A heavy truck battery replacing system and method based on AGV mobile carrying comprise the steps that a battery replacing platform is used for parking a heavy truck and detecting whether the parkingposition of the heavy truck meets the parking requirement or not, if yes, a parking success message is sent out, and if not, a parking failure message is sent out, and an alarm is given to prompt reparking; the AGV intelligent trolley plans an advancing route based on the position of the battery on the heavy truck so as to advance to the position of the battery on the heavy truck, installs the to-be-charged battery on the heavy truck on the AGV intelligent trolley, sends a charging and battery replacing request, and plans the advancing route so as to advance to the position of the idle bin after receiving the idle and battery full-power bin position; a battery to be charged is installed at the idle bin position, and the battery at the battery full-power bin position is conveyed and loadedto a heavy truck on the battery replacing platform; and the charging and storing integrated module inquires an idle bin position and a battery full-charge bin position of the battery charging bin based on the charging and battery replacing request, sends the idle bin position and the battery full-charge bin position to the AGV intelligent trolley, and charges the battery installed at the idle binposition.