to charge a battery.
22. The system of claim 21, further comprising:
an actuator disposed on the robotic arm, configured to open a door covering the charging port of the electric vehicle prior to engaging the charging connector into the charging port, and close the door covering the charging port upon disengaging the charging connector from the charging port.
23. The system of claim 21, wherein:
the first camera is further configured to acquire a plurality of images of a field of view; and
the processor is further configured to determine whether the electric vehicle has entered the field of view based on an analysis of the plurality of images, extract a plurality of features of the electric vehicle from each image, and track a position and pose of the electric vehicle while the electric vehicle is in motion using the extracted features.
24. The system of claim 23, further comprising:
a second camera disposed on the robotic arm, configured to acquire an additional plurality of images,
wherein the additional plurality of images have a viewpoint different from the plurality of images of the field of view and include the charging connector and the charging port, and are used to verify the location of the charging port on the electric vehicle and guide the charging connector towards the charging port.
25. The system of claim 21, further comprising:
a communication link configured to download an update to the electronic database from a remote system upon determining that the update is available.
26. A system for charging an electric vehicle, comprising:
a radio-frequency identification (RFID) reader, configured to identify vehicle information corresponding to the electric vehicle using an RFID tag mounted on the electric vehicle;
an electronic database;
a processor, configured to retrieve from the electronic database a location of a charging port on the electric vehicle based on the vehicle information; and
a robotic arm, configured to move a charging connector according to the retrieved location to engage the charging port of the electric vehicle to charge a battery.
27. The system of claim 26, further comprising:
an actuator disposed on the robotic arm, configured to open a door covering the charging port of the electric vehicle prior to engaging the charging connector into the charging port, and close the door covering the charging port upon disengaging the charging connector from the charging port.
28. The system of claim 26, further comprising:
a camera configured to acquire a plurality of images of a field of view, wherein
the processor is further configured to determine whether the electric vehicle has entered the field of view based on an analysis of the plurality of images, extract a plurality of features of the electric vehicle from each image, and track a position and pose of the electric vehicle while the electric vehicle is in motion using the extracted features.
29. The system of claim 26, further comprising:
a camera disposed on the robotic arm, configured to acquire a plurality of images, wherein the plurality of images include the charging connector and the charging port, and are used to verify the location of the charging port on the electric vehicle and guide the charging connector towards the charging port.
30. The system of claim 26, further comprising:
a communication link configured to download an update to the electronic database from a remote system upon determining that the update is available.
31. The system of claim 26, wherein the RFID reader is configured to receive customer billing information from the RFID tag mounted on the electric vehicle and transmit the customer billing information to a remote billing system.
32. A computer-readable storage medium embodying instructions executed by a processor to perform a method for charging an electric vehicle, comprising:
acquiring a plurality of images of a field of view while in a vacant state;
detecting whether the electric vehicle has entered the field of view based on an analysis of the plurality of images while in the vacant state;
initiating a tracking state upon detecting that the electric vehicle has entered the field of view;
tracking a position and pose of the electric vehicle while the electric vehicle is in motion based on a plurality of features of the electric vehicle extracted from each image while in the tracking state;
initiating an identify state upon detecting that the electric vehicle is no longer in motion;
identifying a matching vehicle model candidate in a database using the position and pose of the electric vehicle in each image while in the identify state;
initiating a connect state upon identifying a matching vehicle model candidate;
verifying whether a charging port on the electric vehicle is in an expected location based on a most recently acquired image while in the connect state; and
engaging a charging connector into the charging port upon verifying that the charging port is in the expected location while in the connect state.
33. The computer-readable storage medium of claim 32, further comprising:
initiating a charging state upon engaging the charging connector into the charging port;
charging a battery in the electric vehicle while in the charging state;
monitoring the charging of the battery while in the charging state;
initiating a disengage state upon completion of charging the battery; and
disengaging the charging connector from the charging port while in the disengage state.
34. The computer-readable storage medium of claim 33, further comprising:
initiating a departing state upon disengaging the charging connector from the charging port;
tracking a location of the electric vehicle until the electric vehicle is no longer in the field of view while in the departing state; and
initiating the vacant state upon determining that the electric vehicle is no longer in the field of view.
35. The computer-readable storage medium of claim 32, further comprising:
establishing a track for at least one of the plurality of features based on a comparison of the at least one feature in a current image with a corresponding feature in a previous image.