Underground three-dimensional parking lot intelligent V2G charging and discharging system and dynamic cooperative control method

Abstract

The invention relates to the technical field of V2G, and discloses an underground three-dimensional parking lot intelligent V2G charging and discharging system and a dynamic cooperative control method, and the system comprises a parking platform which is used for parking a new energy automobile; the track is arranged on the upper portion of the parking platform, the trolley is arranged on the track in a sliding mode, and the trolley is further located on the top of the new energy automobile; the charging and discharging management device is fixed on the parking platform and is used for charging the new energy automobile or transmitting electric energy discharged by the new energy automobile to the power distribution network; the charging pile is fixed on the parking platform, the charging mechanism and the discharging mechanism are both connected with the charging pile, the charging mechanism and the discharging mechanism are connected with the new energy automobile through the trolley, and the charging and discharging control device is connected with the charging pile. The underground parking space utilization rate can be improved, the power grid flexibility is enhanced, the user income is optimized, and the battery life is prolonged.

Description

Technical Field

[0001] The present invention relates to the field of V2G technology, and in particular to an intelligent V2G charging and discharging system and a dynamic collaborative control method for an underground parking lot. Background Art

[0002] With the rapid adoption of new energy vehicles and the advancement of the "dual carbon" goals, vehicle-to-grid (V2G) technology has become a crucial component of smart grid development. Underground parking garages, with their high space utilization and high degree of intensive use, are becoming a mainstream choice for urban parking facilities. However, existing technologies for integrating underground parking garages with V2G systems still face numerous technical bottlenecks, necessitating innovative solutions.

[0003] Traditional underground parking lot charging systems have the following major technical flaws: First, existing charging facilities mostly use a one-way power supply mode, supporting only vehicle charging needs and unable to feed power back into the grid, resulting in low energy efficiency. Second, the unique spatial structure of underground parking lots places higher demands on charging equipment. Traditional manual plug-in and unplugging methods are difficult to operate in confined spaces and suffer from problems such as insufficient positioning accuracy and prone to equipment wear. Furthermore, existing systems lack intelligent charging and discharging management strategies and are unable to dynamically adjust charging and discharging strategies based on factors such as grid demand and battery status. This not only affects user benefits but can also accelerate battery aging.

[0004] In existing patent technologies, such as the application document with application number CN202121324463.5, although an automatic charging device for a stereo garage is proposed, it only supports one-way charging and cannot meet the needs of V2G applications. Other related technical solutions either fail to consider the spatial constraints of the stereo garage or lack dynamic assessment of the battery health status, making it difficult to achieve safe and efficient charging and discharging management. Especially in application scenarios such as grid frequency regulation and peak-valley arbitrage, existing technologies often cannot simultaneously take into account multiple requirements such as response speed, economy, and battery protection.

[0005] Therefore, it is necessary to provide an intelligent V2G charging and discharging system and a dynamic collaborative control method for underground parking lots to solve the problem that the automatic charging device of the existing parking garage only supports one-way charging and does not fully consider the space constraints and battery health status, and cannot meet the V2G application requirements. Summary of the Invention

[0006] In view of this, the present invention proposes an intelligent V2G charging and discharging system and a dynamic collaborative control method for an underground parking garage, aiming to solve the problem that the automatic charging device in the existing parking garage only supports one-way charging and does not fully consider space constraints and battery health status, and cannot meet V2G application requirements.

[0007] On the one hand, the present invention proposes an intelligent V2G charging and discharging system for an underground parking lot, comprising:

[0008] Parking platform for parking new energy vehicles;

[0009] A track and a trolley, wherein the track is arranged on the upper part of the parking platform, the trolley is slidably arranged on the track, and the trolley is also located on the top of the new energy vehicle;

[0010] A charge and discharge management device, fixed to the parking platform, for charging the new energy vehicle or transmitting the electric energy discharged by the new energy vehicle to the distribution network;

[0011] Among them, the charging and discharging management device includes a charging mechanism, a discharging mechanism, a charging pile and a charging and discharging control device; the charging pile is fixed on the parking platform, the input end of the charging mechanism is connected to the output end of the charging pile, the output end of the discharging mechanism is connected to the input end of the charging pile, the charging mechanism and the discharging mechanism are connected to the new energy vehicle through the car, and the charging and discharging control device is connected to the charging pile.

[0012] Furthermore, the charge and discharge management device further includes:

[0013] A collection module, communicating with the user end, for obtaining the planned discharge parameters, current battery power, and battery health score of the new energy vehicle;

[0014] A judgment module, configured to judge whether the battery power of the new energy vehicle is obtained as planned based on the planned discharge parameters and the current battery power;

[0015] The control module is used to obtain the battery power of the new energy vehicle through the discharge line according to the planned discharge parameters if the judgment module determines that the battery power is obtained as planned, and transmit the battery power to the distribution network. The control module is also used to control the discharge speed according to the battery health score.

[0016] Furthermore, the determining whether the battery power of the new energy vehicle can be obtained as planned based on the planned discharge parameter and the current battery power includes:

[0017] Setting a minimum reserved power level; if the sum of the minimum reserved power level and the planned discharge parameter is less than or equal to the current battery power level, determining that the battery power level of the new energy vehicle can be obtained as planned, and transmitting the battery power level to the charging pile through the discharge mechanism;

[0018] Otherwise, it is judged that the battery power of the new energy vehicle cannot be obtained as planned.

[0019] Furthermore, after determining that the battery power of the new energy vehicle cannot be obtained as planned, the following steps may be performed:

[0020] Comparing the current battery power with the reserved minimum power, if the current battery power is greater than the reserved minimum power, determining to control the new energy vehicle to discharge, and calculating the actual discharge power of the new energy vehicle based on the current battery power;

[0021] If the current battery power is equal to the reserved minimum power, it is determined not to charge or discharge the new energy vehicle;

[0022] If the current battery power is less than the reserved minimum power, it is determined that the new energy vehicle should be charged, and the power to be charged of the new energy vehicle is controlled according to the current battery power.

[0023] Furthermore, the actual discharged power is the difference between the current battery power and the reserved minimum power;

[0024] The amount of power to be charged is the difference between the reserved minimum amount of power and the current battery power.

[0025] Furthermore, the battery health score is obtained through the number of charge and discharge times of new energy vehicles, including:

[0026] Obtain the total number of charge and discharge times of the new energy vehicle, set a first number and a second number, and the first number is smaller than the second number;

[0027] If the total number of charge and discharge times is less than the first number, the battery health score is the first score;

[0028] If the total number of charge and discharge cycles is greater than or equal to the first number and less than the second number, the battery health score is the second score;

[0029] If the total number of charge and discharge cycles is greater than or equal to the second number of cycles, the battery health score is the third score;

[0030] The first score is greater than the second score, and the second score is greater than the third score.

[0031] Furthermore, when the control module is used to control the discharge speed according to the battery health score, it includes:

[0032] If the battery health score is the first score, the discharge speed is the first speed;

[0033] If the battery health score is the second score, the discharge speed is the second speed;

[0034] If the battery health score is the third score, the discharge speed is the third speed;

[0035] The first speed is greater than the second speed, and the second speed is greater than the third speed.

[0036] Furthermore, the user terminal supports booking charging time periods, booking discharging time periods, real-time revenue query and battery health score acquisition;

[0037] Among them, the real-time query income includes peak-valley price difference income and power grid subsidy income.

[0038] Furthermore, the trolley includes:

[0039] A sliding vehicle body is slidably arranged on the track;

[0040] A manipulator, fixed on the sliding body;

[0041] A charging port switch portion is fixed to an end of the manipulator away from the sliding vehicle body, and the charging port switch portion is in the shape of a suction cup;

[0042] a gripper, one end of which is fixed to the manipulator, and the gripper is used to grasp the charging mechanism or the discharging mechanism to connect the charging mechanism or the discharging mechanism to the new energy vehicle;

[0043] A camera is arranged on the manipulator.

[0044] On the other hand, the present application also provides a method for dynamic coordinated control of intelligent V2G charging and discharging in an underground parking lot, including:

[0045] Obtain the planned discharge parameters of new energy vehicles, the current battery power level of new energy vehicles, and the battery health score;

[0046] Determining whether the battery power of the new energy vehicle can be obtained as planned based on the planned discharge parameters and the current battery power;

[0047] If the judgment module determines that the battery power can be obtained as planned, the battery power of the new energy vehicle is obtained through the discharge line according to the planned discharge parameters, the battery power is transmitted to the distribution network, and the discharge speed is controlled according to the battery health score.

[0048] Compared with existing technologies, the present invention offers the following advantages: First, by integrating V2G (vehicle-to-grid) technology with a multi-story parking garage, it addresses the issues of one-way power supply and low space utilization in traditional underground parking garage charging facilities. The design of the track and trolley enables automatic docking of new energy vehicle charging ports, eliminating the inconvenience of manual plugging and unplugging, while also adapting to the confined spaces and high-density parking requirements of multi-story parking garages. The charging and discharging mechanisms are integrated into a single charge-discharge management device, supporting both conventional charging and feeding battery energy back to the grid, achieving bidirectional energy flow and improving energy efficiency. Second, a dynamic collaborative control method optimizes charging and discharging strategies through intelligent power management and a health scoring mechanism. It dynamically adjusts discharge speed and power distribution based on user-preset planned discharge parameters, current battery charge, and battery health status, ensuring long-term battery safety. Furthermore, the system's modular design provides excellent scalability and compatibility, adapting to the charging interface standards of different vehicle models. It also supports data interaction with smart grids and participates in advanced applications such as demand response and frequency regulation assistance services. Overall, the present invention can improve the utilization rate of underground parking space, enhance the flexibility of the power grid, optimize user benefits and extend battery life. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0050] Figure 1 A schematic diagram of the structure of an intelligent V2G charging and discharging system for an underground parking lot provided by an embodiment of the present invention;

[0051] Figure 2 Flowchart of the intelligent V2G charging and discharging dynamic coordinated control method for an underground parking lot provided by an embodiment of the present invention.

[0052] In the figure: 100, parking platform; 200, track; 300, trolley; 310, sliding body; 320, manipulator; 330, charging port switch unit; 340, gripper; 350, camera; 400, charge and discharge management device; 410, charging mechanism; 420, discharge mechanism; 430, charging pile; 440, charge and discharge control device. DETAILED DESCRIPTION

[0053] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0054] In some embodiments of this application, see Figure 1 As shown, this embodiment provides an intelligent V2G charging and discharging system for an underground parking lot, including:

[0055] Parking platform 100, used for parking new energy vehicles;

[0056] A track 200 and a trolley 300, wherein the track 200 is arranged on the upper part of the parking platform 100, and the trolley 300 is slidably arranged on the track 200, and the trolley 300 is also located on the top of the new energy vehicle;

[0057] A charge and discharge management device 400 is fixed on the parking platform 100 and is used to charge the new energy vehicle or transmit the electric energy discharged by the new energy vehicle to the power distribution network;

[0058] Among them, the charging and discharging management device 400 includes a charging mechanism 410, a discharging mechanism 420, a charging pile 430 and a charging and discharging control device 440; the charging pile 430 is fixed on the parking platform 100, the input end of the charging mechanism 410 is connected to the output end of the charging pile 430, the output end of the discharging mechanism 420 is connected to the input end of the charging pile 430, the charging mechanism 410 and the discharging mechanism 420 are connected to the new energy vehicle through the trolley 300, and the charging and discharging control device 440 is connected to the charging pile 430.

[0059] In some embodiments of the present application, the charge and discharge management device 400 further includes:

[0060] A collection module, communicating with the user end, for obtaining the planned discharge parameters, current battery power, and battery health score of the new energy vehicle;

[0061] A judgment module, configured to judge whether the battery power of the new energy vehicle is obtained as planned based on the planned discharge parameters and the current battery power;

[0062] The control module is used to obtain the battery power of the new energy vehicle through the discharge line according to the planned discharge parameters if the judgment module determines that the battery power is obtained as planned, and transmit the battery power to the distribution network. The control module is also used to control the discharge speed according to the battery health score.

[0063] As can be understood, firstly, the integration of V2G (vehicle-to-grid) technology with a multi-story parking garage addresses the issues of one-way power supply and low space utilization associated with traditional underground parking garage charging facilities. The design of the track 200 and trolley 300 enables automatic docking of new energy vehicle charging ports, eliminating the inconvenience of manual plugging and unplugging, while also accommodating the confined space and high-density parking requirements of multi-story parking garages. The charging mechanism 410 and the discharging mechanism 420 are integrated into the same charge-discharge management device 400, supporting both conventional charging and feeding battery energy back to the grid, achieving bidirectional energy flow and improving energy efficiency. Secondly, a dynamic collaborative control method optimizes charging and discharging strategies through intelligent power management and a health scoring mechanism. It dynamically adjusts discharge speed and power distribution based on user-preset planned discharge parameters, current battery charge, and battery health status, ensuring long-term battery safety. Furthermore, the system's modular design enables excellent scalability and compatibility, adapting to the charging interface standards of different vehicle models. It also supports data interaction with the smart grid, enabling participation in advanced applications such as demand response and frequency regulation assistance services. Overall, the present invention can improve the utilization rate of underground parking space, enhance the flexibility of the power grid, optimize user benefits and extend battery life.

[0064] In some embodiments of the present application, the determining whether the battery power of the new energy vehicle can be obtained as planned based on the planned discharge parameter and the current battery power includes:

[0065] Setting a minimum reserved power level. If the sum of the minimum reserved power level and the planned discharge parameter is less than or equal to the current battery power level, it is determined that the battery power level of the new energy vehicle can be obtained as planned, and the battery power level is transmitted to the charging pile 430 through the discharge mechanism 420.

[0066] Otherwise, it is judged that the battery power of the new energy vehicle cannot be obtained as planned.

[0067] In some embodiments of the present application, after determining that the battery power of the new energy vehicle cannot be obtained as planned, the steps include:

[0068] Comparing the current battery power with the reserved minimum power, if the current battery power is greater than the reserved minimum power, determining to control the new energy vehicle to discharge, and calculating the actual discharge power of the new energy vehicle based on the current battery power;

[0069] If the current battery power is equal to the reserved minimum power, it is determined not to charge or discharge the new energy vehicle;

[0070] If the current battery power is less than the reserved minimum power, it is determined that the new energy vehicle should be charged, and the power to be charged of the new energy vehicle is controlled according to the current battery power.

[0071] In some embodiments of the present application, the actual discharged power is the difference between the current battery power and the reserved minimum power;

[0072] The amount of power to be charged is the difference between the reserved minimum amount of power and the current battery power.

[0073] It is understandable that, firstly, by setting a minimum reserved power threshold, the optimal power dispatch is achieved while ensuring that the vehicle retains sufficient emergency power, which not only guarantees the user's emergency vehicle needs (such as the reserved power can support a range of more than 50km), but also maximizes participation in grid interaction; secondly, the three-level power judgment mechanism (planned discharge, partial discharge, and charging) is adopted to achieve refined energy management. When planned discharge is not feasible, the system can still intelligently select partial discharge or charging mode according to the current power, so that the battery power is always maintained in a safe and reasonable range; thirdly, the actual discharge / charge amount is accurately controlled through difference calculation, avoiding the energy waste caused by simple start-stop control. This dynamic adjustment mechanism is particularly suitable for participating in grid demand response projects. While ensuring the user's vehicle needs, it significantly improves the economy and practicality of the V2G system, and effectively extends the battery life by avoiding deep discharge.

[0074] In some embodiments of the present application, a battery health score is obtained based on the number of charge and discharge times of a new energy vehicle, including:

[0075] Obtain the total number of charge and discharge times of the new energy vehicle, set a first number and a second number, where the first number is smaller than the second number;

[0076] If the total number of charge and discharge times is less than the first number, the battery health score is the first score;

[0077] If the total number of charge and discharge cycles is greater than or equal to the first number and less than the second number, the battery health score is the second score;

[0078] If the total number of charge and discharge cycles is greater than or equal to the second number of cycles, the battery health score is the third score;

[0079] The first score is greater than the second score, and the second score is greater than the third score.

[0080] In some embodiments of the present application, when the control module is used to control the discharge speed according to the battery health score, it includes:

[0081] If the battery health score is the first score, the discharge speed is the first speed;

[0082] If the battery health score is the second score, the discharge speed is the second speed;

[0083] If the battery health score is the third score, the discharge speed is the third speed;

[0084] The first speed is greater than the second speed, and the second speed is greater than the third speed.

[0085] It is understandable that the present invention has established a scientific and reasonable battery health grading assessment system by dividing the number of battery charge and discharge cycles into three key intervals (such as <1000 times, 1000-2000 times, and ≥2000 times), thereby achieving accurate quantification of the battery attenuation state. Dynamically adjusting the discharge speed based on the health score not only fully taps the high power output potential of new batteries, but also effectively protects the safety performance of aging batteries. It is particularly worth noting that the present invention can achieve reliable health assessment through a simple count of charge and discharge times, without the need for complex battery parameter monitoring equipment, which greatly reduces the system implementation cost and provides technical feasibility for large-scale applications.

[0086] In some embodiments of the present application, the user terminal supports booking charging time periods, booking discharging time periods, real-time revenue query, and obtaining battery health scores;

[0087] Among them, the real-time query income includes peak-valley price difference income and power grid subsidy income.

[0088] As can be seen, the integration of intelligent services such as charge and discharge scheduling, revenue query, and battery health monitoring on the user side makes V2G participation transparent and convenient. Users can intuitively view the combined benefits, including peak-valley price differentials and grid subsidies. This visual design enhances user acceptance of the economic value of V2G.

[0089] In some embodiments of the present application, the trolley 300 includes:

[0090] A sliding vehicle body 310 is slidably disposed on the track 200;

[0091] A manipulator 320 is fixed on the sliding vehicle body 310;

[0092] The charging port switch portion 330 is fixed to the end of the manipulator 320 away from the sliding body 310, and the charging port switch portion 330 is in the shape of a suction cup;

[0093] A clamping claw 340 , one end of which is fixed to the manipulator 320 , and the clamping claw 340 is used to grasp the charging mechanism 410 or the discharging mechanism 420 to connect the charging mechanism 410 or the discharging mechanism 420 to the new energy vehicle;

[0094] The camera 350 is arranged on the robot arm 320 .

[0095] As is understandable, the mechanical structure of the vehicle 300, combining a suction-cup charging port switch 330 with a manipulator 320, coupled with a camera 350, enables reliable docking in complex underground environments. The suction-cup interface effectively solves the problem of blind operation in confined spaces. The collaborative design of user-friendly interaction and highly reliable mechanics not only lowers the barrier to entry for users, but also ensures stable operation in the challenging environment of a multi-story parking garage, laying a crucial foundation for the large-scale application of V2G technology.

[0096] On the other hand, see Figure 2 As shown, the present application also provides a method for dynamic coordinated control of intelligent V2G charging and discharging in an underground parking lot, which is applied to the above-mentioned intelligent V2G charging and discharging system in an underground parking lot, including the following steps:

[0097] S100, obtaining planned discharge parameters of the new energy vehicle, the current battery power of the new energy vehicle, and a battery health score;

[0098] S200, judging whether the battery power of the new energy vehicle can be obtained as planned based on the planned discharge parameters and the current battery power;

[0099] S300. If the judgment module determines that the battery power can be obtained as planned, the battery power of the new energy vehicle is obtained through the discharge line according to the planned discharge parameters, the battery power is transmitted to the power distribution network, and the discharge speed is controlled according to the battery health score.

[0100] It is understandable that the present invention first establishes a complete vehicle status portrait by acquiring multi-dimensional data such as the vehicle's planned discharge parameters, current power level, and health status in real time (step S100), providing a data basis for intelligent decision-making; secondly, it makes a discharge feasibility judgment (step S200), which not only takes into account the user's preset discharge requirements, but also ensures that the vehicle retains sufficient emergency power, effectively balancing grid services and user vehicle needs; finally, through the adaptive discharge speed control of the health score (step S300), a dynamic response to the degree of battery attenuation is achieved. New batteries can use fast-discharge mode to maximize benefits, while aging batteries automatically slow down to extend their life. This intelligent control strategy that takes into account economy, safety, and battery life provides a reliable technical guarantee for the large-scale application of V2G in underground parking scenarios.

[0101] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or a combination of software and hardware embodiments. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0102] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0103] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0104] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. An intelligent V2G charging and discharging system for an underground parking lot, characterized by: include: Parking platform for parking new energy vehicles; A track and a trolley, wherein the track is arranged on the upper part of the parking platform, the trolley is slidably arranged on the track, and the trolley is also located on the top of the new energy vehicle; A charge and discharge management device, fixed to the parking platform, for charging the new energy vehicle or transmitting the electric energy discharged by the new energy vehicle to the distribution network; Among them, the charging and discharging management device includes a charging mechanism, a discharging mechanism, a charging pile and a charging and discharging control device; the charging pile is fixed on the parking platform, the input end of the charging mechanism is connected to the output end of the charging pile, the output end of the discharging mechanism is connected to the input end of the charging pile, the charging mechanism and the discharging mechanism are connected to the new energy vehicle through the car, and the charging and discharging control device is connected to the charging pile.

2. The intelligent V2G charging and discharging system for underground parking lots according to claim 1 is characterized in that: The charge and discharge management device further includes: A collection module, communicating with the user end, for obtaining the planned discharge parameters, current battery power, and battery health score of the new energy vehicle; A judgment module, configured to judge whether the battery power of the new energy vehicle is obtained as planned based on the planned discharge parameters and the current battery power; The control module is used to obtain the battery power of the new energy vehicle through the discharge line according to the planned discharge parameters if the judgment module determines that the battery power is obtained as planned, and transmit the battery power to the distribution network. The control module is also used to control the discharge speed according to the battery health score.

3. The intelligent V2G charging and discharging system for underground parking lots according to claim 2 is characterized in that: The determining whether the battery power of the new energy vehicle can be obtained as planned based on the planned discharge parameter and the current battery power includes: Setting a minimum reserved power level; if the sum of the minimum reserved power level and the planned discharge parameter is less than or equal to the current battery power level, determining that the battery power level of the new energy vehicle can be obtained as planned, and transmitting the battery power level to the charging pile through the discharge mechanism; Otherwise, it is judged that the battery power of the new energy vehicle cannot be obtained as planned.

4. The intelligent V2G charging and discharging system for underground parking lots according to claim 3 is characterized in that: After determining that the battery power of the new energy vehicle cannot be obtained as planned, the method includes: Comparing the current battery power with the reserved minimum power, if the current battery power is greater than the reserved minimum power, determining to control the new energy vehicle to discharge, and calculating the actual discharge power of the new energy vehicle based on the current battery power; If the current battery power is equal to the reserved minimum power, it is determined not to charge or discharge the new energy vehicle; If the current battery power is less than the reserved minimum power, it is determined that the new energy vehicle should be charged, and the power to be charged of the new energy vehicle is controlled according to the current battery power.

5. The intelligent V2G charging and discharging system for underground parking lots according to claim 4 is characterized in that: The actual discharged power is the difference between the current battery power and the reserved minimum power; The amount of power to be charged is the difference between the reserved minimum amount of power and the current battery power.

6. The intelligent V2G charging and discharging system for underground parking lots according to claim 4 is characterized in that: The battery health score is obtained through the number of charge and discharge times of new energy vehicles, including: Obtain the total number of charge and discharge times of the new energy vehicle, set a first number and a second number, and the first number is smaller than the second number; If the total number of charge and discharge times is less than the first number, the battery health score is the first score; If the total number of charge and discharge cycles is greater than or equal to the first number and less than the second number, the battery health score is the second score; If the total number of charge and discharge cycles is greater than or equal to the second number of cycles, the battery health score is the third score; The first score is greater than the second score, and the second score is greater than the third score.

7. The intelligent V2G charging and discharging system for underground parking lots according to claim 6 is characterized in that: The control module is used to control the discharge speed according to the battery health score, including: If the battery health score is the first score, the discharge speed is the first speed; If the battery health score is the second score, the discharge speed is the second speed; If the battery health score is the third score, the discharge speed is the third speed; The first speed is greater than the second speed, and the second speed is greater than the third speed.

8. The intelligent V2G charging and discharging system for underground parking lots according to claim 2 is characterized in that: The user terminal supports booking charging time, booking discharging time, real-time revenue query and obtaining battery health score; Among them, the real-time query income includes peak-valley price difference income and power grid subsidy income.

9. The intelligent V2G charging and discharging system for underground parking lots according to claim 1 is characterized in that: The trolley comprises: A sliding vehicle body is slidably arranged on the track; A manipulator, fixed on the sliding body; A charging port switch portion is fixed to an end of the manipulator away from the sliding vehicle body, and the charging port switch portion is in the shape of a suction cup; a gripper, one end of which is fixed to the manipulator, and the gripper is used to grasp the charging mechanism or the discharging mechanism to connect the charging mechanism or the discharging mechanism to the new energy vehicle; A camera is arranged on the manipulator.

10. A method for dynamic coordinated control of V2G charging and discharging in an underground parking lot, applied to the intelligent V2G charging and discharging system in an underground parking lot according to any one of claims 1 to 9, characterized in that: include: Obtain the planned discharge parameters of new energy vehicles, the current battery power level of new energy vehicles, and the battery health score; Determining whether the battery power of the new energy vehicle can be obtained as planned based on the planned discharge parameters and the current battery power; If the judgment module determines that the battery power can be obtained as planned, the battery power of the new energy vehicle is obtained through the discharge line according to the planned discharge parameters, the battery power is transmitted to the distribution network, and the discharge speed is controlled according to the battery health score.

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