TWI648696B - Battery management method - Google Patents

Abstract

A battery management method, which mainly detects the power of a first battery and a second battery, and defines the higher battery as a high battery, and the other as a low battery, and then controls the high battery The discharge rate is lower than that of low-battery batteries. Then, when it is detected that the power of the low-battery battery is lower than the warning power value, it is determined whether a command execution time gap is greater than a judgment time interval. If so, the control module sends a battery replacement request signal to a battery exchange station to determine whether There is a fully-charged battery. If so, the automatic handling device is notified to allow the battery to be exchanged, and the automated handling device is moved to the battery exchange station to exchange the low-power battery with the fully-charged battery.

Description

Battery management method

The invention relates to a battery management method, in particular to a battery management method applied to an automated handling device.

In recent years, due to the vigorous development of the 3C industry, and the people's operation methods of 3C products are becoming more and more proficient, more and more people will choose to purchase various large and small products through the Internet, leading to the processing required by the logistics industry. The volume of goods has increased year by year.

In general, in order to handle a large amount of goods, most of the logistics centers use automatic conveying devices to efficiently classify various types of goods. To ensure that the automatic conveying devices can continue to operate, the existing automatic conveying devices are usually equipped with a The battery and an uninterruptible power system, so as to use the uninterruptible power system to supply power when the battery is out of power, to prevent the automatic handling device from stopping due to insufficient power, and even unable to return to the charging station for charging.

As mentioned above, although the existing automatic handling device can provide power when the battery is out of power through a continuous power system, the battery still needs to be returned to the charging station for charging. However, during the battery charging process, the automatic handling device And unable to perform the work, relatively reducing the work Work efficiency.

It is considered that in the existing technology, the common automatic conveying devices generally use the uninterruptible power system to provide emergency power supply when the battery is dead, so that the automatic conveying device can continue to perform the conveying work or return to the charging station for charging, but Because the battery of the automatic handling device always needs to be charged, and the automatic handling device cannot be charged when it is charged, it will relatively affect the overall work efficiency; therefore, the object of the present invention is to provide a battery management method. It can effectively solve the problem that in the prior art, the automatic handling device cannot work due to battery charging.

In order to achieve the above object, the present invention provides a battery management method, which is applied to an automatic handling device. The automatic handling device is pre-installed with a first battery and a second battery. Both the battery and the second battery have a power value greater than a warning power value. The battery management method includes the following steps:

Step (a) is to use a power detection module to detect the power of the first battery and the second battery, and define the higher power of the first battery and the second battery as a high power battery, And define the other as a low battery.

Step (b) uses a control module to control the high-capacity battery to discharge at a first discharge rate, and control the low-capacity battery to discharge at a second discharge rate that is greater than the first discharge rate.

Step (c) is to use the power detection module to detect continuous Detecting the power of the low-battery battery, and when detecting that the power of the low-battery battery is lower than the warning power value, the control module determines a command execution time of a current command execution time and a next command execution time Determine whether the gap is greater than one time interval.

Step (d) is when the difference between the execution time of the instructions is greater than the judgment time interval, the control module sends a battery replacement request signal to at least one battery exchange station.

Step (e) is that the at least one battery exchange station uses a charging module to determine whether one of the plurality of batteries to be replaced is a fully charged battery.

Step (f) is when one of the batteries to be replaced completes the charging of the battery, the at least one battery exchange station sends a signal allowing the battery to be replaced to the automated handling device.

Step (g) is when the automatic handling device receives the signal for permitting battery replacement, the control module controls a drive module to drive the automatic handling device to move to the at least one battery exchange station, so as to exchange the low-power battery with the After charging, the battery is exchanged.

Preferably, in step (f), when any one of the batteries to be replaced is not the fully charged battery, then step (f1): the at least one battery exchange station sends a non-charged complete battery signal to The automatic handling device enables the automatic handling device to continuously detect the power of the high-battery battery using the power detection module, and when the power of the high-battery battery is detected to be lower than the warning power value, the control mode is used. The group determines whether the difference between the execution time of the current instruction execution time and the execution time of the next instruction is greater than the judgment time interval.

In addition, when the instruction execution time difference in step (f1) is greater than the judgment time interval, then step (f2): the control module sends another battery replacement request signal to the at least one battery exchange station.

After step (f2), and then step (f3): the at least one battery exchange station uses the charging module to determine whether the batteries to be replaced include the charging completed battery.

After step (f3), and then step (f4): When the charging module determines that the batteries to be replaced include the charging completed battery, it then determines whether there are two charging completed batteries in the batteries to be replaced. the above.

After step (f4), when it is judged that there are two or more charging complete batteries among the batteries to be replaced, the battery replacement module is used to replace the high-charge battery and the low-charge battery with the charge-complete battery respectively. In addition, when it is determined that the charging complete batteries among the batteries to be replaced are not two or more, the battery replacement module is used to replace the low-power battery with the charging complete battery.

On the other hand, after the step (f3), when the charging module determines that the batteries to be replaced do not include the charged battery, it controls the automated handling device to move to the at least one battery exchange station to wait for the batteries to be exchanged. After any one of them is converted into the charging complete battery, the low-battery battery is replaced with the charging complete battery by using the battery replacement module.

In addition, when the electric quantity of the high-battery battery in step (f1) is higher than the warning electric quantity value, the automatic handling device performs a carrying work according to a work schedule, and uses the electricity detection module to detect continuous detection. The amount of power of the high-battery battery; and when the difference between the execution time of the instruction in step (f1) is less than the judgement time interval, the automatic handling device performs the moving work according to a work schedule and uses the power detection module to detect The power of the high-battery battery is continuously detected.

As mentioned above, because the battery management method provided by the present invention is to first control the discharge rate of the higher battery between the first battery and the second battery to be lower than the lower battery, so that the lower battery can discharge the battery faster. , And then when the low-battery battery is lower than the warning power value, ask the battery exchange station if there is a charged battery, and then for the low-battery battery of the automatic handling device to exchange, so it can effectively make the automatic handling device for a long time The power is maintained, so that the automated handling device can continuously perform the carrying work.

100‧‧‧ Battery Management System

1‧‧‧Automatic handling device

11‧‧‧Driver Module

12‧‧‧ Power Supply Module

121‧‧‧ first battery

122‧‧‧ secondary battery

123‧‧‧Output control circuit

1231‧‧‧first switching circuit

12311‧‧‧First buffer circuit

123111‧‧‧First cushioning element

12312‧‧‧The first through circuit

12313‧‧‧The first switch

1232‧‧‧Second switching circuit

12321‧‧‧Second buffer circuit

123211‧‧‧Second cushioning element

12322‧‧‧Second pass-through circuit

12323‧‧‧Second switch

13‧‧‧ Battery Detection Module

14‧‧‧Switch Module

141‧‧‧Storage unit

142‧‧‧ timing unit

143‧‧‧Processing unit

15‧‧‧control module

16‧‧‧Handling device communication module

2‧‧‧ center host

3‧‧‧ Battery Exchange Station

31‧‧‧Charging module

311a‧‧‧Charged battery

311b‧‧‧Charging unfinished battery

312‧‧‧Charge control circuit

32‧‧‧Exchange Station Communication Module

33‧‧‧Processing Module

34‧‧‧ Battery Replacement Module

S1‧‧‧Battery level signal

S2‧‧‧Battery control signal

S3‧‧‧ Battery replacement signal

S4‧‧‧Location signal

R1‧‧‧Battery exchange area

R2‧‧‧Working area

The first diagram is a schematic diagram of a battery management system provided by the present invention; the second diagram is a schematic diagram of a circuit of a power supply module.

The third diagram, the third A diagram, and the third B diagram are flowcharts of the steps of the battery management method of the present invention; and the fourth diagram is a schematic diagram showing the relative positional relationship of the automatic handling device, the central host, and the battery exchange station of the present invention.

The specific implementation of the present invention will be described below with reference to the schematic diagram. The way is described in more detail. The advantages and features of the invention will become clearer from the following description and the scope of the patent application. It should be noted that the drawings are all in a very simplified form and all use inaccurate proportions, which are only used to facilitate and clearly explain the purpose of the embodiments of the present invention.

Please refer to the first diagram, which is a schematic diagram showing a system of a battery management system provided by the present invention. As shown in the figure, a battery management system 100 includes an automatic handling device 1, a central host 2 and a plurality of battery exchange stations 3 (the figure is only illustrated by an example).

The automatic handling device 1 includes a driving module 11, a power supply module 12, a power detection module 13, a control module 14, a positioning module 15, and a handling device communication module 16.

The driving module 11 is used to drive the entire automatic handling device 1 to move, and the driving module 11 is composed of, for example, a motor and a roller.

The power supply module 12 is electrically connected to the drive module 11 for supplying power to the drive module 11 to make the drive module 11 operate. The power supply module 12 includes a first battery 121, a second battery 122, and An output control circuit 123.

Please continue to refer to the second figure, which is a schematic diagram showing the circuit of the power supply module. As shown in the figure, the first battery 121 and the second battery 122 are electrically connected in parallel to the driving module 11, and the output control circuit 123 is disposed between the first battery 121, the second battery 122 and the driving module 11. Wherein, the output control circuit 123 includes a first switching circuit 1231 and a second switching circuit 1232.

The first switching circuit 1231 is electrically connected to the first electrical circuit. The pool 121 and the driving module 11, and the first switching circuit 1231 includes a first buffer circuit 12311, a first through circuit 12312, and a first switch 12313. The first buffer circuit 12311 and the first through circuit 12312 are They are electrically connected to the driving module 11 respectively, and the first switch 12313 selectively electrically connects one of the first buffer circuit 12311 and the first through circuit 12312 to the first battery 121, and the first buffer The circuit 12311 is provided with a first buffer element 123111. The first buffer element 123111 is an inductor, but in other embodiments, it may be a capacitor or a combination of a capacitor and an inductor. The discharging speed of the first battery 121 supplied to the driving module 11 through the first buffer circuit 12311 is slower than the discharging speed of the first battery 121 supplying power to the driving module 11 through the first through circuit 12312.

The second switching circuit 1232 is electrically connected to the second battery 122 and the driving module 11. The second switching circuit 1232 includes a second buffer circuit 12321, a second pass-through circuit 12322, and a second switching switch 12323. The second The buffer circuit 12321 and the second pass-through circuit 12322 are electrically connected to the driving module 11 respectively, and the second switch 12323 selectively electrically connects one of the second buffer circuit 12321 and the second pass-through circuit 12322 to The second battery 122 and the second buffer circuit 12321 are provided with a second buffer element 123211. The second buffer element 123211 is an inductor, but in other embodiments, it may be a capacitor or a combination of a capacitor and an inductor. Among them, the discharge speed of the second battery 122 supplying power to the driving module 11 via the first buffer circuit 12311 will be slower than the discharging speed of the first battery 121 supplying power to the driving module 11 via the first through circuit 12312.

The power detection module 13 is electrically connected to the power supply module 12 and is used to detect the power of the first battery 121 and the second battery 122. A first battery power value corresponding to the first battery 121 and a second battery power value corresponding to the second battery 122, and transmitting a battery power signal S1 carrying the first battery power value and the second battery power value Out.

The control module 14 is electrically connected to the power detection module 13 and the power supply module 12 to receive the battery power signal S1 sent by the power detection module 13. The control module 14 includes a storage unit 141, a The timing unit 142 and a processing unit 143.

The storage unit 141 stores a warning power value and a plurality of battery exchange station coordinates, and the warning power value in this embodiment is 10%. The timing unit 142 is used for timing. The processing unit 143 controls one of the first battery 121 and the second battery 122 to enter a direct power supply mode according to the power of the first battery 121 and the second battery 122, and controls the first battery 121 and the second battery 122. One of the high power users enters a buffered power supply mode. Among them, the control module 14 is based on the first battery power value and the second battery power value to know the power levels of the first battery 121 and the second battery 122, and sends a The battery control signal S2 to the power supply module 12 enables the output control circuit 123 to control the low-power persons in the first battery 121 and the second battery 122 to enter the direct power supply mode and the high-power persons to enter the buffer power supply mode according to the battery control signal S2.

In practice, when the first battery 121 is low and the second battery 122 is high, the output control circuit 123 controls the first battery 121 to be electrically connected to the drive module 11 through the first through circuit 12312. And control the second battery 122 to be electrically connected to the drive module 11 through a second buffer circuit 12321; in contrast, when the first battery 121 is high and the second battery 122 is low, the output control circuit 123 controls First A battery 121 is electrically connected to the driving module 11 through a first buffer circuit 12311, and controls the second battery 122 to be electrically connected to the driving module 11 through a first through circuit 12322.

In addition, the processing unit 143 generates a battery replacement demand when the power detection module 13 detects that the power of at least one of the first battery 121 and the second battery 122 is lower than the warning power value stored in the storage unit 141. Signal S3.

The positioning module 15 is electrically connected to the control module 14 for positioning a position coordinate and transmitting a position signal S4 carrying the position coordinate to the control module 14. In practice, the positioning module 15 is, for example, an indoor positioning component.

The handling device communication module 16 is electrically connected to the control module 14 and is used to send a battery replacement request signal S3 generated by the control module 14. The communication device communication module 16 is, for example, a WIFI module or other wireless communication module.

The central host 2 is communicatively connected to the communication module 16 of the carrying device. In practical use, the central host 2 is used to arrange and send work schedules to each automated conveying device 1 so that each automated conveying device 1 performs the conveying work according to the work schedule. In practice, the central host 2 is, for example, a remote server and is electrically connected to the network, so that the communication module 16 of the handling device is connected to the central host 2 through the network.

The battery exchange station 3 includes a charging module 31, an exchange station communication module 32, a processing module 33, and a battery replacement module 34. The charging module 31 is provided with a plurality of batteries to be exchanged (in this embodiment, a charging completed battery 311a and a charging uncompleted battery 311b) and a charging The electric control circuit 312 is used to charge the battery to be exchanged and detect whether the battery to be exchanged is fully charged. When the battery to be exchanged has been charged, it stops charging the battery to be exchanged. In this embodiment, the charged battery 311a is a battery to be exchanged that has been fully charged, and the uncharged battery 311b is a battery to be exchanged that has not yet been charged.

The exchange station communication module 32 is communicatively connected to the central host computer 2 so as to be communicatively connected to the handling device communication module 16 via the central host computer 2 and further receives the battery replacement request signal S3 through the central host computer 2.

The processing module 33 is electrically connected to the charging module 31 and the exchange station communication module 32, so as to inquire whether at least one of the plurality of batteries to be exchanged included in the charging module 31 has been charged according to the battery replacement request signal S3. When confirming that at least one of the plurality of batteries to be exchanged has been charged, a replaceable signal is sent through the exchange station communication module 32 and transmitted to the handling device communication module 16 through the central host 2 so that the control module 14 The travel route is calculated according to the position coordinates carried in the position signal S4 and the exchange station position coordinates stored in advance by the storage unit 141, so as to drive the driving module 11 to operate and move the automatic handling device 1 to the battery exchange station 3.

When the battery replacement module 34 determines that the automatic handling device 1 moves to the battery exchange station 3 by the processing module 33, it is controlled by the processing module 33 to charge the low battery in the first battery 121 and the second battery 122 and complete the charging. The battery 311a is exchanged.

Please continue to refer to the third diagram, the third A diagram, and the third B diagram. The third diagram, the third A diagram, and the third B diagram are battery management methods of the present invention. Flow chart of method steps. As shown in the figure, a battery management method is applied to the above-mentioned automated handling device 1. The automated handling device 1 is pre-installed with a first battery 121 and a second battery 122. In an initial operating state, the first battery 121 and The power value of the second battery 122 is greater than the warning power value. The battery management method includes the following steps:

Step S1 is to use the power detection module 13 to detect the power of the first battery 121 and the second battery 122, and define the higher power of the first battery 121 and the second battery 122 as a high power battery, and The other is defined as a low battery.

In step S2, the control module 14 is used to control the high-capacity battery to discharge at a first discharge rate, and control the low-capacity battery to discharge at a second discharge rate greater than the first discharge rate. In order to avoid the power gap between high-battery and low-battery batteries gradually narrowing.

In step S3, the automatic handling device 1 performs the handling operation according to the work schedule, and the power detection module 13 continuously detects the power of the low-power battery.

Step S4 is to determine whether the power of the low-power battery is lower than the warning power value. When it is detected that the power of the low-battery battery is lower than the warning power value, step S5 is executed, and the control module 14 is used to judge whether the difference between the execution time of the current instruction execution time and the next instruction execution time is greater than the judgment time interval. In addition, when the power of the low-battery battery is higher than the warning power value, the process returns to step S3 to continue executing the carrying instruction.

When the instruction execution time difference is greater than the judgment time interval, step S6 is executed, and the control module 14 sends a battery replacement request signal S3 to the battery exchange station 3. However, when the instruction execution time gap is smaller than the judgment time interval, Returning to step S3, the carrying instruction is continued.

In step S7, the battery exchange station 3 uses the charging module 31 to determine whether one of the plurality of batteries to be replaced is the charging completed battery 311a.

When one of the plurality of batteries to be replaced is the battery 311a that has been charged, step S8 is performed, and the battery exchange station 3 sends a signal for allowing the battery to be replaced to the automatic handling device 1.

In step S9, when the automatic handling device 1 receives a signal for allowing battery replacement, the control module 14 controls the driving module 11 to drive the automatic handling device 1 to move to the battery exchange station 3.

In step S10, when the automatic handling device 1 is moved to the battery exchange station 3, the battery exchange station 3 uses the battery replacement module 34 to exchange the low-capacity battery with the charging completed battery 311a.

In addition, after returning to step 7 above, when none of the plurality of batteries to be replaced has a charged battery 311a, step S11 is performed, and the battery exchange station 3 sends a signal indicating that the battery has not been charged to the automatic handling device 1.

Then, step S11 and step S12 are carried out by the automatic handling device 1 according to the work schedule, and the power detection module 13 detects the power of the high-power battery.

Following step S12, step S13 is to determine whether the power of the high-power battery is lower than the warning power value.

When it is determined that the power of the high-battery battery is lower than the warning power value, step S14 is to determine, through the control module 14, whether the difference between the execution time of the current instruction and the execution time of the next instruction is large. When judging the time interval. However, when it is determined that the power of the high-power battery is higher than the warning power value, the process returns to step S12 to continue the carrying operation.

When the difference between the execution time of the instruction in step S14 is greater than the judgment time interval, step S15 is executed, and the control module 14 sends a battery replacement request signal S3 to the battery exchange station 3. In addition, when the difference between the execution time of the instruction in step S14 is less than the judgment time interval, the process returns to step S12 to continue the carrying operation.

Following step S15 and step S16, the battery exchange station 3 uses the charging module 31 to determine whether the plurality of batteries to be replaced include a charged battery 311a. If the plurality of batteries to be replaced include the charging complete batteries 311a, step S17 is executed, and the charging module 31 determines whether there are two or more charging complete batteries 311a among the batteries to be replaced. If the charging module 31 determines that there are two or more charging complete batteries 311a in the battery to be replaced, step 18 is executed to use the battery replacement module 34 to replace the high-capacity battery and the low-capacity battery with the charging complete battery 311a, respectively.

On the other hand, after the above-mentioned step S16, if the plurality of batteries to be replaced does not include the charging completed battery 311a, step S19 is executed to control the automatic handling device 1 to move to the battery exchange station 3 and wait for any of the batteries to be exchanged to change After the battery 311a is completed for charging, the battery replacement module 34 is used to replace the low-power battery with the charging completed battery 311a.

In addition, after the above step S17, if the charging module 31 judges that there are not more than two charging complete batteries 311a in the battery to be replaced, that is to say that there is one charging complete battery 311a, it proceeds to step 20 and uses the battery replacement module 34 to Replace the low battery with a fully charged battery 311a.

As mentioned above, the battery management method of the present invention is mainly to control the first battery 121 and the second battery 122 provided in the automatic conveying device 1 so that the discharge speed of the lower battery is faster than the higher battery, thereby effectively Avoid excessively close charge of the first battery 121 or the second battery 122. Then, when the power of at least one of the first battery 121 or the second battery 122 is lower than the warning power value, the battery exchange station 3 is notified that the low-battery battery needs to be replaced. However, when the battery exchange station 3 has not finished charging the battery 31, it detects whether the high-capacity high-battery battery is lower than the warning power value, and then enables the automatic handling device 1 when the high-power battery power is lower than the warning power value. Automatically go to the battery exchange station 3 to replace the low battery and high battery.

Please continue to refer to the fourth figure, which is a schematic diagram showing the relative positional relationship between the automatic handling device, the central host and the battery exchange station of the present invention. As shown in the figure, in actual use, three battery exchange stations 3 (only one is shown in the figure) are arranged in a battery exchange area R1, and three automatic handling devices 1 (only one is shown in the figure) are in place. Within a work area R2. In addition, the central host 2 is electrically connected to the automatic transfer device 1 and the battery exchange station 3.

According to the above description, when the automatic handling device 1 detects that the low-level battery or the high-level battery is lower than the warning level, the automatic handling device 1 sends a battery replacement request signal S3 to the center host 2, and the center host 2 will then The battery replacement request signal S3 is sent to the battery exchange station 3. However, when multiple battery exchange stations 3 return a charged battery 311a, the central host 2 can further respond to the location of the automatic handling device 1 and each The position of the battery exchange station 3 is to return the information of the battery exchange station 3 closest to the automated transfer device 1 and having the charged battery 311a to the automated transfer device 1 so that the automated transfer device 1 can move to the nearest battery exchange station 2 Perform battery exchange. In addition, in other embodiments, the automatic handling device 1 may also be directly connected to the battery exchange station 3 without the need for centralized management through the central host 2.

To sum up, since the automatic handling devices in the prior art all use the uninterruptible power supply system to provide emergency power when the battery runs out, so that the automatic handling device can continue to carry out the work or return to the charging station for charging, so when When the automatic conveying device is charged, it cannot perform the conveying work, which relatively affects the overall work efficiency. Compared to this, the battery management method provided by the present invention first controls the higher of the first battery and the second battery. The discharge speed is lower than the lower battery, so that the lower battery can discharge more quickly, and then when the battery capacity of the low battery is lower than the warning battery value, ask the battery exchange station whether there is a charged battery, and then The low-power battery of the automatic conveying device is exchanged, so the automatic conveying device can effectively keep the power for a long time, and then the automatic conveying device can continuously perform the conveying work.

The above are only preferred embodiments of the present invention, and do not limit the present invention in any way. Any person skilled in the art, without departing from the technical means of the present invention, make any equivalent replacement or modification to the technical means and technical contents disclosed in the present invention without departing from the technical means of the present invention. The content still falls within the protection scope of the present invention.

Claims (10)

A battery management method is applied to an automatic handling device. The automatic handling device is pre-installed with a first battery and a second battery, and in an initial operating state, the power values of the first battery and the second battery Both are greater than a warning power value. The battery management method includes the following steps: (a) using a power detection module to detect the power of the first battery and the second battery, and comparing the first battery and the second battery The higher one is defined as a high-battery battery, and the other is defined as a low-battery battery; (b) a control module is used to control the high-battery battery to discharge at a first discharge rate, and control the low-battery The battery is discharged at a second discharge rate that is greater than the first discharge rate; (c) The battery detection module is used to continuously detect the charge of the low-battery battery, and the battery of the low-battery battery is detected. When it is lower than the warning power value, it is judged through the control module whether a difference between the execution time of a current instruction and a next instruction execution time is greater than a judgment time interval; (d) when the instruction execution time is different When it is greater than the judgment time interval, the control module sends a battery replacement request signal to at least one battery exchange station; (e) the at least one battery exchange station uses a charging module to determine whether one of the plurality of batteries to be replaced is A charged battery; (f) when one of the batteries to be replaced is the charged battery, the at least one battery exchange station sends a signal allowing the battery to be replaced to the automated handling device; and (g) when the automated handling When the device receives the signal for permitting battery replacement, the control module controls a drive module to drive the automated handling device to move to the at least one battery exchange station, thereby exchanging the low-battery battery with the fully-charged battery. The battery management method according to item 1 of the scope of patent application, wherein, in step (f), when any one of the batteries to be replaced is not the fully charged battery, then step (f1): the at least A battery exchange station sends a non-charged complete battery signal to the automated handling device, so that the automated handling device uses the power detection module to continuously detect the power of the high-power battery, and detects the power of the high-power battery When it is lower than the warning power value, it is judged through the control module whether the difference between the execution time of the current instruction execution time and the next instruction execution time is greater than the judgment time interval. The battery management method according to item 2 of the scope of patent application, wherein when the difference between the execution time of the instruction in step (f1) is greater than the judgment time interval, then the step (f2): the control module sends another battery replacement request A signal to the at least one battery exchange station. The battery management method according to item 3 of the scope of patent application, wherein after step (f2), and then step (f3): the at least one battery exchange station uses the charging module to determine whether the batteries to be replaced include the battery The battery is fully charged. The battery management method according to item 4 of the scope of patent application, wherein after step (f3), and then step (f4): when the charging module judges that the batteries to be replaced include the fully charged battery, then judge Whether there are two or more charging complete batteries among the batteries to be replaced. The battery management method according to item 5 of the scope of patent application, wherein, after step (f4), when it is determined that there are two or more charged batteries in the batteries to be replaced, a battery replacement module is used to The high-battery battery and the low-battery battery are replaced with the charging complete battery, respectively. The battery management method according to item 5 of the scope of patent application, wherein, after step (f4), when it is determined that the charging completed batteries among the batteries to be replaced are not more than two, the battery replacement module is used to Replace the low-battery battery with the fully-charged battery. The battery management method according to item 4 of the scope of patent application, wherein, after step (f3), when the charging module determines that the batteries to be replaced do not include the fully-charged battery, the automatic handling device is controlled to move to The at least one battery exchange station waits for any one of the batteries to be exchanged to be converted into the fully-charged battery, and then uses the battery replacement module to replace the low-power battery with the fully-charged battery. The battery management method according to item 2 of the scope of patent application, wherein, when the electric quantity of the high-capacity battery in step (f1) is higher than the warning electric quantity value, the automatic handling device performs the handling work according to a work schedule, and The power detection module is used to continuously detect the power of the high power battery. The battery management method according to item 2 of the scope of patent application, wherein, when the difference between the execution time of the instruction in step (f1) is less than the judgment time interval, the automatic handling device performs the transportation work according to a work schedule, and uses the The power detection module detects the power of the high-power battery continuously.