A battery management method, system, medium, and device for a battery swapping system.

Abstract

This invention discloses a battery management method, system, medium, and device for a battery swapping nest, relating to the field of intelligent inspection technology for unmanned aerial vehicles (UAVs). The method includes the following steps: acquiring the real-time temperature of the battery compartment, the battery status within the compartment, and the operating mode of the swapping nest; adjusting the overall temperature within the compartment and the temperature of batteries with abnormal temperatures based on the battery status and real-time temperature; managing the charging of the batteries within the swapping nest according to different operating modes and updating the battery status within the compartment in real time; and performing a battery swapping operation on the UAV whose battery needs to be replaced based on the updated battery status within the compartment using a battery recycling strategy. This invention extends battery life through adaptive temperature adjustment within the swapping nest and, when a UAV needs battery replacement, balances the usage frequency of each battery using a battery recycling strategy, achieving efficient battery management within the swapping nest.

Description

Technical Field

[0001] This invention relates to the field of intelligent inspection technology for unmanned aerial vehicles (UAVs), and in particular to a battery management method, system, medium, and device for a motor swapping system. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In current drone nests with replaceable batteries, drones need to have their batteries replaced on time to ensure successful mission execution. If a drone's battery is low during a mission and is not replaced, it may be unable to return to the nest or even crash, leading to reduced mission inspection efficiency, lower mission success rates, and flight safety issues. However, the time spent replacing batteries during a mission is one of the factors affecting mission efficiency. Therefore, waiting until the drone is powered on and detects low battery before replacing the battery extends the preparation time, severely impacting operational efficiency. Furthermore, keeping the batteries in the battery compartment of a replaceable battery nest at full charge will also reduce battery life.

[0004] Currently, most drones on the market use one of two methods to replace batteries during missions. The first is to replace the battery upon receiving a mission. This method requires battery replacement before each mission, and the numerous mechanical actions involved in battery replacement are time-consuming, thus extending preparation time and reducing inspection efficiency. The second method is to replace the battery after each mission. However, if the drone remains idle for an extended period, the battery will self-discharge. Prolonged self-discharge can lead to excessively low battery power, affecting battery life and potentially causing mission failure.

[0005] To overcome the drawbacks of the two methods mentioned above, existing research predicts the remaining battery power of drones and sets a power replacement threshold, thereby enabling flexible battery replacement. In replaceable battery cells, the lifespan of the batteries in the battery compartments is a key factor affecting cell maintenance costs and mission execution. Therefore, comprehensive analysis to ensure that batteries in each compartment are stored under suitable conditions is crucial. Thus, if only the full charge status of the batteries in the drone cell is considered during battery replacement, without considering the battery cycle count, some batteries in cell cells with many batteries may have their lifespan affected due to infrequent long-term storage. Furthermore, in addition to drone usage affecting lifespan, the storage environment of the cell cell also influences battery lifespan, but existing battery management methods rarely consider this aspect.

[0006] In conclusion, how to achieve a reasonable setting of the battery storage environment in the drone motor replacement nest and a balanced management of battery usage frequency has become an urgent problem to be solved by existing technologies. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the purpose of this invention is to provide a battery management method, system, medium, and device for a motor swapping nest. By adaptively adjusting the temperature inside the nest, the battery lifespan can be extended. When the UAV needs to replace its batteries, a battery recycling strategy can be used to balance the number of times each battery is used, thereby achieving efficient battery management within the motor swapping nest.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0009] The first aspect of this invention provides a battery management method for a battery swapping cell, comprising the following steps:

[0010] Get the real-time temperature of the battery compartment of the motor swapping nest, the status of the batteries inside the compartment, and the working mode of the motor swapping nest;

[0011] Temperature regulation is performed on the overall temperature inside the cabin and on batteries with abnormal temperatures based on the status of the batteries inside the cabin and the real-time temperature.

[0012] The battery charging management in the motor swapping compartment is carried out according to different working modes, and the battery status in the compartment is updated in real time.

[0013] The battery recycling strategy is used to perform battery replacement operations on the drone whose battery needs to be replaced based on the updated battery status in the cabin. The battery recycling strategy is as follows: when the difference in the number of cycles between batteries is within the cycle threshold range, the battery closest to the gripper and meeting the power requirements is selected for replacement; when the difference in the number of cycles between batteries exceeds the cycle threshold range, the batteries that meet the power requirements are balanced and used according to the number of cycles.

[0014] Furthermore, the specific steps for temperature regulation of the overall cabin temperature and batteries with abnormal temperatures based on the battery status and real-time temperature are as follows:

[0015] Adjust the real-time temperature inside the cabin according to the total temperature threshold range;

[0016] If a battery is detected to have an abnormal temperature, the single-cell temperature control channel is activated, and an adaptive PID control algorithm is used to adjust the temperature of the battery with the abnormal temperature.

[0017] Furthermore, the operating modes include storage mode and standby mode. In storage mode, the power level of the only standby battery is kept above the set storage threshold. In standby mode, the power levels of other batteries besides the only standby battery are kept within the set standby threshold.

[0018] Furthermore, the battery charging management steps in storage mode are as follows:

[0019] Set a storage threshold. When there is no battery in the battery compartment that meets the storage threshold, find the battery with the minimum number of cycles and set it as the only standby battery. Charge the only standby battery to the storage threshold or above. When the only standby battery is used, find the battery with the minimum number of cycles in the battery compartment again and set it as the only standby battery. Charge it to the threshold and use the batteries with the minimum number of cycles in sequence.

[0020] Furthermore, the battery charging management steps in standby mode are as follows:

[0021] Set a standby threshold. Charge all batteries to the standby threshold level or above. First, iterate through all batteries and find those below the standby threshold. Then, iterate through the batteries below the standby threshold and find the battery with the highest charge. Pause charging the other batteries and prioritize charging the battery with the highest charge to the standby threshold level or above. Repeat this process until all batteries are charged to the standby threshold level or above. When a task is performed, iterate through all batteries that meet the standby threshold level and select one to use.

[0022] Furthermore, the number of battery cycles in all battery compartments is monitored, and an alarm is reported when the number of battery cycles exceeds the warning threshold.

[0023] Furthermore, the self-discharge compensation equation is used to quantitatively describe the battery capacity decay pattern when the drone battery is left idle, and the battery replacement needs to be determined based on the battery capacity decay pattern.

[0024] A second aspect of the present invention provides a battery management system for a battery swapping cell, comprising:

[0025] The data acquisition module is configured to acquire the real-time temperature of the battery compartment of the motor swapping nest, the battery status inside the compartment, and the working mode of the motor swapping nest.

[0026] The temperature control module is configured to regulate the overall temperature of the cabin and the temperature of batteries with abnormal temperatures based on the battery status and real-time temperature.

[0027] The charging management module is configured to manage the charging of the batteries in the battery swapping compartment according to different working modes and update the battery status in the compartment in real time.

[0028] The battery recycling module is configured to perform battery replacement operations on the drone whose battery is to be replaced based on the updated battery status in the cabin using a battery recycling strategy. The battery recycling strategy is as follows: when the difference in the number of cycles between batteries is within the cycle threshold range, the battery closest to the gripper and meeting the power requirements is selected for replacement; when the difference in the number of cycles between batteries exceeds the cycle threshold range, the batteries meeting the power requirements are balanced and used according to the number of cycles.

[0029] A third aspect of the present invention provides a computer-readable storage medium storing a computer program adapted to be loaded by a processor and to execute steps in the battery management method for a battery swapping cell as described in the first aspect of the present invention.

[0030] A fourth aspect of the present invention provides a computer device comprising:

[0031] A processor, adapted to execute computer programs;

[0032] A computer-readable storage medium storing a computer program, which, when executed by the processor, implements the battery management method for a battery swapping cell as described in the first aspect of the present invention.

[0033] The above one or more technical solutions have the following beneficial effects:

[0034] This invention discloses a battery management method, system, medium, and device for a battery swapping cell. It can adaptively adjust the temperature inside the cell compartment to maintain the batteries at a suitable storage temperature. It can also manage the battery pack's charge level based on battery mode, ensuring the batteries are stored at appropriate charge levels, which helps extend battery life. Simultaneously, it manages battery usage evenly based on the number of battery cycles during tasks, which helps reduce maintenance costs.

[0035] This invention can also predict the remaining battery power of the drone in real time. Based on the drone battery power estimation and analysis method, it assesses the battery power in real time and determines whether the battery power is lower than the threshold set by the control system during a mission. If it is lower than the threshold, the battery is replaced; otherwise, it is not replaced, further improving inspection efficiency. Simultaneously, when the drone has not performed a mission for a long time and the remaining battery power is too low, it automatically replaces the battery and charges the low-powered battery, which helps extend battery life.

[0036] This invention monitors the environmental conditions inside the battery cell in real time and controls the air conditioning system to regulate the temperature, maintaining it at a suitable storage temperature for the batteries. Simultaneously, it manages the battery power of each cell by setting whether it is in storage or standby mode, enabling precise and balanced charging of the battery pack and ensuring that the batteries in the battery compartments are at a suitable storage level, thus extending battery life.

[0037] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a flowchart of the battery management method for the motor swapping cell in Embodiment 1 of the present invention;

[0040] Figure 2 This is a flowchart of the battery storage mode management method in Embodiment 1 of the present invention;

[0041] Figure 3 This is a flowchart of the battery standby mode management method in Embodiment 1 of the present invention. Detailed Implementation

[0042] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0043] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0044] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0045] Example 1:

[0046] Embodiment 1 of the present invention provides a battery management method for a battery swapping cell, such as... Figure 1 As shown, it includes the following steps:

[0047] S1: Obtain the real-time temperature of the battery compartment of the motor swapping nest, the battery status inside the compartment, and the working mode of the motor swapping nest.

[0048] In this embodiment, real-time temperature can be obtained by installing temperature sensors at multiple locations, and the battery status inside the cabin includes charging and non-charging states. The operating modes of the motor swapping nest include storage mode and standby mode.

[0049] S2: Adjust the overall temperature of the cabin and the temperature of batteries with abnormal temperatures based on the battery status and real-time temperature.

[0050] S21: Adjust the real-time temperature inside the cabin according to the total temperature threshold range.

[0051] In this embodiment, when managing batteries in the battery compartment, the system acquires real-time temperature information within the battery compartment. Based on the temperature data, it controls the compartment's air conditioning in real-time to regulate the temperature, ensuring that the temperature inside the battery compartment remains at a suitable storage temperature for the batteries over a long period. The system dynamically controls the temperature based on the real-time temperature inside the compartment and the temperature of each battery, keeping the temperature inside the compartment within the overall temperature threshold range of 15℃-35℃ as much as possible. When the temperature inside the compartment exceeds 35℃, the cooling power is controlled by adjusting the temperature regulation; when the temperature drops to 25℃, the temperature is maintained. When the temperature is below 15℃, the heating power is controlled by adjusting the temperature regulation; when the temperature rises to 25℃, the temperature is maintained.

[0052] S22: Detects batteries with abnormal temperatures, activates the single-cell temperature control channel, and uses an adaptive PID control algorithm to adjust the temperature of the battery with abnormal temperature.

[0053] When the cabin temperature is between 15℃ and 35℃, some batteries, having just completed their tasks and been placed in the motor-swapping compartment, are overheated. Therefore, when an overheated battery is detected, its individual battery temperature control channel is activated, and the temperature control power is adjusted according to the cabin temperature, prioritizing the delivery of a large amount of cool air to the overheated battery. The system uses an adaptive PID control algorithm to regulate the temperature of batteries with abnormal temperatures.

[0054] .

[0055] in, Indicates to Integrate over [0,t]. For temperature deviation, , To set the temperature This refers to the actual temperature. This is the output control quantity (temperature control power). This is the scaling term, which provides linear amplification based on the current error. If there is still a significant deviation between the system and the set value, the scaling term can quickly adjust. ; This is the integral term, which accumulates historical errors and is used to eliminate static errors, enabling the system to accurately reach the set value when stable. ; The differential term predicts the trend of error changes and has a certain degree of disturbance rejection capability, which can suppress system overshoot and oscillation. .

[0056] S3: Manages the charging of batteries in the motor swapping compartment according to different working modes and updates the battery status in the compartment in real time.

[0057] In this embodiment, the working modes of the motor swapping nest include storage mode and standby mode. In storage mode, only one battery needs to be kept at a charge level sufficient to perform the task, which protects the battery's lifespan without affecting task execution. In storage mode, the charge level of the sole standby battery is kept above the set storage threshold. In standby mode, the charges of all batteries except the sole standby battery are kept within the set standby threshold.

[0058] S31: As Figure 2 As shown, the battery charging management steps in storage mode are as follows:

[0059] Setting a storage threshold: When there are no batteries in the battery compartment that meet the storage threshold, the battery with the fewest cycle count is found and set as the sole standby battery. The sole standby battery is then charged to the storage threshold or higher. When the sole standby battery is used, the battery with the fewest cycle count is searched again in the battery compartment and charged to the threshold. The batteries with the fewest cycle count are used in sequence, which is beneficial for balanced battery pack management.

[0060] In this embodiment, the storage threshold SOC is set to 80%. In storage mode, all batteries except the standby battery maintain a suitable storage level (40%-60%) for an extended period. When the battery level drops below 40%, charging is initiated for that battery until it reaches 60%, at which point charging stops, keeping the battery at a suitable storage level, which helps extend battery life.

[0061] S32: As Figure 3 As shown, the battery charging management steps in standby mode are as follows:

[0062] Set a standby threshold. Charge all batteries to the standby threshold level or above. First, iterate through all batteries and find those below the standby threshold. Then, iterate through the batteries below the standby threshold and find the battery with the highest charge. Pause charging the other batteries and prioritize charging the battery with the highest charge to the standby threshold level or above. Repeat this process until all batteries are charged to the standby threshold level or above. When a task is performed, iterate through all batteries that meet the standby threshold level and select one to use.

[0063] When batteries are replaced, a comprehensive calculation is performed based on the battery cycle count and the distance of each battery from the gripper to balance the usage of the batteries. For scenarios requiring balanced battery cycle counts, a minimum cycle count priority algorithm is used.

[0064] .

[0065] in, This indicates the selected battery to be replaced, where i is the battery index, i=1,2,3,.....,n; This represents the number of battery cycles at index i, where n is the total number of batteries.

[0066] Simultaneously considering the distance between the battery and the gripper:

[0067]

[0068] in, This represents the distance between the battery at index i and the gripper.

[0069] This embodiment considers the impact of battery cycle count; the fewer the battery cycle count, the higher the score. When selecting batteries, priority is given to batteries with fewer cycle counts. Therefore, an optimization item is designed to comprehensively consider battery cycle count.

[0070]

[0071] in, This represents the minimum number of cycles required for the battery inside the cabin.

[0072] In addition, considering the influence of the distance between the battery and the gripper, the closer the battery is to the gripper, the higher the score. Therefore, when selecting a battery, priority should be given to batteries that are closer to the gripper. Thus, an optimization item is designed to comprehensively consider the distance between the battery and the gripper.

[0073]

[0074] in, This is the farthest distance between the battery inside the compartment and the gripper. This is the closest distance between the battery inside the compartment and the gripper.

[0075] To balance the priority relationship between battery cycle count and gripper distance, a comprehensive calculation formula is derived by combining the optimization terms for battery cycle count and the optimization term for battery distance from gripper:

[0076] .

[0077] in, For weighting coefficients, select The largest battery is selected as the one to be replaced. S4: Using a battery recycling strategy, the drone with the battery to be replaced is charged based on the updated battery status in the cabin.

[0078] The battery recycling strategy involves selecting the battery closest to the gripper and meeting the power requirements for replacement when the difference in the number of cycles between batteries is within the cycle threshold range. When the difference in the number of cycles between batteries exceeds the cycle threshold range, batteries that meet the power requirements are used in a balanced manner based on the number of cycles.

[0079] S41: Estimate the drone's battery level to determine if a battery replacement is necessary. Use a self-discharge compensation equation to quantitatively describe the battery's capacity decay when the drone is idle, and determine whether the drone needs a battery replacement based on this decay pattern.

[0080] In this embodiment, the voltage and capacity of the drone's lithium battery exhibit a non-linear decay over time during static storage. The decay rate is initially rapid (high state of charge (SOC)) and then gradually slows down. This phenomenon is related to electrolyte decomposition, electrode side reactions, and changes in ion migration rates. Self-discharge is affected by many factors, including state of charge, temperature, humidity, and open-circuit storage time. This embodiment uses a self-discharge compensation equation to quantitatively describe the static capacity decay law of the lithium battery and manages the battery based on this decay law.

[0081] .

[0082] in, Indicates the remaining battery power. Indicates the initial state of charge; denoted by temperature-dependent self-discharge coefficient; p characterizes the nonlinearity of self-discharge rate over time (typical value 0.5 for lithium iron phosphate, 0.55 for ternary lithium); t represents the cumulative time after the battery leaves the charge / discharge state.

[0083] Introducing a temperature correction term :

[0084] .

[0085] in, This represents the baseline value, which is the inherent decay rate when left to stand at 25°C (0.0003 for ternary lithium batteries). This corresponds to approximately 2.2% capacity loss per month, while lithium iron phosphate has a loss of 0.0001%. This corresponds to a capacity loss of approximately 0.7% per month; k is the material sensitivity coefficient (0.08 / ℃ for ternary lithium and 0.06 / ℃ for lithium iron phosphate).

[0086] Introducing aging correction factors:

[0087] .

[0088] Where N represents the number of iterations; Indicates the cumulative storage time (in years).

[0089] By calculating and estimating the remaining battery power, the system comprehensively assesses whether the battery power is greater than the threshold set in the background to meet the task execution requirements. If the threshold is met, the battery will not be replaced and the system will directly enter the corresponding task process, which helps to shorten task preparation time and improve inspection efficiency.

[0090] Self-discharge compensation equation:

[0091] .

[0092] Based on the battery degradation pattern, during battery monitoring, batteries with charge levels below a threshold are replaced when tasks are performed. During prolonged periods of inactivity, batteries are automatically replaced when their charge is too low.

[0093] S42: Perform battery replacement operation on the drone whose battery needs to be replaced.

[0094] In this embodiment, the number of cycles of all batteries in the battery compartment is monitored. When the number of battery cycles exceeds the warning threshold (e.g., 200 times), an alarm is reported, prompting the system to perform maintenance, inspection or replacement of the battery.

[0095] Example 2:

[0096] Embodiment 2 of the present invention provides a battery management system for a battery swapping cell, comprising:

[0097] The data acquisition module is configured to acquire the real-time temperature of the battery compartment of the motor swapping nest, the battery status inside the compartment, and the working mode of the motor swapping nest.

[0098] The temperature control module is configured to regulate the overall temperature of the cabin and the temperature of batteries with abnormal temperatures based on the battery status and real-time temperature.

[0099] The charging management module is configured to manage the charging of the batteries in the battery swapping compartment according to different working modes and update the battery status in the compartment in real time.

[0100] The battery recycling module is configured to perform battery replacement operations on the drone whose battery is to be replaced based on the updated battery status in the cabin using a battery recycling strategy. The battery recycling strategy is as follows: when the difference in the number of cycles between batteries is within the cycle threshold range, the battery closest to the gripper and meeting the power requirements is selected for replacement; when the difference in the number of cycles between batteries exceeds the cycle threshold range, the batteries meeting the power requirements are balanced and used according to the number of cycles.

[0101] Example 3:

[0102] Embodiment 3 of the present invention provides a computer-readable storage medium storing a computer program adapted for loading by a processor and executing the steps of the battery management method for a battery swapping cell as described in Embodiment 1 of the present invention.

[0103] Example 4:

[0104] Embodiment 4 of the present invention provides a computer device, the device comprising:

[0105] A processor, adapted to execute computer programs;

[0106] A computer-readable storage medium storing a computer program, which, when executed by the processor, implements the steps of the battery management method for a battery swapping cell as described in Embodiment 1 of the present invention.

[0107] The steps and methods involved in Examples 2, 3 and 4 above correspond to those in Example 1. For specific implementation details, please refer to the relevant description section of Example 1.

[0108] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0109] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data processing device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0110] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A battery management method for a battery cell replacement system, characterized in that, Includes the following steps: The system acquires the real-time temperature of the battery compartment of the motor swapping nest, the battery status inside the compartment, and the working mode of the motor swapping nest. The working modes include storage mode and standby mode. In storage mode, the power of the only standby battery is kept above the set storage threshold. In standby mode, the power of other batteries, except for the only standby battery, is kept within the set standby threshold. Temperature regulation is performed on the overall temperature inside the cabin and on batteries with abnormal temperatures based on the status of the batteries inside the cabin and the real-time temperature. The battery charging management in the motor swapping chamber is carried out according to different working modes, and the battery status in the chamber is updated in real time. Specifically, the real-time temperature in the chamber is adjusted according to the total temperature threshold range. If a battery is detected to have an abnormal temperature, the single-cell temperature control channel is activated, and an adaptive PID control algorithm is used to adjust the temperature of the battery with the abnormal temperature. The battery charging management steps in storage mode are as follows: Set a storage threshold. When there is no battery in the battery compartment that meets the storage threshold, find the battery with the minimum number of cycles and set it as the only standby battery. Charge the only standby battery to the storage threshold or above. When the only standby battery is used, find the battery with the minimum number of cycles in the battery compartment again and set it as the only standby battery. Charge it to the threshold and use the battery with the minimum number of cycles in sequence. The battery charging management steps in standby mode are as follows: Set a standby threshold. Charge all batteries to the standby threshold level or above. First, iterate through all batteries and find those below the standby threshold. Then, iterate through the batteries below the standby threshold and find the battery with the highest charge. Pause charging the other batteries and prioritize charging the battery with the highest charge to the standby threshold level or above. Repeat this process until all batteries are charged to the standby threshold level or above. When a task is performed, iterate through all batteries that meet the standby threshold level and select one for use. The battery recycling strategy is used to perform battery replacement operations on the drone whose battery needs to be replaced based on the updated battery status in the cabin. The battery recycling strategy is as follows: when the difference in the number of cycles between batteries is within the cycle threshold range, the battery closest to the gripper and meeting the power requirements is selected for replacement; when the difference in the number of cycles between batteries exceeds the cycle threshold range, the batteries that meet the power requirements are balanced and used according to the number of cycles.

2. The battery management method for a battery swapping cell as described in claim 1, characterized in that, Monitor the cycle count of all batteries in the battery compartment and issue an alarm when the cycle count exceeds the warning threshold.

3. The battery management method for a battery swapping cell as described in claim 1, characterized in that, The self-discharge compensation equation is used to quantitatively describe the battery capacity decay law when the drone battery is left idle, and the battery capacity decay law is used to determine whether the drone needs to replace the battery.

4. A battery management system for the battery management method of the battery swapping cell according to any one of claims 1-3, characterized in that, include: The data acquisition module is configured to acquire the real-time temperature of the battery compartment of the motor swapping nest, the battery status inside the compartment, and the working mode of the motor swapping nest. The temperature control module is configured to regulate the overall temperature of the cabin and the temperature of batteries with abnormal temperatures based on the battery status and real-time temperature. The charging management module is configured to manage the charging of the batteries in the battery swapping compartment according to different working modes and update the battery status in the compartment in real time. The battery recycling module is configured to perform battery replacement operations on the drone whose battery is to be replaced based on the updated battery status in the cabin using a battery recycling strategy. The battery recycling strategy is as follows: when the difference in the number of cycles between batteries is within the cycle threshold range, the battery closest to the gripper and meeting the power requirements is selected for replacement; when the difference in the number of cycles between batteries exceeds the cycle threshold range, the batteries meeting the power requirements are balanced and used according to the number of cycles.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program adapted to be loaded by a processor and executed as described in any one of claims 1-3, for battery management of a battery swapping cell.

6. A computer device, characterized in that, include: A processor, adapted to execute computer programs; A computer-readable storage medium storing a computer program, which, when executed by the processor, implements the battery management method of the battery swapping cell as described in any one of claims 1-3.

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