Battery replacement system, battery replacement system control method, control device and storage medium

Abstract

The invention relates to the technical field of new energy, in particular to a power conversion system, a power conversion system control method, a control device and a storage medium. The battery replacing system comprises a charging and discharging battery replacing module and a control module, and the charging and discharging battery replacing module is used for replacing a battery of the new energy automobile and charging and discharging the replaced battery; the control module is used for acquiring system operation data in a preset period; the system operation data comprises battery replacement cycle data, controlling a to-be-charged battery to be charged based on the system operation data, and supplying power to a power grid by the to-be-used battery in the system. Through interaction with the power grid, the power conversion system can be used as an energy storage unit of the power grid to supplement the power grid.

Description

Technical Field

[0001] The present invention relates to the field of new energy technologies, and in particular to a battery replacement system, a battery replacement system control method, a control device and a storage medium. Background Art

[0002] New energy vehicles refer to vehicles that use unconventional vehicle fuels as their power source (or use conventional vehicle fuels and new vehicle power devices), and integrate advanced technologies in vehicle power control and drive to form vehicles with advanced technical principles, new technologies, and new structures. [1] New energy vehicles include pure electric vehicles, extended-range electric vehicles, hybrid vehicles, fuel cell electric vehicles, and hydrogen engine vehicles.

[0003] The battery swap system refers to a system that centrally stores, charges and distributes a large number of batteries through centralized charging stations, and provides battery swap services for electric vehicles at the battery swap station. The core of the battery swap system is the battery swap platform, which includes a palletizer, lifting mechanism, locking mechanism and connector. Its main function is to remove the depleted batteries from the electric vehicle and transport them to the battery compartment for charging, and at the same time obtain the fully charged batteries from the battery compartment and install them on the electric vehicle to complete the battery swap.

[0004] The existing battery swap system is usually simply connected to the power grid, and the power grid simply supplies power to the battery swap system. There is little interaction between the two, and the advantages of the battery swap system cannot be brought into play. In order to solve this technical problem, a battery swap system, a battery swap system control method, a control device and a storage medium are proposed. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned prior art, the present invention provides a battery swapping system, a battery swapping system control method, a control device and a storage medium.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions: In a first aspect, in an embodiment provided by the present invention, a battery replacement system is provided, the battery replacement system comprising: a charging and discharging battery replacement module and a control module, The charging and discharging battery replacement module is used to replace the battery of the new energy vehicle and charge and discharge the replaced battery; The control module is used to obtain system operation data within a preset period; the system operation data includes battery replacement cycle data, and controls the charging of the battery to be charged based on the system operation data, so that the battery to be used in the system can supply power to the power grid.

[0007] As a further solution of the present invention, the charging and discharging battery swapping module includes a parking space management unit, a charging and discharging unit, a power generation unit and an external connection unit; Parking space management unit, used to read vehicle battery information, parking space occupancy status data and vehicle positioning data; A charging and battery replacement unit, used to replace the battery of the vehicle and to charge and discharge the replaced battery; A power generation unit, used for generating electricity, the charging and swapping unit is connected to the power generation unit; The external connection unit has one end connected to the power grid and the other end connected to the charging and swapping unit, and is used to connect the system to the power grid.

[0008] As a further solution of the present invention, the parking space management unit module includes a radio frequency identification device, a monitoring device and a ground-sensing vehicle detector RFID.

[0009] As a further solution of the present invention, the external connection unit includes an energy storage converter and a confluence device. The confluence device is connected to the charging and swapping unit and the power generation unit; one end of the energy storage converter is connected to the confluence device, and the other end of the energy storage converter is connected to the power grid.

[0010] As a further solution of the present invention, the control module is used to collect battery information of the replaced battery, so as to determine the battery status of the battery to be charged. If the battery status is healthy, it is determined whether the battery is over-discharged based on the collected battery information. If over-discharge occurs, the battery performs a trickle pre-charging operation to activate the battery, and enters a constant current charging stage after the battery is activated; when the battery voltage increases to the set maximum charging voltage, it switches to constant voltage charging, and the charging current gradually decreases.

[0011] In a second aspect, in another embodiment provided by the present invention, a method for controlling a battery swapping system is provided, and the method for controlling the battery swapping system includes: S10, obtaining system operation data within a preset period; the system operation data includes battery replacement cycle data; S20, charging the battery to be charged based on the system operation data control, and supplying power to the power grid from the standby battery in the system.

[0012] As a further solution of the present invention, the step S20, controlling the charging of the battery to be charged based on the system operation data, and supplying power to the grid from the battery to be used in the system, comprises: Based on the system operation data, the number of batteries that need to be replaced within the set period is determined, and based on the number of battery requirements, whether there is excess power that can be output. If it can be output, power is supplied to the grid to meet the grid demand.

[0013] As a further solution of the present invention, based on the system operation data, the number of batteries that need to be replaced within a set period is determined, and whether there is excess power that can be output according to the required number of batteries. If it can be output, power is supplied to the grid to meet the grid demand, including: S201, obtaining status information of the vehicle to be replaced, wherein the status information of the vehicle to be replaced includes vehicle battery information, parking space occupancy status data and vehicle positioning data; S202, based on the status information of the vehicle to be replaced, replace the battery of the vehicle, and collect battery information of the replaced battery, so as to determine the battery status of the battery to be charged, and if the battery status is healthy, execute step S203; S203. Determine whether the battery is over-discharged based on the collected battery information. If over-discharged, the battery performs a trickle pre-charging operation to activate the battery. After the battery is activated, it enters a constant current charging stage. When the battery voltage increases to the set maximum charging voltage, it switches to constant voltage charging, and the charging current gradually decreases.

[0014] In a third aspect, in another embodiment provided by the present invention, a control device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of a battery replacement system when loading and executing the computer program.

[0015] In a fourth aspect, in another embodiment provided by the present invention, a storage medium is provided, storing a computer program, and the computer program implements the steps of the battery replacement system when loaded and executed by a processor.

[0016] The technical solution provided by the present invention has the following beneficial effects: The present invention provides a battery swap system, a battery swap system control method, a control device and a storage medium, a charging and discharging battery swap module, which is used to replace batteries for new energy vehicles and charge and discharge the replaced batteries; a control module, which is used to obtain system operation data within a preset period; the system operation data includes battery replacement cycle data, and based on the system operation data, controls the charging of batteries to be charged, and supplies power to the grid from the batteries to be used in the system. The present invention can interact with the grid, so that the battery swap system can serve as an energy storage unit of the grid to supplement the grid.

[0017] These and other aspects of the present invention will be more clearly understood in the following description of the embodiments. It should be understood that the above general description and the following detailed description are only exemplary and explanatory and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is a structural block diagram of a battery replacement system according to an embodiment of the present invention.

[0020] Figure 2 This is a structural block diagram of a charging and discharging battery swap module in a battery swap system according to an embodiment of the present invention.

[0021] Figure 3 This is a structural block diagram of a parking space management unit in a battery swapping system according to an embodiment of the present invention.

[0022] Figure 4 This is a structural block diagram of an external connection unit in a battery exchange system according to an embodiment of the present invention.

[0023] Figure 5 This is a flow chart of a battery swap system control method according to an embodiment of the present invention.

[0024] Figure 6 This is a flowchart of step S20 in a battery swap system control method according to an embodiment of the present invention.

[0025] In the figure: charging and discharging battery swapping module-100, control module-200, parking space management unit-101, charging and discharging battery swapping unit-102, power generation unit-103, external connection unit-104. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0028] It should be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0029] The battery swap system refers to a system that centrally stores, charges and distributes a large number of batteries through centralized charging stations, and provides battery swap services for electric vehicles at the battery swap station. The core of the battery swap system is the battery swap platform, which includes a palletizer, lifting mechanism, locking mechanism and connector. Its main function is to remove the depleted batteries from the electric vehicle and transport them to the battery compartment for charging, and at the same time obtain the fully charged batteries from the battery compartment and install them on the electric vehicle to complete the battery swap.

[0030] The existing battery swapping system is usually simply connected to the power grid, and the power grid simply supplies power to the battery swapping system. There is little interaction between the two, and the advantages of the battery swapping system cannot be brought into play. In order to solve this technical problem, a battery swapping system, a battery swapping system control method, a control device and a storage medium are proposed. The present invention provides a battery swapping system, which includes: a charging and discharging battery swapping module and a control module. The present invention can interact with the power grid through the control module 200, so that the battery swapping system can serve as an energy storage unit of the power grid to supplement the power grid.

[0031] Specifically, the embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0032] In one embodiment, see Figure 1 As shown, a battery replacement system is also provided in an embodiment of the present invention, which includes a charging and discharging battery replacement module 100 and a control module 200.

[0033] The charging and discharging battery replacement module 100 is used to replace the battery of the new energy vehicle and to charge and discharge the replaced battery; See also Figure 2 As shown, an embodiment of the present invention also provides a structural block diagram of a charging and discharging battery swapping module in a battery swapping system. In an embodiment of the present invention, the charging and discharging battery swapping module 100 includes a parking space management unit 101, a charging and discharging battery swapping unit 102, a power generation unit 103 and an external connection unit 104.

[0034] The parking space management unit 101 is used to read vehicle battery information, parking space occupancy status data and vehicle positioning data; See also Figure 3 As shown, an embodiment of the present invention also provides a structural block diagram of a parking space management unit in a battery swapping system. The parking space management unit module 101 includes a radio frequency identification device, a monitoring device and a ground-sensing vehicle detector RFID.

[0035] RFID radio frequency identification equipment is a contactless automatic identification device, mainly composed of a reader, an electronic tag, and an antenna. At the entrance of the charging and swapping station, a reader and two antennas are deployed, one antenna on each side of the entrance. When a vehicle passes through the entrance covered by the antenna, the reader is triggered. At this time, the reader will read the information in the electronic tag attached to the vehicle to obtain the identity of the vehicle entering the charging and swapping station, battery model, battery power, and entry time.

[0036] The monitoring equipment is mainly used to distinguish whether new energy electric vehicles have arrived at designated parking spaces and monitor the charging status of vehicles. When monitoring vehicles enter non-designated parking spaces, stay for a long time, or make charging and battery replacement errors, broadcast prompts.

[0037] The ground sensing vehicle detector consists of a ground coil and a detector, which is used to locate the vehicle to be charged or replaced. The ground coil is buried underground, and the detector is attached to the bottom of the vehicle. The ground coil emits a low-frequency magnetic field signal to the ground parking space, and the detector detects the ground coil signal, so that the electric vehicle is aligned with the on-board coil, thereby achieving vehicle positioning.

[0038] The charging and battery replacement unit 102 is used to replace the battery of the vehicle and to charge and discharge the replaced battery.

[0039] In an embodiment of the present invention, the charging and swapping unit 102 detects the connection status between the charging pile and the vehicle battery pack before charging the battery to determine whether the connection status meets the requirements. If it meets the requirements, the SOC (state of charge) value of the battery pack is calculated and the charging mode is determined.

[0040] It should be noted that the SOC value is calculated by the SOC calculation subroutine.

[0041] In the embodiment of the present invention, the SOC calculation formula is as follows: , where represent The SOC value of the new energy electric vehicle battery at all times, The value of is 0%-100%; represents the Coulomb efficiency; Represents the current flowing through the car battery at all times; A represents the rated capacity of the new energy electric vehicle battery.

[0042] The power generation unit 103 is used to generate electricity, and the charging and swapping unit 102 is connected to the power generation unit 103. The power generation unit 103 can be electrically connected to the charging and swapping unit 102. The power generation unit 103 can include a solar power generation device.

[0043] The external connection unit 104 is connected to the power grid at one end and to the charging and swapping unit 102 at the other end, and is used to connect the system to the power grid.

[0044] See also Figure 4 As shown, the embodiment of the present invention also provides a structural block diagram of an external connection unit in a power exchange system, and the external connection unit 104 includes an energy storage converter and a confluence device. The confluence device is connected to the charging and swapping unit 102 and the power generation unit 103; one end of the energy storage converter is connected to the confluence device, and the other end of the energy storage converter is connected to the power grid.

[0045] The control module 200 is used to obtain system operation data within a preset period; the system operation data includes battery replacement cycle data, and controls the charging of the battery to be charged based on the system operation data, and supplies power to the power grid to the standby battery in the system.

[0046] The control module 200 is used to collect battery information of the replaced battery, so as to determine the battery status of the battery to be charged. If the battery status is healthy, it is determined whether the battery is over-discharged based on the collected battery information. If over-discharge exists, the battery performs a trickle pre-charging operation to activate the battery, and enters the constant current charging stage after the battery is activated; when the battery voltage increases to the set maximum charging voltage, it switches to constant voltage charging, and the charging current gradually decreases.

[0047] The present invention can interact with the power grid through the control module 200, so that the power exchange system can serve as an energy storage unit of the power grid to supplement the power grid.

[0048] See also Figure 5 , Figure 5 is a flow chart of a method for controlling a battery swap system provided by an embodiment of the present invention. Figure 5 As shown, the control method includes steps S10 to S20.

[0049] S10. Acquire system operation data within a preset period; the system operation data includes battery replacement cycle data.

[0050] Specifically, the battery replacement cycle data includes the number of battery replacements within a set time, so as to determine the number of batteries that need to be replaced within the set period. According to the battery demand data, it is determined whether there is excess power that can be output. If it can be output, power is supplied to the grid to meet the grid demand.

[0051] S20: Based on the system operation data, charging the battery to be charged, so that the battery to be used in the system supplies power to the power grid.

[0052] The step S20 specifically includes: Based on the system operation data, the number of batteries that need to be replaced within the set period is determined, and based on the number of battery requirements, whether there is excess power that can be output. If it can be output, power is supplied to the grid to meet the grid demand.

[0053] See also Figure 5 In the embodiment of the present invention, step S20 includes: S201: Acquire status information of a vehicle to be replaced, wherein the status information of the vehicle to be replaced includes vehicle battery information, parking space occupancy status data and vehicle positioning data.

[0054] S202: Based on the status information of the vehicle to be replaced, the battery of the vehicle is replaced, and the battery information of the replaced battery is collected to determine the battery status of the battery to be charged. If the battery status is healthy, execute step S203.

[0055] The replaced battery may be the battery to be charged itself or another battery to be charged.

[0056] In the embodiment of the present invention, in step S202, after the battery charging status data is collected by the current detection circuit, the voltage detection circuit and the temperature detection circuit during the charging process, the charging status data needs to be denoised before being processed. The denoising processing formula is as follows: ,in, In the formula, Represents the battery status data after denoising; Represents the symbol of taking the “average”; Represents positive The time domain translation of units; Reverse The time domain shift of units; represents the threshold denoising function; represents the original battery status data; b represents the wavelet transform coefficient; B represents the selected threshold.

[0057] After denoising, the charging status data is amplified. The calculation formula after amplification is: , where x" represents the amplified battery status data; represents the magnification; () represents the amplification function; Represents the battery status data after denoising; Represents the gain factor of the signal amplifier; Represents the RF power of the signal amplifier.

[0058] For example, based on the collected system operation data, it is possible to predict the number of battery replacements within a certain period in the future, predict the number of batteries required, predict the existence of excess batteries in the future, and supply the power of the excess batteries to the power grid. At the same time, it is also possible to determine the lowest cost time period to charge the battery based on the system operation data and the power grid electricity price data, so as to achieve the most cost-effective operation.

[0059] The step S20 further includes: S203: Based on the collected battery information, determine whether the battery to be charged is over-discharged, and if so, perform a trickle pre-charging operation on the battery.

[0060] The trickle pre-charge operation specifically includes: S2031: Activate the battery to be charged; S2032: Entering the constant current charging stage; S2033: When the voltage of the battery to be charged increases to the set maximum charging voltage, the charging is switched to constant voltage charging, and the charging current gradually decreases.

[0061] It should be understood that, although described in a certain order, these steps are not necessarily performed in sequence in the above order. Unless there is clear explanation in this article, the execution of these steps does not have strict order restriction, and these steps can be performed in other orders. Moreover, a part of the steps of the present embodiment may include a plurality of steps or a plurality of stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a part of the steps or stages in other steps or other steps.

[0062] In one embodiment, a control device is also provided in an embodiment of the present invention, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus.

[0063] Memory, used to store computer programs; The processor is used to execute the battery replacement system when executing the computer program stored in the memory. When the processor executes the instructions, the steps in the above method embodiment are implemented: S10: Acquire system operation data within a preset period; the system operation data includes battery replacement cycle data.

[0064] Specifically, the battery replacement cycle data includes the number of battery replacements within a set time, so as to determine the number of batteries that need to be replaced within the set period. According to the battery demand data, it is determined whether there is excess power that can be output. If it can be output, power is supplied to the grid to meet the grid demand.

[0065] S20: Based on the system operation data, the battery to be charged is controlled to be charged, and the battery to be used in the system supplies power to the power grid.

[0066] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0067] The communication interface is used for communication between the above terminal and other devices.

[0068] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0069] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0070] The control device includes user equipment and network equipment. The user equipment includes but is not limited to computers, smart phones, PDAs, etc. The network equipment includes but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud consisting of a large number of computers or network servers based on cloud computing (Cloud Computing), wherein cloud computing is a type of distributed computing, a super virtual computer consisting of a group of loosely coupled computer sets. The control device can be operated alone to implement the present invention, or it can be connected to the network and implement the present invention through interactive operations with other control devices in the network. The network where the control device is located includes but is not limited to the Internet, wide area network, metropolitan area network, local area network, VPN network, etc.

[0071] It should be further understood that the term “and / or” used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0072] In one embodiment of the present invention, a storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiment are implemented: S10: Acquire system operation data within a preset period; the system operation data includes battery replacement cycle data.

[0073] Specifically, the battery replacement cycle data includes the number of battery replacements within a set time, so as to determine the number of batteries that need to be replaced within the set period. Based on the battery demand data, it is determined whether there is excess power that can be output. If it can be output, power is supplied to the grid to meet the grid demand.

[0074] S20: Based on the system operation data, the battery to be charged is controlled to be charged, and the battery to be used in the system supplies power to the power grid.

[0075] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiment method can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the process of the embodiment of the above-mentioned method. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory.

[0076] It should be understood that, as used herein, the singular form "a" or "an" is intended to include the plural form as well, unless the context clearly supports an exception. It should also be understood that, as used herein, "and / or" refers to any and all possible combinations of one or more of the items listed in association. The serial numbers of the embodiments disclosed in the above embodiments of the present invention are for description only and do not represent the advantages and disadvantages of the embodiments.

[0077] A person skilled in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the disclosure of the embodiments of the present invention (including the claims) is limited to these examples; under the concept of the embodiments of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and there are many other changes in different aspects of the above embodiments of the present invention, which are not provided in detail for the sake of simplicity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the embodiments of the present invention.

Claims

1. A battery replacement system, comprising a charging and discharging battery replacement module and a control module, The charging and discharging battery replacement module is used to replace the battery of the new energy vehicle and to charge and discharge the replaced battery; The control module is used to obtain system operation data within a preset period; The system operation data includes battery replacement cycle data, and the battery to be charged is controlled based on the system operation data, and the battery to be used in the system is supplied with power to the power grid; The battery replacement system is characterized in that: The charging and discharging module includes a parking space management unit, a charging and discharging unit, a power generation unit and an external connection unit; The parking space management unit is used to read vehicle battery information, parking space occupancy status data and vehicle positioning data; The charging and battery replacement unit is used to replace the battery of the vehicle and to charge and discharge the replaced battery; The power generation unit is used to generate electricity, and the charging and swapping unit is connected to the power generation unit; The external connection unit has one end connected to the power grid and one end connected to the charging and swapping unit, and is used to connect the system to the power grid; as well as The control module is used to collect battery information of the replaced battery, so as to determine the battery status of the battery to be charged; If the battery is in good condition, determine whether the battery is over-discharged based on the collected battery information; If there is over-discharge, the battery performs a trickle pre-charge operation to activate the battery, and then enters the constant current charging stage after the battery is activated; When the battery voltage increases to the set maximum charging voltage, it switches to constant voltage charging, and the charging current gradually decreases.

2. The battery replacement system according to claim 1, characterized in that: The parking space management unit module includes a radio frequency identification device, a monitoring device and a ground sensing vehicle detector RFID.

3. The battery replacement system according to claim 2, characterized in that: The external connection unit includes an energy storage converter and a confluence device; The confluence device is connected to the charging and swapping unit and the power generation unit; One end of the energy storage converter is connected to the converging device, and the other end of the energy storage converter is connected to the power grid.

4. A control method for a battery swap system, characterized in that: The control method comprises: S10: Acquire system operation data within a preset period; the system operation data includes battery replacement cycle data; S20: Based on the system operation data, charging the battery to be charged so that the battery to be used in the system supplies power to the power grid; the step S20 includes: Based on the system operation data, the number of batteries that need to be replaced within the set period is determined, and based on the number of battery requirements, whether there is excess power that can be output. If it can be output, power is supplied to the grid to meet the grid demand.

5. The battery replacement system control method according to claim 4, characterized in that: The step S20 comprises: S201: Acquire status information of the vehicle to be replaced, wherein the status information of the vehicle to be replaced includes vehicle battery information, parking space occupancy status data and vehicle positioning data; S202: Based on the status information of the vehicle to be replaced, the battery of the vehicle is replaced, and the battery information of the replaced battery is collected to determine the battery status of the battery to be charged. If the battery status is healthy, step S203 is executed; S203: Based on the collected battery information, determine whether the battery is over-discharged. If over-discharged, the battery performs a trickle pre-charging operation.

6. The battery replacement system control method according to claim 5, characterized in that: The trickle pre-charging operation in step S203 specifically includes: S2031: Activate the battery to be charged; S2032: Entering the constant current charging stage; S2033: When the voltage of the battery to be charged increases to the set maximum charging voltage, the charging is switched to constant voltage charging, and the charging current gradually decreases.

7. A control device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the battery replacement method as described in any one of claims 4 to 6 when loading and executing the computer program.

8. A storage medium storing a computer program, wherein the computer program, when loaded and executed by a processor, implements the steps of the battery replacement method as described in any one of claims 4 to 6.

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