Battery switching control system and control method thereof

Abstract

The invention relates to a battery switching control system and a control method thereof. In the system, a control device is connected with a main battery pack, an auxiliary battery pack and a load; the current limiting module is connected with the main battery pack, the auxiliary battery pack and the load, and the control device is connected with the current limiting module; when the electric quantity of the main battery pack is lower than a preset electric quantity threshold value, the control device controls the current-limiting module to be conducted so as to perform current-limiting discharge on the main battery pack and the auxiliary battery pack; when the control device completes current-limiting discharge of the main battery pack and the auxiliary battery pack, the current-limiting module is controlled to be disconnected, and the auxiliary battery pack is switched to supply power to the load, so that automatic switching of the main battery pack and the auxiliary battery pack is realized, and over-current protection of the battery management system is prevented from being triggered by over-high current when the main battery pack and the auxiliary battery pack are switched; the load is ensured to be uninterruptible in the switching process of the main battery pack and the auxiliary battery pack, so that the load can be normally used in the switching process of the main battery pack and the auxiliary battery pack.

Description

Technical Field

[0001] This application relates to the field of battery control technology, and in particular to a battery switching control system and control method thereof. Background Technology

[0002] With the development of robotics technology, higher requirements have been placed on the power supply of robots. In order to meet the need for uninterrupted power supply during actual use, robots are usually equipped with a main battery pack and a secondary battery pack. The main and secondary battery packs are switched to ensure uninterrupted power supply for the robot.

[0003] In the existing main and auxiliary battery pack switching methods for robots, the main and auxiliary battery packs are prone to interaction, causing the auxiliary battery pack to charge the main battery pack. This results in overcurrent in the main battery pack, which inadvertently triggers the overcurrent protection of the battery management system, causing the robot to shut down and become unusable. Summary of the Invention

[0004] Based on this, a battery switching control system and its control method are provided.

[0005] In a first aspect, this application provides a battery switching control system, comprising: Control device, used to connect the main battery pack, the auxiliary battery pack and the load; The current limiting module is used to connect the main battery pack, the auxiliary battery pack and the load, and the control device is connected to the current limiting module. The control device is configured to turn on the current limiting module when the main battery pack's charge level is lower than a preset charge threshold, so as to perform current-limited discharge on the main battery pack and the auxiliary battery pack; the control device is also configured to turn off the current limiting module and switch the auxiliary battery pack to supply power to the load when the current-limited discharge of the main battery pack and the auxiliary battery pack is completed.

[0006] In one embodiment, the battery switching control system further includes a first switching module and a second switching module; the current limiting module includes a first current limiting module and a second current limiting module; the first current limiting module is connected to the main battery pack and the load, and the second current limiting module is connected to the auxiliary battery pack and the load; The first terminal of the first switching module is connected to the main battery pack and the first terminal of the first current limiting module; the second terminal of the first switching module is connected to the load and the second terminal of the first current limiting module; the control terminal of the first switching module is connected to the control device; the first terminal of the second switching module is connected to the auxiliary battery pack and the first terminal of the second current limiting module; the second terminal of the second switching module is connected to the load and the second terminal of the second current limiting module; the control terminal of the second switching module is connected to the control device. The control device is also configured to disconnect the first switch module and the second switch module and turn on the first current limiting module and the second current limiting module when the power of the main battery pack is lower than a preset power threshold, so as to perform current-limited discharge on the main battery pack and the auxiliary battery pack. The control device is also configured to, when the main battery pack and the auxiliary battery pack have completed current-limited discharge, control the first current-limiting module and the second current-limiting module to disconnect and the first switch module to disconnect, and control the second switch module to turn on, and the first current-limiting module and the second current-limiting module to turn on, so as to switch the auxiliary battery pack to supply power to the load.

[0007] In one embodiment, the control device includes a first control module and a second control module; the first control module is connected to the main battery pack, the load, the first switch module, the first current limiting module, and the second control module; the second control module is connected to the auxiliary battery pack, the load, the second switch module, and the second current limiting module. The first control module is configured to acquire a load transfer switching request and, based on the switching request, transmit a wake-up command to the second control module, so that the second control module transmits response information to the first control module based on the wake-up command. The first control module is also configured to control the first current limiting module to turn on and control the first switch module to turn off according to the response information, so as to perform current-limited discharge of the main battery pack, and transmit a current limiting command to the second control module, so that the second control module controls the second current limiting module to turn on and controls the second switch module to turn off according to the current limiting command, so as to perform current-limited discharge of the auxiliary battery pack. The first control module is also configured to disconnect the first current limiting module when the current-limited discharge of the main battery pack is completed; the second control module is also configured to disconnect the second current limiting module and turn on the second switching module when the current-limited discharge of the auxiliary battery pack is completed, so as to switch the auxiliary battery pack to supply power to the load.

[0008] In one embodiment, the first control module is further configured to parse and process the response information to obtain the power information and fault information of the corresponding sub-battery pack, and generate a current limiting command when the power information and fault information meet the preset switching conditions.

[0009] In one embodiment, the switching request is generated when the main battery pack's charge level is below a preset charge threshold.

[0010] In one embodiment, the first switching module includes a first switching transistor, the second switching module includes a second switching transistor, the first current limiting module includes a third switching transistor and a first current limiting resistor, and the second current limiting module includes a fourth switching transistor and a second current limiting resistor. The source of the first switching transistor is connected to the negative terminal of the main battery pack, the drain of the first switching transistor is connected to the negative terminal of the load, and the gate of the first switching transistor is connected to the first control module; the source of the third switching transistor is connected to the negative terminal of the main battery pack, the drain of the third switching transistor is connected to the first end of the first current limiting resistor, and the second end of the first current limiting resistor is connected to the drain of the first switching transistor. The source of the second switch is connected to the negative terminal of the auxiliary battery pack, the drain of the second switch is connected to the negative terminal of the load, and the gate of the second switch is connected to the second control module; the source of the fourth switch is connected to the negative terminal of the main battery pack, the drain of the fourth switch is connected to the first end of the second current-limiting resistor, and the second end of the second current-limiting resistor is connected to the drain of the second switch; the positive terminal of the load is connected to the positive terminal of the main battery pack and the negative terminal of the auxiliary battery pack respectively.

[0011] In one embodiment, the battery switching control system further includes a fifth switch and a sixth switch; The source of the fifth switch is connected to the negative terminal of the load, the drain of the fifth switch is connected to the drain of the first switch, and the gate of the fifth switch is connected to the first control module. The source of the sixth switch is connected to the negative terminal of the load, the drain of the sixth switch is connected to the drain of the second switch, and the gate of the sixth switch is connected to the second control module.

[0012] In one embodiment, the first control module includes a first processing chip, a first AFE chip, and a first connector; the second control module includes a second processing chip, a second AFE chip, and a second connector. The first processing chip is connected to the first AFE chip and the first connector respectively. The first AFE chip is connected to the main battery pack, the first current limiting module and the first switching module respectively. The first connector is connected to the load and the second connector respectively. The second processing chip is connected to the second AFE chip and the second connector respectively. The second AFE chip is connected to the auxiliary battery pack, the second current limiting module and the second switching module respectively. The second connector is connected to the load.

[0013] In one embodiment, it further includes a first sensing module and a second sensing module; The first sensing module is connected to the first AFE chip and the main battery pack; the second sensing module is connected to the second AFE chip and the auxiliary battery pack.

[0014] Secondly, this application also provides a battery switching control method, applied to a control device as described in any of the above claims; the battery switching control method includes the following steps: When the main battery pack's charge level is lower than a preset charge threshold, the current limiting module is turned on to limit the discharge of the main battery pack and the auxiliary battery pack. When the main battery pack and the auxiliary battery pack have completed the current-limited discharge, the current-limiting module is disconnected and the auxiliary battery pack is switched to supply power to the load.

[0015] In one embodiment, the control device includes a first control module and a second control module, the first control module being connected to the second control module; applied to the first control module, the battery switching control method further includes the following steps: Obtain the load balancing switch request; According to the switching request, a wake-up command is transmitted to the second control module; the wake-up command is used to instruct the second control module to provide feedback information. Based on the response information fed back by the second control module, a current limiting command is transmitted to the second control module, and the first current limiting module is turned on and the first switching module is turned off to perform current-limited discharge on the main battery pack. When the current-limited discharge of the main battery pack is completed, the first current limiting module is turned off. The current limiting command is used to instruct the second control module to turn on the second current limiting module and turn off the second switching module to perform current-limited discharge on the auxiliary battery pack. When the current-limited discharge of the auxiliary battery pack is completed, the second current limiting module is turned off and the second switching module is turned on to switch the auxiliary battery pack to supply power to the load.

[0016] In one embodiment, the control device includes a first control module and a second control module, the first control module being connected to the second control module; applied to the second control module, the battery switching control method further includes the following steps: Obtain the wake-up command transmitted by the first control module; the wake-up command is generated by the first control module based on the switching request transmitted by the load. According to the wake-up command, the system sends a response message to the first control module, so that the first control module sends a current limiting command based on the response message, controls the first current limiting module to turn on and controls the first switch module to turn off, so as to perform current limiting discharge on the main battery pack until the current limiting discharge of the main battery pack is completed, and then controls the first current limiting module to turn off. The system receives a current limiting command from the first control module and controls the second current limiting module to turn on and the second switch module to turn off, in order to perform current-limited discharge on the auxiliary battery pack. When the current-limited discharge of the auxiliary battery pack is completed, the system controls the second current limiting module to turn off and the second switch module to turn on, in order to switch the auxiliary battery pack to supply power to the load.

[0017] One of the above technical solutions has the following advantages and beneficial effects: The aforementioned battery switching control system includes a control device and a current-limiting module. The control device is used to connect the main battery pack, the auxiliary battery pack, and the load. The current-limiting module is used to connect the main battery pack, the auxiliary battery pack, and the load, and the control device is connected to the current-limiting module. The control device is configured to control the current-limiting module to conduct current-limited discharge for the main battery pack and the auxiliary battery pack when the current-limited discharge of the main battery pack and the auxiliary battery pack is completed. The control device is also configured to control the current-limiting module to disconnect and switch the auxiliary battery pack to supply power to the load when the current-limited discharge of the main battery pack and the auxiliary battery pack is completed, thereby realizing automatic switching between the main and auxiliary battery packs and ensuring that the load is not powered during the switching process. This application incorporates a current-limiting module. When switching between the main and auxiliary battery packs is required, the control device activates the current-limiting module, allowing both the main and auxiliary battery packs to undergo current-limited discharge first. This prevents excessive current during the switch from triggering the overcurrent protection of the battery management system. Once the current-limited discharge is complete, the control device deactivates the current-limiting module, and the power supply to the load is switched from the main battery pack to the auxiliary battery pack. This achieves automatic switching between the main and auxiliary battery packs while ensuring uninterrupted power supply to the load, enabling the load to operate normally during the switching process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the first circuit structure of the battery switching control system in an embodiment of this application; Figure 2 This is a schematic diagram of the second circuit structure of the battery switching control system in an embodiment of this application; Figure 3 This is a schematic diagram of the third circuit structure of the battery switching control system in an embodiment of this application; Figure 4 This is a flowchart illustrating the battery switching control method in an embodiment of this application. Figure 5 This is a flowchart illustrating the battery switching control method applied to the first control module in an embodiment of this application. Figure 6 This is a flowchart illustrating the battery switching control method applied to the second control module in an embodiment of this application.

[0019] Figure label: 10. Control device; 110. First control module; 112. First processing chip; 114. First AFE chip; 116. First connector; 120. Second control module; 122. Second processing chip; 124. Second AFE chip; 126. Second connector; 20. Current limiting module; 210. First current limiting module; 220. Second current limiting module; 310. First switch module; 320. Second switch module; 410. First sensing module; 420. Second sensing module; 50. Main battery pack; 60. Secondary battery pack; 70. Load; R1, first current-limiting resistor; R2, second current-limiting resistor; Q1, first switching transistor; Q2, second switching transistor; Q3, third switching transistor; Q4, fourth switching transistor; Q5, fifth switching transistor; Q6, sixth switching transistor. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] In addition, the term "multiple" should mean two or more.

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] In one embodiment, such as Figure 1 As shown, a battery switching control system is provided, including a control device 10 and a current limiting module 20. The control device 10 is used to connect a main battery pack 50, a secondary battery pack 60, and a load 70. The current limiting module 20 is used to connect the main battery pack 50, the secondary battery pack 60, and the load 70. The control device 10 is connected to the current limiting module 20. The control device 10 is configured to control the current limiting module 20 to conduct current-limited discharge of the main battery pack 50 and the secondary battery pack 60 when the current-limited discharge of the main battery pack 50 and the secondary battery pack 60 is completed. The control device 10 is also configured to control the current limiting module 20 to disconnect and switch the power supply from the secondary battery pack 60 to the load 70 when the current-limited discharge of the main battery pack 50 and the secondary battery pack 60 is completed.

[0025] The control device 10 can be independent of the BMS (Battery Management System); or it can be integrated into the BMS. For example, the control device 10 can be divided into a corresponding number of control boards according to the number of battery packs, with one control board controlling one battery pack. Based on the fact that the control device 10 is connected to the main battery pack 50, the auxiliary battery pack 60, and the load 70, the control device 10 can monitor the voltage, current, and temperature of the main battery pack 50 and the auxiliary battery pack 60. The control device 10 can also interact with the load 70; for example, the control device 10 can receive a switching request from the load 70 and then execute the corresponding main / auxiliary battery pack 60 switching steps according to the switching request. The control device 10 can also receive the operating status of the load 70 and then control the power supply to the load 70 according to the operating status of the load 70.

[0026] The current limiting module 20 may include at least two current limiting modules, the number of which is determined by the number of battery packs. For example, a current limiting module may be provided between the main battery pack 50 and the load 70, so that the main battery pack 50 can be discharged with current limiting when the current limiting module is activated; a current limiting module may be provided between the auxiliary battery pack 60 and the load 70, so that the auxiliary battery pack 60 can be discharged with current limiting when the current limiting module is activated.

[0027] The main battery pack 50 has the same output power as the auxiliary battery pack 60. The main battery pack 50 can be a lithium-ion battery pack, and it may include several individual battery cells connected in series and / or parallel. The auxiliary battery pack 60 can also be a lithium-ion battery pack, and it may include several individual battery cells connected in series and / or parallel. The load 70 can be the robot body, which can be a mobile robot, such as a wheeled mobile robot, a walking mobile robot, a tracked mobile robot, a crawling robot, a wiggling robot, or a swimming robot.

[0028] For example, based on the connection of the control device 10 to the current limiting module 20, the control device 10 can detect the power level of the main battery pack 50 and compare the detected power level of the main battery pack 50 with a threshold. When the power level of the main battery pack 50 is lower than the preset power threshold, it is determined that the main battery pack 50 needs to be switched, and then the current limiting module 20 is turned on, that is, the main current limiting discharge circuit of the main battery pack 50 and the auxiliary battery pack 60 is turned on, so that the main battery pack 50 and the auxiliary battery pack 60 perform current limiting discharge, avoiding excessive current when the main battery pack 50 and the auxiliary battery pack 60 are switched, which would cause the control device 10 to falsely trigger the overcurrent protection. The control device 10 can perform current-limited discharge on the main battery pack 50 and the auxiliary battery pack 60 based on a preset time. When the current-limited discharge is completed, the control current-limiting module 20 is disconnected, thereby disconnecting the auxiliary current-limited discharge circuit of the main battery pack 50 and the auxiliary battery pack 60. At the same time, the main battery pack 50 is switched to the auxiliary battery pack 60 to supply power to the load 70, so as to realize the uninterrupted use of the load 70 during the switching process of the main and auxiliary battery packs 60, and avoid the load 70 from being interrupted and unable to be used or causing data loss.

[0029] For example, the load 70 can detect the power level of the main battery pack 50. When it detects that the power level of the main battery pack 50 is lower than a preset power threshold, it transmits a switching request to the control device 10. Then, the control device 10 can execute the corresponding current-limiting discharge steps of the main battery pack 50 and the auxiliary battery pack 60 according to the switching request.

[0030] In the above embodiments, the control device 10 is connected to the main battery pack 50, the auxiliary battery pack 60, and the load 70; the current limiting module 20 is connected to the main battery pack 50, the auxiliary battery pack 60, and the load 70, and the control device 10 is connected to the current limiting module 20; when the power of the main battery pack 50 is lower than a preset power threshold, the control device 10 controls the current limiting module 20 to be turned on to perform current-limited discharge on the main battery pack 50 and the auxiliary battery pack 60; when the current-limited discharge of the main battery pack 50 and the auxiliary battery pack 60 is completed, the control device 10 controls the current limiting module 20 to be turned off and switches the auxiliary battery pack 60 to supply power to the load 70, thereby realizing automatic switching of the main and auxiliary battery packs 60 and ensuring that the load 70 is not powered during the switching process of the main and auxiliary battery packs 60. This application sets up a current limiting module 20. When it is necessary to switch between the main battery pack 50 and the auxiliary battery pack 60, the control device 10 controls the current limiting module 20 to be turned on, so that the main battery pack 50 and the auxiliary battery pack 60 first undergo current-limited discharge. This avoids excessive current during the switching of the main and auxiliary battery packs 60, which would trigger the overcurrent protection of the battery management system. When the current-limited discharge is completed, the control device 10 controls the current limiting module 20 to be turned off, and the main battery pack 50 is switched to the auxiliary battery pack 60 to supply power to the load 70. This achieves automatic switching of the main and auxiliary battery packs 60 and ensures that the load 70 is not powered, so that the load 70 can be used normally during the switching process of the main and auxiliary battery packs 60.

[0031] In one embodiment, such as Figure 2 As shown, the battery switching control system also includes a first switch module 310 and a second switch module 320; the current limiting module 20 includes a first current limiting module 210 and a second current limiting module 220; the first current limiting module 210 is connected to the main battery pack 50 and the load 70, and the second current limiting module 220 is connected to the auxiliary battery pack 60 and the load 70; the first end of the first switch module 310 is connected to the main battery pack 50 and the first end of the first current limiting module 210; the second end of the first switch module 310 is connected to the load 70 and the second end of the first current limiting module 210, and the control end of the first switch module 310 is connected to the control device 10; the first end of the second switch module 320 is connected to the auxiliary battery pack 60 and the first end of the second current limiting module 220; the second end of the second switch module 320 is connected to the load 70 and the second current limiting module 220. The second end of the current module 220 and the control end of the second switch module 320 are connected to the control device 10. The control device 10 is also configured to, when the power of the main battery pack 50 is lower than a preset power threshold, control the first switch module 310 and the second switch module 320 to disconnect, and control the first current limiting module 210 and the second current limiting module 220 to conduct current-limited discharge to the main battery pack 50 and the auxiliary battery pack 60. The control device 10 is also configured to, when the current-limited discharge of the main battery pack 50 and the auxiliary battery pack 60 is completed, control the first current limiting module 210 and the second current limiting module 220 to disconnect and the first switch module 310 to disconnect, and control the second switch module 320 to conduct, and control the first current limiting module 210 and the second current limiting module 220 to conduct, so as to switch the auxiliary battery pack 60 to supply power to the load 70.

[0032] The first switch module 310 is installed on the main discharge circuit of the main battery pack 50 and the load 70, and the first current limiting module 210 is installed on the main current-limited discharge circuit of the main battery pack 50 and the load 70. The first switch module 310 is used to control the on / off state of the main discharge circuit, and the first current limiting module 210 is used to control the on / off state of the main current-limited discharge circuit. The second switch module 320 is installed on the auxiliary discharge circuit of the auxiliary battery pack 60 and the load 70, and the second current limiting module 220 is installed on the auxiliary current-limited discharge circuit of the auxiliary battery pack 60 and the load 70. The second switch module 320 is used to control the on / off state of the auxiliary discharge circuit, and the second current limiting module 220 is used to control the on / off state of the auxiliary current-limited discharge circuit.

[0033] Based on the control device 10 being connected to the first switch module 310, the second switch module 320, the first current limiting module 210, and the second current limiting module 220 respectively, when the power of the main battery pack 50 is lower than a preset power threshold, the control module determines that the main battery pack 50 is underpowered and needs to switch between the main battery pack 50 and the auxiliary battery pack 60. It controls the first switch module 310 and the second switch module 320 to disconnect, thereby controlling the first current limiting module 210 and the second current limiting module 220 to conduct. This disconnects the main discharge circuit and the auxiliary discharge circuit, while simultaneously connecting the main current limiting discharge circuit and the auxiliary current limiting discharge circuit, thus achieving current limiting discharge for the main battery pack 50 and the auxiliary battery pack 60. This prevents the main and auxiliary battery packs 60 from generating a large current at the moment of switching and triggering overcurrent protection.

[0034] When the current-limited discharge of the main battery pack 50 and the auxiliary battery pack 60 is completed, the control device 10 controls the first current-limiting module 210 and the second current-limiting module 220 to disconnect and the first switch module 310 to disconnect, and controls the second switch module 320 to turn on, so that the main current-limited discharge circuit and the auxiliary current-limited discharge circuit are disconnected. At the same time, the main discharge circuit is disconnected and the auxiliary discharge circuit is turned on, thereby realizing the switching of the main battery pack 50 to the auxiliary battery pack 60 to supply power to the load 70, realizing the automatic switching of the main and auxiliary battery packs 60, and ensuring that the load 70 is not powered off. This allows the load 70 to be used normally during the switching of the main and auxiliary battery packs 60, while simplifying the circuit structure of the switching of the main and auxiliary battery packs 60 and reducing costs.

[0035] In one embodiment, such as Figure 2As shown, the control device 10 includes a first control module 110 and a second control module 120. The first control module 110 is connected to the main battery pack 50, the load 70, the first switch module 310, the first current limiting module 210, and the second control module 120, respectively. The second control module 120 is connected to the auxiliary battery pack 60, the load 70, the second switch module 320, and the second current limiting module 220, respectively. The first control module 110 is configured to acquire a switching request transmitted by the load 70, and according to the switching request, transmit a wake-up command to the second control module 120, so that the second control module 120 transmits response information to the first control module 110 according to the wake-up command. The first control module 110 is also configured to control the load 70 according to the response information. The first control module 110 is configured to turn on the first current limiting module 210 and turn off the first switch module 310 to perform current-limited discharge on the main battery pack 50, and transmit a current limiting command to the second control module 120. The second control module 120 then controls the second current limiting module 220 to turn on and the second switch module 320 to turn off, in order to perform current-limited discharge on the auxiliary battery pack 60. The first control module 110 is also configured to turn off the first current limiting module 210 when the current-limited discharge of the main battery pack 50 is completed. The second control module 120 is also configured to turn off the second current limiting module 220 and turn on the second switch module 320 when the current-limited discharge of the auxiliary battery pack 60 is completed, in order to switch the auxiliary battery pack 60 to supply power to the load 70.

[0036] The first control module 110 can be a first BMS circuit board, and the second control module 120 can be a second BMS circuit board. The first control module 110 has an output port (DO port), and the second control module 120 has a wake port. The first control module 110 connects to the wake port of the second control module 120 via the DO port. When it is necessary to switch the main battery pack 50 to the auxiliary battery pack 60, the first control module 110 transmits a wake-up command to the wake port of the second control module 120 via the DO port to wake up the second control module 120. When it is not necessary to switch the auxiliary battery pack 60, the second control module 120 is in sleep mode, thereby reducing power consumption.

[0037] For example, the switching request is generated by the load 70 when the power level of the main battery pack 50 is lower than a preset power threshold. For instance, the load 70 can detect the SOC (State of Charge) of the main battery pack 50. When the load 70 detects that the current SOC of the main battery pack 50 is lower than a preset SOC (e.g., 5% SOC), the load 70 stops moving and enters a low-power mode. Simultaneously, the load 70 transmits a switching request to the first control module 110. It should be noted that the load 70 and the first control module 110 can communicate via a CAN bus. Therefore, the load 70 can send a switching request to the first control module 110 via the CAN bus, and the first control module 110 can receive the corresponding switching request via the CAN bus.

[0038] Load 70 performs power detection on the main battery pack 50. When the power level of the main battery pack 50 is detected to be lower than a preset power threshold, a switching request is transmitted to the first control module 110. Based on the received switching request, the first control module 110 transmits a wake-up command to the second control module 120 to wake it up and enable it to operate. Based on the received wake-up command, the second control module 120 transmits response information to the first control module 110. Then, based on the received response information, the first control module 110 controls the first switch module 310 to disconnect and the first current limiting module 210 to turn on, i.e., disconnects the switch. The main discharge circuit is activated and the main current-limiting discharge circuit is turned on to achieve current-limited discharge of the main battery pack 50. At the same time, the first control module 110 transmits a current-limiting command to the second control module 120. Then, according to the received current-limiting command, the second control module 120 controls the second switch module 320 to open and controls the second current-limiting module 220 to turn on, that is, the auxiliary discharge circuit is disconnected and the auxiliary current-limiting discharge circuit is turned on to achieve current-limited discharge of the auxiliary battery pack 60. This avoids the formation of a large current when the main and auxiliary battery packs 60 are switched, which could damage the circuit devices and trigger the overcurrent protection. Thus, the load 70 can be used without power supply when the main and auxiliary battery packs 60 are switched.

[0039] The first control module 110 detects the current-limited discharge time of the main battery pack 50. When the current-limited discharge time of the main battery pack 50 reaches the first time threshold, it controls the first current-limiting module 210 to disconnect, thereby disconnecting the main current-limited discharge circuit. At the same time, the second control module 120 detects the current-limited discharge time of the auxiliary battery pack 60. When the current-limited discharge time of the auxiliary battery pack 60 reaches the first time threshold, it controls the second current-limiting module 220 to disconnect and controls the second switch module 320 to turn on, thereby disconnecting the auxiliary current-limited discharge circuit and turning on the auxiliary discharge circuit. This realizes the automatic switching from the main battery pack 50 to the auxiliary battery pack 60 to supply power to the load 70, ensuring that the load 70 is not powered and can be used normally during the switching process between the main and auxiliary battery packs 60, thus improving the reliability of battery switching.

[0040] In one embodiment, the first control module 110 is further configured to parse and process the response information to obtain the power information and fault information of the corresponding sub-battery pack 60, and generate a current limiting command when the power information and fault information meet the preset switching conditions.

[0041] The response information includes the battery level and fault information of the secondary battery pack 60.

[0042] The first control module 110 can compare the value of the power information with a preset power threshold and the fault information with a preset fault condition. If the value of the power information is greater than the preset power threshold and the fault information is a non-fault type, it determines that the secondary battery pack 60 meets the switching requirements, and then generates a current limiting command and transmits the current limiting command to the second control module 120. This causes the second control module 120 to control the secondary discharge circuit to disconnect and control the secondary current limiting discharge circuit to conduct, thereby achieving current limiting discharge of the secondary battery pack 60. At the same time, when the power information and fault information meet the preset switching conditions, the first control module 110 controls the main discharge circuit to disconnect and controls the main current limiting discharge circuit to conduct, thereby achieving current limiting discharge of the main battery pack 50 and improving the reliability of the switching between the main and secondary battery packs 60.

[0043] In one embodiment, such as Figure 3 As shown, the first switching module 310 includes a first switching transistor Q1, the second switching module 320 includes a second switching transistor Q2, the first current limiting module 210 includes a third switching transistor Q3 and a first current limiting resistor R1, and the second current limiting module 220 includes a fourth switching transistor Q4 and a second current limiting resistor R2. The source of the first switching transistor Q1 is connected to the negative terminal of the main battery pack 50, the drain of the first switching transistor Q1 is connected to the negative terminal of the load 70, and the gate of the first switching transistor Q1 is connected to the first control module 110. The source of the third switching transistor Q3 is connected to the negative terminal of the main battery pack 50, and the drain of the third switching transistor Q3 is connected to the first current limiting resistor R1. The first end of the first current-limiting resistor R1 and the second end of the first current-limiting resistor R1 are connected to the drain of the first switching transistor Q1; the source of the second switching transistor Q2 is connected to the negative terminal of the auxiliary battery pack 60, the drain of the second switching transistor Q2 is connected to the negative terminal of the load 70, and the gate of the second switching transistor Q2 is connected to the second control module 120; the source of the fourth switching transistor Q4 is connected to the negative terminal of the main battery pack 50, the drain of the fourth switching transistor Q4 is connected to the first end of the second current-limiting resistor R2, and the second end of the second current-limiting resistor R2 is connected to the drain of the second switching transistor Q2; the positive terminal of the load 70 is connected to the positive terminal of the main battery pack 50 and the negative terminal of the auxiliary battery pack 60 respectively.

[0044] Among them, the first switch Q1, the second switch Q2, the third switch Q3 and the fourth switch Q4 can be N-type MOSFETs.

[0045] For example, when the power level of the main battery pack 50 is lower than a preset power threshold, and the power information and fault information of the auxiliary battery pack 60 meet the preset switching conditions, the first control module 110 controls the first switch Q1 to disconnect and controls the third switch Q3 to turn on, that is, disconnecting the main discharge circuit and turning on the main current-limiting discharge circuit to achieve current-limiting discharge of the main battery pack 50. At the same time, the first control module 110 transmits a current-limiting command to the second control module 120. Then, according to the current-limiting command, the second control module 120 controls the second switch Q2 to disconnect and controls the fourth switch Q4 to turn on, that is, disconnecting the auxiliary discharge circuit and turning on the auxiliary current-limiting discharge circuit to achieve current-limiting discharge of the auxiliary battery pack 60. This avoids the formation of a large current when the main and auxiliary battery packs 60 switch, which could damage the circuit devices and trigger overcurrent protection, thereby ensuring that the load 70 can be used without power during the switching of the main and auxiliary battery packs 60. When the main battery pack 50 and the auxiliary battery pack 60 are completed with current-limited discharge, the first control module 110 controls the third switch Q3 to turn off, thereby disconnecting the main current-limited discharge circuit; at the same time, the second control module 120 controls the fourth switch Q4 to turn off and controls the second switch Q2 to turn on, thereby disconnecting the auxiliary current-limited discharge circuit and turning on the auxiliary discharge circuit, realizing the automatic switching from the main battery pack 50 to the auxiliary battery pack 60 to supply power to the load 70, ensuring that the load 70 is not powered off, so that the load 70 can be used normally during the switching process of the main and auxiliary battery packs 60, improving the reliability of battery switching, simplifying the battery switching circuit structure, reducing costs, and reducing EMC interference of the circuit.

[0046] In one embodiment, such as Figure 3 As shown, the battery switching control system also includes a fifth switch Q5 and a sixth switch Q6; the source of the fifth switch Q5 is connected to the negative terminal of the load 70, the drain of the fifth switch Q5 is connected to the drain of the first switch Q1, and the gate of the fifth switch Q5 is connected to the first control module 110; the source of the sixth switch Q6 is connected to the negative terminal of the load 70, the drain of the sixth switch Q6 is connected to the drain of the second switch Q2, and the gate of the sixth switch Q6 is connected to the second control module 120.

[0047] Among them, the fifth switch Q5 and the sixth switch Q6 can be N-type MOSFETs.

[0048] For example, when the main and auxiliary battery packs 60 need to be switched, the first control module 110 controls the first switch Q1 to be disconnected and controls the third switch Q3 and the fifth switch Q5 to be turned on, that is, disconnecting the main discharge circuit and turning on the main current-limiting discharge circuit to achieve current-limiting discharge of the main battery pack 50; the second control module 120 controls the second switch Q2 to be disconnected and controls the fourth switch Q4 and the sixth switch Q6 to be turned on, that is, disconnecting the auxiliary discharge circuit and turning on the auxiliary current-limiting discharge circuit to achieve current-limiting discharge of the auxiliary battery pack 60, avoiding the formation of a large current when the main and auxiliary battery packs 60 are switched, which could damage the circuit devices and trigger overcurrent protection, thereby ensuring that the load 70 can be used without power during the switching of the main and auxiliary battery packs 60. When the main and auxiliary battery packs 60 complete the current-limited discharge, the first control module 110 controls the third switch Q3 and the fifth switch Q5 to disconnect, thereby disconnecting the main current-limited discharge circuit. At the same time, the second control module 120 controls the fourth switch Q4 to disconnect and controls the second switch Q2 and the sixth switch Q6 to conduct, thereby disconnecting the auxiliary current-limited discharge circuit and conducting the auxiliary discharge circuit. This enables the main battery pack 50 to automatically switch to the auxiliary battery pack 60 to supply power to the load 70, ensuring that the load 70 is not powered down and can be used normally during the switching process between the main and auxiliary battery packs 60. By setting the fifth switch Q5 and the sixth switch Q6, the first switch Q1 and the fifth switch Q5 form a bidirectional switching circuit, and the second switch Q2 and the sixth switch Q6 form a bidirectional switching circuit. This effectively prevents the flow of reverse current when the main battery pack 50 or the auxiliary battery pack 60 is powered down, improving the safety and reliability of the system.

[0049] In one embodiment, such as Figure 3 As shown, the first control module 110 includes a first processing chip 112, a first AFE chip 114, and a first connector 116; the second control module 120 includes a second processing chip 122, a second AFE chip 124, and a second connector 126; the first processing chip 112 is connected to the first AFE chip 114 and the first connector 116 respectively, the first AFE chip 114 is connected to the main battery pack 50, the first current limiting module 210, and the first switch module 310 respectively, and the first connector 116 is connected to the load 70 and the second connector 126 respectively; the second processing chip is connected to the second AFE chip 124 and the second connector 126 respectively, the second AFE chip 124 is connected to the auxiliary battery pack 60, the second current limiting module 220, and the second switch module 320 respectively, and the second connector 126 is connected to the load 70.

[0050] The first AFE (Analog Front End) chip is used to sample, filter, amplify, and convert the individual cell voltage, temperature, and current signals of the main battery pack 50 to analog-to-digital (A / D) signals. The converted signals are then transmitted to the first processing chip 112 for monitoring the operating status of the main battery pack 50. The first AFE chip 114 can also drive the switching of the first switch Q1, the third switch Q3, and the fifth switch Q5. The second AFE chip 124 is used to sample, filter, amplify, and convert the individual cell voltage, temperature, and current signals of the auxiliary battery pack 60 to analog-to-digital (A / D) signals. The converted signals are then transmitted to the second processing chip 122 for monitoring the operating status of the auxiliary battery pack 60. The second AFE chip 124 can also drive the switching of the second switch Q2, the fourth switch Q4, and the sixth switch Q6. The first AFE chip 114 and the first processing chip 112 can be connected via SPI communication; the second AFE chip 124 and the second processing chip 122 can be connected via SPI communication.

[0051] The first connector 116 is connected to the first processing chip 112 via a CAN bus and an input / output port. The first connector 116 is also connected to the load 70 via a CAN bus. The first connector 116 is connected to the input port of the second connector 126 via an output port. The output port of the second connector 126 is connected to the wake-up port of the second processing chip 122. The second connector 126 is also connected to the second processing chip 122 via a CAN bus.

[0052] For example, when the main and auxiliary battery packs 60 need to be switched, the first processing chip 112 transmits a first control signal to the first AFE chip 114, causing the first AFE chip 114 to drive the first switch Q1 to turn off and drive the third switch Q3 and the fifth switch Q5 to turn on, that is, to disconnect the main discharge circuit and turn on the main current-limited discharge circuit, thereby achieving current-limited discharge of the main battery pack 50; the second processing chip 122 transmits a second control signal to the second AFE chip 124, causing the second AFE chip 124 to drive the second switch Q2 to turn off and drive the fourth switch Q4 and the sixth switch Q6 to turn on, that is, to disconnect the auxiliary discharge circuit and turn on the auxiliary current-limited discharge circuit, thereby achieving current-limited discharge of the auxiliary battery pack 60, so that the load 70 can be used without power during the switching of the main and auxiliary battery packs 60. When the main and auxiliary battery packs 60 complete the current-limited discharge, the first processing chip 112 transmits a third control signal to the first AFE chip 114, causing the first AFE chip 114 to drive the third switch Q3 and the fifth switch Q5 to disconnect, thereby disconnecting the main current-limited discharge circuit. At the same time, the second processing chip 122 transmits a fourth control signal to the second AFE chip 124, causing the second AFE chip 124 to drive the fourth switch Q4 to disconnect and drive the second switch Q2 and the sixth switch Q6 to conduct, thereby disconnecting the auxiliary current-limited discharge circuit and conducting the auxiliary discharge circuit. This realizes the automatic switching from the main battery pack 50 to the auxiliary battery pack 60 to supply power to the load 70, ensuring that the load 70 is not powered and can be used normally during the switching process of the main and auxiliary battery packs 60.

[0053] In one embodiment, such as Figure 3 As shown, the battery switching control system also includes a first sensing module 410 and a second sensing module 420; the first sensing module 410 is connected to the first AFE chip 114 and the main battery pack 50; the second sensing module 420 is connected to the second AFE chip 124 and the auxiliary battery pack 60.

[0054] The first sensing module 410 may include multiple first single-cell voltage sensors, a first current sensor, and a first temperature sensor; the second sensing module 420 may include multiple second single-cell voltage sensors, second current sensors, and second temperature sensors. The first single-cell voltage sensors are used to detect the voltage of individual cells in the main battery pack 50; the first current sensors are used to detect the current in the main battery pack 50; and the first temperature sensors are used to detect the temperature in the main battery pack 50. The second single-cell voltage sensors are used to detect the voltage of individual cells in the auxiliary battery pack 60; the second current sensors are used to detect the current in the auxiliary battery pack 60; and the second temperature sensors are used to detect the temperature in the auxiliary battery pack 60.

[0055] In one embodiment, such as Figure 4As shown, this application also provides a battery switching control method, applied to a control device as described in any of the above claims; the battery switching control method includes the following steps: Step S410: When the power of the main battery pack is lower than the preset power threshold, control the current limiting module to turn on so as to perform current-limited discharge on the main battery pack and the auxiliary battery pack.

[0056] For example, the control device can detect the power level of the main battery pack and compare the detected power level with a threshold. When the power level of the main battery pack is lower than the preset power threshold, it determines that the main battery pack needs to be switched, and then controls the current limiting module to be turned on, that is, the main current limiting discharge circuit of the main battery pack and the auxiliary battery pack is turned on, so that the main battery pack and the auxiliary battery pack can perform current limiting discharge, avoiding excessive current during the switching of the main battery pack and the auxiliary battery pack, which would cause the control device to falsely trigger the overcurrent protection.

[0057] Step S420: When the current-limited discharge of the main battery pack and the auxiliary battery pack is completed, the current-limiting module is disconnected and the auxiliary battery pack is switched to supply power to the load.

[0058] The control device can perform current-limited discharge on the main battery pack and the auxiliary battery pack based on a preset time. When the current-limited discharge is completed, the current-limiting module is disconnected, thereby disconnecting the auxiliary current-limited discharge circuit of the main battery pack and the auxiliary battery pack. At the same time, the main battery pack is switched to the auxiliary battery pack to supply power to the load, so as to realize uninterrupted power supply to the load during the switching process of the main and auxiliary battery packs, avoiding the situation that the load is interrupted and cannot be used or data is lost.

[0059] In the above embodiments, when it is necessary to switch between the main battery pack and the auxiliary battery pack, the control device controls the current limiting module to turn on, so that the main battery pack and the auxiliary battery pack first perform current-limited discharge to avoid excessive current during the switching of the main and auxiliary battery packs and triggering the overcurrent protection of the battery management system. When the current-limited discharge is completed, the control device controls the current limiting module to turn off, and the main battery pack switches to the auxiliary battery pack to supply power to the load, thereby realizing the automatic switching of the main and auxiliary battery packs and ensuring that the load is not powered, so that the load can be used normally during the switching of the main and auxiliary battery packs.

[0060] In one embodiment, such as Figure 5 As shown, the control device includes a first control module and a second control module, with the first control module connected to the second control module; applied to the first control module, the battery switching control method further includes the following steps: Step S510: Obtain the load transfer switching request.

[0061] For example, a switching request is generated when the main battery pack's charge level is below a preset charge threshold.

[0062] The load detects the power level of the main battery pack. When the power level of the main battery pack is lower than the preset power threshold, it transmits a switching request to the first control module, which then obtains the switching request.

[0063] Step S520: According to the switching request, transmit a wake-up command to the second control module; the wake-up command is used to instruct the second control module to provide feedback response information.

[0064] The first control module transmits a wake-up command to the second control module based on the received switching request, so as to wake up the second control module to start working, and the second control module transmits response information to the first control module based on the received wake-up command.

[0065] Step S530: Based on the response information fed back by the second control module, transmit a current limiting command to the second control module, and control the first current limiting module to turn on and control the first switching module to turn off, so as to perform current limiting discharge on the main battery pack until the current limiting discharge of the main battery pack is completed, and then control the first current limiting module to turn off; the current limiting command is used to instruct the second control module to control the second current limiting module to turn on and control the second switching module to turn off, so as to perform current limiting discharge on the auxiliary battery pack until the current limiting discharge of the auxiliary battery pack is completed, and then control the second current limiting module to turn off and control the second switching module to turn on, so as to switch the auxiliary battery pack to supply power to the load.

[0066] Based on the received response information, the first control module controls the first switch module to disconnect and the first current limiting module to turn on, that is, disconnecting the main discharge circuit and turning on the main current-limiting discharge circuit to achieve current-limited discharge of the main battery pack. At the same time, the first control module transmits a current-limiting command to the second control module, which, based on the received current-limiting command, controls the second switch module to disconnect and the second current limiting module to turn on, that is, disconnecting the auxiliary discharge circuit and turning on the auxiliary current-limiting discharge circuit to achieve current-limited discharge of the auxiliary battery pack. This avoids the formation of large currents during the switching between the main and auxiliary battery packs, which could damage circuit components and trigger overcurrent protection, thereby ensuring uninterrupted power supply to the load during the switching between the main and auxiliary battery packs.

[0067] For example, the first control module detects the current-limited discharge time of the main battery pack. When the current-limited discharge time of the main battery pack reaches a first time threshold, it controls the first current-limiting module to disconnect, thereby disconnecting the main current-limited discharge circuit. At the same time, the second control module detects the current-limited discharge time of the auxiliary battery pack. When the current-limited discharge time of the auxiliary battery pack reaches the first time threshold, it controls the second current-limiting module to disconnect and controls the second switching module to turn on, thereby disconnecting the auxiliary current-limited discharge circuit and turning on the auxiliary discharge circuit. This realizes automatic switching from the main battery pack to the auxiliary battery pack to supply power to the load, ensuring that the load is not powered down and that the load can be used normally during the switching process between the main and auxiliary battery packs, thus improving the reliability of battery switching.

[0068] In one embodiment, such as Figure 6 As shown, the control device includes a first control module and a second control module, with the first control module connected to the second control module; applied to the second control module, the battery switching control method further includes the following steps: Step S610: Obtain the wake-up command transmitted by the first control module; the wake-up command is generated by the first control module based on the switching request transmitted by the load.

[0069] The second control module receives the wake-up command transmitted by the first control module to wake up the second control module and start working.

[0070] Step S620: According to the wake-up command, feedback information is sent to the first control module so that the first control module can send feedback current limiting command according to the response information, and control the first current limiting module to be turned on and control the first switch module to be turned off, so as to perform current limiting discharge on the main battery pack until the current limiting discharge of the main battery pack is completed, and then control the first current limiting module to be turned off.

[0071] The second control module transmits response information to the first control module based on the received wake-up command. This causes the first control module to control the first switch module to disconnect and the first current limiting module to turn on, i.e., disconnect the main discharge circuit and turn on the main current limiting discharge circuit. This continues until the current limiting discharge of the main battery pack is completed. Then, the first control module controls the first current limiting module to disconnect, i.e., disconnect the main current limiting discharge circuit, thus achieving current limiting discharge of the main battery pack. At the same time, the first control module transmits a current limiting command to the second control module.

[0072] Step S630: Obtain the current limiting command fed back by the first control module, and according to the current limiting command, control the second current limiting module to turn on and control the second switch module to turn off, so as to perform current limiting discharge on the auxiliary battery pack. When the current limiting discharge of the auxiliary battery pack is completed, control the second current limiting module to turn off and control the second switch module to turn on, so as to switch the auxiliary battery pack to supply power to the load.

[0073] The second control module controls the second switch module to disconnect and the second current limiting module to conduct according to the received current limiting command. That is, it disconnects the auxiliary discharge circuit and conducts the auxiliary current limiting discharge circuit, so as to achieve current limiting discharge of the auxiliary battery pack, avoid the formation of large current during the switching of the main and auxiliary battery packs, avoid damage to circuit devices and triggering overcurrent protection, and thus achieve uninterrupted power supply for the load during the switching of the main and auxiliary battery packs.

[0074] When the second control module completes the current-limited discharge of the auxiliary battery pack, it controls the second current-limiting module to disconnect and the second switching module to turn on, thereby disconnecting the auxiliary current-limited discharge circuit and turning on the auxiliary discharge circuit. This enables the automatic switching from the main battery pack to the auxiliary battery pack to supply power to the load, ensuring that the load is not powered and allowing the load to be used normally during the switching process between the main and auxiliary battery packs, thus improving the reliability of battery switching.

[0075] It should be understood that, although Figures 4 to 6 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figures 4 to 6 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0076] In one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps of any of the above temperature regulation methods.

[0077] For example, when a computer program is executed by a processor, it performs the following steps: When the main battery pack's charge level is lower than a preset charge threshold, the current limiting module is turned on to limit the discharge of the main and auxiliary battery packs. After the current limiting discharge of the main and auxiliary battery packs is completed, the current limiting module is turned off, and the auxiliary battery pack is switched to supply power to the load.

[0078] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the division operations described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), direct memory bus RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A battery switching control system, characterized in that, include: Control device, the control device being used to connect the main battery pack, the auxiliary battery pack and the load; A current limiting module is used to connect the main battery pack, the auxiliary battery pack and the load, and the control device is connected to the current limiting module; The control device is configured to control the current limiting module to turn on when the power of the main battery pack is lower than a preset power threshold, so as to perform current-limited discharge on the main battery pack and the auxiliary battery pack; the control device is also configured to control the current limiting module to turn off when the current-limited discharge of the main battery pack and the auxiliary battery pack is completed, and switch the auxiliary battery pack to supply power to the load.

2. The battery switching control system according to claim 1, characterized in that, It also includes a first switch module and a second switch module; the current limiting module includes a first current limiting module and a second current limiting module; the first current limiting module is connected to the main battery pack and the load, and the second current limiting module is connected to the auxiliary battery pack and the load; The first terminal of the first switch module is connected to the main battery pack and the first terminal of the first current limiting module; the second terminal of the first switch module is connected to the load and the second terminal of the first current limiting module, and the control terminal of the first switch module is connected to the control device; the first terminal of the second switch module is connected to the auxiliary battery pack and the first terminal of the second current limiting module; the second terminal of the second switch module is connected to the load and the second terminal of the second current limiting module, and the control terminal of the second switch module is connected to the control device; The control device is further configured to, when the power of the main battery pack is lower than a preset power threshold, control the first switch module and the second switch module to disconnect, and control the first current limiting module and the second current limiting module to turn on, so as to perform current-limited discharge on the main battery pack and the auxiliary battery pack. The control device is further configured to, when completing the current-limited discharge of the main battery pack and the auxiliary battery pack, control the first current-limiting module and the second current-limiting module to disconnect and the first switch module to disconnect, and control the second switch module to turn on, while the first current-limiting module and the second current-limiting module turn on, so as to switch the auxiliary battery pack to supply power to the load.

3. The battery switching control system according to claim 2, characterized in that, The control device includes a first control module and a second control module; the first control module is connected to the main battery pack, the load, the first switch module, the first current limiting module, and the second control module; the second control module is connected to the auxiliary battery pack, the load, the second switch module, and the second current limiting module. The first control module is configured to acquire the load transmission switching request, and according to the switching request, transmit a wake-up command to the second control module, so that the second control module transmits response information to the first control module according to the wake-up command; The first control module is further configured to control the first current limiting module to turn on and control the first switch module to turn off according to the response information, so as to perform current-limited discharge on the main battery pack, and transmit a current limiting command to the second control module, so that the second control module controls the second current limiting module to turn on and controls the second switch module to turn off according to the current limiting command, so as to perform current-limited discharge on the auxiliary battery pack. The first control module is further configured to control the first current limiting module to disconnect when the current limiting discharge of the main battery pack is completed; the second control module is further configured to control the second current limiting module to disconnect and control the second switching module to turn on when the current limiting discharge of the auxiliary battery pack is completed, so as to switch the auxiliary battery pack to supply power to the load.

4. The battery switching control system according to claim 3, characterized in that, The first control module is also configured to parse and process the response information to obtain the power information and fault information corresponding to the auxiliary battery pack, and generate the current limiting command when the power information and fault information meet the preset switching conditions.

5. The battery switching control system according to claim 3, characterized in that, The switching request is generated by the load when the main battery pack's power level is lower than a preset power threshold.

6. The battery switching control system according to any one of claims 3 to 5, characterized in that, The first switching module includes a first switching transistor, the second switching module includes a second switching transistor, the first current limiting module includes a third switching transistor and a first current limiting resistor, and the second current limiting module includes a fourth switching transistor and a second current limiting resistor. The source of the first switching transistor is connected to the negative terminal of the main battery pack, the drain of the first switching transistor is connected to the negative terminal of the load, and the gate of the first switching transistor is connected to the first control module; the source of the third switching transistor is connected to the negative terminal of the main battery pack, the drain of the third switching transistor is connected to the first terminal of the first current limiting resistor, and the second terminal of the first current limiting resistor is connected to the drain of the first switching transistor. The source of the second switching transistor is connected to the negative terminal of the auxiliary battery pack, the drain of the second switching transistor is connected to the negative terminal of the load, and the gate of the second switching transistor is connected to the second control module; the source of the fourth switching transistor is connected to the negative terminal of the main battery pack, the drain of the fourth switching transistor is connected to the first terminal of the second current-limiting resistor, and the second terminal of the second current-limiting resistor is connected to the drain of the second switching transistor; the positive terminal of the load is connected to the positive terminal of the main battery pack and the negative terminal of the auxiliary battery pack, respectively.

7. The battery switching control system according to claim 6, characterized in that, It also includes the fifth and sixth switching transistors; The source of the fifth switch is connected to the negative terminal of the load, the drain of the fifth switch is connected to the drain of the first switch, and the gate of the fifth switch is connected to the first control module. The source of the sixth switch is connected to the negative terminal of the load, the drain of the sixth switch is connected to the drain of the second switch, and the gate of the sixth switch is connected to the second control module.

8. The battery switching control system according to claim 6, characterized in that, The first control module includes a first processing chip, a first AFE chip, and a first connector; the second control module includes a second processing chip, a second AFE chip, and a second connector. The first processing chip is connected to the first AFE chip and the first connector respectively. The first AFE chip is connected to the main battery pack, the first current limiting module and the first switching module respectively. The first connector is connected to the load and the second connector respectively. The second processing chip is connected to the second AFE chip and the second connector respectively. The second AFE chip is connected to the auxiliary battery pack, the second current limiting module and the second switching module respectively. The second connector is connected to the load.

9. The battery switching control system according to claim 8, characterized in that, It also includes a first sensing module and a second sensing module; The first sensing module is connected to the first AFE chip and the main battery pack; the second sensing module is connected to the second AFE chip and the auxiliary battery pack.

10. A battery switching control method, characterized in that, Applied to the control device as described in any one of claims 1 to 9; the battery switching control method includes the following steps: When the main battery pack's charge level is lower than a preset charge threshold, the current limiting module is turned on to limit the discharge of the main battery pack and the auxiliary battery pack. When the main battery pack and the auxiliary battery pack are completed with current-limited discharge, the current-limiting module is controlled to disconnect and the auxiliary battery pack is switched to supply power to the load.

11. The battery switching control method according to claim 10, characterized in that, The control device includes a first control module and a second control module, the first control module being connected to the second control module; applied to the first control module, the battery switching control method further includes the following steps: Obtain the load balancing switch request; According to the switching request, a wake-up command is transmitted to the second control module; the wake-up command is used to instruct the second control module to provide feedback information. Based on the response information fed back by the second control module, a current limiting command is transmitted to the second control module, and the first current limiting module is turned on and the first switching module is turned off to perform current-limited discharge on the main battery pack. When the current-limited discharge of the main battery pack is completed, the first current limiting module is turned off. The current limiting command is used to instruct the second control module to turn on the second current limiting module and turn off the second switching module to perform current-limited discharge on the auxiliary battery pack. When the current-limited discharge of the auxiliary battery pack is completed, the second current limiting module is turned off and the second switching module is turned on to switch the auxiliary battery pack to supply power to the load.

12. The battery switching control method according to claim 10, characterized in that, The control device includes a first control module and a second control module, the first control module being connected to the second control module; applied to the second control module, the battery switching control method further includes the following steps: Obtain the wake-up command transmitted by the first control module; the wake-up command is generated by the first control module based on the switching request transmitted by the load. According to the wake-up command, the system feeds back response information to the first control module, so that the first control module feeds back a current limiting command based on the response information, and controls the first current limiting module to be turned on and the first switch module to be turned off, so as to perform current limiting discharge on the main battery pack until the current limiting discharge of the main battery pack is completed, and then controls the first current limiting module to be turned off. The system receives a current limiting command from the first control module and controls the second current limiting module to turn on and the second switch module to turn off according to the current limiting command, so as to perform current-limited discharge on the auxiliary battery pack. When the current-limited discharge of the auxiliary battery pack is completed, the system controls the second current limiting module to turn off and the second switch module to turn on, so as to switch the auxiliary battery pack to supply power to the load.

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