Battery charging and discharging control method, device, system and equipment

By monitoring the charging current and voltage of the lithium-ion battery, judging the full state and stopping charging, the problem of battery overcharging is solved and the service life of the battery is extended.

CN119482854APending Publication Date: 2025-02-18OPWILL TECH BEIJING
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Patent Information

Application Number
CN202411722652.6
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-11-28
Publication Date
2025-02-18

AI Technical Summary

Technical Problem

Lithium-ion batteries are prone to overcharge during charging, resulting in a shorter battery life.

Method used

By obtaining the charging current and voltage of the battery, the battery is fully charged and a control signal is generated to stop charging and prevent overcharging.

Benefits of technology

Effectively control the size of the battery trickle, prevent overcharging, and extend the battery life.

✦ Generated by Eureka AI based on patent content.

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Abstract

The invention provides a battery charging and discharging control method, device, system and equipment. The method comprises the following steps: acquiring a charging current of a battery; when the charging current is larger than a first value and the charging voltage is smaller than or equal to a second value, the charging electric quantity state of the battery is obtained; the first value is greater than a charging termination current threshold value of the battery; when the charging electric quantity state shows that the battery is fully charged, generating a first charging control signal; and controlling a power management circuit to stop charging according to the first charging control signal. According to the scheme, the trickle size of the battery can be controlled, the battery is prevented from being overcharged, and the service life of the battery is prolonged.
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Description

Technical Field

[0001] The present invention relates to the technical field of lithium-ion batteries, and in particular to a battery charging and discharging control method, device, system and equipment. Background Art

[0002] During the charging process of lithium-ion batteries, after constant current charging, the voltage is constant, and the current gradually decreases as the charging process continues, making the charging current infinitely close to 0.01C. If the battery is infinitely close to full, the battery capacity will increase. Although the standby time will increase, the battery life will be shortened. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a battery charge and discharge control method, device, system and equipment, which can control the battery trickle current size, prevent the battery from overcharging, and extend the battery life.

[0004] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0005] A battery charge and discharge control method, comprising:

[0006] Get the battery charging current;

[0007] When the charging current is greater than a first value and the charging voltage is less than or equal to a second value, obtaining a charging state of the battery; the first value is greater than a charging termination current threshold of the battery;

[0008] When the charging state indicates that the battery is fully charged, generating a first charging control signal;

[0009] According to the first charging control signal, the power management circuit is controlled to stop charging.

[0010] Optionally, when the charging state indicates that the battery is fully charged, generating a first charging control signal includes:

[0011] When the charging current is equal to the first value and the charging voltage is equal to the second value, it indicates that the battery is fully charged and a first charging control signal is generated.

[0012] Optionally, when the charging capacity status shows that the battery is fully charged and the power management circuit continues to charge the battery, the microcontroller controls the power management circuit to stop charging.

[0013] Optionally, the battery charge and discharge control method further includes:

[0014] Obtaining a first real-time discharge voltage of the battery;

[0015] Obtaining a discharge state of the battery according to the first real-time discharge voltage;

[0016] When the discharge state of the battery is greater than the overcharge prevention threshold, generating a second charging control signal;

[0017] According to the second charging control signal, the power management circuit is controlled to turn off the battery charging circuit.

[0018] Optionally, the battery charge and discharge control method further includes:

[0019] Obtaining a second real-time discharge voltage of the battery;

[0020] When the second real-time discharge voltage is equal to the lowest voltage threshold of the battery, generating a first discharge control signal;

[0021] According to the first discharge control signal, the power management circuit is controlled to stop discharging.

[0022] Optionally, the battery charge and discharge control method further includes:

[0023] Obtaining a third real-time discharge voltage of the battery;

[0024] When the third real-time discharge voltage of the battery increases from the lowest voltage threshold to a third value, generating a second discharge control signal;

[0025] According to the second discharge control signal, the power management circuit is controlled to start the battery discharge circuit.

[0026] The present invention also provides a battery charge and discharge control device, comprising:

[0027] An acquisition module, used for acquiring the charging current of the battery;

[0028] A processing module is used to obtain a charging state of a battery when the charging current is greater than a first value and the charging voltage is less than or equal to a second value; the first value is greater than a charge termination current threshold of the battery; when the charging state of the battery indicates that the battery is fully charged, generate a first charging control signal; and according to the first charging control signal, control a power management circuit to stop charging.

[0029] The present invention also provides a battery charge and discharge control system, comprising: a power management circuit and the battery charge and discharge control device as described above.

[0030] The present invention also provides a computing device, comprising: a processor and a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed.

[0031] The present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the method described above.

[0032] The above solution of the present invention includes at least the following beneficial effects:

[0033] The above scheme of the present invention obtains the charging current of the battery; when the charging current is greater than a first value and the charging voltage is less than or equal to a second value, the charging state of the battery is obtained; the first value is greater than the charging termination current threshold of the battery; when the charging state of the battery indicates that the battery is full, a first charging control signal is generated; according to the first charging control signal, the power management circuit is controlled to stop charging. The trickle current of the battery can be controlled to prevent overcharging of the battery and extend the battery life. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flow chart of a battery charging and discharging control method according to an embodiment of the present invention;

[0035] Figure 2 is a schematic diagram of a battery charging and discharging control system according to an embodiment of the present invention;

[0036] Figure 3 is a first circuit diagram of a power management circuit of a battery charge and discharge control method according to an embodiment of the present invention;

[0037] Figure 4 is a second circuit diagram of a power management circuit of a battery charge and discharge control method according to an embodiment of the present invention;

[0038] Figure 5 is a third circuit diagram of a power management circuit of a battery charge and discharge control method according to an embodiment of the present invention;

[0039] Figure 6 It is a structural diagram of a battery charge and discharge control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0041] like Figure 1 As shown, an embodiment of the present invention provides a battery charging and discharging control method, comprising:

[0042] Step 11, obtaining the charging current of the battery;

[0043] Step 12, when the charging current is greater than a first value and the charging voltage is less than or equal to a second value, obtaining a charging state of the battery; the first value is greater than a charging termination current threshold of the battery;

[0044] Step 13, when the charging state shows that the battery is fully charged, generating a first charging control signal;

[0045] Step 14: Control the power management circuit to stop charging according to the first charging control signal.

[0046] In this embodiment, Figure 2 As shown, the power management circuit monitors the charging current and charging voltage of the battery pack during the charging process. Since the battery adopts a charging method of constant current first, constant voltage and finally trickle current, the current is constant at first and the voltage gradually increases during the charging process; then the voltage is constant and the current gradually decreases.

[0047] In the present invention, when the battery is charged in the constant voltage stage, when the current gradually decreases to the first value and the voltage is maintained at the second value, it is displayed that the battery is fully charged and the battery is stopped from being charged. Taking a single 18650 battery as an example, the battery power management circuit will limit the battery to be charged between 2.5V and 4.2V with constant current and then constant voltage. The voltage reaches the second value, preferably, the second value is 4.1V, the current is the first value, preferably, the first value is 0.05C, and the battery power is displayed as 100%. However, at this time, the battery only represents that the battery is fully charged on the digital power display, and the battery will continue to be charged at a low current. When the battery is fully charged to 100% and the conditions are met, the battery is stopped from being charged through software and hardware monitoring and control. The method of terminating charging in advance when the battery reaches the first value of the present invention can avoid battery overcharging and loss. Charging is terminated before the current is infinitely close to 0.01C to extend the battery life.

[0048] In an optional embodiment of the present invention, step 13 may include:

[0049] Step 131, when the charging current is equal to the first value and the charging voltage is equal to the second value, it indicates that the battery is fully charged and generates a first charging control signal.

[0050] In this embodiment, the first value is greater than the battery's charge termination current threshold, and the first value is a smaller current value during the battery's constant voltage charging stage. Taking a single 18650 battery with a voltage between 2.5V and 4.2V as an example, the charge termination current threshold is 0.01C, and the first value is 0.05C. The second value is a larger voltage value less than the battery's maximum voltage threshold. Taking a single 18650 battery with a voltage between 2.5V and 4.2V as an example, the second value is 4.1V.

[0051] In an optional embodiment of the present invention, when the charging power status shows that the battery is fully charged and the power management circuit continues to charge the battery, the microcontroller controls the power management circuit to stop charging.

[0052] In this embodiment, the microcontroller monitors the battery trickle current. When the current is less than the first value and the battery has not stopped charging, the microcontroller will continue to monitor the charging current. If the charging current continues to be lower than the first value for a certain period of time, the microcontroller controls to shut down the charging. The microcontroller, power management circuit, and power management circuit realize three-layer protection.

[0053] In an optional embodiment of the present invention, the battery charge and discharge control method further includes:

[0054] Step 21, obtaining a first real-time discharge voltage of the battery;

[0055] Step 22, obtaining a discharge state of the battery according to the first real-time discharge voltage;

[0056] Step 23, when the discharge state of the battery is greater than the overcharge prevention threshold, generating a second charging control signal;

[0057] Step 24: Control the power management circuit to turn off the battery charging circuit according to the second charging control signal.

[0058] In this embodiment, when the battery is fully charged, the overcharge protection is turned on. When the battery discharge reaches the overcharge protection threshold, the overcharge protection is released, and the battery can be charged at this time. Preferably, the overcharge protection threshold is 95%. When the battery is discharged, the battery power is greater than the overcharge protection threshold, such as 98%, the overcharge protection function is still turned on, and the battery cannot be charged at this time, thereby forming an overcharge protection for the battery.

[0059] In an optional embodiment of the present invention, the battery charge and discharge control method further includes:

[0060] Step 31, obtaining a second real-time discharge voltage of the battery;

[0061] Step 32, when the second real-time discharge voltage is equal to the lowest voltage threshold of the battery, generating a first discharge control signal;

[0062] Step 33: Control the power management circuit to stop discharging according to the first discharge control signal.

[0063] In this embodiment, the power management circuit limits the battery from continuing to discharge when the battery voltage is less than the minimum voltage threshold. Taking a single 18650 battery with a voltage between 2.5V and 4.2V as an example, the minimum voltage threshold is 2.5V. When the battery voltage is less than 2.5V, the over-discharge protection function is turned on to limit the battery from continuing to discharge, avoiding damage to the battery life due to over-discharge.

[0064] In an optional embodiment of the present invention, the battery charge and discharge control method further includes:

[0065] Step 41, obtaining a third real-time discharge voltage of the battery;

[0066] Step 42, when the third real-time discharge voltage of the battery increases from the minimum voltage threshold to a third value, generating a second discharge control signal;

[0067] Step 43: Control the power management circuit to start the battery discharge circuit according to the second discharge control signal.

[0068] In this embodiment, when the battery discharge reaches 0% and the battery voltage is 2.5V, the over-discharge protection function is turned on. At this time, the battery stops discharging, and after a period of time, when the battery voltage recovers to a third value, the over-discharge protection function is released. The third value is preferably 2.7V.

[0069] The circuit diagram of the power management circuit in the present invention is as follows Figure 3 As shown, BATDEP is the exhausted battery power pin, SRSET is the battery charging current programming voltage pin, ACSET is the AC adapter detection input pin, VREF is the reference voltage pin, ENABLE is the charging enable pin, BATSET is the external override to the internal 0.5% precision reference pin, COMP is the inverting input to the PWM comparator pin, ACN is the negative AC current detection pin, ACP is the positive AC current detection pin, NC is the empty pin, BATP is the battery charging regulation voltage measurement input to the battery voltage general amplifier pin, IBAT is the output pin of the battery current differential amplifier, SRN is the battery negative current detection pin, SRP is the positive battery current detection pin, GND is the ground pin, VS is the system load voltage input pin, ALARM is the exhausted battery alarm output pin, VHSP is the external drive voltage setting terminal pin, PWM is the gate drive output, VCC is the power supply voltage pin, BATDRV is the battery power selection output, ACDRV is the AC adapter or power selection output, ACDET is the AC or AC adapter power detection, ACPRES is the AC power indicator, and ACSEL is the AC adapter power selection.

[0070] Among them, the fourth pin VREF, the fifth pin ENABLE, the sixth pin BATSET, and the seventh pin COMP are respectively connected to the first zero eight resistor R108, the first resistor R1, the second resistor R2, the third resistor R3, the fourth resistor R4, the fifth resistor R5, the second third resistor R23, and the fourth third resistor R43; the first capacitor C1, the second capacitor C2, and the second zero capacitor C20 are three capacitors respectively; the twelfth pin BATP is connected to the second first capacitor C21 and then grounded; the thirteenth pin IBAT is connected to the fourth sixth resistor R46, the fourth fourth resistor R44, and the second second capacitor C22 and then grounded. The twenty-second pin VCC is connected to the fifth diode D5, the sixth capacitor C6, and the seventh capacitor C7 and then grounded.

[0071] like Figure 4 and Figure 5 This is the remaining circuit diagram of the power management circuit, wherein the first pin, the second pin and the third pin are connected to the power supply voltage, a branch of the fourth pin is connected to the eighth diode D8 and the ninth diode D9, and then connected to the third resistor R35 and the fourth resistor R47 and then grounded, and another branch is connected in parallel with the seventh resistor R7 and the fourth diode D4.

[0072] The fifth to eighth pins are Figure 5 As shown, it is divided into multiple branches, connecting the second diode D2, the second inductor L2, the second ninth resistor R29, the third first resistor R31, the third second resistor R32, the eighth capacitor C8, the first first capacitor C11, the third third resistor R33, the third fourth resistor R34, the third sixth resistor R36 and the third seventh resistor R37.

[0073] In the above method of the present invention, the power management circuit identifies whether there is a DC power input, and determines the battery charging or discharging state by detecting the ACSET pin signal. If it is detected that ACSET has a DC power input, only the DC power supply is used at this time, and the battery is in a charging state; otherwise, the battery is in a discharging state and is powered by the battery. In the present invention, the power management circuit can set the voltage and current thresholds through hardware configuration, wherein the eighth resistor R8 is used to set the maximum current output by the adapter, the ninth resistor R9 is used to set the battery pack charging current, the third resistor R36 is used to set the battery minimum power threshold, and the third resistor R37 is used to set the battery maximum power threshold. At the same time, the power management circuit can monitor the battery voltage and current to prevent overcharging and over-discharging.

[0074] The microcontroller communicates with the battery pack through the i2C bus and can monitor the battery power, voltage, current, temperature and other information. If there is an abnormal alarm, it will be fed back to the microcontroller to control the ENABLE signal of the power management circuit to control whether charging and discharging continue. Under charging conditions, a threshold can be set. For example, if the current is lower than 0.05c=200mA and the battery is fully charged, it can be set to a current threshold of 150mA. If there is still current charging the battery after the battery is fully charged for 15 minutes, the microcontroller will respond and stop charging.

[0075] The above method of the present invention monitors and controls trickle current through a combination of software and hardware. The power management circuit monitors the power and turns on overcharge protection when the power is charged to 100%, and releases the protection when the power is discharged to 95%. The power management circuit provides feedback protection, and an external microcontroller monitors protection to achieve three-layer protection to prevent overcharging from affecting the safety and life of the battery.

[0076] like Figure 6 As shown, an embodiment of the present invention further provides a battery charge and discharge control device 60, comprising:

[0077] An acquisition module 61 is used to acquire a charging current of a battery;

[0078] The processing module 62 is used to obtain the charging state of the battery when the charging current is greater than a first value and the charging voltage is less than or equal to a second value; the first value is greater than the charging termination current threshold of the battery; when the charging state of the battery indicates that the battery is fully charged, generate a first charging control signal; and according to the first charging control signal, control the power management circuit to stop charging.

[0079] Optionally, when the charging state indicates that the battery is fully charged, generating a first charging control signal includes:

[0080] When the charging current is equal to the first value and the charging voltage is equal to the second value, it indicates that the battery is fully charged and a first charging control signal is generated.

[0081] Optionally, when the charging power status shows that the battery is fully charged and the power management circuit continues to charge the battery, the microcontroller controls the power management circuit to stop charging.

[0082] Optionally, the processing module 62 may also be used for:

[0083] Obtaining a first real-time discharge voltage of the battery;

[0084] Obtaining a discharge state of the battery according to the first real-time discharge voltage;

[0085] When the discharge state of the battery is greater than the overcharge prevention threshold, generating a second charging control signal;

[0086] According to the second charging control signal, the power management circuit is controlled to turn off the battery charging circuit.

[0087] Optionally, the processing module 62 may also be used for:

[0088] Obtaining a second real-time discharge voltage of the battery;

[0089] When the second real-time discharge voltage is equal to the lowest voltage threshold of the battery, generating a first discharge control signal;

[0090] According to the first discharge control signal, the power management circuit is controlled to stop discharging.

[0091] Optionally, the processing module 62 may also be used for:

[0092] Obtaining a third real-time discharge voltage of the battery;

[0093] When the third real-time discharge voltage of the battery increases from the lowest voltage threshold to a third value, generating a second discharge control signal;

[0094] According to the second discharge control signal, the power management circuit is controlled to start the battery discharge circuit.

[0095] It should be noted that the device is a device corresponding to the above method, and all implementation methods in the above method embodiments are applicable to the embodiments of the device and can achieve the same technical effects.

[0096] An embodiment of the present invention further provides a battery charge and discharge control system, comprising: a power management circuit and the battery charge and discharge control device as described above.

[0097] The embodiment of the present invention further provides a computing device, comprising: a processor, a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0098] The embodiment of the present invention further provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the above method. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0099] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0100] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0101] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0102] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0103] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0104] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0105] In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0106] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0107] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A battery charging and discharging control method, characterized in that: include: Get the battery charging current; When the charging current is greater than a first value and the charging voltage is less than or equal to a second value, obtaining a charging state of the battery; The first value is greater than a charge termination current threshold of the battery; When the charging state indicates that the battery is fully charged, generating a first charging control signal; According to the first charging control signal, the power management circuit is controlled to stop charging.

2. The battery charge and discharge control method according to claim 1, characterized in that: When the charging state indicates that the battery is fully charged, generating a first charging control signal includes: When the charging current is equal to the first value and the charging voltage is equal to the second value, it indicates that the battery is fully charged and a first charging control signal is generated.

3. The battery charge and discharge control method according to claim 1, characterized in that: When the charging state shows that the battery is fully charged and the power management circuit continues to charge the battery, the microcontroller controls the power management circuit to stop charging.

4. The battery charge and discharge control method according to claim 1, characterized in that: Also includes: Obtaining a first real-time discharge voltage of the battery; Obtaining a discharge state of the battery according to the first real-time discharge voltage; When the discharge state of the battery is greater than the overcharge prevention threshold, generating a second charging control signal; According to the second charging control signal, the power management circuit is controlled to turn off the battery charging circuit.

5. The battery charge and discharge control method according to claim 1, characterized in that: Also includes: Obtaining a second real-time discharge voltage of the battery; When the second real-time discharge voltage is equal to the lowest voltage threshold of the battery, generating a first discharge control signal; According to the first discharge control signal, the power management circuit is controlled to stop discharging.

6. The battery charge and discharge control method according to claim 5, characterized in that: Also includes: Obtaining a third real-time discharge voltage of the battery; When the third real-time discharge voltage of the battery increases from the lowest voltage threshold to a third value, generating a second discharge control signal; According to the second discharge control signal, the power management circuit is controlled to start the battery discharge circuit.

7. A battery charge and discharge control device, characterized in that: include: An acquisition module, used for acquiring the charging current of the battery; A processing module, configured to obtain a charging state of a battery when the charging current is greater than a first value and the charging voltage is less than or equal to a second value; the first value is greater than a charging termination current threshold of the battery; When the charging state indicates that the battery is fully charged, a first charging control signal is generated; and according to the first charging control signal, the power management circuit is controlled to stop charging.

8. A battery charge and discharge control system, characterized in that: include: A power management circuit and a battery charge and discharge control device as claimed in claim 7.

9. A computing device, characterized in that include: A processor and a memory storing a computer program, wherein when the computer program is executed by the processor, the method according to any one of claims 1 to 6 is executed.

10. A computer-readable storage medium, characterized in that: Instructions are stored, and when the instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 6.