Charging and discharging system and method

Abstract

The invention provides a charging and discharging system and method, the system comprises a communication device, a central control device and a charging and discharging device, the charging and discharging device comprises a hoisting track type device, a ground guide type device, a charging bin type device and a flow support type device, and the number of each type of device is multiple; the communication device is used for receiving a charging and discharging order of the electric vehicle; the central control device is used for distributing a target charging and discharging device for the electric vehicle according to a distribution principle, generating a charging and discharging task and issuing the charging and discharging task to the target charging and discharging device, and the charging and discharging task comprises a driving route and charging and discharging parameters; and the target charging and discharging device is used for driving to the electric vehicle according to the driving route, inserting into a charging and discharging interface of the electric vehicle and charging and discharging the electric vehicle according to the charging and discharging parameters. Through the central control device, centralized power distribution is realized, and an intelligent charging and discharging device under charging and discharging integration and multiple scenes is provided, so that automatic charging and discharging of the electric vehicle are realized, the use convenience of the charging and discharging device is enhanced, and the user experience is improved.

Description

Technical Field

[0001] This application relates to the field of new energy technologies, and in particular, to a charging and discharging system and method. Background Art

[0002] With the popularization of electric vehicles, electric vehicle charging piles, as key facilities for energy replenishment of electric vehicles, have received increasing attention. At the same time, charging piles are also constantly evolving, and their deep integration with information technology and network technology has opened up new possibilities, such as providing charging convenience through intelligent power resource allocation and improving charging efficiency by using big data analysis.

[0003] In related technologies, electric vehicle charging piles mainly adopt a configuration of one charging pile per parking space. Although it can meet the basic charging needs, there are still some drawbacks, showing deficiencies in terms of intelligence. For example, human participation is required during the charging process, resulting in poor usability of the charging pile and affecting the user experience. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, this application discloses a charging and discharging system and method for solving the technical problem of poor usability caused by insufficient intelligence of charging piles in the prior art.

[0005] In a first aspect, this application provides a charging and discharging system. The system includes a communication device, a central control device, and a charging and discharging device. The types of the charging and discharging device include a hoisting track type, a ground guiding type, a charging bin type, and a mobile support type, and there are multiple charging and discharging devices of each type; the communication device is used to receive a charging and discharging order of an electric vehicle submitted by a user terminal; the central control device is used to, in response to the charging and discharging order, allocate a target charging and discharging device for the electric vehicle according to the allocation principle of the charging and discharging device, and generate a charging and discharging task to be sent to the target charging and discharging device. The charging and discharging task includes the driving route and charging and discharging parameters of the target charging and discharging device; the target charging and discharging device is used to drive to the location of the electric vehicle according to the driving route, insert into the charging and discharging interface of the electric vehicle, and perform charging and discharging on the electric vehicle according to the charging and discharging parameters.

[0006] In an embodiment of the present application, the central control device includes a distribution module, and the distribution module includes: a charging and discharging device distribution unit, configured to determine the type of charging and discharging device corresponding to the electric vehicle according to the order type, weather information, and vehicle size, and determine the target charging and discharging device of the electric vehicle according to the occupancy status of each charging and discharging device and the order queuing information in the type of charging and discharging device; a charging and discharging parking space distribution unit, configured to, when the type of charging and discharging device is any one of the hoisting track type, the ground guiding type, and the charging bin type, determine the target charging and discharging parking space of the electric vehicle according to the occupancy status of each charging and discharging parking space and the order queuing information in the type of charging and discharging device, and feed it back to the user terminal based on the communication device to control the electric vehicle to drive to the target charging and discharging parking space.

[0007] In an embodiment of the present application, the central control device includes a task generation module, and the task generation module includes: a path planning unit, configured to generate the driving path according to the charging station map, the first position information of the electric vehicle, and the second position information of the target charging and discharging device; an information determination unit, configured to extract the vehicle information and charging and discharging information of the electric vehicle from the charging and discharging order, where the vehicle information includes vehicle identity information and battery state information, the battery state information includes the first battery temperature, state of charge, and battery health state, and the charging and discharging information includes the charging and discharging power and charging and discharging time; a charging and discharging parameter determination unit, configured to determine the charging and discharging current and charging and discharging voltage according to the battery state information, and determine the charging and discharging power according to the battery state information, the charging and discharging information, and the load information of the charging station; a task generation unit, configured to generate the charging and discharging task according to the driving path, the vehicle information, the charging and discharging information, and the charging and discharging parameters.

[0008] In an embodiment of the present application, the central control device further includes a first monitoring module and a scheduling module; the first monitoring module is configured to monitor the occupancy status and order queuing information of each charging and discharging parking space, the occupancy status, order queuing information, and charging and discharging records of each charging and discharging device, and the charging and discharging details information of each electric vehicle and display them, and upload them to the cloud through the communication device, so that each user terminal manages the corresponding charging and discharging order based on the charging and discharging details information; the scheduling module is configured to adjust the charging and discharging parameters according to the charging and discharging details information of the electric vehicle until the charging and discharging task is completed, and after the charging and discharging task is completed, control the target charging and discharging device to execute the charging and discharging task of the next electric vehicle.

[0009] In an embodiment of the present application, the target charging and discharging device includes a traveling module, a positioning module, and a charging and discharging module. The charging and discharging module includes a control unit, a rotatable robotic arm, and a charging and discharging gun disposed on the rotatable robotic arm. The traveling module is configured to travel to the electric vehicle according to the traveling route. The positioning module is configured to determine the third position information of the charging and discharging interface according to the vehicle attitude and the vehicle model in the vehicle identity information, generate a moving route based on the third position information and the fourth position information of the rotatable robotic arm, and control the rotatable robotic arm to move to the charging and discharging interface, and generate a fine-tuning route based on the first image at the charging and discharging interface and control the rotatable robotic arm to drive the charging and discharging gun to insert into the charging and discharging interface. The control unit is configured to control the charging and discharging gun to charge and discharge the electric vehicle according to the charging and discharging parameters in response to the positioning success notification.

[0010] In an embodiment of the present application, the target charging and discharging device further includes a communication module, a verification module, and a second monitoring module. The communication module is configured to establish communication with the electric vehicle and obtain the vehicle identity information and the charging and discharging information of the electric vehicle. The verification module is configured to verify the vehicle identity information of the electric vehicle according to the charging and discharging task after traveling to the electric vehicle. If the verification is successful, it notifies the positioning module to perform the positioning operation. And after the charging and discharging gun is inserted into the charging and discharging interface, it verifies the charging and discharging information of the electric vehicle according to the charging and discharging task. If the verification is successful, it notifies the control unit to perform the charging and discharging operation. The second monitoring module is configured to monitor and display the charging and discharging detail information of the electric vehicle to manage the charging and discharging order through the charging and discharging detail information.

[0011] In an embodiment of the present application, the target charging and discharging device includes a safety module. The safety module includes: a temperature acquisition unit configured to acquire the charging and discharging interface temperature at the charging and discharging interface and the second battery temperature of the electric vehicle; an image processing unit configured to acquire a second image at the charging and discharging interface and determine whether the second image is a fire image; an alarm unit configured to emit a warning signal when the charging and discharging interface temperature and the second battery temperature reach the warning condition, and perform a fire alarm operation when the charging and discharging interface temperature and the second battery temperature reach the alarm condition and the second image is a fire image; a fire extinguishing unit configured to perform a fire extinguishing operation when a fire occurs.

[0012] In an embodiment of the present application, the communication device is further configured to upload the charging station location information and the charging station map to the cloud, so that when the charging and discharging order is a remote order, the electric vehicle can automatically drive to the target charging and discharging parking space according to the charging station location information and the charging station map. The charging and discharging order includes the remote order, the immediate order, and the support order.

[0013] In an embodiment of the present application, the central control device includes a grid linkage module. The grid linkage module is configured to generate a grid energy replenishment activity during the peak period of the grid load and upload it to the cloud through the communication device, so as to receive a discharging order through the grid energy replenishment activity.

[0014] In a second aspect, the present application provides a charging and discharging method applied to the charging and discharging system described in the first aspect. The method includes: receiving, through a communication device, a charging and discharging order of an electric vehicle submitted by a user terminal; using a central control device to respond to the charging and discharging order, and allocating a target charging and discharging device for the electric vehicle from multiple charging and discharging devices according to the allocation principle of the charging and discharging devices, and generating a charging and discharging task to be sent to the target charging and discharging device. The types of the charging and discharging devices include the hoisting track type, the ground guiding type, the charging bin type, and the mobile support type. There are multiple charging and discharging devices of each type. The charging and discharging task includes the driving route and the charging and discharging parameters of the target charging and discharging device; the target charging and discharging device drives to the electric vehicle according to the driving route, inserts into the charging and discharging interface of the electric vehicle, and charges and discharges the electric vehicle according to the charging and discharging parameters.

[0015] As described above, the charging and discharging system and method provided by the embodiments of the present application have the following beneficial effects:

[0016] The charging and discharging system integrates a communication device, a central control device, and a charging and discharging device. Among them, the types of the charging and discharging devices include the hoisting track type, the ground guiding type, the charging bin type, and the mobile support type. There are multiple charging and discharging devices of each type. First, the communication device receives the charging and discharging order of the electric vehicle submitted by the user terminal. Then, the central control device responds to the charging and discharging order, allocates a target charging and discharging device for the electric vehicle according to the allocation principle of the charging and discharging device, and generates a charging and discharging task to be sent to the target charging and discharging device. The charging and discharging task includes the driving route and charging and discharging parameters of the target charging and discharging device. Finally, the target charging and discharging device drives to the electric vehicle according to the driving route, inserts into the charging and discharging interface of the electric vehicle, and charges and discharges the electric vehicle according to the charging and discharging parameters. Through the central control device for centralized power distribution, the charging and discharging task is allocated to the charging and discharging device in the adaptive scenario based on the charging and discharging order, and the charging and discharging device is controlled to automatically execute the charging and discharging of the vehicle, providing an integrated charging and discharging and intelligent charging and discharging device in multiple scenarios. There is no need for manual plugging and unplugging of the gun, realizing the automatic charging and discharging of the electric vehicle, enhancing the convenience of use of the charging and discharging device, and improving the user experience.

[0017] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. Brief Description of the Drawings

[0018] The drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments consistent with this application, and are used together with the specification to explain the principles of this application. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0019] Figure 1 is a schematic diagram of the implementation environment of a charging and discharging system shown in an exemplary embodiment of this application;

[0020] Figure 2 is a block diagram of a charging and discharging system shown in an exemplary embodiment of this application;

[0021] Figure 3 is a schematic diagram of a deployment method of a charging and discharging device shown in an exemplary embodiment of this application;

[0022] Figure 4 is a flowchart of a charging and discharging method shown in an exemplary embodiment of this application. Detailed Embodiments

[0023] The embodiments of the present application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, rather than for limiting the protection scope of the present application.

[0024] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. Therefore, only the components related to the present application are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The form, quantity, and proportion of each component in actual implementation can be arbitrarily changed, and the layout form of the components may also be more complex.

[0025] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0026] As a key facility for the energy supply of electric vehicles, the deep integration of electric vehicle charging piles with information technology and network technology has improved charging convenience. However, through the research of the inventors of the present application, it is found that electric vehicle charging piles mainly adopt a configuration mode of one charging pile for one parking space. The single charging pile not only has a large volume and occupies a lot of space, but also shows deficiencies in terms of intelligence. First, human participation is required during the charging process. For example, the user needs to manually insert the charging gun. Second, it is impossible to reasonably allocate resources for the charging vehicle, such as parking spaces, charging devices, and charging power. Then, the functions of the charging pile are single. For example, safety detection and treatment measures cannot be provided during the charging process, the power grid energy supply requirements cannot be met, and direct communication with electric vehicles cannot be achieved, resulting in poor usability of the charging pile and affecting the user experience.

[0027] Therefore, please refer to Figure 1 , Figure 1 which is a schematic diagram of the implementation environment of a charging and discharging system shown in an exemplary embodiment of the present application. As Figure 1As shown, the implementation environment includes a charging station 110 and a charging and discharging system 120. Among them, the charging station 110 is configured with the charging and discharging system 120. The charging and discharging system 120 provides the charging and discharging function for the charging station 110. The charging and discharging system 120 distributes power centrally through a central control device, allocates charging and discharging tasks to the charging and discharging devices in an adaptive scenario based on charging and discharging orders, and controls the charging and discharging devices to automatically execute the charging and discharging of vehicles, providing an integrated charging and discharging and intelligent charging and discharging device in multiple scenarios. There is no need for manual plugging and unplugging of the charging gun, realizing the automatic charging and discharging of electric vehicles, enhancing the convenience of using the charging and discharging device, and improving the user experience.

[0028] Please refer to Figure 2 , Figure 2 which is a block diagram of a charging and discharging system shown in an exemplary embodiment of the present application. This system can be applied to Figure 1 the implementation environment shown. It should be understood that this system can also be applicable to other exemplary implementation environments, and this embodiment does not limit the implementation environment applicable to this system.

[0029] As Figure 2 shown, in an exemplary embodiment, the charging and discharging system at least includes a communication device 210, a central control device 220, and a charging and discharging device 230. The types of the charging and discharging device 230 include a hoisting track type, a ground guiding type, a charging bin type, and a mobile support type. There are multiple charging and discharging devices of each type, and the details are introduced as follows:

[0030] The communication device 210 is used to receive the charging and discharging orders of electric vehicles submitted by the user terminal.

[0031] Exemplarily, the user terminal can be an intelligent terminal such as a smart phone, a tablet computer, and a vehicle-mounted computer.

[0032] Exemplarily, the charging and discharging orders include a charging order and a discharging order; the discharging order refers to a discharging request initiated by the user terminal. In the discharging order, there is a remote order, that is, a discharging request initiated by the user terminal. In the charging order, there are a remote order, an immediate order, and a support order. The remote order refers to a charging request initiated by the user terminal, such as placing an order remotely through a small program or an application. The immediate order refers to a charging request initiated by the user terminal on-site, such as placing an order by scanning a code on-site. The support order refers to an emergency charging service provided in special circumstances, such as when an electric vehicle cannot drive due to running out of power on the road and requests emergency charging rescue through the user terminal.

[0033] It should be noted that after the discharging order, the remote order, and the immediate order are placed, online queuing services are provided based on the load situation of the charging station.

[0034] Exemplarily, the charging and discharging order includes, but is not limited to, vehicle information and charging and discharging information of an electric vehicle. The vehicle information includes, but is not limited to, vehicle identity information and battery status information. The battery status information includes, but is not limited to, the first battery temperature, state of charge of the battery, and battery health status. The charging and discharging information includes, but is not limited to, the charging and discharging power and charging and discharging time.

[0035] The central control device 220 is configured to, in response to the charging and discharging order, allocate a target charging and discharging device for the electric vehicle according to the allocation principle of the charging and discharging device, and generate a charging and discharging task to be sent to the target charging and discharging device. The charging and discharging task includes the driving route of the target charging and discharging device and the charging and discharging parameters.

[0036] Wherein, the driving route refers to the route from the target charging and discharging device to the electric vehicle; the charging and discharging parameters include, but are not limited to, the charging and discharging current, charging and discharging voltage, and charging and discharging power.

[0037] Exemplarily, the allocation principle includes the type allocation principle of the charging and discharging device and the alternative allocation principle within the same type. The type allocation principle is used to determine the type of the charging and discharging device, and the alternative allocation principle within the same type is used to determine a specific charging and discharging device from the determined type of the charging and discharging device. That is, to allocate a target charging and discharging device for the electric vehicle according to the allocation principle of the charging and discharging device, according to the type allocation principle, determine the type of the charging and discharging device from the hoisting track type, ground guiding type, charging bin type, and mobile support type, and according to the alternative allocation principle within the same type, determine the target charging and discharging device from the charging and discharging devices of the charging and discharging device type.

[0038] The target charging and discharging device is configured to travel to the electric vehicle according to the driving route, insert into the charging and discharging interface of the electric vehicle, and charge and discharge the electric vehicle according to the charging and discharging parameters.

[0039] It should be noted that if the target charging and discharging device is idle, or there is no subsequent reserved queuing order, the electric vehicle can be charged and discharged immediately. If there is another order in progress for the target charging and discharging device, or the time for the subsequent reserved queuing order is about to be reached, the electric vehicle needs to queue up and wait.

[0040] In this embodiment, centralized power distribution is performed by the central control device 220, the charging and discharging task is allocated to the charging and discharging device 230 in an adaptive scenario based on the charging and discharging order, and the charging and discharging device 230 is controlled to automatically perform the charging and discharging of the vehicle, providing an integrated charging and discharging and intelligent charging and discharging device in multiple scenarios, without the need for manual plugging and unplugging of the gun, realizing the automatic charging and discharging of the electric vehicle, enhancing the use convenience of the charging and discharging device, and improving the user experience.

[0041] In addition, in this embodiment, the types of the charging and discharging device 230 include the hoisting track type, the ground guiding type, the charging bin type, and the mobile support type. These four types of charging and discharging devices are centrally managed and controlled by the central control device 220. Among them, the hoisting track type means that the charging and discharging device is installed on a fixed track, which can be suspended from the ceiling or set along the wall or other structures. The charging and discharging device can move back and forth on the track to charge and discharge electric vehicles parked in different positions; the ground guiding type means that the charging and discharging device is operated through a guide rail or guiding system set on the ground. The charging and discharging device is set on the ground guide and moves through ground guiding; the charging bin type means that the charging and discharging device is stored in a closed and movable bin, and the bin can protect the charging and discharging device in a harsh environment; the mobile support type means that the charging and discharging device can be quickly deployed to any place where it is needed and can be used in emergency rescue occasions or places without fixed charging facilities. Among them, the hoisting track type charging and discharging device is applicable to vehicles with a larger model, the ground guiding type charging and discharging device is applicable to vehicles with a smaller model, the charging bin type charging and discharging device is applicable to the charging and discharging scenarios in rainy and snowy weather, and the mobile support type is applicable to the rescue charging scenario.

[0042] In a possible embodiment, the charging and discharging device is in the form of a rotatable robotic arm, which has high flexibility, and a single robotic arm serves only one electric vehicle at the same time.

[0043] Please refer to Figure 3 , Figure 3 which is a schematic diagram of the deployment method of the charging and discharging device shown in an exemplary embodiment of the present application. As Figure 3 shown, each charging and discharging device is integrated with power distribution through the central control device in the control cabinet, responsible for the conversion of the grid voltage and the power distribution between different charging and discharging devices. Each charging and discharging device is connected to the control cabinet through a charging cable.

[0044] In Figure 3 , the first is the deployment method of the hoisting track type charging and discharging device. A fixed guide rail is set on the ceiling, and an RGV (Rail Guided Vehicle) is installed on the top fixed guide rail groove. All the robotic arms of this type are hoisted on the top RGV trolley. Specifically, a robotic arm fixed base is set at the bottom of the robotic arm and is connected to the RGV trolley through the robotic arm fixed base. Among them, the connecting device can be a telescopic rod to improve the deployment ability of the robotic arm and the service ability for vehicles of different sizes. Each robotic arm can be driven by the RGV trolley and independently move left and right on the guide rail, and the robotic arm can rotate 360°. At a certain position on the guide rail groove, it can arbitrarily serve the vehicles in the front and rear two parking spaces for charging and discharging.

[0045] In Figure 3Among them, the second is the deployment method of the ground-guided charging and discharging device. The robotic arm is installed on an AGV (Automated Guided Vehicle), and it moves to the corresponding vehicle through the AGV trolley. The robotic arm can rotate 360° and insert into the charging and discharging interface of the vehicle to conduct charging and discharging.

[0046] In Figure 3 Among them, the third is the deployment method of the charging bin type charging and discharging device. A robotic arm is set in the charging bin, and it can be deployed in the form of one robotic arm per bin, so that the robotic arm does not need to be directly exposed to the environment. After the central control device issues the charging and discharging task to the charging bin type charging and discharging device, the charging bin opens the bin door, extends the robotic arm to insert the charging gun into the charging and discharging interface of the corresponding vehicle. Moreover, most of the robotic arm is still located inside the charging bin. After the order is completed, the robotic arm is completely retracted into the bin and the bin door is closed.

[0047] In Figure 3 Among them, the fourth is the deployment method of the mobile rescue type charging and discharging device. The mobile rescue type charging and discharging device uses unmanned driving technology to drive to the vehicle in need of rescue. It contains a large-capacity battery block or a fuel power generation set. When the electric vehicle runs out of power but there is no charging condition around, it drives to the designated location of the order, controls the robotic arm to insert into the charging and discharging interface of the vehicle, and conducts vehicle charging.

[0048] In this way, by adopting the centralized power distribution method of the central control device 220, multiple types of charging and discharging devices 210 are set, and each charging and discharging device 210 can be moved, with flexible deployment, no need for a fixed one-position one-pile, small floor area, and integrating charging and discharging into one device for processing, realizing the charging and discharging integration in the vehicle charging scenario.

[0049] In one embodiment, the central control device 220 includes a distribution module. The distribution module includes: a charging and discharging device distribution unit, which is used to determine the type of charging and discharging device corresponding to the electric vehicle according to the order type, weather information and vehicle size, and determine the target charging and discharging device of the electric vehicle according to the occupancy status of each charging and discharging device in the charging and discharging device type and the order queuing information; a charging and discharging parking space distribution unit, which is used to determine the target charging and discharging parking space of the electric vehicle according to the occupancy status of each charging and discharging parking space under the charging and discharging device type and the order queuing information when the charging and discharging device type is any one of the hoisting track type, ground-guided type and charging bin type, and feed it back to the user terminal based on the communication device 210 to control the electric vehicle to drive to the target charging and discharging parking space.

[0050] Exemplarily, the type of the charging and discharging device corresponding to the electric vehicle is determined according to the order type, weather information, and vehicle size. Specifically, if the order type is a rescue order among the charging orders, the type of the charging and discharging device corresponding to the electric vehicle is determined to be a mobile support type. If the order type is a remote order or an immediate order among the charging orders, or a remote order among the discharging orders, the type of the charging and discharging device corresponding to the electric vehicle is initially determined to be one of a hoisting track type, a ground guiding type, and a charging bin type. Then, if the weather information indicates that the weather is rainy or snowy, the type of the charging and discharging device corresponding to the electric vehicle is determined to be the charging bin type. Finally, if the vehicle size reaches the preset large vehicle size, the type of the charging and discharging device corresponding to the electric vehicle is determined to be the hoisting track type. On the contrary, if the vehicle size does not reach the preset large vehicle size, the type of the charging and discharging device corresponding to the electric vehicle is determined to be the ground guiding type.

[0051] Exemplarily, the target charging and discharging device of the electric vehicle is determined according to the occupancy status of each charging and discharging device and the order queuing information in the type of the charging and discharging device. Specifically, if there is no charging and discharging device with an occupancy status of unoccupied, the charging and discharging device with the shortest queuing duration is determined as the target charging and discharging device. If there is a charging and discharging device with an occupancy status of unoccupied, the target charging and discharging device is determined from the charging and discharging devices without charging and discharging orders within the subsequent preset time. If there are charging and discharging orders within the subsequent preset time, the charging and discharging device with the shortest queuing duration is determined as the target charging and discharging device.

[0052] Exemplarily, when the type of the charging and discharging device is any one of a hoisting track type, a ground guiding type, and a charging bin type, the target charging and discharging parking space of the electric vehicle is determined according to the occupancy status of each charging and discharging parking space and the order queuing information under the type of the charging and discharging device. Specifically, if there is no parking space with an occupancy status of unoccupied, the parking space with the shortest queuing duration is determined as the target charging and discharging parking space. If there is a parking space with an occupancy status of unoccupied, the target charging and discharging parking space is determined from the parking spaces without charging and discharging orders within the subsequent preset time. If there are charging and discharging orders within the subsequent preset time, the parking space with the shortest queuing duration is determined as the target charging and discharging parking space.

[0053] In this embodiment, by comprehensively considering multiple factors such as the order type, weather information, and vehicle size, a suitable type of charging and discharging device is matched, and the target charging and discharging device is accurately determined in combination with the occupancy status of the charging and discharging device and the order queuing information, and the target charging and discharging parking space is accurately determined in combination with the occupancy status of the parking space and the order queuing information, automatically processing tasks such as order allocation and parking space arrangement, automatically allocating the best target charging and discharging device and target charging and discharging parking space for the electric vehicle, which not only speeds up the response speed of the charging and discharging service, but also can effectively reduce the user's waiting time and the trouble of finding a parking space, improving the overall service experience.

[0054] In one embodiment, the central control device 220 includes a task generation module, and the task generation module includes: a path planning unit configured to generate a driving path according to a charging station map, first position information of an electric vehicle, and second position information of a target charging and discharging device; an information determination unit configured to extract vehicle information and charging and discharging information of the electric vehicle from a charging and discharging order, where the vehicle information includes vehicle identity information and battery state information, the battery state information includes a first battery temperature, a state of charge of the battery, and a battery health state, and the charging and discharging information includes a charging and discharging power and a charging and discharging time; a charging and discharging parameter determination unit configured to determine a charging and discharging current and a charging and discharging voltage according to the battery state information, and determine a charging and discharging power according to the battery state information, the charging and discharging information, and the load information of the charging station; and a task generation unit configured to generate a charging and discharging task according to the driving path, the vehicle information, the charging and discharging information, and the charging and discharging parameters.

[0055] Wherein, the vehicle identity information includes a vehicle identifier and a vehicle model; the load information of the charging station refers to the working load state of the charging station. If the charging and discharging order is a charging order, it is the total number of vehicles being charged and the power that has been allocated, and a relatively optimal charging power is matched for the electric vehicle based on the remaining power. If the charging and discharging order is a discharging order, it is the total number of vehicles being discharged and the power that has been allocated, and a relatively optimal discharging power is matched for the electric vehicle based on the remaining power.

[0056] In this embodiment, if the target charging and discharging device is one of a hoisting rail type, a ground guiding type, and a charging bin type, the first position information of the electric vehicle is the position information of the target charging and discharging parking space.

[0057] In this embodiment, the charging and discharging current and the charging and discharging voltage are determined according to the battery state information, and the charging and discharging power is determined according to the battery state information, the charging and discharging information, and the load information of the charging station. In this way, the influence of the battery temperature, the state of charge of the battery, and the battery health state on the charging and discharging current and the charging and discharging voltage is considered, and relatively optimal charging and discharging current and charging and discharging voltage can be matched based on different battery temperatures, states of charge of the battery, and battery health states, avoiding damage to the battery during the charging and discharging process and improving the safety of charging and discharging. In addition, the influence of the battery state information, the charging and discharging information, and the load information of the charging station on the charging and discharging power is considered, and relatively optimal charging and discharging power can be matched based on different battery state information, charging and discharging information, and load information of the charging station, realizing the coordinated distribution of power among the charging and discharging devices at the same charging and discharging station site, and improving the overall efficiency and resource utilization rate of the charging and discharging system while meeting the battery state information and the charging and discharging information.

[0058] In one embodiment, the central control device 220 further includes a first monitoring module and a scheduling module; the first monitoring module is used to monitor the occupancy status and order queuing information of each charging and discharging parking space, the occupancy status, order queuing information and charging and discharging records of each charging and discharging device, and the charging and discharging details of each electric vehicle and display them, and upload them to the cloud through the communication device 210, so that each user terminal manages the corresponding charging and discharging order based on the charging and discharging details; the scheduling module is used to adjust the charging and discharging parameters according to the charging and discharging details of the electric vehicle until the charging and discharging task is completed, and after the charging and discharging task is completed, control the target charging and discharging device to execute the charging and discharging task of the next electric vehicle.

[0059] Among them, the charging and discharging details of each electric vehicle include, but are not limited to, charging and discharging duration, charging and discharging progress bar, remaining order time, queuing information, battery temperature, state of charge of the battery, battery health status, charging and discharging current, charging and discharging voltage, and charging and discharging power, etc.

[0060] In this embodiment, please continue to refer to Figure 3 , an intelligent display screen is provided on the control cabinet. The first monitoring module in the central control device 220 can monitor the occupancy status and order queuing information of each charging and discharging parking space, the occupancy status, order queuing information and charging and discharging records of each charging and discharging device, and the charging and discharging details of each electric vehicle, and transmit all the above information to the intelligent display screen for display, and upload all the above information to the cloud for storage through the communication device 210, so that each user terminal can view the charging and discharging details in real time and manage the corresponding charging and discharging order based on the charging and discharging details, such as ending the charging and discharging order. In this way, the transparency of the service process is increased, the uncertainty and anxiety of users are reduced, and users are allowed to directly manage the corresponding charging and discharging order from the user terminal based on the charging and discharging details, greatly improving the convenience of charging and discharging.

[0061] In this embodiment, the scheduling module in the central control device 220 can adjust the charging and discharging parameters according to the charging and discharging details of the electric vehicle, that is, adjust the charging and discharging current and voltage according to the real-time battery temperature, state of charge of the battery, and battery health status, and adjust the charging and discharging power according to the real-time battery temperature, state of charge of the battery, battery health status, charging and discharging progress bar, remaining order time and the load information of the charging station until the charging and discharging task is completed. In this way, the charging and discharging parameters are dynamically adjusted, further optimizing the charging and discharging service.

[0062] Exemplarily, when the electric vehicle enters the final trickle charging and discharging stage, coordinate and transfer the charging and discharging power to the orders in other fast charging stages to maximize the overall charging and discharging efficiency.

[0063] In this embodiment, since online queuing is supported, after the charging and discharging task is completed, the charging and discharging device automatically removes the charging gun, the current electric vehicle drives away, and the central control device 220 notifies the next order vehicle to drive into the target charging and discharging parking space, and controls the target charging and discharging device to drive to the designated position to insert the next electric vehicle to perform the charging and discharging task. In this way, by changing the previous purely manual method and integrating the functions of order tracking and automatic insertion and removal of the charging and discharging device, users can achieve seamless charging and discharging without any participation, improving the user experience.

[0064] In a possible embodiment, during the process of switching the charging and discharging task of the target charging and discharging device, the central control device 220 controls the target charging and discharging device to perform power transformation and heat dissipation.

[0065] In an embodiment, the target charging and discharging device includes a traveling module, a positioning module, and a charging and discharging module. The charging and discharging module includes a control unit, a rotatable robotic arm, and a charging gun arranged on the rotatable robotic arm. The traveling module is used to drive to the electric vehicle according to the driving route. The positioning module is used to determine the third position information of the charging and discharging interface according to the vehicle model in the vehicle attitude and vehicle identity information, generate a moving route according to the third position information and the fourth position information of the rotatable robotic arm, and control the rotatable robotic arm to move to the charging and discharging interface, and generate a fine-tuning route according to the first image at the charging and discharging interface and control the rotatable robotic arm to drive the charging gun to insert into the charging and discharging interface. The control unit is used to control the charging gun to charge and discharge the electric vehicle according to the charging and discharging parameters in response to the positioning success notification.

[0066] In this embodiment, if the target charging device is one of the hoisting track type, ground guiding type, and charging bin type, the traveling module drives to the electric vehicle according to the driving route, that is, drives to the target charging and discharging parking space. After that, the central control device 220 will notify the user terminal that the target charging device has arrived, so as to control the electric vehicle to open the lid of the charging and discharging interface.

[0067] In this embodiment, the positioning module can obtain the vehicle attitude by acquiring the vehicle image through the camera at the front end of the robotic arm, and thus determine the third position information of the charging and discharging interface according to the vehicle attitude and vehicle model, generate the moving route of the target charging and discharging according to the third position information and the fourth position information of the rotatable robotic arm, then control the rotatable robotic arm to move to the charging and discharging interface, and generate a fine-tuning route based on the first image at the charging and discharging interface acquired by the camera at the front end of the robotic arm to control the rotatable robotic arm to drive the charging gun to insert into the charging and discharging interface. At this time, when the control unit receives the positioning success notification, it will control the robotic arm to drag the charging and discharging cable to the designated position and control the charging gun to charge and discharge the electric vehicle according to the charging and discharging parameters.

[0068] In this way, the camera at the front end of the robotic arm is used to accurately locate the charging and discharging port, and the robotic arm is controlled to accurately insert the charging and discharging gun into the charging and discharging interface, ensuring the reliability of the automatic charging and discharging function of the charging and discharging system.

[0069] In one embodiment, the target charging and discharging device further includes a communication module, a verification module, and a second monitoring module; the communication module is used to establish communication with the electric vehicle to obtain the vehicle identity information and charging and discharging information of the electric vehicle; the verification module is used to verify the vehicle identity information of the electric vehicle according to the charging and discharging task after driving to the electric vehicle. If the verification is successful, it notifies the positioning module to perform the positioning operation; and after the charging and discharging gun is inserted into the charging and discharging interface, it verifies the charging and discharging information of the electric vehicle according to the charging and discharging task. If the verification is successful, it notifies the control unit to perform the charging and discharging operation; the second monitoring module is used to monitor and display the charging and discharging details information of the electric vehicle to manage the charging and discharging order through the charging and discharging details information.

[0070] Among them, the vehicle identity information includes a vehicle identifier, and the vehicle identifier can be at least one of a license plate number and a VIN (Vehicle Identification Number).

[0071] In this embodiment, the target charging and discharging device has a V2X (Vehicle-to-Everything) communication function, enabling the electric vehicle to communicate directly with it. Thus, the target charging and discharging device can obtain the vehicle identity information and charging and discharging information of the electric vehicle. Since the charging and discharging task received by the target charging and discharging device carries the vehicle identity information and charging and discharging information of this electric vehicle, therefore, verification is performed based on the directly obtained vehicle identity information and charging and discharging information, making the target charging and discharging device correctly match with the electric vehicle and the charging and discharging order. In this way, the reliability of the automatic charging and discharging function of the charging and discharging system is further ensured, and automatic verification is achieved based on V2X, improving the user experience.

[0072] In this embodiment, an intelligent display screen is also provided on the target charging and discharging device, which monitors and displays the charging and discharging details information of the electric vehicle in real time on the intelligent display screen, enabling the user to manage the charging and discharging order based on the charging and discharging details information on the intelligent display screen, such as ending the charging and discharging order. Among them, the charging and discharging details information includes but is not limited to charging and discharging duration, charging and discharging progress bar, remaining order time, queuing information, battery temperature, state of charge of the battery, battery health status, charging and discharging current, charging and discharging voltage, and charging and discharging power, etc. In this way, the transparency of the service process is increased, the uncertainty and anxiety of the user are reduced, and the user is allowed to directly manage the corresponding charging and discharging order from the intelligent display screen of the target charging and discharging device based on the charging and discharging details information, greatly improving the convenience of charging and discharging.

[0073] It should be noted that when the user manages the corresponding charging and discharging order directly from the intelligent display screen of the target charging and discharging device based on the charging and discharging details information, it needs to be carried out after the identity authentication is passed to avoid malicious termination of the charging and discharging order.

[0074] In a possible embodiment, if there is a ground lock in the charging and discharging parking space, the electric vehicle first drives to the side of the target charging and discharging parking space. After the vehicle information and the charging and discharging information are verified, the target charging and discharging device feeds back to the central control device 220 to control the unlocking of the ground lock, and notifies the electric vehicle to park in according to a specific orientation. After the electric vehicle finishes charging and discharging, the central control device 220 notifies the robotic arm to retract, notifies the electric vehicle to close the cover of the charging and discharging interface, and controls the ground lock to lock after the electric vehicle drives away.

[0075] In a possible embodiment, the charging vehicle and the automatic lifting rod for parking lot charging can perform V2X communication. When the electric vehicle enters and exits the parking lot, through the interaction with the lifting rod, the entry information is recorded and the stay time is timed. When the electric vehicle exits, the automatic lifting rod is raised and the parking fee is settled.

[0076] In a possible embodiment, the fee of the charging and discharging order is settled by the central control device 220 and fed back to the user terminal.

[0077] In an embodiment, the target charging and discharging device includes a safety module, and the safety module includes: a temperature acquisition unit for acquiring the charging and discharging interface temperature at the charging and discharging interface and the second battery temperature of the electric vehicle; an image processing unit for acquiring a second image at the charging and discharging interface and judging whether the second image is a fire image; an alarm unit for sending a warning signal when the charging and discharging interface temperature and the second battery temperature reach the warning condition, and performing a fire alarm operation when the charging and discharging interface temperature and the second battery temperature reach the alarm condition and the second image is a fire image; a fire extinguishing unit for performing a fire extinguishing operation when a fire occurs.

[0078] In this embodiment, the temperature acquisition unit includes an infrared temperature sensor. The charging and discharging interface temperature is acquired by the infrared temperature sensor, and the second battery temperature of the electric vehicle is acquired from the electric vehicle based on V2X communication; the image processing unit acquires the second image at the charging and discharging interface based on the camera installed on the robotic arm; the image processing unit can predict whether the second image is a fire image based on a pre-constructed fire image detection model; the alarm unit is a two-level prompt mechanism, including warning and alarm; the fire extinguishing unit includes a fire extinguishing device.

[0079] In this embodiment, during the charging and discharging process of the electric vehicle, through image recognition, infrared temperature monitoring, and V2X communication, combined with the fire extinguishing device loaded in the robotic arm, safety monitoring is achieved, improving the safety during the vehicle charging and discharging process.

[0080] In a possible embodiment, the warning signal sent by the alarm unit, such as a warning signal from a signal lamp or a sound warning, and the executed fire alarm operation include automatically cutting off the power and starting the fire extinguishing device to extinguish the fire, and feeding back to the cloud through the central control device 220, so that the cloud automatically reports the fire alarm and notifies the user and relevant parties (such as the charging station management staff).

[0081] In an embodiment, the communication device 210 is further configured to upload the charging station location information and the charging station map to the cloud. When the charging and discharging order is a remote order, the electric vehicle can be automatically driven to the target charging and discharging parking space according to the charging station location information and the charging station map. The charging and discharging orders include remote orders, immediate orders, and support orders.

[0082] In this embodiment, the communication device 210 is also used to upload the charging station location information and the charging station map to the cloud. The user terminal can reserve the vehicle charging and discharging time, that is, send a remote order. After reaching the reserved time, the user terminal (such as a smart phone, a tablet computer, and a vehicle computer, etc.) controls the electric vehicle to automatically drive to the target charging and discharging parking space for charging and discharging according to the charging station location information and the charging station map, and automatically drives away to the designated location after the charging and discharging is completed. In this way, combined with the autonomous driving technology, automatic charging and discharging are realized based on the ADS (Autonomous Driving System) of the electric vehicle. The user does not need to participate throughout the process after placing the order, enhancing the user experience.

[0083] In an embodiment, the central control device 220 includes a grid linkage module. The grid linkage module is used to generate a grid energy replenishment activity during the peak period of the grid load and upload it to the cloud through the communication device 210 to receive a discharge order through the grid energy replenishment activity.

[0084] In this embodiment, the central control device 220 includes a grid linkage module to generate a grid energy replenishment activity during the peak period of the grid load and upload it to the cloud, so that the user terminal can participate in the grid energy replenishment activity to generate a discharge order and remotely control the electric vehicle to drive to the corresponding charging station to discharge through the corresponding target charging and discharging device. The user terminal can set the minimum discharge power to ensure the subsequent use of the electric vehicle. After the electric vehicle completes the discharge, the central control device 220 settles the electricity bill and pays it to the user terminal. In this way, through grid linkage, peak shaving and valley filling are carried out. When the grid load is insufficient, nearby electric vehicles can be summoned to discharge to fill the gap, expanding the functions of the site and realizing the load regulation of the grid.

[0085] In a possible embodiment, the central control device 220 determines and locks the target discharging vehicle based on multiple discharging orders and by selecting according to the discharging amount and the distance of the electric vehicle.

[0086] Exemplarily, an electric vehicle with a larger discharging amount and a shorter distance from the electric vehicle is selected as the target discharging vehicle, so that the power grid can be replenished to the greatest extent and in a timely manner.

[0087] In a possible embodiment, the charging and discharging system integrates functions such as automatic charging and discharging, alarm, fire protection, ground lock control, and order queuing, so that the usage scenarios are more extensive and the charging and discharging services are enhanced.

[0088] The above charging and discharging system integrates a communication device, a central control device, and a charging and discharging device. Among them, the types of charging and discharging devices include hoisting track type, ground guiding type, charging bin type, and mobile support type. There are multiple charging and discharging devices of each type. First, the communication device receives the charging and discharging orders of the electric vehicle submitted by the user terminal, and then the central control device responds to the charging and discharging orders, allocates the target charging and discharging device for the electric vehicle according to the allocation principle of the charging and discharging device, and generates a charging and discharging task and issues it to the target charging and discharging device. The charging and discharging task includes the driving route and charging and discharging parameters of the target charging and discharging device. Finally, the target charging and discharging device drives to the location of the electric vehicle according to the driving route, inserts into the charging and discharging interface of the electric vehicle, and charges and discharges the electric vehicle according to the charging and discharging parameters. Through centralized power distribution by the central control device, the charging and discharging tasks are allocated to the charging and discharging devices in an adaptive scenario based on the charging and discharging orders, and the charging and discharging devices are controlled to automatically execute the charging and discharging of the vehicle, providing an integrated charging and discharging and intelligent charging and discharging device in multiple scenarios. There is no need for manual plugging and unplugging of the gun, realizing the automatic charging and discharging of the electric vehicle, enhancing the convenience of using the charging and discharging device, and improving the user experience.

[0089] Please refer to Figure 4 , Figure 4 which is a flowchart of a charging and discharging method shown in an exemplary embodiment of the present application. This method can be applied to Figure 1 the implementation environment shown. It should be understood that this method can also be applicable to other exemplary implementation environments, and this embodiment does not limit the implementation environment applicable to this method.

[0090] As Figure 4 shown, in an exemplary embodiment, the charging and discharging method is applied to the above charging and discharging system, and at least includes steps S410 to S430, which are introduced in detail as follows:

[0091] Step S410, receiving the charging and discharging orders of the electric vehicle submitted by the user terminal through the communication device;

[0092] Step S420: In response to a charge-discharge order, the central control device allocates a target charge-discharge device for the electric vehicle from multiple charge-discharge devices according to the allocation principle of the charge-discharge devices, and generates a charge-discharge task to be sent to the target charge-discharge device. The types of charge-discharge devices include hoisting track type, ground guiding type, charging bin type, and mobile support type. There are multiple charge-discharge devices of each type. The charge-discharge task includes the driving route and charge-discharge parameters of the target charge-discharge device.

[0093] Step S430: The target charge-discharge device travels to the electric vehicle according to the driving route, inserts into the charge-discharge interface of the electric vehicle, and charges and discharges the electric vehicle according to the charge-discharge parameters.

[0094] It should be noted that the charge-discharge method provided in the above embodiment and the charge-discharge system provided in the above embodiment belong to the same concept. The content of the operations performed in each step has been described in detail in the system embodiment, and will not be repeated here.

[0095] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0096] The units described in the embodiments of the present application can be implemented in software or in hardware. The described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation to the unit itself in some cases.

[0097] The above embodiments are only used to exemplarily illustrate the principles and effects of the present application, rather than to limit the present application. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed in the present application should still be covered by the claims of the present application.

Claims

1. A charge-discharge system, characterized in that, The system includes a communication device, a central control device, and a charge and discharge device. The types of the charge and discharge device include a hoisting track type, a ground guiding type, a charging bin type, and a mobile support type. There are multiple charge and discharge devices of each type. The communication device is configured to receive a charge and discharge order of an electric vehicle submitted by a user terminal. The central control device is configured to, in response to the charge and discharge order, allocate a target charge and discharge device for the electric vehicle according to the allocation principle of the charge and discharge device, and generate a charge and discharge task to be sent to the target charge and discharge device. The charge and discharge task includes the driving route and charge and discharge parameters of the target charge and discharge device. The target charge and discharge device is configured to drive to the location of the electric vehicle according to the driving route, insert into the charge and discharge interface of the electric vehicle, and charge and discharge the electric vehicle according to the charge and discharge parameters.

2. The charge and discharge system according to claim 1, wherein The central control device includes a distribution module, and the distribution module includes: A charge and discharge device allocation unit configured to determine the type of the charge and discharge device corresponding to the electric vehicle according to the order type, weather information, and vehicle size, and determine the target charge and discharge device of the electric vehicle according to the occupancy status and order queuing information of each charge and discharge device in the type of the charge and discharge device. A charge and discharge parking space allocation unit configured to, when the type of the charge and discharge device is any one of the hoisting track type, the ground guiding type, and the charging bin type, determine the target charge and discharge parking space of the electric vehicle according to the occupancy status and order queuing information of each charge and discharge parking space in the type of the charge and discharge device, and feedback it to the user terminal based on the communication device to control the electric vehicle to drive to the target charge and discharge parking space.

3. The charge and discharge system according to claim 1, characterized in that The central control device includes a task generation module, and the task generation module includes: A path planning unit configured to generate the driving path according to the charging station map, the first position information of the electric vehicle, and the second position information of the target charge and discharge device. An information determination unit configured to extract the vehicle information and charge and discharge information of the electric vehicle from the charge and discharge order. The vehicle information includes vehicle identity information and battery status information. The battery status information includes the first battery temperature, state of charge, and battery health status. The charge and discharge information includes charge and discharge power and charge and discharge time. A charge and discharge parameter determination unit configured to determine the charge and discharge current and charge and discharge voltage according to the battery status information, and determine the charge and discharge power according to the battery status information, the charge and discharge information, and the load information of the charging station. A task generation unit configured to generate the charge and discharge task according to the driving path, the vehicle information, the charge and discharge information, and the charge and discharge parameters.

4. The charge-discharge system according to claim 3, wherein The central control device further includes a first monitoring module and a scheduling module; The first monitoring module is used to monitor the occupancy status and order queuing information of each charging and discharging parking space, the occupancy status, order queuing information and charging and discharging records of each charging and discharging device, and the charging and discharging details of each electric vehicle, display them, and upload them to the cloud through the communication device, so that each user terminal manages the corresponding charging and discharging orders based on the charging and discharging details; The scheduling module is used to adjust the charging and discharging parameters according to the charging and discharging details of the electric vehicle until the charging and discharging task is completed, and after the charging and discharging task is completed, control the target charging and discharging device to execute the charging and discharging task of the next electric vehicle.

5. The charge and discharge system according to claim 1, characterized in that The target charging and discharging device includes a traveling module, a positioning module and a charging and discharging module. The charging and discharging module includes a control unit, a rotatable robotic arm and a charging and discharging gun arranged on the rotatable robotic arm; The traveling module is used to travel to the electric vehicle according to the driving route; The positioning module is used to determine the third position information of the charging and discharging interface according to the vehicle model in the vehicle attitude and vehicle identity information, generate a moving route according to the third position information and the fourth position information of the rotatable robotic arm, and control the rotatable robotic arm to move to the charging and discharging interface, and generate a fine-tuning route according to the first image at the charging and discharging interface and control the rotatable robotic arm to drive the charging and discharging gun to insert into the charging and discharging interface; The control unit is used to control the charging and discharging gun to charge and discharge the electric vehicle according to the charging and discharging parameters in response to the positioning success notification.

6. The charge and discharge system according to claim 5, wherein, The target charging and discharging device further includes a communication module, a verification module and a second monitoring module; The communication module is used to establish communication with the electric vehicle and obtain the vehicle identity information and charging and discharging information of the electric vehicle; The verification module is used to verify the vehicle identity information of the electric vehicle according to the charging and discharging task after traveling to the electric vehicle. If the verification is successful, it notifies the positioning module to perform the positioning operation; and after the charging and discharging gun is inserted into the charging and discharging interface, it verifies the charging and discharging information of the electric vehicle according to the charging and discharging task. If the verification is successful, it notifies the control unit to perform the charging and discharging operation; The second monitoring module is used to monitor and display the charging and discharging details of the electric vehicle, so as to manage the charging and discharging orders through the charging and discharging details.

7. The charge and discharge system according to claim 1, characterized in that, The target charging and discharging device includes a safety module, and the safety module includes: A temperature acquisition unit for acquiring the charging and discharging interface temperature at the charging and discharging interface and the second battery temperature of the electric vehicle; An image processing unit for acquiring the second image at the charging and discharging interface and judging whether the second image is a fire image; An alarm unit for emitting a warning signal when the charging and discharging interface temperature and the second battery temperature reach the warning condition, and performing a fire alarm operation when the charging and discharging interface temperature and the second battery temperature reach the alarm condition and the second image is a fire image; A fire extinguishing unit for performing a fire extinguishing operation in case of a fire.

8. The charging and discharging system according to claim 2, wherein The communication device is further configured to upload the charging station location information and the charging station map to the cloud, so that when the charging and discharging order is a remote order, the electric vehicle can automatically drive to the target charging and discharging parking space according to the charging station location information and the charging station map. The charging and discharging order includes the remote order, the immediate order, and the support order.

9. The charge-discharge system according to any one of claims 1 to 8, characterized in that The central control device includes a grid linkage module. The grid linkage module is configured to generate a grid energy replenishment activity during the peak period of the grid load and upload it to the cloud through the communication device, so as to receive a discharging order through the grid energy replenishment activity.

10. A charge and discharge method, characterized in that, Applied to the charging and discharging system according to any one of claims 1 to 9, the method includes: Receiving, through a communication device, a charging and discharging order of an electric vehicle submitted by a user terminal; Using a central control device to respond to the charging and discharging order, allocating a target charging and discharging device for the electric vehicle from a plurality of charging and discharging devices according to the allocation principle of the charging and discharging devices, and generating a charging and discharging task to be sent to the target charging and discharging device. The types of the charging and discharging devices include a hoisting rail type, a ground guiding type, a charging bin type, and a mobile support type. There are multiple charging and discharging devices of each type. The charging and discharging task includes the driving route and the charging and discharging parameters of the target charging and discharging device; The target charging and discharging device travels to the electric vehicle according to the driving route, inserts into the charging and discharging interface of the electric vehicle, and charges and discharges the electric vehicle according to the charging and discharging parameters.

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