Charging and discharging control method and electronic device

Abstract

The application relates to the field of charging and discharging technology, and provides a charging and discharging control method and electronic equipment. The charging and discharging control method provided by the application comprises the following steps: in the case that vehicles on at least two parking spaces simultaneously have charging and discharging demands, based on the time sequence of the charging and discharging demands, a charging terminal is controlled by a mechanical arm to simultaneously charge and discharge the vehicles on the at least two parking spaces in sequence.

Description

Technical Field

[0001] This application relates to the field of charging and discharging technology, and in particular to a charging and discharging control method and electronic device. Background Technology

[0002] In related technologies, the charging and discharging system can only identify and start the charging process for a single vehicle. Therefore, the automatic charging robotic arm has low utilization efficiency and cannot meet the charging needs of two or more vehicles. Furthermore, it is not compatible with various gun retrieval methods and cannot flexibly adapt to the updates and changes in the robotic arm's gun retrieval structure. Summary of the Invention

[0003] This application aims to solve the problems in related technologies and proposes a charging and discharging control method and an electronic device.

[0004] The first aspect of this application provides a charging and discharging control method, the method comprising:

[0005] When vehicles in at least two parking spaces have charging and discharging needs at the same time, the charging terminal is controlled by a robotic arm to charge and discharge the vehicles in at least two parking spaces simultaneously, based on the time sequence of the charging and discharging needs.

[0006] In some alternative implementations, the charging terminal includes at least two charging guns. When vehicles in at least two parking spaces simultaneously require charging and discharging, the charging terminal is controlled by a robotic arm to sequentially charge and discharge the vehicles in the at least two parking spaces based on the time sequence of the charging and discharging needs. This includes:

[0007] When at least two vehicles have charging / discharging start requests, based on the time sequence of the charging / discharging start requests, the robotic arm controls at least two charging guns to start charging and discharging at least two vehicles in sequence.

[0008] Alternatively, if at least two vehicles have requests to end charging / discharging, based on the time sequence of the requests, a robotic arm controls at least two charging guns to sequentially end the charging / discharging of at least two vehicles.

[0009] In some alternative implementations, when at least two vehicles request to start charging / discharging, based on the time sequence of the charging / discharging requests, a robotic arm controls at least two charging guns to sequentially begin charging and discharging at least two vehicles, including:

[0010] If at least two vehicles request that charging / discharging be started, obtain the arrival order of the vehicles in at least two parking spaces.

[0011] Based on the arrival order of vehicles in at least two parking spaces, a robotic arm sequentially controls at least two charging guns to begin charging and discharging at least two vehicles.

[0012] In some alternative implementations, the vehicles in at least two parking spaces include a first vehicle and a second vehicle. The charging terminal includes a first charging gun, a second charging gun, and a charging pile, with the charging pile connected to the first charging gun and the charging pile connected to the second charging gun. Based on the arrival order of the vehicles in the at least two parking spaces, after the robotic arm sequentially controls at least two charging guns to start charging and discharging at least two vehicles, the process includes:

[0013] If the first vehicle arrives before the second vehicle and the first charging gun successfully charges and discharges the first vehicle, the robotic arm is controlled to disconnect the first charging gun; the robotic arm is then used to control the second charging gun to begin charging and discharging the second vehicle.

[0014] Alternatively, if the first vehicle arrives before the second vehicle and the first charging gun fails to charge or discharge the first vehicle, the robotic arm is controlled to return the first charging gun to the charging pile; the robotic arm is then controlled to connect the second charging gun to begin charging or discharging the second vehicle.

[0015] Alternatively, if the first vehicle arrives before the second vehicle and the first charging gun fails to charge or discharge the first vehicle, the robotic arm can be controlled to move the first charging gun to the second vehicle and begin charging or discharging the second vehicle.

[0016] In some alternative implementations, successful charge / discharge includes:

[0017] Vehicle-mounted gun connection signal confirmed;

[0018] Alternatively, the insertion stroke of the robotic arm is within the preset insertion distance range, and the insertion force of the gun carriage meets the first force threshold range.

[0019] In some alternative implementations, when at least two vehicles request the end of charging / discharging, based on the time sequence of the charging / discharging end requests, a robotic arm controls at least two charging guns to sequentially end the charging / discharging of at least two vehicles, including:

[0020] If at least two vehicles have requests to end charging / discharging, obtain the initiation time of the end request for at least two vehicles;

[0021] Based on the time sequence of the termination request initiation times of at least two vehicles, a robotic arm sequentially controls at least two charging guns to terminate the charging and discharging of at least two vehicles.

[0022] In some alternative implementations, the vehicles in at least two parking spaces include a first vehicle and a second vehicle. The charging terminal includes a first charging gun, a second charging gun, and a charging pile. The charging pile is connected to the first charging gun and the charging pile is connected to the second charging gun. Based on the time sequence of the termination request initiation times of at least two vehicles, a robotic arm sequentially controls at least two charging guns to terminate the charging and discharging of at least two vehicles, including:

[0023] If the charging / discharging end request of the first vehicle is earlier than the charging / discharging end request of the second vehicle, and the robotic arm successfully unplugs the first charging gun from the first vehicle, the robotic arm is first controlled to put the first charging gun back into the charging pile; then the robotic arm is controlled to connect the second charging gun to end the charging / discharging of the second vehicle.

[0024] Alternatively, if the charging / discharging end request of the first vehicle is earlier than the charging / discharging end request of the second vehicle, and the robotic arm fails to unplug the first charging gun for the first vehicle, the robotic arm is controlled to disconnect the first charging gun; the robotic arm is then controlled to control the second charging gun to end the charging / discharging of the second vehicle.

[0025] In some alternative implementations, successful gun draw includes:

[0026] The vehicle gun connection signal is disconnected;

[0027] Alternatively, the robotic arm's gun-drawing stroke meets the preset gun-drawing distance range, and the gun-drawing force of the gun carriage meets the third force threshold range.

[0028] In some alternative implementations,

[0029] The vehicles in at least two parking spaces include a first vehicle and a second vehicle. When the vehicles in at least two parking spaces simultaneously have charging and discharging needs, based on the time sequence of the charging and discharging needs, the charging terminal is controlled by a robotic arm to charge and discharge the vehicles in at least two parking spaces simultaneously. This includes: when the first vehicle has a charging and discharging start need and the second vehicle has a charging and discharging end need, obtaining the start time of the charging and discharging start need and the end time of the charging and discharging end need; based on the time sequence of the start time and end time, the charging terminal is controlled by a robotic arm to charge and discharge the at least two vehicles in sequence.

[0030] And / or, charging and discharging requirements include: scheduled charging and discharging requirements and temporary charging and discharging requirements.

[0031] In some alternative implementations, the method further includes:

[0032] If at least one vehicle has a charging / discharging requirement and the robotic arm malfunction is resolved, at least one charging gun is controlled by the robotic arm to charge / discharge at least one vehicle.

[0033] In some alternative implementations, when at least one vehicle has a charging / discharging requirement and the robotic arm malfunction is resolved, the robotic arm controls at least one charging gun to charge / discharge at least one vehicle, including:

[0034] If at least one vehicle has a charging / discharging requirement, and the robotic arm is unexpectedly interrupted, loses power, and / or collides, control the robotic arm to stop.

[0035] In the event that the robotic arm malfunctions and is resolved, at least one charging gun is controlled by the robotic arm to charge and discharge at least one vehicle.

[0036] In some alternative implementations, when at least one vehicle has a charging / discharging requirement and the robotic arm malfunction is resolved, the robotic arm controls at least one charging gun to charge / discharge at least one vehicle, including:

[0037] If at least one vehicle has a charging / discharging requirement and there is a foreign object within the working range of the robotic arm, control the robotic arm to slow down or stop.

[0038] When there are no foreign objects within the working range of the robotic arm, the robotic arm controls at least one charging gun to charge and discharge at least one vehicle.

[0039] In some alternative implementations, when at least one vehicle has a charging / discharging requirement and there is a foreign object within the working range of the robotic arm, controlling the robotic arm to slow down or stop includes:

[0040] If at least one vehicle has a charging / discharging requirement and there is a foreign object within the working range of the robotic arm, control the robotic arm to slow down.

[0041] If a foreign object remains within the working range of the robotic arm for a duration exceeding a first time threshold, the robotic arm will be stopped.

[0042] In some alternative implementations, when there are no foreign objects within the working range of the robotic arm, the robotic arm controls at least one charging gun to charge and discharge at least one vehicle, including:

[0043] If the duration of the presence of a foreign object within the working range of the robotic arm is less than a first time threshold, the robotic arm controls at least one charging gun to charge and discharge at least one vehicle.

[0044] Alternatively, if the duration of the presence of a foreign object within the working range of the robotic arm is less than a second time threshold, the robotic arm controls at least one charging gun to charge and discharge at least one vehicle.

[0045] The first time threshold is less than the second time threshold.

[0046] A second aspect of this application provides a computer-readable storage medium including a computer program that, when run on a computer device, causes the computer device to perform the aforementioned charge-discharge control method.

[0047] A third aspect of this application provides an electronic device, comprising:

[0048] A memory on which computer programs are stored;

[0049] A processor is used to execute a computer program in memory to implement the described charge / discharge control method.

[0050] In summary, this application can achieve at least the following technical effects:

[0051] The charging and discharging control method of this application, when vehicles in at least two parking spaces have charging and discharging needs at the same time, controls the charging terminal to charge and discharge the vehicles in at least two parking spaces simultaneously through a robotic arm based on the time sequence of the charging and discharging needs; it realizes automatic charging and discharging management of vehicles in multiple parking spaces with one charging pile, solves the matching problem of automatic charging of multiple vehicles in multiple parking spaces, improves the utilization efficiency of the charging and discharging system, enhances the safety of the charging process, reduces manual intervention, and realizes fully automated management of the entire process from vehicle arrival, charging start, charging end to obstacle response. Attached Figure Description

[0052] Figure 1 This is a schematic diagram of the charging and discharging system in Embodiment 1 of this application;

[0053] Figure 2 This is a flowchart of the charging and discharging control activation process in Embodiment 1 of this application;

[0054] Figure 3 This is a flowchart illustrating the end of charge / discharge control in Embodiment 1 of this application;

[0055] Figure 4 This is a flowchart of a robotic arm malfunction in the charging and discharging control method of Embodiment 1 of this application. Detailed Implementation

[0056] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0057] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0058] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0059] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0060] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0061] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0062] Example 1:

[0063] Embodiment 1 of this application provides a charging and discharging control method, the method comprising:

[0064] When vehicles in at least two parking spaces have charging and discharging needs at the same time, the charging terminal is controlled by a robotic arm to charge and discharge the vehicles in at least two parking spaces simultaneously, based on the time sequence of the charging and discharging needs.

[0065] By using a robotic arm as a shared execution unit, dynamically switching between vehicles in different parking spaces and charging terminals, this method enables concurrent scheduling of a single robotic arm serving multiple parking spaces. This breaks through the traditional "one charging station, one vehicle" binding limitation, significantly improving equipment utilization. This method does not rely on a fixed mapping relationship between parking spaces and charging terminals. Instead, it uses time-series priority scheduling to ensure the robotic arm sequentially executes the insertion and removal of charging terminals for vehicles in multiple parking spaces according to the order in which requests are initiated, ensuring service fairness and maximizing system throughput. It achieves automatic charging and discharging management of vehicles in multiple parking spaces with a single charging station, solving the matching problem of automatic charging for multiple vehicles in multiple parking spaces, improving the efficiency of the charging and discharging system, enhancing the safety of the charging process, reducing manual intervention, and realizing fully automated management from vehicle arrival, charging start, charging end to obstacle response.

[0066] Charge / discharge start requests include: charging start request, discharging start request, charging end request, and discharging end request.

[0067] Parking spaces are primarily used for vehicles to park while charging and discharging at charging terminals. One charging terminal can charge and discharge vehicles in at least two parking spaces. Each parking space can accommodate one vehicle, so at least two parking spaces can accommodate at least two vehicles. A charging terminal can simultaneously charge (plug in, unplug out) and discharge (plug in, unplug out) at least two vehicles parked in at least two parking spaces. The vehicle is the primary recipient of charging.

[0068] like Figure 1As shown, a charging and discharging system includes a charging terminal, a robotic arm, and a controller, which can communicate with each other via protocol messages to realize an automatic charging control process. The charging terminal is suitable for charging and discharging vehicles in at least two parking spaces. The charging terminal outputs charging current, supports multi-parking space charging, and forwards charging completion information. The robotic arm is detachably connected to the charging terminal; it performs actions such as inserting, removing, and returning the charging gun; the robotic arm is compatible with various gun retrieval methods, including magnetic connection between the robotic arm and the charging gun, gripper connection, dexterous hand connection, and external moving device connection. The controller is connected to both the charging terminal and the robotic arm. The controller is configured to control the robotic arm to enable the charging terminal to simultaneously charge and discharge vehicles in at least two parking spaces, thus forming a dual-parking-space vehicle automatic charging management system. The robotic arm can serve vehicles in two parking spaces. The controller controls the actions of the robotic arm, the charging terminal, and the detection device on the charging terminal. The charging terminal includes a detection device connected to a controller; the detection device is used to detect whether there is a vehicle in the parking space, and / or, the detection device is used to detect whether there are foreign objects within the working range of the robotic arm; the detection device monitors the vehicle and the working area of ​​the robotic arm in real time through a camera or sensor, and sends a deceleration or stop command to the controller when an obstacle is detected.

[0069] The working range of the robotic arm is the maximum area it can reach. For example, when the charging terminal can charge vehicles in two parking spaces, and one end of the robotic arm is connected to the charging terminal, the working range of the robotic arm is the area formed in space with the connection point between the robotic arm and the charging terminal as the center and the maximum arm length of the robotic arm as the radius. The robotic arm can be at least one of the following: a magnetic robotic arm, a gripper robotic arm, a dexterous hand robotic arm, or a robotic arm with an external moving device (the robotic arm and the charging terminal are separate); it is compatible with various robotic arm gun retrieval methods, improving the system's flexibility and adaptability.

[0070] The charging terminal includes a first charging gun and a second charging gun. The first charging gun is detachably connected to the robotic arm, and the second charging gun is detachably connected to the robotic arm.

[0071] The charging terminal includes an interconnected charging gun and a charging pile, with the charging gun detachably connected to the robotic arm;

[0072] The charging and discharging system also includes a cloud server, which is connected to the controller and is adapted to connect to the vehicle. The cloud server is configured to receive charging and discharging reservation information from the vehicle, and / or, the cloud server is configured to determine whether there is charging and discharging reservation information corresponding to the vehicle in the parking space. The cloud server is used to manage the issuance of charging instructions, storage of vehicle information, and allocation of charging orders, in order to handle logical judgments in the charging process (such as reservation checks, parking space allocation, and sequence judgments).

[0073] The charging and discharging control method in this embodiment includes power transfer (charging) from the charging terminal to the vehicle, and power transfer (discharging) from the vehicle to the charging terminal. The flow of the charging and discharging control method is as follows:

[0074] Step S001: Start the charging process. Vehicle entry detection: The charging terminal camera or sensor identifies vehicle information and uploads it to the cloud server; Reservation judgment: If the vehicle has a reservation record, the cloud server allocates a parking space and guides the vehicle to the designated location; if there is no reservation record, the vehicle automatically parks in an empty parking space; Charging order confirmation: After the vehicle arrives, a charging order is generated and uploaded to the cloud server.

[0075] Step S002: Charging Sequence and Execution. Dual Order Processing: If the charging station receives two charging orders, the vehicle that arrives first will be processed first. Charging Status Monitoring: If charging is normal (the voltage is within the normal range upon connection of the charging gun, or the robotic arm's stroke and insertion force reach the set threshold), the robotic arm will return to its position; if charging or discharging fails (the voltage is abnormal upon connection of the charging gun, or the robotic arm's stroke and insertion force do not reach the set threshold), the robotic arm will return to its position and a fault will be reported.

[0076] Step S003: End the charging process. End condition trigger: The vehicle is fully charged or the user actively ends the charging process; the signal is uploaded to the cloud server. Gun removal order determination: If two orders end simultaneously, the vehicle that initiated the end command first is processed first. With only one order, the robotic arm automatically moves to the vehicle to retrieve and remove the charging gun.

[0077] Step S004: Obstacle Detection and Response. Obstacle Recognition: The charging terminal detection device monitors the working area of ​​the robotic arm in real time. Upon detecting an obstacle, it sends a deceleration command, causing the robotic arm to slow down. If the obstacle persists, the robotic arm's movement is paused until the obstacle is removed. If the obstacle remains for an extended period, the robotic arm returns to its original position and reports an anomaly. Upon detecting a collision during self-detection, the robotic arm stops its movement until a reset message is received.

[0078] This embodiment boasts strong technical compatibility, supporting both scheduled and non-scheduled modes, making it suitable for various usage scenarios. It features efficient scheduling, intelligently managing the matching of vehicles and charging stations through a cloud server to optimize charging efficiency. It offers high safety with obstacle detection and motion deceleration mechanisms to ensure safe operation of the robotic arm. It also demonstrates strong reliability with real-time monitoring of charging status, automatic fault return and feedback, reducing manual intervention. Furthermore, it is applicable to various connection structures between robotic arms and charging guns, exhibiting excellent applicability.

[0079] By utilizing multi-source data, such as parking space detection / vehicle detection modules, vehicle arrival detection is performed and the information is forwarded to the cloud server. The cloud server determines the task sequence and then initiates the robotic arm's actions to perform the following actions: retrieving the charging gun (the robotic arm retrieves the charging gun from the charging terminal), inserting the charging gun (the robotic arm inserts the charging gun into the vehicle's charging / discharging port), and removing the charging gun (the robotic arm removes the charging gun from the vehicle's charging / discharging port). This allows for charging multiple vehicles. The gun retrieval process can be compatible with various methods, including magnetic suction, grippers, and dexterous hands. This solves the problem of determining the order in which vehicles in two parking spaces start / stop charging. It achieves automatic determination of the charging sequence and the order in which the charging gun is removed, efficiently scheduling the robotic arm's work.

[0080] For scenarios where a single charging system charges multiple parking spaces, the system determines the order in which charging begins: Vehicle arrival is detected; after successful insertion of the charging gun, the robotic arm returns to its original position, then retrieves the charging gun and begins charging another vehicle. This addresses the matching issue between multiple parking spaces and the charging system by determining the sequential actions of the robotic arm at the start of charging at multiple parking spaces.

[0081] In some alternative implementations, the charging terminal includes at least two charging guns. When vehicles in at least two parking spaces simultaneously require charging and discharging, the charging terminal is controlled by a robotic arm to sequentially charge and discharge the vehicles in the at least two parking spaces based on the time sequence of the charging and discharging needs. This includes:

[0082] When at least two vehicles have charging / discharging start requests, based on the time sequence of the charging / discharging start requests, a robotic arm controls at least two charging guns to sequentially start charging and discharging at least two vehicles.

[0083] The charging / discharging start request is initiated through the user terminal or the vehicle's battery management system (BMS). This request includes a timestamp (accurate to milliseconds), vehicle identification number (VIN), and charging power requirement, and is uploaded to a cloud server. The cloud server then transmits this information to the controller. The controller sorts the charging / discharging start requests by timestamp and connects the robotic arm to at least two charging guns. The robotic arm delivers the at least two charging guns to the charging / discharging ports of at least two vehicles in chronological order, charging at least two vehicles. For example, if the charging / discharging start request is issued by the user terminal (vehicle-side or mobile-side), and the first vehicle's request is initiated at 10:00:05 while the second vehicle's request is initiated at 10:00:12, even if the second vehicle arrives at the parking space first, the charging / discharging system will prioritize scheduling the robotic arm to serve the first vehicle. The robotic arm moves sequentially to the corresponding parking space according to the optimal trajectory generated by the path planning module, performing the charging gun insertion action to ensure strict correspondence between the action and the request, avoiding charging conflicts caused by timing discrepancies.

[0084] In some alternative implementations, when at least two vehicles request to start charging / discharging, based on the time sequence of the charging / discharging requests, a robotic arm controls at least two charging guns to sequentially begin charging and discharging at least two vehicles, including:

[0085] If at least two vehicles request that charging / discharging be started, obtain the arrival order of the vehicles in at least two parking spaces.

[0086] Based on the arrival order of vehicles in at least two parking spaces, a robotic arm sequentially controls at least two charging guns to begin charging and discharging at least two vehicles.

[0087] An "arrival order" is introduced as an auxiliary scheduling factor, meaning that the charging / discharging start request is issued by the vehicle presence detection device in the parking space. The charging / discharging system detects the vehicle's parking time in real time through a geomagnetic sensor or visual recognition module, and uses this as the time for the charging / discharging start request.

[0088] If the first vehicle arrives early without a reservation (e.g., arrives at 10:00 but initiates a request at 10:01), and the second vehicle fails to arrive on time (e.g., reserved for 10:00 but arrives at 10:08), the system will sort vehicles according to their actual arrival time. This mechanism takes into account the uncertainty of user behavior and prevents unfair scheduling due to network latency or operational delays.

[0089] In some alternative implementations, the vehicles in at least two parking spaces include a first vehicle and a second vehicle. The charging terminal includes a first charging gun, a second charging gun, and a charging pile, with the charging pile connected to the first charging gun and the charging pile connected to the second charging gun. Based on the arrival order of the vehicles in the at least two parking spaces, after the robotic arm sequentially controls at least two charging guns to start charging and discharging at least two vehicles, the process includes:

[0090] If the first vehicle arrives before the second vehicle and the first charging gun successfully charges and discharges the first vehicle, the robotic arm is controlled to disconnect the first charging gun; the robotic arm then controls the second charging gun to begin charging and discharging the second vehicle.

[0091] A "success-switching" closed loop is established: When the dual conditions of the first vehicle arriving early and the first charging gun successfully charging and discharging it are met, the system controls the robotic arm to disconnect the first charging gun, ending the charging and discharging of the first vehicle. The first charging gun remains at the charging / discharging port of the first vehicle, where it continues to charge and discharge. The system then controls the second charging gun via the robotic arm to begin charging and discharging the second vehicle. Specifically, the end effector of the robotic arm moves to the position of the second charging gun and connects to the second charger. The robotic arm then moves the second charging gun to the charging / discharging port of the second vehicle to perform the insertion action, confirming that the second charging gun has successfully charged and discharged the second vehicle. The entire process is completed automatically, with minimal time consumption and high efficiency.

[0092] The criteria for successful charging and discharging are as follows: the first charging gun is equipped with a voltage detection module, an end encoder, and a gun insertion force sensor; the voltage detection module collects the voltage at the gun connection end, which is stable within the first voltage threshold range (e.g., 150V~1500V) for more than the first preset time, and the end encoder of the robotic arm reports that the gun insertion stroke is greater than 10m, and the force value detected by the gun insertion force sensor is within the first force threshold range (e.g., 60~120N).

[0093] In some alternative implementations, if the first vehicle arrives before the second vehicle and the first charging gun fails to charge or discharge the first vehicle, the robotic arm is controlled to return the first charging gun to the charging pile; the robotic arm is then controlled to connect the second charging gun to begin charging or discharging the second vehicle.

[0094] If the first vehicle arrives early, but the first charging gun fails to charge or discharge it, the system immediately stops charging the first vehicle. The robotic arm slowly returns the first charging gun to the charging station along the original path. Simultaneously, a self-cleaning process (air blowing dust removal and infrared detection) is initiated. Information about the charging failure is communicated via voice and online platforms to prompt maintenance personnel for timely repairs and to alert the vehicle owner to check, restart charging / discharging, change parking spaces, and schedule a charging / discharging time. After confirming the first charging gun has reset, the robotic arm begins the charging / discharging process for the second vehicle, using the second charging gun to perform the plug-in process. This strategy ensures that the system maintains overall service availability even in the event of a partial failure.

[0095] The criteria for determining charging / discharging failure are as follows: The voltage remains within the second voltage threshold range (e.g., 0V~90V) for more than a second preset time after insertion; or the current output is within the first current threshold range (e.g., 0A~5A) for more than a third preset time (e.g., 1s~5s); or the communication protocol handshake fails during the charging / discharging initiation phase. The force value detected by the insertion force sensor is within the second force threshold range (e.g., 5N~40N, or >140N).

[0096] In some alternative implementations, if the first vehicle arrives before the second vehicle and the first charging gun fails to charge or discharge the first vehicle, the robotic arm is controlled to move the first charging gun to the second vehicle and begin charging or discharging the second vehicle.

[0097] This embodiment is a variation of the above scheme. When the first charging gun has poor contact but the gun body is undamaged, the system does not immediately return it to the charging station. Instead, it directly pulls the first charging gun out of the first vehicle and controls it to move along the shortest path to the charging / discharging port of the second vehicle, dynamically adjusting the insertion angle through a visual recognition module. If the connection is successful, charging starts immediately; if it still fails, it switches to the aforementioned return-to-charging-station strategy. This saves time on returning the first charging gun and improves charging / discharging efficiency.

[0098] In some alternative implementations, successful charging / discharging includes: confirmation of the vehicle gun connection signal;

[0099] The vehicle gun connection signal (CC signal) confirmation includes at least one of the following: the vehicle gun connection confirmation voltage is within the first voltage threshold range, the current is within the normal charging current range (e.g., 50~1000A), the CC signal confirms the connection, and the CAN signal confirms successful communication.

[0100] The CC signal (Connection Confirmation) is a safety mechanism in AC charging of new energy vehicles that verifies the reliability of the physical connection between the charging gun and the vehicle interface by detecting changes in circuit resistance / voltage. A normal signal indicates that the connection has been confirmed, and the subsequent charging handshake process can proceed.

[0101] The first voltage threshold range is set according to a standard, such as 150V~1500V. The voltage detection module has a sampling frequency of 1kHz~20kHz, which can effectively filter out transient interference and ensure the accuracy of the judgment.

[0102] The vehicle charging gun connection confirmation voltage is a circuit connection signal transmitted through the CC1 and CC2 signal lines in the charging gun during the vehicle charging process. It is used to confirm the physical connection status between the vehicle and the charging gun and is part of the charging handshake protocol.

[0103] In some alternative implementations, successful charging and discharging includes: the insertion stroke of the robotic arm is within a preset insertion distance range, and the insertion force of the gun carriage meets a first force threshold range.

[0104] The preset insertion distance range is set based on factors such as parking space size, charging cable length, and charging pile location, such as 80mm~90mm. The insertion force refers to the force applied by the charging gun when inserted into the vehicle's charging / discharging port. The first force threshold range is set based on the structure of the charging gun and the vehicle's charging / discharging port to ensure appropriate contact pressure, such as 60~120N.

[0105] The combination of gun insertion stroke and gun carriage insertion force can effectively distinguish between "false connection" and "true connection" with high accuracy.

[0106] The charging and discharging system receives commands from a cloud server, and the controller moves the robotic arm and charging terminal accordingly. Figure 2 As shown, the charging and discharging control method in this embodiment initiates the charging process as follows:

[0107] When a vehicle enters the charging terminal, the charging terminal detection device uses multi-source data to determine the vehicle information and upload it to the cloud server. The detection device can be a charging terminal camera. The collected vehicle information includes license plate number, vehicle photo, vehicle brand, vehicle model, vehicle charging / discharging port position (left / right, high / low), vehicle charging / discharging port opening method (electric opening, manual opening), and whether the vehicle has a blocked cover, etc.

[0108] When the cloud server receives vehicle information, it determines whether the vehicle has a scheduled charging record.

[0109] When a reservation charging record is found, it is determined that the vehicle has a reservation. A parking space is allocated to the vehicle and guidance is provided. The guidance methods include in-vehicle map navigation guidance, charging terminal sign guidance, external voice guidance, charging terminal indicator light guidance, charging terminal light guidance, and charging terminal large screen guidance. The guidance scope includes guidance on available / allocated parking spaces, optimal route guidance, and guidance on the front and rear parking distances and left and right parking distances of the vehicle to the charging space.

[0110] If no charging reservation record is found, it is determined that the vehicle has not made a reservation and will automatically park in an available parking space. This parking method can include user parking, assisted parking, automatic parking, valet parking, etc.

[0111] When there is a vacant parking space, the vehicle can park directly in the vacant charging space; when there is no vacant parking space, the vehicle can park in the charging terminal waiting area to wait, or roam within the charging terminal until a vacant parking space becomes available.

[0112] When a vehicle arrives at a parking space, a charging order is sent to the cloud server. The sending of this order may include scanning a QR code with a mobile application to open the order, selecting a charging space / charging pile / charging gun on-site with the mobile application, the user confirming the charging after a pop-up window on the vehicle's infotainment system, and the vehicle's infotainment system selecting a charging space / charging pile / charging gun.

[0113] When the cloud server receives a charging order, it determines whether there are two charging orders pending to be processed at the same time for the parking spaces on the left and right sides of the charging pile.

[0114] When there are two charging orders waiting to be processed at a charging station, the order of vehicle arrival can be determined. This determination can be made through the camera of the charging terminal, the camera of the charging terminal, or the wireless interaction between the vehicle and the charging terminal / controller / robotic arm. The wireless interaction includes radio frequency, Bluetooth, RFID, UWB and other methods.

[0115] When it is determined that the first vehicle arrives at the parking space first, the information is forwarded to the controller. The controller issues an instruction to charge the first vehicle first. After receiving the instruction, the robotic arm completes the operations of retrieving the charging gun, aligning it, and inserting it. The retrieving of the charging gun refers to retrieving the charging gun from the charging pile. The connection method for the robotic arm to retrieve the charging gun can be magnetic connection between the robotic arm and the charging gun, gripper connection between the robotic arm and the charging gun, dexterous hand connection between the robotic arm and the charging gun, or external moving device connection between the robotic arm and the charging gun.

[0116] After a period of time after the charging command is issued, it is determined whether the voltage of the charging gun connection is within the normal charging range, or whether the movement stroke of the robotic arm has reached the preset insertion distance range, and whether the insertion force of the robotic arm has reached the first force threshold range. The movement stroke is fed back by the robotic arm motion control system, and the insertion force can be fed back by the force sensor at the end of the robotic arm, or by the joint torque sensor inside the robotic arm, or estimated by the change in joint current.

[0117] When the charging gun connection is confirmed to be within the normal charging range, the charging / discharging is determined to be successful, and a successful charging / discharging message is returned to the controller. The controller then sends a signal to control the robotic arm to return to the charging gun. Alternatively, when the robotic arm's movement reaches the national standard gun insertion distance and the insertion force feedback reaches the threshold, the charging / discharging is determined to be successful, and a successful charging / discharging message is returned to the controller. The controller then sends a signal to control the robotic arm to return to the charging gun. If there are no orders at the other parking space, the robotic arm can return the charging gun to its holder. If there are orders at the other parking space, the robotic arm can directly retrieve another charging gun to charge the vehicle at that parking space.

[0118] If the voltage of the charging gun connection is not within the normal charging range, the charging / discharging is determined to be a failure, and a charging / discharging failure message is returned to the controller. The controller then sends a signal to control the robotic arm to return to the charging gun. Alternatively, if the robotic arm's movement stroke does not reach the national standard gun insertion distance or the insertion force feedback does not reach the threshold, the charging / discharging is determined to be a failure, and a charging / discharging failure message is returned to the controller. The controller then sends a signal to control the robotic arm to return to the charging gun.

[0119] In some embodiments, the charging terminal includes at least two charging guns. When vehicles in at least two parking spaces simultaneously have charging and discharging needs, based on the time sequence of the charging and discharging needs, the charging terminal is controlled by a robotic arm to sequentially charge and discharge the vehicles in at least two parking spaces simultaneously, including:

[0120] When at least two vehicles have requests to end charging / discharging, based on the time sequence of the requests, a robotic arm controls at least two charging guns to sequentially end the charging / discharging of at least two vehicles.

[0121] The charge / discharge completion request can be sent by the user's mobile device, the vehicle, or calculated from the user's scheduled time and scheduled charge / discharge amount. This mechanism supports personalized services and provides precise time boundaries for the billing system.

[0122] Users can proactively initiate a termination request through the application software. The system records the request timestamp, forming a "termination request queue". For example, if the first vehicle requests to terminate charging / discharging at 11:55 and the second vehicle requests to terminate charging / discharging at 11:57, the system will prioritize processing the request from the first vehicle.

[0123] The order in which the charging guns are removed is determined by the order in which the terminal receives the charging completion signal. The robotic arm removes the guns and performs the charging settlement process. The gun removal can be done in various ways, including magnetic suction, grippers, and dexterous hands. This addresses the matching problem between dual-position vehicles and the charging / discharging system, and determines the order in which the robotic arm removes the guns after charging is completed in both positions.

[0124] In some alternative implementations, when at least two vehicles request the end of charging / discharging, based on the time sequence of the charging / discharging end requests, a robotic arm controls at least two charging guns to sequentially end the charging / discharging of at least two vehicles, including:

[0125] If at least two vehicles have requests to end charging / discharging, obtain the initiation time of the end request for at least two vehicles;

[0126] Based on the time sequence of the termination request initiation times of at least two vehicles, a robotic arm sequentially controls at least two charging guns to terminate the charging and discharging of at least two vehicles.

[0127] The system backend maintains a queue of "charge / discharge completion requests." Each request includes the vehicle identification number, request time, current charging status, and request type. The scheduler can sort these requests in ascending order by time, and the robotic arm executes the gun removal operation sequentially according to the queue. This allows for orderly and rapid control of the robotic arm to complete the gun removal operation for multiple vehicles during charging / discharging.

[0128] In some alternative implementations, the vehicles in at least two parking spaces include a first vehicle and a second vehicle. The charging terminal includes a first charging gun, a second charging gun, and a charging pile. The charging pile is connected to the first charging gun and the charging pile is connected to the second charging gun. Based on the time sequence of the termination request initiation times of at least two vehicles, a robotic arm sequentially controls at least two charging guns to terminate the charging and discharging of at least two vehicles, including:

[0129] If the charging / discharging end request of the first vehicle is earlier than the charging / discharging end request of the second vehicle, and the robotic arm successfully unplugs the first charging gun from the first vehicle, the robotic arm is first controlled to put the first charging gun back into the charging pile; then the robotic arm is controlled to connect the second charging gun to end the charging / discharging of the second vehicle.

[0130] After receiving the charging / discharging completion request from the first vehicle, the charging / discharging system releases the power circuit of the first charging gun. After confirming that the first vehicle has successfully unplugged the gun, the robotic arm carries the first charging gun back to the charging pile and places the first charging gun back into its insertion position (charging gun socket) on the charging pile. The first charging gun can then perform a self-test. The robotic arm then turns to the second vehicle to perform the unplugging operation of the second charging gun, thereby maximizing the efficiency of resource reuse.

[0131] The criteria for successfully drawing the gun are: the voltage drops to the third voltage threshold range (e.g., 0V~60V), or the robotic arm's gun-drawing stroke meets the preset gun-drawing distance range, or the gun-drawing force of the gun carriage is greater than the third force threshold range.

[0132] In some alternative implementations, if the charging / discharging end request of the first vehicle is earlier than the charging / discharging end request of the second vehicle, and the first charging gun of the robotic arm fails to unplug from the first vehicle, the robotic arm is controlled to disconnect the first charging gun; the second charging gun is controlled by the robotic arm to end the charging / discharging of the second vehicle.

[0133] After the first charging gun fails to disconnect, feedback is provided via voice, online platform, and warning lights to alert maintenance personnel and vehicle owners to promptly check and restart the disconnection process. Following the disconnection failure warning, while awaiting further repairs and operations on the first vehicle, the robotic arm decisively disconnects the first charging gun, facilitating maintenance between the first charging gun and the first vehicle and avoiding any interference from the robotic arm. Simultaneously, the disconnected robotic arm moves to the charging / discharging port of the second vehicle that subsequently issued a charging / discharging completion request, connects to the second charging gun, and performs the disconnection operation. After successful disconnection, the second charging gun is returned to the charging gun socket of the first charging gun.

[0134] After the second vehicle's charging gun is disconnected, the disconnection process for the first vehicle is reviewed: if manual intervention for the first vehicle's charging gun is not yet available, or if manual intervention is ineffective, the robotic arm can automatically or, with permission, move to the location of the first charging gun and connect to it. The robotic arm uses low-frequency vibration to assist in disengaging the first charging gun from the first vehicle. This solution prioritizes the service experience for the majority of users, improves charging gun disconnection efficiency, and enhances the user experience.

[0135] The criteria for determining a failed gun draw are: the voltage is within the fourth voltage threshold range (e.g., 90V~500V), or the robotic arm's gun draw stroke does not meet the preset gun draw distance, or the gun carriage's gun draw force is greater than the third force threshold range or less than the fourth force threshold range.

[0136] In some alternative implementations, successful gun removal includes: the gun connection signal being disconnected.

[0137] Disconnection of the vehicle gun connection signal includes at least one of the following: the vehicle gun connection confirmation voltage is in the third voltage threshold range and the current is in the end charging current range (e.g., <1A), the insulation detection is normal, the CC signal is disconnected, or the CAN communication confirms that charging has ended.

[0138] For the third voltage threshold range, such as 0V~60V, differential sampling is used for voltage detection to eliminate common-mode interference and ensure accurate judgment under strong electromagnetic environment.

[0139] In some alternative implementations, successful gun withdrawal includes: the withdrawal stroke of the robotic arm meets a preset gun withdrawal distance range, and the gun withdrawal force of the gun carriage meets a third force threshold range.

[0140] The preset gun-pulling distance range is set comprehensively based on factors such as parking space size, charging cable length, and charging pile location, such as 80mm~90mm, and the third force threshold range is 0N~50N. The combination of gun-pulling stroke and gun-pulling force effectively distinguishes between "mechanical retraction but not disengaged" and "truly pulled out," significantly reducing the false judgment rate.

[0141] In some alternative implementations, the vehicles in at least two parking spaces include a first vehicle and a second vehicle; when the vehicles in at least two parking spaces simultaneously have charging and discharging needs, based on the time sequence of the charging and discharging needs, a robotic arm controls the charging terminal to sequentially charge and discharge the vehicles in at least two parking spaces simultaneously, including:

[0142] When the first vehicle has a charging / discharging start requirement and the second vehicle has a charging / discharging end request, the start time of the charging / discharging start requirement and the end time of the charging / discharging end request are obtained; based on the time sequence of the start and end times, the charging terminal is controlled by the robotic arm to charge and discharge at least two vehicles sequentially.

[0143] It is applicable to the hybrid scheduling control of "charge / discharge start request" and "charge / discharge end request". Both are based on the time sequence control of the robotic arm to control the charging and discharging of vehicles in at least two parking spaces. The standard is uniform and the control is efficient.

[0144] For example, if the first vehicle initiates a charging / discharging start request at 10:05 and the second vehicle initiates a charging / discharging end request at 10:03, the charging / discharging system will prioritize processing the second vehicle's charging / discharging end request, unplugging the charging gun for the second vehicle before plugging in the charging gun for the first vehicle, thus avoiding a stalemate where "new users wait for old users to finish" and shortening waiting time during peak hours.

[0145] In some alternative implementations, the charging and discharging requirements include: scheduled charging and discharging requirements and temporary charging and discharging requirements.

[0146] Users can set their scheduled charging and discharging needs in advance on their mobile applications (e.g., "Charging tomorrow from 8:00 to 10:00"). The charging and discharging system reserves charging resources and plans routes in advance.

[0147] Temporary charging and discharging needs are initiated immediately after a vehicle arrives at a charging or discharging location or charging space, and are dynamically inserted into the queue.

[0148] Both types of requests are sorted by timestamp, and scheduled charging and discharging requests have "priority locking" privileges: if scheduled charging and discharging requests conflict with temporary charging and discharging requests, the system prioritizes scheduled charging and discharging requests, while temporary charging and discharging requests enter the waiting queue, improving the certainty of service for high-value users.

[0149] like Figure 3 As shown, the charging and discharging control method in this embodiment terminates the charging process as follows:

[0150] When the first vehicle is fully charged or the user voluntarily ends charging, a signal is sent, and the terminal forwards the signal to the controller. The signal for the user to voluntarily end charging may include a charging end order sent by a mobile application or a charging end order sent by the vehicle's infotainment system. The signal for a fully charged vehicle includes the vehicle's SOC information remaining unchanged for a certain period of time, or the charging pile no longer supplying current for a certain period of time.

[0151] When the controller receives the charging end information, it determines whether there are two charging end orders pending processing at the charging pile at the same time. These orders include orders where the user voluntarily ends the charging and orders where the user voluntarily ends the charging upon receiving a fully charged signal.

[0152] When the controller does not find two pending completed charging orders, it determines that there is no need to unplug the charging gun simultaneously and issues a command for the robotic arm to move to the first vehicle to retrieve the charging gun. This movement includes moving from the standby state to the charging / discharging port of the first vehicle, and also moving from the motion process to the charging / discharging port of the first vehicle after the charging action for the second vehicle is completed. After moving to the designated position, the robotic arm returns to the marked position of the first vehicle. The connection method for the robotic arm to retrieve the charging gun can be magnetic connection between the robotic arm and the charging gun, gripper connection between the robotic arm and the charging gun, dexterous hand connection between the robotic arm and the charging gun, or external moving device connection between the robotic arm and the charging gun.

[0153] When the robotic arm moves into position and the terminal determines that the charging gun has been unlocked, the controller issues a command to remove the gun, and the first vehicle completes the gun removal operation. The charging gun can be unlocked by pressing it from the outside of the robotic arm, by pressing it from the electric magnetic engagement device inside the charging gun, or by unlocking it automatically through the internal electric drive mechanical structure. Successful gun removal is determined by whether the voltage of the charging gun vehicle connection is disconnected, whether the movement stroke of the robotic arm has reached the preset gun removal distance range, and whether the gun removal force of the robotic arm has reached the third force threshold range. The movement stroke is fed back by the motion control system of the robotic arm body, and the gun removal force can be fed back by the force sensor at the end of the robotic arm, by the joint torque sensor inside the robotic arm, or estimated by the change in joint current.

[0154] When the controller finds two pending charging termination orders, it determines the order initiation time and identifies the vehicle that initiated the charging termination order first. These orders include those where the user terminates charging voluntarily and those where the user terminates charging voluntarily upon receiving a full charge signal.

[0155] When the robotic arm successfully removes the charging gun, it sends a signal back to the terminal and controller. The controller then determines whether there is a new order for the parking space. This order includes scanning a QR code to open the parking space via a mobile application, selecting the charging parking space / charging pile / charging gun on-site via the mobile application, confirming charging after a pop-up window on the vehicle's infotainment system, and selecting the charging parking space / charging pile / charging gun on the vehicle's infotainment system.

[0156] When the controller determines that there are no new orders, it sends a signal to return the robotic arm to the charging station. Successful return is determined by whether the robotic arm's stroke reaches the preset gun-pulling distance range and whether the robotic arm's gun-pulling force reaches the third force threshold range.

[0157] In some alternative implementations, the method further includes:

[0158] If at least one vehicle has a charging / discharging requirement and the robotic arm malfunction is resolved, at least one charging gun is controlled by the robotic arm to charge / discharge at least one vehicle.

[0159] Robotic arm malfunctions include motor overload, encoder disconnection, communication interruption, and emergency stop triggering. When a robotic arm malfunction occurs, the charging and discharging system automatically records the incomplete requests, and the robotic arm enters a "waiting to recover" state. After the robotic arm malfunction is resolved (e.g., power failure recovery, reset command triggering), the charging and discharging system automatically wakes up the robotic arm, reads the historical request queue, and resumes charging and discharging execution in the original chronological order. For example, if the robotic arm loses power while inserting the charging gun into the first vehicle, it will automatically retry inserting the gun after power restoration, eliminating the need for the user to resend the request, greatly improving availability and efficiency.

[0160] In some alternative implementations, when at least one vehicle has a charging / discharging requirement and the robotic arm malfunction is resolved, the robotic arm controls at least one charging gun to charge / discharge at least one vehicle, including:

[0161] If at least one vehicle has a charging / discharging requirement, and the robotic arm is unexpectedly interrupted, loses power, and / or collides, control the robotic arm to stop.

[0162] In the event that the robotic arm malfunctions and is resolved, at least one charging gun is controlled by the robotic arm to charge and discharge at least one vehicle.

[0163] In the event of an "unexpected interruption," "power outage," or "collision," the charging and discharging system immediately triggers the robotic arm's safety shutdown protocol: disconnecting the robotic arm's drive circuit, locking the joints, and uploading logs. After the fault is cleared, the robotic arm performs a self-check: detecting joint zero positions, communication links, and sensor status. If everything is normal, the robotic arm resumes service from its original position, ensuring high safety.

[0164] If a collision is detected with the robotic arm, a collision warning will be issued via voice and warning lights. The fault will be resolved once the object that was collided with leaves the area automatically or is removed. If an unexpected interruption or power failure of the robotic arm is detected, an interruption reminder will be sent to the backend via voice and warning lights to prompt staff to carry out maintenance.

[0165] In some alternative implementations, when at least one vehicle has a charging / discharging requirement and the robotic arm malfunction is resolved, the robotic arm controls at least one charging gun to charge / discharge at least one vehicle, including:

[0166] If at least one vehicle has a charging / discharging requirement and there is a foreign object within the working range of the robotic arm, control the robotic arm to slow down or stop.

[0167] When there are no foreign objects within the working range of the robotic arm, the robotic arm controls at least one charging gun to charge and discharge at least one vehicle.

[0168] The robotic arm uses a LiDAR and visual recognition module to scan for foreign objects (pedestrians, tools) within its working range in real time. Upon detecting a foreign object, the robotic arm immediately slows down or stops, and issues an audible and visual warning. If the foreign object persists, the robotic arm either stops or enters a stationary waiting state to prevent unexpected movement and thus avoid harm to pedestrians or other objects.

[0169] The robotic arm can be decelerated instantaneously to a specific speed, such as 80% to 20% of its original speed (the speed at the moment before the fault occurred); or, the robotic arm can be decelerated based on the closest distance between the detected foreign object and the robotic arm. This can be achieved through linear deceleration, curved deceleration, etc., to reduce damage to the charging gun or charging cable caused by the robotic arm deceleration, reduce the panic of pedestrians caused by the robotic arm deceleration, and improve the safety and lifespan of the equipment.

[0170] In some alternative implementations, when at least one vehicle has a charging / discharging requirement and there is a foreign object within the working range of the robotic arm, controlling the robotic arm to slow down or stop includes:

[0171] If at least one vehicle has a charging / discharging requirement and there is a foreign object within the working range of the robotic arm, control the robotic arm to slow down.

[0172] If a foreign object remains within the working range of the robotic arm for a duration exceeding a first time threshold, the robotic arm will be stopped.

[0173] If the foreign object is removed within the first time threshold, the robotic arm automatically resumes its original speed; if the first time threshold is exceeded, the robotic arm stops completely and a maintenance alarm is pushed, avoiding frequent start-ups and shutdowns due to brief interference, thereby reducing the number of invalid shutdowns caused by foreign object movement, detection equipment accuracy, etc.

[0174] Once a foreign object is detected within the working range of the robotic arm, the robotic arm immediately slows down and issues an audible and visual warning. If the foreign object continues to exceed the first time threshold (e.g., 3s~15s), the robotic arm stops to prevent it from stopping in place while a foreign object is present, thus avoiding unexpected movement and preventing the robotic arm from harming pedestrians or other "foreign objects".

[0175] The robotic arm can be restored to its original speed instantaneously (the speed at the moment before the malfunction occurred); or, the speed increase of the robotic arm can be controlled based on the closest distance between the detected foreign object and the robotic arm. It can achieve a smooth speed increase through linear speed increase, curved speed increase, etc., to reduce the damage to the charging gun or charging cable caused by the speed increase of the robotic arm, reduce the panic of pedestrians caused by the speed increase of the robotic arm, and improve the safety of equipment use and the life of equipment.

[0176] In some alternative implementations, when there are no foreign objects within the working range of the robotic arm, the robotic arm controls at least one charging gun to charge and discharge at least one vehicle, including:

[0177] If the duration of the presence of a foreign object within the working range of the robotic arm is less than a first time threshold, the robotic arm controls at least one charging gun to charge and discharge at least one vehicle.

[0178] When the duration of the foreign object is less than the first time threshold, the charging and discharging system considers it a momentary interference and quickly and automatically resumes operation after the foreign object disappears, so as to ensure the continuity of the robotic arm's control over the insertion and removal of the charging gun and improve charging and discharging efficiency.

[0179] In some alternative implementations, when there are no foreign objects within the working range of the robotic arm, the robotic arm controls at least one charging gun to charge and discharge at least one vehicle, including:

[0180] If the duration of the presence of a foreign object within the working range of the robotic arm is less than a second time threshold, the robotic arm controls at least one charging gun to charge and discharge at least one vehicle.

[0181] The first time threshold is less than the second time threshold.

[0182] For example, if the duration of the foreign object is less than the second time threshold, the foreign object causes a brief obstruction, and the robotic arm stops moving. After the foreign object is removed within the second time threshold, the robotic arm resumes its previous workflow.

[0183] The second time threshold is set to 2-20 minutes to handle "long-term foreign objects". If the duration of the foreign object exceeds the second time threshold, it means that the foreign object has not been removed for a long time. At this time, the robotic arm will be stopped in a certain working position for a long time, which will affect the normal operation of the charging and discharging system. After determining that the intrusion has been resolved and the environment is safe, the robotic arm will return to its original position, that is, the robotic arm will return to a position where there is no charging and discharging command, such as the robotic arm being in the position closest to the charging terminal, thereby achieving a "safety-efficiency" balance.

[0184] like Figure 4 As shown, the workflow for handling robotic arm malfunctions in the charging and discharging control method of this embodiment is as follows:

[0185] During the robotic arm's movement, the charging terminal detection device monitors in real time whether there are any objects intruding or human intervention within the robotic arm's working range. This charging terminal detection device can be a multi-source data fusion device, including cameras, lidar, millimeter-wave radar, ultrasonic radar, etc.

[0186] If a foreign object slowly intrudes or a human intervenes, the controller sends a deceleration command to the robotic arm to slow down its movement. The intruding or intervening foreign object can include people, vehicles, animals, random obstacles, etc. The criteria for foreign object intrusion include intruding into the set safety isolation range, affecting the camera's detection line of sight, and directly affecting the robotic arm's operation (such as reaching a hand to the end of the robotic arm). The robotic arm deceleration means that the robotic arm slows down from its working speed to a set threshold.

[0187] If an obstacle is detected and not cleared multiple times within the first time threshold, or if the robotic arm detects a collision, a stop command is sent to the robotic arm. The charging terminal detection device continues to detect foreign object intrusion until the foreign object intrusion is cleared. The robotic arm returns to its original position, and the charging gun returns to its charging gun position.

[0188] If the charging terminal detection device recognizes that the obstacle has been cleared within the first time threshold, it will continue to send normal action instructions to the robotic arm. This time is the set detection threshold time. Obstacle clearance includes no longer receiving intrusion signals and manually sending obstacle clearance signals. Normal robotic arm actions include moving, picking up the gun, opening the cover, picking up the plug cover, inserting the gun, pulling out the gun, returning the gun, closing the plug cover, closing the cover, etc.

[0189] If the robotic arm detects that the collision has been resolved within the first threshold, it will remain in place and wait for a reset command from the operator. Upon receiving the reset command, the robotic arm will return to its original position. The reset command includes a button on the robotic arm and a reset signal sent through the user application software / vehicle infotainment system.

[0190] If the robotic arm system is unexpectedly interrupted or loses power, the robotic arm will stop moving until it receives a reset signal and then returns to its initial position. The reset command includes the button on the main body and the reset signal sent through the user application software / vehicle system.

[0191] The dual-vehicle charging and discharging system in this embodiment can identify the sequence of automatic vehicle charging and charging termination, and thus manage vehicle charging orders and robotic arm movements accordingly. Therefore, it has strong compatibility and is convenient for users.

[0192] The charging terminal includes at least two charging guns. A robotic arm can sequentially start or stop charging / discharging at least two vehicles based on the time sequence of charging / discharging start or end requests. The robotic arm's movement sequence is determined by factors such as the vehicle arrival order and the initiation time of the charging / discharging start or end request. Furthermore, the system supports scheduled charging / discharging, temporary charging / discharging, and charging / discharging operations after a robotic arm malfunction has been resolved. The robotic arm can reduce its speed or stop its movement when encountering obstacles to ensure operational safety and reliability.

[0193] Example 2:

[0194] Embodiment 2 of this application provides a computer-readable storage medium including a computer program. When the computer program is run on a computer device, the computer program is used to cause the computer device to perform the charging and discharging control method described above.

[0195] The computer program is stored in the vehicle's ECU's non-volatile memory (such as eMMC 64GB). The program modules include: an environmental perception module, a road connectivity judgment module, a U-turn / reversing decision module, a trajectory planning module, an execution control module, and a human-machine interaction module. The program adopts a modular architecture, supports OTA upgrades, and can dynamically load corresponding parameters (such as minimum passing width and U-turn radius) for different vehicle models, achieving unified logic and differentiated adaptation across all vehicle models.

[0196] The storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0197] Since the computer program stored in the storage medium can execute the steps of any of the charge-discharge control methods provided in the embodiments of this application, the beneficial effects that any of the charge-discharge control methods provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0198] Example 3:

[0199] Embodiment 3 of this application provides an electronic device, including:

[0200] A memory on which computer programs are stored;

[0201] A processor is used to execute a computer program in memory to implement the described charge / discharge control method.

[0202] This electronic device serves as the controller for the charging and discharging system, comprising a multi-core processor, memory, dual Ethernet ports, a CAN bus interface, a communication module, and a control unit. The processor runs the aforementioned program in real time, enabling high-speed data interaction with the robotic arm servo driver, charging terminal, LiDAR, vision camera, and user mobile device. The charging and discharging system can employ a dual redundant power supply design, supporting the maintenance of critical status records for a certain period after a power outage, ensuring data integrity during fault recovery.

[0203] The electronic device may include a processor with one or more processing cores, a memory with one or more storage media, a power supply, and input units, etc. Those skilled in the art will understand that the structure of the electronic device does not constitute a limitation on the electronic device, and it may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements. Wherein:

[0204] The processor is the control center of the electronic device. It connects various parts of the device via interfaces and lines, and performs various functions and processes data by running or executing computer programs and / or modules stored in memory, and by calling data stored in memory. Optionally, the processor may include one or more processing cores; alternatively, the processor may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor.

[0205] The memory can be used to store computer programs and modules. The processor executes various functional applications and vehicle control by running the computer programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, at least one computer program required for a function (such as vehicle accessibility detection), etc.; the data storage area can store data created based on the use of electronic devices, etc. In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory can also include memory electronics to provide the processor with access to the memory. The memory stores vehicle dynamics models, map data, and user preference configurations. After receiving a perception signal, the processor executes the aforementioned logic chain in real time to ensure the safety and reliability of the entire link from perception to execution.

[0206] Electronic devices also include power supplies for various components. Optionally, the power supply can be connected to the processor logic through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply may also include one or more DC or AC power sources, recharge and discharge systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0207] The electronic device may also include an input unit that can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control.

[0208] Although not shown, electronic devices may also include, but are not limited to, display units, vehicles, skateboard chassis, electric motorcycles, ships, drones, mobile phones, computers, air conditioners, refrigerators, washing machines, etc., which will not be described in detail here. Specifically, in this embodiment, the processor in the electronic device loads the executable files corresponding to the processes of one or more computer programs into the memory according to the following instructions, and the processor runs the computer programs stored in the memory to realize various functions.

[0209] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A charging and discharging control method, characterized in that, The method includes: When vehicles in at least two parking spaces have charging and discharging needs at the same time, the charging terminal is controlled by a robotic arm to charge and discharge the vehicles in at least two parking spaces simultaneously, based on the time sequence of the charging and discharging needs.

2. The charging and discharging control method as described in claim 1, characterized in that, The charging terminal includes at least two charging guns. When vehicles in at least two parking spaces simultaneously require charging and discharging, based on the temporal order of these demands, a robotic arm controls the charging terminal to sequentially charge and discharge the vehicles in the at least two parking spaces simultaneously. This includes: When at least two of the vehicles have charging / discharging start requests, based on the time sequence of the charging / discharging start requests, the robotic arm controls at least two of the charging guns to sequentially start charging and discharging at least two of the vehicles. Alternatively, if at least two of the vehicles request to end charging / discharging, based on the time sequence of the charging / discharging end requests, a robotic arm controls at least two of the charging guns to sequentially end the charging / discharging of at least two of the vehicles.

3. The charging and discharging control method as described in claim 2, characterized in that, When at least two of the vehicles request to start charging / discharging, based on the time sequence of the charging / discharging requests, the robotic arm controls at least two charging guns to sequentially begin charging and discharging at least two of the vehicles, including: If at least two of the vehicles request that charging / discharging be started, obtain the arrival order of the vehicles in at least two parking spaces. Based on the arrival order of vehicles in at least two parking spaces, a robotic arm sequentially controls at least two of the charging guns to begin charging and discharging at least two of the vehicles.

4. The charging and discharging control method as described in claim 3, characterized in that, The vehicles in at least two parking spaces include a first vehicle and a second vehicle. The charging terminal includes a first charging gun, a second charging gun, and a charging pile. The charging pile is connected to the first charging gun and the charging pile is connected to the second charging gun. After the step of sequentially controlling at least two of the charging guns to start charging and discharging at least two of the vehicles based on the arrival order of the vehicles in at least two parking spaces via a robotic arm includes: If the first vehicle arrives before the second vehicle, and the first charging gun successfully charges and discharges the first vehicle, the robotic arm is controlled to disconnect the first charging gun; the robotic arm is then used to control the second charging gun to begin charging and discharging the second vehicle. Alternatively, if the first vehicle arrives before the second vehicle and the first charging gun fails to charge or discharge the first vehicle, the robotic arm is controlled to return the first charging gun to the charging pile; the robotic arm is then controlled to connect to the second charging gun and begin charging or discharging the second vehicle. Alternatively, if the first vehicle arrives before the second vehicle and the first charging gun fails to charge or discharge the first vehicle, the robotic arm can be controlled to move the first charging gun to the second vehicle and begin charging or discharging the second vehicle.

5. The charging and discharging control method as described in claim 4, characterized in that, Successful charging and discharging includes: Vehicle-mounted gun connection signal confirmed; Alternatively, the insertion stroke of the robotic arm is within a preset insertion distance range, and the insertion force of the gun carriage meets the first force threshold range.

6. The charging and discharging control method as described in claim 2, characterized in that, When at least two of the vehicles request to end charging / discharging, based on the time sequence of the charging / discharging end requests, the method of controlling at least two charging guns via a robotic arm to sequentially end the charging / discharging of at least two of the vehicles includes: If at least two of the vehicles have a charge / discharge termination request, obtain the termination request initiation time of at least two of the vehicles; Based on the time sequence of the termination request initiation times of at least two of the vehicles, a robotic arm sequentially controls at least two of the charging guns to terminate the charging and discharging of at least two of the vehicles.

7. The charging and discharging control method as described in claim 6, characterized in that, The vehicles in at least two parking spaces include a first vehicle and a second vehicle. The charging terminal includes a first charging gun, a second charging gun, and a charging pile. The charging pile is connected to the first charging gun and the charging pile is connected to the second charging gun. The step of sequentially controlling at least two charging guns to end the charging and discharging of at least two vehicles via a robotic arm, based on the time sequence of the termination request initiation times of at least two of the vehicles, includes: If the charging / discharging end request of the first vehicle is earlier than the charging / discharging end request of the second vehicle, and the robotic arm successfully unplugs the first charging gun from the first vehicle, the robotic arm is first controlled to return the first charging gun to the charging pile; then the robotic arm is controlled to connect the second charging gun to end the charging / discharging of the second vehicle. Alternatively, if the charging / discharging end request of the first vehicle is earlier than the charging / discharging end request of the second vehicle, and the robotic arm fails to unplug the first charging gun from the first vehicle, the robotic arm is controlled to disconnect the first charging gun; the robotic arm is then used to control the second charging gun to end the charging / discharging of the second vehicle.

8. The charging and discharging control method as described in claim 7, characterized in that, The successful drawing of the gun includes: The vehicle gun connection signal is disconnected; Alternatively, the draw stroke of the robotic arm meets a preset draw distance range, and the draw force of the gun carriage meets a third force threshold range.

9. The charging and discharging control method as described in claim 1, characterized in that, The vehicles in at least two parking spaces include a first vehicle and a second vehicle; when at least two vehicles in at least two parking spaces simultaneously have charging and discharging needs, based on the time sequence of the charging and discharging needs, the charging terminal is controlled by a robotic arm to sequentially charge and discharge the vehicles in at least two parking spaces simultaneously, including: when the first vehicle has a charging / discharging start request and the second vehicle has a charging / discharging end request, obtaining the start time of the charging / discharging start request and the end time of the charging / discharging end request; based on the time sequence of the start time and the end time, the charging terminal is sequentially controlled by a robotic arm to charge and discharge the at least two vehicles. And / or, the charging and discharging requirements include: scheduled charging and discharging requirements and temporary charging and discharging requirements.

10. The charging and discharging control method according to any one of claims 1-9, characterized in that, The method further includes: If at least one of the vehicles has a charging / discharging requirement and the robotic arm malfunction is resolved, the robotic arm controls at least one of the charging guns to charge / discharge at least one of the vehicles.

11. The charging and discharging control method as described in claim 10, characterized in that, When at least one of the vehicles has a charging / discharging requirement and the robotic arm malfunction is resolved, controlling at least one of the charging guns via the robotic arm to charge / discharge at least one of the vehicles includes: In the event that at least one of the vehicles has a charging or discharging requirement, and the robotic arm is unexpectedly interrupted, loses power, and / or collides, the robotic arm shall be controlled to stop. In the event that the malfunction of the robotic arm is resolved, the robotic arm controls at least one charging gun to charge and discharge at least one of the vehicles.

12. The charging and discharging control method as described in claim 10, characterized in that, When at least one of the vehicles has a charging / discharging requirement and the robotic arm malfunction is resolved, controlling at least one of the charging guns via the robotic arm to charge / discharge at least one of the vehicles includes: If at least one of the vehicles has a charging / discharging requirement and there is a foreign object within the working range of the robotic arm, control the robotic arm to slow down or stop; When there are no foreign objects within the working range of the robotic arm, the robotic arm controls at least one of the charging guns to charge and discharge at least one of the vehicles.

13. The charging and discharging control method as described in claim 12, characterized in that, The method of controlling the robotic arm to slow down or stop when at least one of the vehicles has a charging / discharging requirement and there is a foreign object within the working range of the robotic arm includes: If at least one of the vehicles has a charging / discharging requirement and there is a foreign object within the working range of the robotic arm, the robotic arm is controlled to slow down. If the duration of the presence of a foreign object within the working range of the robotic arm exceeds a first time threshold, the robotic arm will be controlled to stop.

14. The charging and discharging control method as described in claim 13, characterized in that, When there are no foreign objects within the working range of the robotic arm, controlling at least one of the charging guns to charge and discharge at least one of the vehicles via the robotic arm includes: If the duration of the presence of a foreign object within the working range of the robotic arm is less than the first time threshold, the robotic arm controls at least one of the charging guns to charge and discharge at least one of the vehicles. Alternatively, if the duration of the presence of a foreign object within the working range of the robotic arm is less than a second time threshold, the robotic arm controls at least one of the charging guns to charge and discharge at least one of the vehicles. The first time threshold is less than the second time threshold.

15. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the charge / discharge control method according to any one of claims 1-14.

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