CN113711069A

CN113711069A - Battery abnormity detection method and system, battery and movable platform

Info

Publication number: CN113711069A
Application number: CN202080026276.0A
Authority: CN
Inventors: 唐阳洋; 张彩辉; 龚如; 陈禧昌
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-01-15
Filing date: 2020-01-15
Publication date: 2021-11-26
Also published as: WO2021142676A1

Abstract

A battery abnormality detection method, system, battery and movable platform, the method includes detecting that the remaining capacity of the battery is inaccurate (S1001); if it is detected again that the remaining amount of the battery is inaccurate, it is determined that the battery is abnormal (S1002). Therefore, the battery is determined to be abnormal only when the residual electric quantity of the battery is detected to be inaccurate for many times, the phenomenon that the battery is judged to be abnormal by mistake is avoided, the accuracy of detecting the battery abnormity can be improved, unnecessary battery maintenance conditions are avoided, and the use experience of a user is improved.

Description

Battery abnormity detection method and system, battery and movable platform

Technical Field

The embodiment of the application relates to the field of batteries, in particular to a battery abnormity detection method, a system, a battery and a movable platform.

Background

In the mobile platform industry, as more mobile platforms enter the industry (such as agriculture, power and many special scene applications), the more frequently mobile platforms are used. Movable platforms (e.g., drones, robots, unmanned vehicles, etc.) are increasingly complex in structure and are constantly integrating newly developed functionality. As new functions increase, the demands of various industries on the quality and power management of power supplies for mobile platforms increase. Taking an unmanned aerial vehicle as an example, the unmanned aerial vehicle is powered by a battery, and the electric energy output by the battery is used as a flight control power supply and a power source of the unmanned aerial vehicle. If the residual capacity of battery is high, for example, the residual capacity that obtains of calculation is greater than actual residual capacity, leads to the actual residual capacity of battery to supply unmanned aerial vehicle in time to return voyage to cause outage crash scheduling problem. Conventionally, when the remaining capacity of the battery is detected to be high, the battery is considered to be abnormal and the battery needs to be repaired, but there is a possibility that the battery may be erroneously detected.

Disclosure of Invention

The embodiment of the application provides a battery abnormity detection method, a system, a battery and a movable platform, which are used for avoiding the phenomenon of misjudgment of abnormity of the battery.

In a first aspect, an embodiment of the present application provides a battery abnormality detection method, where the method includes: detecting that the residual electric quantity of the battery is inaccurate; and if the residual electric quantity of the battery is detected to be inaccurate again, determining that the battery is abnormal.

In a second aspect, an embodiment of the present application provides a battery abnormality detection system, including: at least one processor. The at least one processor configured to detect that a remaining amount of power of the battery is inaccurate; and if the residual electric quantity of the battery is detected to be inaccurate again, determining that the battery is abnormal.

In a third aspect, an embodiment of the present application provides a battery, including: the battery abnormality detection system comprises a plurality of battery cells and the battery abnormality detection system according to the second aspect.

In a fourth aspect, an embodiment of the present application provides a movable platform, including: a body and a battery. The body is provided with a ninth aspect the battery abnormality detection system of the embodiment of the present application. The battery is arranged in a battery compartment of the machine body; the battery abnormality detection system is configured to obtain a remaining capacity of the battery.

In a fifth aspect, an embodiment of the present application provides a movable platform, including: a body and a battery according to an embodiment of the present application; the battery is arranged in a battery compartment of the machine body.

In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored, where the computer program includes at least one code that is executable by a computer to control the computer to perform the battery abnormality detection method according to the eighth aspect.

In a seventh aspect, an embodiment of the present application provides a computer program, which is used to implement the battery abnormality detection method according to the embodiment of the present application in the first aspect when the computer program is executed by a computer.

The battery abnormity detection method, the battery abnormity detection system, the battery and the movable platform can improve the accuracy of battery abnormity detection.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application;

fig. 2 is a flowchart of a method for calculating battery power according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram of a method for calculating battery power according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram illustrating a structure of calculating a total available capacity of a battery according to an embodiment of the present application;

fig. 5 is a schematic diagram of a corresponding relationship between an open-circuit voltage and a discharge capacity and a corresponding relationship between a discharge voltage and a discharge capacity according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a battery power calculating system according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a battery according to an embodiment of the present disclosure;

FIG. 8 is a schematic structural diagram of a movable platform according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of a movable platform according to another embodiment of the present application;

fig. 10 is a flowchart of a battery abnormality detection method according to an embodiment of the present application;

fig. 11 is a flowchart of a battery abnormality detection method according to another embodiment of the present application;

fig. 12 is a schematic structural diagram of a battery abnormality detection system according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of a battery according to another embodiment of the present application;

FIG. 14 is a schematic structural diagram of a movable platform according to another embodiment of the present application;

fig. 15 is a schematic structural diagram of a movable platform according to another embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The embodiment of the application provides a battery electric quantity calculation method, a battery electric quantity calculation system, a battery and a movable platform. The embodiment of the application provides a battery abnormity detection method, a system, a battery and a movable platform. Wherein, the movable platform can be a handheld phone, a handheld cloud platform, an unmanned aerial vehicle, an unmanned ship, a robot or an automatic driving automobile and the like. The following description of the movable platform of the present application uses a drone as an example. It will be apparent to those skilled in the art that other types of drones may be used without limitation. That is to say, the embodiment of this application can be applied to various types of unmanned aerial vehicle. For example, the drone may be a small or large drone. In certain embodiments, the drone may be a rotorcraft (rotorcraft), for example, a multi-rotor drone propelled through the air by a plurality of propulsion devices, embodiments of the present application are not so limited, and the drone may be other types of drones as well.

Fig. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application. The present embodiment is described by taking a rotor unmanned aerial vehicle as an example.

The unmanned flight system 100 can include a drone 110, a display device 130, and a remote control device 140. The drone 110 may include, among other things, a power system 150, a flight control system 160, a frame, and a pan-tilt 120 carried on the frame. The drone 110 may be in wireless communication with the remote control device 140 and the display device 130. Wherein, the drone 110 further includes a battery (not shown in the figures) that provides electrical energy to the power system 150.

The airframe may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected with the fuselage for play the supporting role when unmanned aerial vehicle 110 lands.

The power system 150 may include one or more electronic governors (abbreviated as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected between the electronic governors 151 and the propellers 153, the motors 152 and the propellers 153 are disposed on the horn of the drone 110; the electronic governor 151 is configured to receive a drive signal generated by the flight control system 160 and provide a drive current to the motor 152 based on the drive signal to control the rotational speed of the motor 152. The motor 152 is used to drive the propeller in rotation, thereby providing power for the flight of the drone 110, which power enables the drone 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the drone 110 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a Roll axis (Roll), a Yaw axis (Yaw) and a pitch axis (pitch). It should be understood that the motor 152 may be a dc motor or an ac motor. The motor 152 may be a brushless motor or a brush motor.

Flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure attitude information of the drone, i.e., position information and status information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, three-dimensional angular velocity, and the like. The sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the Global navigation satellite System may be a Global Positioning System (GPS). The flight controller 161 is used to control the flight of the drone 110, for example, the flight of the drone 110 may be controlled according to attitude information measured by the sensing system 162. It should be understood that the drone 110 may be controlled by the flight controller 161 in accordance with preprogrammed instructions, or the drone 110 may be controlled in response to one or more remote control signals from the remote control device 140.

The pan/tilt head 120 may include a motor 122. The pan/tilt head is used to carry the photographing device 123. Flight controller 161 may control the movement of pan/tilt head 120 via motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan/tilt head 120 may be separate from the drone 110, or may be part of the drone 110. It should be understood that the motor 122 may be a dc motor or an ac motor. The motor 122 may be a brushless motor or a brush motor. It should also be understood that the pan/tilt head may be located at the top of the drone, as well as at the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photographing under the control of the flight controller. The image capturing Device 123 of this embodiment at least includes a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 may also be directly fixed to the drone 110, such that the pan/tilt head 120 may be omitted.

The display device 130 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used for displaying attitude information of the unmanned aerial vehicle 110. In addition, an image photographed by the photographing device 123 may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated into the remote control device 140.

The remote control device 140 is located at the ground end of the unmanned aerial vehicle system 100, and can communicate with the unmanned aerial vehicle 110 in a wireless manner, so as to remotely control the unmanned aerial vehicle 110.

It should be understood that the above-mentioned nomenclature for the components of the unmanned flight system is for identification purposes only, and should not be construed as limiting the embodiments of the present application.

The residual capacity of the battery can be calculated by an ampere-hour integration method (Ah integration), and the ampere-hour integration method is simple in mechanism and reliable in operation. However, the method has the problem that the residual capacity is not accurately calculated at present. The basic formula of the ampere-hour integration method is as follows:

SOC represents the remaining charge of the battery, SOC_initRepresents the initial remaining capacity of the battery, I represents the discharge current of the battery, t represents time, and Q represents the total available capacity of the battery.

It can be seen that the accuracy of the remaining capacity of the battery is related to the initial remaining capacity of the battery, the integration of the current with time, and the total available capacity of the battery. Wherein, the current integration precision can be controlled by a coulometer or high-precision current sampling plus a high-precision clock. Therefore, according to the embodiments of the present application, in order to increase the remaining capacity of the battery, one or more of the initial remaining capacity of the battery and the available total capacity of the battery may be adjusted.

The scheme of the present application is described in detail below using several examples.

Fig. 2 is a flowchart of a method for calculating battery power according to an embodiment of the present application, where as shown in fig. 2, a battery includes a plurality of battery cells, and the method according to the embodiment may include:

step S201, acquiring a current-time discharge voltage of each of the plurality of battery cells under different preset conditions.

In this embodiment, it may be determined whether the current time meets any one of at least one preset condition, and if the current time meets any one of the at least one preset condition, a current-time discharge voltage of each of the plurality of battery cells of the battery is obtained. And if the at least one preset condition is not met, not acquiring the current-time discharge voltage of each of the plurality of battery cells of the battery.

Step S202, obtaining the residual electric quantity information of each battery cell according to the current discharge voltage of each battery cell.

In this embodiment, after the current-time discharge voltage of each battery cell is obtained, the remaining power information of each battery cell is obtained according to the current-time discharge voltage of each battery cell. For example: therefore, according to the mapping relationship between the discharge voltage and the residual capacity information and the current-time discharge voltage of the battery cell, the residual capacity information corresponding to the current-time discharge voltage can be determined, and the residual capacity information is determined as the residual capacity information of the battery cell.

Step S203, obtaining the total available capacity of the battery at the current time according to the available capacity of each battery cell in the plurality of battery cells at the current time and the remaining power information of each battery cell.

In an embodiment, after obtaining the remaining power information of each battery cell, the total available capacity of the battery at the current time is obtained according to the available capacity of each battery cell in the plurality of battery cells of the battery at the current time and the remaining power information of each battery cell.

And step S204, acquiring the remaining capacity information of the battery at the current moment according to the available total capacity of the battery at the current moment.

In an embodiment, after obtaining the current available total capacity of the battery, the current remaining capacity information of the battery is obtained according to the current available total capacity of the battery.

This is because the total available capacity of the battery at the present time is mainly affected by three aspects, the first aspect is the available capacity of each cell in the battery, which may also be referred to as the cell maximum chemical capacity. The second aspect is charging temperature and internal resistance, if the battery is a consumer type battery, the battery is generally charged by adopting a constant Current Charging (CC) and constant voltage Charging (CV), the current at the charging end is small, and the influence of the temperature and the internal resistance on the available total capacity is negligible. The third aspect is the unbalance degree of the battery, which can be represented by the information of the residual capacity of the battery core. Therefore, the accurate total available capacity of the battery at the current moment can be obtained through the residual capacity information of the battery at the current moment and the available capacity of the battery at the current moment.

In the battery power calculation method provided in this embodiment, the current-time discharge voltage of each of the plurality of battery cells is obtained under different preset conditions. And acquiring the residual electric quantity information of each battery cell according to the current discharge voltage of each battery cell. And acquiring the current-time available total capacity of the battery according to the current-time available capacity of each battery cell in the plurality of battery cells and the residual electric quantity information of each battery cell. And acquiring the current-time residual electric quantity information of the battery according to the current-time available total capacity of the battery. The total capacity available at the current moment of the battery can be accurately acquired through the available capacity of each battery cell at the current moment in the plurality of battery cells and the residual capacity information of each battery cell, so that the residual capacity information at the current moment acquired according to the accurate available capacity at the current moment is more accurate.

The following describes a specific implementation process of step S203. See, for example, Q as shown in FIG. 3_batAnd updating the relevant description of the module.

In some embodiments, one possible implementation manner of the step S203 may include: step S2031 and step S2032.

Step S2031, obtaining, according to the current available capacity of each electric core and the remaining power information of each electric core, a first power amount required by each electric core to be charged to the full charge state and a second power amount discharged by each electric core to be discharged to the full discharge state.

Step S2032, obtaining the total available capacity of the battery at the current time according to the first electric quantity of each electric core and the second electric quantity of each electric core in the plurality of electric cores.

In an embodiment, the battery cell i is any one of a plurality of battery cells in a battery, and may be according to a current available capacity (Q) of the battery cell i at the present time_max[i]) And the remaining capacity information (SOC [ i ]) of cell i]) Acquiring the electric quantity required by charging the battery cell i to the full charge state, which is called as a first electric quantity (ToToToTopCap [ i [ ])]Abbreviated to TTC [ i ]]) Such as TTC [ i ]]＝Q _max[i]*(100％-SOC[i]) The remaining capacity information is a percentage. In this embodiment, the amount of power discharged by the cell i to discharge to the full discharge state is further obtained, and the amount of power is called a second amount of power (RemCap [ i [ ])]Abbreviated as RC [ i ]]) Such as RC [ i ]]＝Q _max[i]*SOC[i]. The state that the battery cell i cannot be continuously charged when the battery cell i is charged to the full-charge state is represented, or the battery cell i stops continuously charging due to the limitation of the actual environment or the preset conditionStatus. The state that the battery cell i cannot continue to discharge when the battery cell i is discharged to the full discharge state is represented, or the state that the battery cell i continues to discharge is stopped due to the limitation of the actual environment or the preset condition. After the first electric quantity and the second electric quantity of each battery cell are obtained, the current available total capacity of the battery is obtained according to the first electric quantity and the second electric quantity of each battery cell in the battery.

Taking the example that the battery includes 3 battery cells, the present embodiment is not limited to 3 battery cells. As shown in fig. 4, the available capacity (Q) according to the current time of cell 1_max[1]) And remaining capacity information (SOC [1 ]) of cell 1]) Obtaining a first electric quantity (TTC 1) required by the battery cell 1 to be charged to a full charge state]) And a second amount of power (RC 1) discharged from the battery cell 1 to a full discharge state]). According to the current available capacity (Q) of the battery cell 2_max[2]) And remaining capacity information (SOC [2 ]) of cell 2]) Obtaining a first electric quantity (TTC 2) required by the battery cell 2 to be charged to a full charge state]) And a second amount of power (RC 2) discharged by the battery cell 2 to a full discharge state]). According to the current available capacity (Q) of the battery cell 3_max[3]) And remaining capacity information (SOC [3 ]) of cell 3]) Obtaining a first electric quantity (TTC 3) required by the battery cell 3 to be charged to a full charge state]) And a second amount of power (RC 3) discharged by the cell 3 to a fully discharged state])。

Then TTC 1 according to electric core 1]、RC[1]TTC 2 of cell 2]、RC[2]TTC 3 of cell 3]、RC[3]Obtaining the total available capacity (Q) of the battery at the current moment_bat)。

In some embodiments, one possible implementation manner of step S2032 is: determining a minimum first electrical quantity (min (TTC)) from the first electrical quantity of each of the plurality of cells; determining a minimum second electrical quantity (min (RC)) from the second electrical quantity for each of the plurality of cells; and acquiring the current available total capacity of the battery according to the minimum first electric quantity and the minimum second electric quantity.

Taking FIG. 4 as an example, TTC [1 ] according to cell 1]TTC 2 of cell 2]TTC 3 of electric core 3]Determining TTC [1 ]]、TTC[2]、TTC[3]Of a minimum value of a minimum first electrical quantity, e.g. TTC 1]. And RC 1 according to cell 1]And electric core2 RC 2]RC 3 of cell 3]Determination of RC [1 ]]、RC[2]、RC[3]Of a minimum value of a minimum second quantity, e.g. RC 3]. Then according to TTC [1 ]]And RC 3]Obtaining the total available capacity (Q) of the battery at the current moment_bat)。

Alternatively, a sum of the minimum first power amount and the minimum second power amount may be used as the total available capacity of the battery at the current time. For example: q_bat＝TTC[1]+RC[3]。

How to obtain the current available capacity (Q) of each cell is as follows_max[i]) A description will be given. For example, see possibly Q as shown in FIG. 3_maxAnd updating the relevant description of the module.

In some embodiments, the total capacity (Q) available at the current time of each cell is obtained_max[i]) One possible implementation of (a) is: acquiring first residual capacity information and second residual capacity information of each battery cell, wherein the first residual capacity information is residual capacity information of each battery cell at a first moment and the second residual capacity information is residual capacity information of each battery cell at a second moment. And acquiring the electric quantity charge-discharge information of each battery cell in a time period from the first moment to the second moment. And then obtaining the current available capacity of each battery cell according to the electric quantity charge-discharge information, the first remaining electric quantity information and the second remaining electric quantity information of each battery cell.

Taking any battery cell i as an example, the remaining capacity information of the battery cell i at the first time is obtained and is called as first remaining capacity information (SOC1[ i [ ])]) And the remaining capacity information of the battery cell i at the second moment is called second remaining capacity information (SOC2[ i [ ])]). The electric quantity charge-discharge information (Q) of the battery cell i in the time period from the first moment to the second moment can also be acquired_passed[i]). Then according to Q_passed[i]、SOC1[i]、SOC2[i]And obtaining the current time available capacity (Q) of the battery cell i_max[i])。

Optionally, the current time of each battery cell is obtained according to the electric quantity charge-discharge information, the first remaining electric quantity information and the second remaining electric quantity information of each battery cellOne possible implementation of the available capacity is: acquiring a residual capacity information difference value of the first residual capacity information and the second residual capacity information of each battery cell; and then determining the ratio of the difference value between the electric quantity charge-discharge information and the residual electric quantity information of each electric core as the current available capacity of each electric core. For example: obtaining SOC2[ i ]]-SOC1[i]Then obtaining Q_max[i]＝Q _passed[i]/(SOC2[i]-SOC1[i]). Wherein Q is_passed[i]And SOC2[ i ]]-SOC1[i]The same sign, for example, is a positive sign, or, alternatively, is a negative sign.

Optionally, one implementation manner of obtaining the first remaining power information of the battery cell i is as follows: taking the open-circuit voltage of the battery cell i at a first moment as a first open-circuit voltage (OCV1[ i ]); according to a preset corresponding relation between the open-circuit voltage and the remaining power information, the remaining power information corresponding to the first open-circuit voltage (OCV1[ i ]) is obtained, and the remaining power information corresponding to the first open-circuit voltage (OCV1[ i ]) is used as the first remaining power information (SOC1[ i ]). Alternatively, the correspondence may be stored in a Look-Up-Table (LUT).

One implementation manner of obtaining the second remaining power information of the battery cell i is as follows: taking the open-circuit voltage of the battery cell i at the second moment as a second open-circuit voltage (OCV2[ i ]); according to a preset corresponding relation between the open-circuit voltage and the remaining power information, the remaining power information corresponding to the second open-circuit voltage (OCV2[ i ]) is obtained, and the remaining power information corresponding to the second open-circuit voltage (OCV2[ i ]) is used as the second remaining power information (SOC2[ i ]).

Alternatively, the open circuit voltage of the cell may be obtained by, for example, a discharge voltage of the cell.

Optionally, one implementation manner of obtaining the first remaining power information of the battery cell i is as follows: taking the discharge voltage of the battery cell i at a first moment as a first discharge voltage (V1[ i ]); according to a preset corresponding relation between the discharging voltage and the residual capacity information, residual capacity information corresponding to a first discharging voltage (V1[ i ]) is obtained, and the residual capacity information corresponding to the first discharging voltage (V1[ i ]) is used as the first residual capacity information (SOC1[ i ]). The second remaining power information of the battery cell i is similar to the first remaining power information of the battery cell i, and is not described here again.

Optionally, the remaining power information (e.g., the first remaining power information and the second remaining power information) may be obtained by using the charging voltage, and for brevity, the description is omitted.

For example, as shown in FIG. 3, Q_maxUpdating the Q obtained by the module_max[i]Can be output to Q_batAnd updating the module.

The following describes a specific implementation process of step S204.

In some embodiments, for example as described in relation to the SOC correction module in FIG. 3, where Q_maxUpdating the Q obtained by the module_batAnd min (RC) to the SOC correction module. One possible implementation manner of the step S204 is as follows: and acquiring the remaining electric quantity of the battery at the current moment according to the minimum second electric quantity and the available total capacity of the battery at the current moment.

In this embodiment, after obtaining the total available capacity of the battery at the present time, the total available capacity (Q) of the battery at the present time is obtained_bat) And the aforementioned minimum second capacity (min (rc)), obtaining the current time remaining capacity (SOC) of the battery. For example: the minimum second quantity of electricity (min (RC)) and the total capacity available at the present time (Q) of the battery may be acquired_bat) The ratio of (a) to (b) is the current time remaining capacity information (SOC) of the battery, i.e. SOC ═ min (rc)/Q_bat。

The remaining capacity information of the battery at the current moment can be determined by the available total capacity of the battery at the current moment and the minimum capacity of all the battery cores discharged to the full discharge state currently, so that the obtained remaining capacity information of the battery at the current moment is closer to the actual remaining capacity information of the battery.

In some embodiments, one possible implementation manner of the step S204 is: obtaining the current time residual capacity information of the battery according to an ampere-hour integral method, wherein the current time residual capacity information of the battery is related to the batteryThe total available capacity is the total available capacity (Q) of the battery at the present time_bat)。

In this embodiment, according to the ampere-hour integration method, the obtained remaining power information of the battery at the current time (i.e., time j) is:

SOC as described above_initI represents a discharge current, and t represents time, which is remaining energy information of the battery at time 0.

In some embodiments, after the step S204 is executed, the following scheme may be further executed:

and acquiring the residual capacity information of the battery at the next moment according to an ampere-hour integral method, wherein the initial residual capacity information about the next moment is the residual capacity information of the battery at the current moment.

In this embodiment, according to the ampere-hour integration method, the remaining capacity information at the next time (i.e., time j +1) of the battery is obtained as follows:

therein, SOC_j+1Is the remaining capacity information of the battery at time j +1, SOC_jIs the remaining capacity information of the battery at time j, Δ CC_j,j+1Representing the integral of current over time over the period from time j to time j +1, Q being the total available capacity of the battery. In one embodiment, Q for SOC at each time is calculated to be the same value.

Optionally, if the total available capacity of the battery at the time j + h is obtained in a similar manner as described above at the time j + h, the remaining capacity information of the battery at the time j + h is obtained from the total available capacity of the battery at the time j + h, for example: and obtaining the available total capacity of the battery at the moment j + h and the discharged electric quantity of the battery cell in the state of full discharge at the moment j + h. If the available total capacity of the battery at the moment j + h is not obtained in the similar mode at the moment j + h, and the available total capacity of the battery at the moment j + h is not obtained according to the residual capacity information of the battery at the moment j + h, the residual capacity information of the battery at the moment j + h is obtained according to an ampere-hour integration method and the residual capacity information at the moment j + h-1.

therein, SOC_j+1Is the remaining capacity information of the battery at time j +1, SOC_jIs the remaining capacity information of the battery at time j, Δ CC_j,j+1Representing the integral of the current with time, Q, over the period from time j to time j +1_bat，jThe total capacity available at time j of the battery.

For example, as described in relation to the SOC update module in FIG. 3, where the SOC correction module compares SOC and Q_batAnd outputting the data to an SOC updating module. Wherein, Delta CC_j,j+1For example, obtained by the Δ CC module of fig. 3, and output to the SOC update module.

Optionally, if the total available capacity of the battery at the time j + h is obtained in a similar manner as described above at the time j + h, the remaining capacity information of the battery at the time j + h is obtained from the total available capacity of the battery at the time j + h, for example: and obtaining the available total capacity of the battery at the moment j + h and the discharged electric quantity of the battery cell in the state of full discharge at the moment j + h. If the available total capacity of the battery at the moment j + h is not obtained in the similar mode at the moment j + h, and the available total capacity of the battery at the moment j + h is not obtained according to the residual capacity information of the battery at the moment j + h, the residual capacity information of the battery at the moment j + h is obtained according to an ampere-hour integration method, the residual capacity information at the moment j + h-1 and the available total capacity at the moment j.

Therefore, the obtained residual capacity information of the battery is more accurate through the scheme.

Optionally, after obtaining the current-time remaining power information of the battery according to any of the above embodiments, the actual available total capacity of the battery may also be obtained according to the current-time remaining power information of the battery.

The following describes an implementation scheme for acquiring the actual available total capacity of the battery according to the current-time remaining capacity information of the battery.

In some embodiments, a possible implementation manner of obtaining the actual available total capacity of the battery according to the current remaining capacity information of the battery is as follows: and acquiring the actual available total capacity of the battery according to the current-time residual capacity information of the battery, the last-time residual capacity information of the battery and the charge-discharge information of the battery in the time period from the last time to the current time. For example: acquiring a residual capacity information difference value according to the residual capacity information of the battery at the current moment and the residual capacity information of the battery at the last moment, and acquiring the actual available total capacity of the battery according to the capacity charge-discharge information of the battery and the residual capacity information difference value in a time period from the last moment to the current moment. The actual available total capacity of the battery is, for example, a ratio of a difference between the charge-discharge information and the remaining charge information of the battery in a time period from a previous time to a current time.

Taking the current time as the time j as an example, the remaining capacity information of the battery at the current time is the SOC_jThe last time remaining power information of the battery is SOC_j-1And the electric quantity charge-discharge information of the battery in the time period from the last moment to the current moment is Q_j-1，jThus, the actual total available capacity of the battery is FCC, where FCC ═ Q _j-1，j/SOC _j-SOC _j-1。

Optionally, the electric quantity charge-discharge information of the battery in the time period from the previous time to the current time may be obtained according to an integral of the discharge current of the battery in the time period from the previous time to the current time and the time length of the time period. Such as:

in some embodiments, another possible implementation manner for obtaining the actual available total capacity of the battery according to the current-time remaining capacity information of the battery is as follows: determining the current-time open-circuit voltage of the battery according to the current-time remaining capacity information of the battery according to the mapping relation between the open-circuit voltage of the battery and the remaining capacity information of the battery; determining the current-time voltage of the internal resistance of the battery according to the current-time discharge voltage of the battery and the current-time open-circuit voltage; determining the corresponding relation between the discharging voltage of the battery and the discharging capacity of the battery by using the current moment voltage of the internal resistance of the battery according to the corresponding relation between the open-circuit voltage of the battery and the discharging capacity of the battery; and determining the discharge capacity of the battery corresponding to the discharge cut-off voltage of the battery as the actual available total capacity according to the corresponding relation between the discharge voltage of the battery and the discharge capacity of the battery. The actual total available capacity thus obtained more closely approximates the actual total available capacity of the battery.

In this embodiment, a mapping relationship exists between the open-circuit voltage and the remaining power information of the battery, and the remaining power information (SOC) of the battery at the present time_j) Has already been obtained. Therefore, according to SOC_jAccording to the mapping relation between the open-circuit voltage and the residual capacity information of the battery, the SOC can be determined_jThe corresponding open circuit voltage, and determining the open circuit voltage as the current Open Circuit Voltage (OCV) of the battery_j)。

Current time of battery dischargeElectric voltage (V)_j) It can be obtained, wherein how to obtain the current-time discharge voltage of the battery can be referred to the description in the related art, and the description is omitted here. Since the battery also acts as a resistor, the resistor also has internal resistance, and the internal resistance can generate voltage drop, the discharging voltage (V) of the battery at the current moment_j) Open Circuit Voltage (OCV) with current time of battery_j) Not equal, the difference can be considered to be equal to the voltage drop, i.e. the current time voltage of the internal resistance of the battery (Δ V ═ Res, I is the discharge voltage of the battery, Res is the internal resistance of the battery), i.e. Δ V ═ OCV_j-V _j。

For the current time voltage of the same battery internal resistance, there may also be a corresponding relationship between different discharge voltages of the battery and the discharge capacity of the battery, and since Δ V is OCV-V and there is a corresponding relationship between the open-circuit voltage of the battery and the discharge capacity of the battery, the discharge capacity corresponding to each open-circuit voltage is the discharge capacity corresponding to the discharge voltage of the battery obtained by subtracting the current time voltage of the battery internal resistance from each open-circuit voltage, that is, OCV_jCorresponding discharge capacity is equal to V_jThe corresponding discharge capacity. Thereby determining a correlation of a discharge voltage of the battery and a discharge capacity of the battery.

As shown in fig. 5, the correspondence relationship between the open circuit voltage of the battery and the discharge capacity of the battery may be represented by a dotted curve, and the correspondence relationship between the discharge voltage of the battery and the discharge capacity of the battery thus determined may be represented by a solid line. It should be noted that, since the available total capacity of the battery in this embodiment is updated in time, correspondingly, the remaining capacity of the battery is updated in time according to the available total capacity of the battery, and correspondingly, the voltage of the internal resistance of the battery corresponding to the remaining capacity of the battery also changes along with the charging and discharging conditions. That is, the voltage of the internal resistance of the battery is always maintained at the same value during the charge and discharge processes. In practical applications, the correspondence (solid line) between the discharge voltage of the battery and the discharge capacity of the battery during discharge of the battery and the correspondence (dotted line) between the open-circuit voltage of the battery and the discharge capacity of the battery are thus obtained without shifting by the same Δ V.

And because, in an ideal state, when the open-circuit voltage of the battery is equal to the discharge cut-off voltage of the battery, the discharge capacity corresponding to the open-circuit voltage is the available total capacity of the battery. However, due to various factors, the actual available total capacity of the battery is not equal to the discharge capacity corresponding to the open circuit voltage. Therefore, after obtaining the corresponding relation between the discharge voltage of the battery and the discharge capacity of the battery, the discharge cut-off voltage (V) of the battery is determined according to the corresponding relation between the discharge voltage of the battery and the discharge capacity of the battery_T) Corresponding cell discharge capacity (i.e., when the ordinate in the solid curve shown in FIG. 5 is equal to V)_TThe value of the abscissa that corresponds to the time) and determines that the discharge capacity of the battery is equal to the actual available total capacity of the battery.

As in the above case, see the FCC correction in the voltage correction module shown in fig. 3, the SOC correction module outputs the current remaining power information of the battery to the voltage correction module.

In some embodiments, the discharge cutoff voltage of the battery may also be dynamically adjusted according to the current moment discharge power of the battery or the current moment discharge current of the battery.

And judging whether the current discharge power of the battery is larger than the preset power or not and whether the current discharge voltage of the battery is larger than the discharge cut-off voltage of the battery or not. And if the current discharge power of the battery is less than or equal to the preset power and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, adjusting the discharge cut-off voltage of the battery. Or, judging whether the current discharging current of the battery at the current moment is larger than the preset current or not, and whether the current discharging voltage of the battery at the current moment is larger than the discharging cut-off voltage of the battery or not. And if the current discharging current of the battery at the current moment is less than or equal to the preset current and the current discharging voltage of the battery at the current moment is less than or equal to the discharging cut-off voltage of the battery, adjusting the discharging cut-off voltage of the battery. The discharge cutoff voltage of the battery may be adjusted, for example, to be higher or lower.

In some examples, in the case that the current-time discharge power of the battery is less than the preset electric power, or the current-time discharge current of the battery is less than the preset current, if the current-time discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, it indicates that a pulse is suddenly generated, so that the current-time discharge voltage of the battery is suddenly reduced, and it is necessary to immediately lower the discharge cut-off voltage of the battery. Therefore, it is possible to avoid a decrease in the battery discharge capacity without damaging the battery.

Optionally, after the discharge cut-off voltage of the battery is adjusted, the actual available total capacity of the battery may be updated according to the adjusted discharge cut-off voltage of the battery. For example: and determining the discharge capacity of the battery corresponding to the discharge cut-off voltage of the adjusted battery according to the corresponding relation between the current-time discharge voltage of the battery and the discharge capacity of the battery, and determining that the discharge capacity of the battery is equal to the actual available total capacity of the updated battery.

Optionally, if the current-time discharge power of the battery is less than or equal to the preset power and the current-time discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, the current-time remaining capacity of the battery is updated to the preset remaining capacity information. Or, if the current-time discharge current of the battery is less than or equal to a preset current and the current-time discharge voltage of the battery is less than or equal to the discharge cutoff voltage of the battery, updating the current-time remaining capacity of the battery to preset remaining capacity information, for example, updating the current-time remaining capacity of the battery from 10% to 0%. This is because, when the power of the battery is less than the preset electric power or the current discharging current of the battery is less than the preset current, if the current discharging voltage of the battery is less than or equal to the discharging cut-off voltage of the battery, it indicates that the remaining capacity of the battery is very low and there is almost no remaining capacity, so the current remaining capacity of the battery can be directly updated to 0%.

Optionally, if the current-time discharge power of the battery is less than or equal to a preset power and the current-time discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, or if the current-time discharge power of the battery is less than or equal to a preset power and the current-time discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, obtaining the current-time open-circuit voltage of the battery according to the current-time remaining capacity information of the battery; acquiring available total capacity corresponding to the open-circuit voltage at the current moment according to the corresponding relation between the open-circuit voltage at the current moment of the battery and the discharge capacity of the battery; and updating the actual available total capacity of the battery to the available total capacity corresponding to the open-circuit voltage at the current moment.

In this embodiment, if the current-time discharging power of the battery is less than or equal to the preset power and the current-time discharging voltage of the battery is less than or equal to the discharging cut-off voltage of the battery, or if the current-time discharging power of the battery is less than or equal to the preset power and the current-time discharging voltage of the battery is less than or equal to the discharging cut-off voltage of the battery, the current-time remaining capacity information of the battery calculated by the electricity meter in the above manner is, for example, 10%, but actually, the current-time remaining capacity information of the battery may be 0%, where the difference of 10% is caused by the virtual high remaining capacity of the battery. Since the remaining capacity information of the battery at the present moment may be 0% in practice, the available capacity of the battery is discharged, and the total capacity discharged at present may be considered to be equal to the actual available total capacity of the battery. The total amount of electricity discharged at present can be obtained from the discharge capacity corresponding to the open-circuit voltage of the battery at the present moment. Since the remaining capacity information of the battery calculated by the fuel gauge at the current time is 10%, an open-circuit voltage corresponding to the remaining capacity information of the battery at the current time of 10%, that is, an open-circuit voltage (OCV) of the battery at the current time, can be obtained according to the remaining capacity information of the battery at the current time of 10% and a mapping relationship between the remaining capacity information of the battery and the open-circuit voltage of the battery_SOC＝10％). Then, the Open Circuit Voltage (OCV) of the battery at the current moment is obtained according to the corresponding relation between the open circuit voltage of the battery and the discharge capacity of the battery_SOC＝10％) Corresponding discharge capacity, and using the discharge capacity as actual batteryThe total available capacity.

Optionally, if the current-time discharge power of the battery is greater than the preset power and the current-time discharge voltage of the battery is less than the discharge cut-off voltage of the battery, or the current-time discharge current of the battery is greater than the preset current and the current-time discharge voltage of the battery is less than the discharge cut-off voltage of the battery, the discharge power of the battery is adjusted. Use unmanned aerial vehicle as an example, work as the present moment discharge power of battery is greater than preset power just the present moment discharge voltage of battery is less than the cut-off voltage that discharges of battery, perhaps, the present moment discharge current of battery is greater than preset current just the present moment discharge voltage of battery is less than when the cut-off voltage that discharges of battery, unmanned aerial vehicle probably has the condition of violent flight, and this can make the present moment discharge power of battery great, and the present moment discharge current is also great. In order to make the unmanned aerial vehicle fly gently, therefore can turn down the discharge power of battery. Alternatively, in this case, the discharge cutoff voltage of the battery does not need to be adjusted, and the practically usable total capacity of the battery does not need to be updated.

Optionally, after obtaining the current available capacity of the battery, the current discharging power of the battery or the current discharging current of the battery is obtained according to the current available capacity of the battery, and then the current discharging power or the current discharging current may be used in the determining process. The current available capacity of the battery and the previous available capacity of the battery can reflect the change trend of the available capacity of the battery, so that the change trend of the discharge power or the discharge current of the battery can be reflected, and the current discharge power or the current discharge current of the battery can be determined.

In some embodiments, on the basis of the above-mentioned obtaining or updating of the actual available total capacity of the battery, the actual available total capacity of the battery may be further output, and if the actual available total capacity of the battery is obtained, the actual available total capacity of the battery is output, and if the actual available total capacity of the battery is updated, the updated actual available total capacity of the battery is output. For example, the actual available total capacity of the battery may be transmitted to an external device powered by the battery, and the actual available total capacity of the battery may be displayed by the external device through a display device.

In some embodiments, on the basis of obtaining or updating the actual available total capacity of the battery, the current remaining capacity information of the battery may also be updated according to the actual available total capacity of the battery. The current time remaining capacity information of the battery may be updated based on the actual available total capacity of the battery, for example, by a smoothing filtering manner. The remaining capacity information of the battery at the present time may be updated, for example, by using the actual available total capacity of the battery as the available total capacity of the battery in the ampere-hour integral formulas. For example, the process can be referred to the RSOC update module described in fig. 3, wherein the SOC obtained by the SOC update module is output to the RSOC update module, and the FCC obtained by the voltage correction module is output to the RSOC update module.

In some embodiments, after the current time remaining capacity information of the battery is obtained through any one of the above embodiments, the current time remaining capacity information of the battery may also be output. For example, the current time remaining capacity information of the battery may be transmitted to an external device powered by the battery, and the current time remaining capacity information of the battery may be displayed by the external device through a display device, for example, as described in relation to the SOC display module in fig. 3.

It should be noted that any of the above embodiments may be implemented alone, or at least two of the above embodiments may be implemented in any combination, and this is not a limitation.

The embodiment of the present application further provides a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, the program may include some or all of the steps of the battery power calculation method in any corresponding embodiment described above.

Fig. 6 is a schematic structural diagram of a battery power calculating system according to an embodiment of the present application, and as shown in fig. 6, the battery power calculating system 600 according to the embodiment may include: at least one processor 601 (shown as one processor). Optionally, the battery power calculating system 600 of this embodiment may further include: and an output device 602. The output device 602 is connected to at least one processor 601. The output device 602 may be, for example, a communication interface or a communication circuit.

The at least one processor 601 is configured to obtain, under different preset conditions, a current-time discharge voltage of each of a plurality of battery cells of the battery; acquiring the residual electric quantity information of each battery cell according to the current-time discharge voltage of each battery cell; acquiring the current available total capacity of the battery according to the current available capacity of each battery cell in the plurality of battery cells and the residual electric quantity information of each battery cell; and acquiring the current-time residual electric quantity information of the battery according to the current-time available total capacity of the battery.

In some embodiments, the at least one processor 601 is specifically configured to: acquiring first electric quantity required by each battery cell to be charged to a full charge state and second electric quantity discharged by each battery cell to be discharged to a full discharge state according to the current available capacity of each battery cell and the residual electric quantity information of each battery cell; and acquiring the current available total capacity of the battery according to the first electric quantity of each battery cell and the second electric quantity of each battery cell in the plurality of battery cells.

In some embodiments, the at least one processor 601 is specifically configured to: determining a minimum first electrical quantity from the first electrical quantity of each of the plurality of cells; determining a minimum second electrical quantity according to the second electrical quantity of each of the plurality of cells; and acquiring the current available total capacity of the battery according to the minimum first electric quantity and the minimum second electric quantity.

In some embodiments, the at least one processor 601 is specifically configured to: and acquiring the sum of the minimum first electric quantity and the minimum second electric quantity as the current available total capacity of the battery.

In some embodiments, the at least one processor 601 is specifically configured to: and acquiring the remaining electric quantity of the battery at the current moment according to the minimum second electric quantity and the available total capacity of the battery at the current moment.

In some embodiments, the at least one processor 601 is specifically configured to: and obtaining the ratio of the minimum second electric quantity to the current available total capacity of the battery as the current remaining electric quantity information of the battery.

In some embodiments, the at least one processor 601 is further configured to: acquiring first residual capacity information and second residual capacity information of each battery cell, wherein the first residual capacity information is residual capacity information of each battery cell at a first moment and the second residual capacity information is residual capacity information of each battery cell at a second moment; acquiring the electric quantity charge-discharge information of each battery cell in a time period from the first moment to the second moment; and obtaining the current available capacity of each battery cell according to the electric quantity charge-discharge information, the first remaining electric quantity information and the second remaining electric quantity information of each battery cell.

In some embodiments, the at least one processor 601 is specifically configured to: acquiring a residual capacity information difference value of the first residual capacity information and the second residual capacity information of each battery cell; and determining the ratio of the difference value between the electric quantity charge-discharge information and the residual electric quantity information of each electric core as the current available capacity of each electric core.

In some embodiments, the at least one processor 601 is specifically configured to: respectively taking the open-circuit voltage of each battery cell at a first moment as a first open-circuit voltage and taking the open-circuit voltage of each battery cell at a second moment as a second open-circuit voltage; according to a preset corresponding relation between the open-circuit voltage and the remaining power information, the remaining power information corresponding to the first open-circuit voltage is used as the first remaining power information and the remaining power information corresponding to the second open-circuit voltage is used as the second remaining power information.

In some embodiments, the at least one processor 601 is further configured to: and acquiring the residual capacity information of the battery at the next moment according to an ampere-hour integral method, wherein the initial residual capacity information about the next moment is the residual capacity information of the battery at the current moment.

In some embodiments, the total capacity available in respect of the ampere-hour integration method is the total capacity available at the current time of the battery.

In some embodiments, the at least one processor 601 is further configured to: and acquiring the actual available total capacity of the battery according to the current residual capacity information of the battery.

In some embodiments, the at least one processor 601 is specifically configured to: and acquiring the actual available total capacity of the battery according to the current-time residual capacity information of the battery, the last-time residual capacity information of the battery and the charge-discharge information of the battery in the time period from the last time to the current time.

In some embodiments, the at least one processor 601 is further configured to: and acquiring the electric quantity charge-discharge information of the battery in the time period from the last moment to the current moment according to the integral of the discharge current of the battery in the time period from the last moment to the current moment and the duration of the time period.

In some embodiments, the at least one processor 601 is specifically configured to: determining the current-time open-circuit voltage of the battery according to the current-time remaining capacity information of the battery according to the mapping relation between the open-circuit voltage of the battery and the remaining capacity information of the battery; determining the current-time voltage of the internal resistance of the battery according to the current-time discharge voltage of the battery and the current-time open-circuit voltage; determining the corresponding relation between the discharging voltage of the battery and the discharging capacity of the battery by using the current moment voltage of the internal resistance of the battery according to the corresponding relation between the open-circuit voltage of the battery and the discharging capacity of the battery; and determining the discharge capacity of the battery corresponding to the discharge cut-off voltage of the battery as the actual available total capacity according to the corresponding relation between the discharge voltage of the battery and the discharge capacity of the battery.

In some embodiments, the at least one processor 601 is further configured to: and if the current-time discharging power of the battery is less than or equal to the preset power and the current-time discharging voltage of the battery is less than or equal to the discharging cut-off voltage of the battery, or the current-time discharging current of the battery is less than or equal to the preset current and the current-time discharging voltage of the battery is less than or equal to the discharging cut-off voltage of the battery, adjusting the discharging cut-off voltage of the battery.

In some embodiments, the at least one processor 601 is further configured to: and updating the actual available total capacity of the battery according to the adjusted discharge cutoff voltage of the battery.

In some embodiments, the at least one processor 601 is further configured to: and if the current-time discharging power of the battery is less than or equal to the preset power and the current-time discharging voltage of the battery is less than or equal to the discharging cut-off voltage of the battery, or the current-time discharging current of the battery is less than or equal to the preset current and the current-time discharging voltage of the battery is less than or equal to the discharging cut-off voltage of the battery, updating the current-time residual capacity of the battery into preset residual capacity information.

In some embodiments, the at least one processor 601 is further configured to: acquiring the open-circuit voltage of the battery at the current moment according to the residual electric quantity information of the battery at the current moment; acquiring available total capacity corresponding to the open-circuit voltage at the current moment according to the corresponding relation between the open-circuit voltage of the battery and the discharge capacity of the battery; and updating the actual available total capacity of the battery to the available total capacity corresponding to the open-circuit voltage at the current moment.

In some embodiments, the at least one processor 601 is further configured to: and if the current-time discharging power of the battery is greater than the preset power and the current-time discharging voltage of the battery is less than or equal to the discharging cut-off voltage of the battery, or the current-time discharging current of the battery is greater than the preset current and the current-time discharging voltage of the battery is less than or equal to the discharging cut-off voltage of the battery, adjusting the discharging power of the battery.

In some embodiments, the at least one processor 601 is further configured to: and acquiring the current discharge power of the battery or the current discharge current of the battery according to the current available total capacity of the battery.

An output device 602 for outputting the actual available total capacity of the battery.

In some embodiments, the at least one processor 601 is further configured to: and updating the current residual capacity information of the battery according to the actual available total capacity.

In some embodiments, the output device 602 is configured to output the current remaining power information of the battery.

Optionally, the battery level calculating system 600 of the present embodiment may further include a memory (not shown in the figure) for storing the program codes. The at least one processor 601 calls the program code to implement the above aspects.

The battery power calculating system of this embodiment may be configured to execute the technical solutions in the method embodiments of the present application, and the implementation principle and the technical effect are similar, which are not described herein again.

Fig. 7 is a schematic structural diagram of a battery according to an embodiment of the present disclosure, and as shown in fig. 7, a battery 700 according to the embodiment may include: a plurality of battery cells 710 and a battery level calculation system 720. The battery level calculating system 720 may include at least one processor 721 (one processor is illustrated). Optionally, the battery power calculating system 720 may further include: and an output device 722. The output device 722 is connected to at least one processor 721. The output device 722 may be, for example, a communication interface, a communication circuit, or the like.

The at least one processor 721 is configured to obtain, under different preset conditions, a current-time discharge voltage for each of the cells 710 in the plurality of cells 710; acquiring the residual capacity information of each battery cell 710 according to the current discharge voltage of each battery cell 710; acquiring the total available capacity of the battery 700 at the current moment according to the available capacity of each battery cell 710 in the plurality of battery cells 710 at the current moment and the remaining capacity information of each battery cell 710; and acquiring the current-time residual capacity information of the battery 700 according to the current-time available total capacity of the battery 700.

In some embodiments, the at least one processor 721 is specifically configured to: acquiring a first electric quantity required by each battery cell 710 to be charged to a full charge state and a second electric quantity discharged by each battery cell 710 to be discharged to a full discharge state according to the current available capacity of each battery cell 710 and the residual electric quantity information of each battery cell 710; obtaining the total capacity available at the current time of the battery 700 according to the first electric quantity of each of the plurality of cells 710 and the second electric quantity of each of the plurality of cells 710.

In some embodiments, the at least one processor 721 is specifically configured to: determining a minimum first electrical quantity from the first electrical quantity of each cell 710 of the plurality of cells 710; determining a minimum second electrical quantity from the second electrical quantity of each cell 710 of the plurality of cells 710; and acquiring the total available capacity of the battery 700 at the current moment according to the minimum first electric quantity and the minimum second electric quantity.

In some embodiments, the at least one processor 721 is specifically configured to: the sum of the minimum first power amount and the minimum second power amount is obtained as the total available capacity of the battery 700 at the current time.

In some embodiments, the at least one processor 721 is specifically configured to: and acquiring the remaining power of the battery 700 at the current moment according to the minimum second power and the total available capacity of the battery 700 at the current moment.

In some embodiments, the at least one processor 721 is specifically configured to: the ratio of the minimum second power to the total available capacity of the battery 700 at the current time is obtained as the information of the remaining power of the battery 700 at the current time.

In some embodiments, the at least one processor 721 is further configured to: acquiring first remaining capacity information and second remaining capacity information of each battery cell 710, where the first remaining capacity information is remaining capacity information of each battery cell 710 at a first time and the second remaining capacity information is remaining capacity information of each battery cell 710 at a second time; acquiring the electric quantity charge-discharge information of each battery cell 710 in the time period from the first moment to the second moment; and obtaining the current available capacity of each battery cell 710 according to the electric quantity charge-discharge information, the first remaining electric quantity information and the second remaining electric quantity information of each battery cell 710.

In some embodiments, the at least one processor 721 is specifically configured to: acquiring a remaining power information difference value between the first remaining power information and the second remaining power information of each battery cell 710; determining a ratio of the difference between the electric quantity charge-discharge information and the remaining electric quantity information of each electric core 710 as a current time available capacity of each electric core 710.

In some embodiments, the at least one processor 721 is specifically configured to: respectively taking the open-circuit voltage of each battery cell 710 at a first moment as a first open-circuit voltage and taking the open-circuit voltage of each battery cell 710 at a second moment as a second open-circuit voltage; according to a preset corresponding relation between the open-circuit voltage and the remaining power information, the remaining power information corresponding to the first open-circuit voltage is used as the first remaining power information and the remaining power information corresponding to the second open-circuit voltage is used as the second remaining power information.

In some embodiments, the at least one processor 721 is further configured to: and acquiring the remaining capacity information of the battery 700 at the next moment according to an ampere-hour integral method, wherein the initial remaining capacity information about the next moment is the remaining capacity information of the battery 700 at the current moment.

In some embodiments, the total capacity available in the ampere-hour integration method is the total capacity available at the current time of the battery 700.

In some embodiments, the at least one processor 721 is further configured to: and acquiring the actual available total capacity of the battery 700 according to the current-time remaining capacity information of the battery 700.

In some embodiments, the at least one processor 721 is specifically configured to: and acquiring the actual available total capacity of the battery 700 according to the current-time residual capacity information of the battery 700, the last-time residual capacity information of the battery, and the capacity charge-discharge information of the battery 700 in the time period from the last time to the current time.

In some embodiments, the at least one processor 721 is further configured to: and acquiring the electric quantity charge-discharge information of the battery 700 in the time period from the last moment to the current moment according to the integral of the discharge current of the battery 700 in the time period from the last moment to the current moment and the duration of the time period.

In some embodiments, the at least one processor 721 is specifically configured to: determining the current-time open-circuit voltage of the battery 700 according to the current-time remaining power information of the battery 700 and the mapping relationship between the open-circuit voltage of the battery 700 and the remaining power information of the battery 700; determining the current-time voltage of the internal resistance of the battery according to the current-time discharge voltage of the battery 700 and the current-time open-circuit voltage; determining the corresponding relation between the discharge voltage of the battery 700 and the discharge capacity of the battery 700 by using the current moment voltage of the internal resistance of the battery according to the corresponding relation between the open-circuit voltage of the battery 700 and the discharge capacity of the battery; and determining the discharge capacity of the battery 700 corresponding to the discharge cut-off voltage of the battery 700 as the actual available total capacity according to the corresponding relation between the discharge voltage of the battery 700 and the discharge capacity of the battery 700.

In some embodiments, the at least one processor 721 is further configured to: if the current-time discharge power of the battery 700 is less than or equal to the preset power and the current-time discharge voltage of the battery 700 is less than or equal to the discharge cut-off voltage of the battery 700, or the current-time discharge current of the battery 700 is less than or equal to the preset current and the current-time discharge voltage of the battery 700 is less than or equal to the discharge cut-off voltage of the battery 700, the discharge cut-off voltage of the battery 700 is adjusted.

In some embodiments, the at least one processor 721 is further configured to: updating the actual available total capacity of the battery 700 according to the adjusted discharge cutoff voltage of the battery 700.

In some embodiments, the at least one processor 721 is further configured to: if the current-time discharge power of the battery 700 is less than or equal to the preset power and the current-time discharge voltage of the battery 700 is less than or equal to the discharge cut-off voltage of the battery 700, or the current-time discharge current of the battery 700 is less than or equal to the preset current and the current-time discharge voltage of the battery 700 is less than or equal to the discharge cut-off voltage of the battery, the current-time remaining capacity of the battery 700 is updated to the preset remaining capacity information.

In some embodiments, the at least one processor 721 is further configured to: acquiring the current-time open-circuit voltage of the battery 700 according to the current-time residual capacity information of the battery 700; acquiring available total capacity corresponding to the open-circuit voltage at the current moment according to the corresponding relation between the open-circuit voltage of the battery 700 and the discharge capacity of the battery 700; and updating the actual available total capacity of the battery 700 to the available total capacity corresponding to the open-circuit voltage at the current moment.

In some embodiments, the at least one processor 721 is further configured to: if the current-time discharge power of the battery 700 is greater than the preset power and the current-time discharge voltage of the battery 700 is less than or equal to the discharge cut-off voltage of the battery 700, or the current-time discharge current of the battery 700 is greater than the preset current and the current-time discharge voltage of the battery 700 is less than or equal to the discharge cut-off voltage of the battery 700, the discharge power of the battery 700 is adjusted.

In some embodiments, the at least one processor 721 is further configured to: and acquiring the current discharge power of the battery 700 or the current discharge current of the battery 700 according to the current available total capacity of the battery 700.

An output device 722 for outputting the actual available total capacity of the battery 700.

In some embodiments, the at least one processor 721 is further configured to: and updating the current residual capacity information of the battery 700 according to the actual available total capacity.

In some embodiments, the output device 722 is configured to output the current remaining power information of the battery 700.

Optionally, the battery power calculating system 720 of the present embodiment may further include a memory (not shown in the figure) for storing the program codes. The at least one processor 721 calls the program code to implement the aspects described above.

The battery of this embodiment may be used to implement the technical solutions in the above method embodiments of the present application, and the implementation principle and the technical effect are similar, which are not described herein again.

Fig. 8 is a schematic structural diagram of a movable platform according to an embodiment of the present application, and as shown in fig. 8, a movable platform 800 according to the embodiment includes: a body 801 and a battery 802; the body 801 is provided with a battery level calculation system 803; the battery 802 is arranged in a battery compartment of the body 801; the battery level calculation system 803 is used to obtain the remaining level of the battery 802.

The battery power calculating system 803 may adopt a schematic structural diagram as shown in fig. 6 for executing the technical solutions in the method embodiments of the present application, and the implementation principles and technical effects thereof are similar and will not be described herein again.

Fig. 9 is a schematic structural diagram of a movable platform according to another embodiment of the present application, and as shown in fig. 9, the movable platform 900 according to this embodiment includes: a body 901 and a battery 902. The battery 902 is disposed in a battery compartment of the body 901.

The battery 902 may adopt a schematic structural diagram as shown in fig. 7, which is used for executing the technical solutions in the above method embodiments of the present application, and the implementation principle and the technical effect are similar, and are not described herein again.

Optionally, on the basis of the movable platform shown in fig. 8 or fig. 9, a display device may be further included, where the display device is configured to display the current remaining capacity information of the battery or the actual available total capacity of the battery, and the display device may be a component in a control terminal of the movable platform.

Taking the movable platform as the unmanned aerial vehicle as an example, the detection of the remaining capacity of the unmanned aerial vehicle is a safety detection mechanism. The most representative of the current power true state of the battery in the measurable physical information quantity (voltage, current, temperature, etc.) is the voltage. Known by the battery mechanism, the battery is when the residual capacity is lower promptly the end of discharging, and battery output voltage reduces along with the increase of depth of discharge rapidly, and the continuous use will fail to provide reliable and stable power supply for unmanned aerial vehicle. The dischargeable energy (cruising ability) of the battery is usually estimated through the SOC obtained by the electric meter, and when the SOC is not accurate, how to identify the unmanned aerial vehicle for safe landing. The solution idea is as follows:

at the first point, the addition of voltage detection triggers a redundant scheme of forced droop.

The second point is that a set of redundant electricity meters, namely two electricity meters, are added, the electricity quantities of the two electricity meters are compared, and when the fact that the electricity quantity of one of the electricity meters is high is detected, a corresponding strategy can be triggered, for example, as follows:

and when the SOC of the fuel gauge is detected to be virtual high before the takeoff, the takeoff is prohibited, and a user is prompted to maintain.

And when detecting the SOC virtual height of the fuel gauge in the flight process, prompting a user to return to the air/forcibly land.

When the SOC of the electricity meter is detected for a plurality of times, the Battery Management System (BMS) is marked to be abnormal, and the use is forbidden.

In view of the above, according to the embodiments of the present application, in order to avoid false detection of the remaining power level, the determination may be performed by multiple detections.

Fig. 10 is a flowchart of a battery abnormality detection method according to an embodiment of the present application, and as shown in fig. 10, the method according to the embodiment may include:

and step S1001, detecting that the residual electric quantity of the battery is inaccurate.

And step S1002, if the residual electric quantity of the battery is detected to be inaccurate again, determining that the battery is abnormal.

In this embodiment, it is determined that the battery is abnormal when the remaining amount of the battery is detected to be inaccurate and then the remaining amount of the battery is detected to be inaccurate again.

For example: and if the residual electric quantity of the battery is detected to be inaccurate twice continuously, determining that the battery is abnormal.

For example: and under the condition that the battery is determined to be normal, detecting that the residual electric quantity of the battery is inaccurate for the first time, and then detecting that the residual electric quantity of the battery is inaccurate again, and determining that the battery is abnormal.

For example: and when the residual electric quantity of the battery is detected to be inaccurate for the first time, and then the residual electric quantity of the battery is detected to be inaccurate for one time or multiple times, determining that the battery is abnormal. The specific numerical values of the plurality of times are not limited in this embodiment.

Another example is: the detection of the inaccuracy of the remaining amount of the battery in step S1001 may be a first detection, or may be a second or third or fourth detection, and so on, and accordingly, the detection of the inaccuracy of the remaining amount of the battery in step S1002 is the detection of the inaccuracy of the remaining amount of the battery in the next time after step S1001.

Optionally, the detecting that the remaining amount of the battery is inaccurate includes: detecting that the remaining capacity of the battery is low. The remaining capacity false height indicates that the calculated remaining capacity of the battery is higher than the actual remaining capacity of the battery.

In this embodiment, it is determined that the battery is abnormal by detecting that the remaining amount of the battery is inaccurate and then detecting that the remaining amount of the battery is inaccurate again. Therefore, the present embodiment determines that there is an abnormality in the battery by detecting the remaining amount of the battery is inaccurate a plurality of times. The phenomenon that the battery is judged by mistake to be abnormal is avoided, so that the accuracy of detecting the battery abnormity can be improved, unnecessary battery maintenance conditions are avoided, and the use experience of a user is improved.

Fig. 11 is a flowchart of a battery abnormality detection method according to another embodiment of the present application, and as shown in fig. 11, the method according to this embodiment may include:

step S1101, detecting that the remaining amount of the battery is inaccurate.

In this embodiment, the specific implementation process of step S1101 may refer to the relevant description in the embodiment shown in fig. 10, and is not described herein again.

Step S1102, setting the state of the battery to a first state.

In the present embodiment, after the above-described step S1101 is performed, the state of the battery is set to the first state. This also means that the state of the battery is not the first state before step S1101 is executed.

And S1103, if the residual electric quantity of the battery is detected to be inaccurate again, determining that the battery is abnormal.

In this embodiment, after the state of the battery is detected as the first state, if it is detected again that the remaining power of the battery is inaccurate, it is determined that the battery is abnormal.

Therefore, in the present embodiment, after detecting that the remaining power of the battery is not accurate, the state of the battery is set to the first state, which is a state marked when the remaining power of the battery is not accurate, and the marked state is cleared. And determining that the battery is abnormal if the residual electric quantity of the battery is detected to be inaccurate under the condition that the state of the battery is the first state. The first state indicates that it is possible to determine that there is an abnormality in the battery if it is detected that the remaining amount of electricity of the battery is inaccurate.

Optionally, the state of the battery is set by changing a state flag bit of the battery. The status flag bits of the battery are different, and can represent different statuses of the battery. If the first status is represented by the first status flag bit of the battery, accordingly, one possible implementation manner of the step S1102 is as follows: and setting the state flag bit of the battery as a first state flag bit. The first status flag is used to indicate that the status of the battery is the first status, and the first status flag is, for example, 2. Accordingly, after the above-described step S1101 is performed, the status flag bit of the battery is not the first status flag bit.

Optionally, if it is detected again in step S1102 that the remaining power of the battery is inaccurate, a possible implementation manner of determining that the battery is abnormal is as follows: and if the residual electric quantity of the battery is detected to be inaccurate again in the preset time period after the residual electric quantity of the battery is detected to be inaccurate, determining that the battery is abnormal.

In some embodiments, one possible implementation manner of the step S1102 is: setting a state of a battery to a first state when it is determined that a remaining power inaccurate state clearing condition of the battery is satisfied. In this embodiment, after it is detected that the remaining power of the battery is inaccurate and the state of the battery is not the first state, if it is determined that the remaining power inaccurate state clear condition of the battery is satisfied, the state of the battery is set to the first state.

One possible implementation manner for determining that the condition for clearing the inaccurate state of the remaining amount of the battery is satisfied is as follows: the residual capacity of the battery is accurately detected. That is, after it is detected that the remaining amount of the battery is inaccurate, it is determined that the remaining amount of the battery is accurate, and the remaining amount inaccurate state clearing condition of the battery can be satisfied.

Alternatively, the first state indicates that the remaining capacity of the battery has been inaccurate but the inaccurate state has been cleared.

In some embodiments, step S11011 is also performed after step S1101 is performed and before step S1102 is performed.

Step S11011 sets the state of the battery to a second state.

In this embodiment, after the detection that the remaining amount of the battery is inaccurate (i.e., step S1101), the state of the battery is set to the second state. The second state indicates that the remaining amount of the battery is inaccurate but the inaccurate state may be cleared. Optionally, in this embodiment, the state of the battery may be set to the second state by setting the state flag bit of the battery to the second state flag bit, and the second state flag bit may be, for example, 1.

Accordingly, after performing step S11011, when it is determined that the remaining power inaccurate state clearing condition of the battery is satisfied, since the state of the battery is currently the second state, the state of the battery is set to the first state, that is, the remaining power of the battery was once inaccurate but the inaccurate state is cleared, that is, the state of the battery is changed from the second state to the first state.

In some embodiments, after performing step S1103, step S1104 is also performed.

And step S1104, setting the state of the battery to a third state.

In this embodiment, after step S1103 is executed, that is, after it is determined that there is an abnormality in the battery, since the state of the battery is currently set to the first state, the state of the battery is set to the third state, that is, the state of the battery is changed from the first state to the third state, where the third state indicates that the state of the battery is inaccurate and cannot be cleared. It should be noted that the third state is a state marked when the remaining battery capacity is inaccurate, and the marked state is not cleared.

Optionally, in this embodiment, the state of the battery may be set to the third state by setting the state flag bit of the battery to the third state flag bit, and the third state flag bit may be, for example, 3.

Optionally, before the step S1101 is executed, the state of the battery is a fourth state, and the fourth state indicates that the battery is normal. Optionally, that is, the status flag bit of the battery is a fourth status flag bit, where the fourth status flag bit is used to indicate that the status of the battery is a fourth status, and the fourth status flag bit may be 0, for example.

Optionally, one possible implementation manner of executing step S1103 is: and within the preset time after the inaccuracy of the residual electric quantity of the battery is detected, the inaccuracy of the residual electric quantity of the battery is detected again, and the battery is determined to be abnormal. In this embodiment, after step S1101 is executed, timing is started, and if the timed duration is less than or equal to the preset duration, it is detected that the remaining power of the battery is inaccurate again, which indicates that the remaining power of the battery is inaccurate within a period of time, and indicates that the battery has a problem, it is determined that the battery has an abnormality. If the residual capacity of the battery is not detected to be inaccurate within the time that the timed duration is less than or equal to the preset duration, it is indicated that the residual capacity of the battery is not inaccurate within a period of time, and the battery is normal, that is, step S1105 is executed.

Step S1105, if the residual electric quantity of the battery is not detected to be inaccurate within the preset time after the residual electric quantity of the battery is detected to be inaccurate, the battery is determined to be normal.

Optionally, after performing step S1105, step S1106 may also be performed.

And step 1106, setting the state of the battery to be a fourth state.

In this embodiment, after the battery is determined to be normal, the state of the battery may be set to the fourth state, that is, the state of the battery is changed from the first state to the fourth state. Alternatively, the state of the battery may be set to the fourth state by setting the state flag bit of the battery to the fourth state flag bit.

Several possible implementations of detecting that the remaining capacity of the battery is inaccurate are described below.

In some embodiments, one possible implementation manner of detecting that the remaining capacity of the battery is inaccurate is as follows: acquiring a first residual capacity of the battery calculated by a first electricity meter and a second residual capacity of the battery calculated by a second electricity meter, wherein the time length between the moment of acquiring the first residual capacity and the moment of acquiring the first residual capacity is less than or equal to a first preset time length; obtaining a residual capacity difference value between a first residual capacity and the second residual capacity; and when the residual electric quantity difference value is larger than a preset difference value, detecting that the residual electric quantity of the battery is inaccurate.

In this embodiment, two electricity meters, namely a first electricity meter and a second electricity meter, are adopted, where the remaining capacity of the battery calculated by the first electricity meter is referred to as a first remaining capacity, and the remaining capacity of the battery calculated by the second electricity meter is referred to as a second remaining capacity. The present embodiment obtains a first remaining capacity of the battery calculated by the first electricity meter and a second remaining capacity of the battery calculated by the second electricity meter. The time length between the moment of acquiring the first residual capacity and the moment of acquiring the second residual capacity is less than or equal to a first preset time length, and the time interval between the acquisition moments of the first residual capacity and the second residual capacity is short, so that the residual capacities calculated by the two fuel gauges are comparable. In some examples, the first preset time period may be 0, that is, a first remaining capacity of the battery calculated by the first electricity meter and a second remaining capacity of the battery calculated by the second electricity meter are obtained simultaneously.

And then obtaining a residual capacity difference value between the first residual capacity and the second residual capacity, and then judging whether the residual capacity difference value is larger than a preset difference value, wherein if the residual capacity difference value is larger than the preset difference value, the difference value indicates that the residual capacities calculated by the two electricity meters are far apart, and the detection indicates that the residual capacity of the battery is inaccurate (for example, false height). If the remaining capacity difference is larger than the preset difference, it indicates that the calculated remaining capacities of the two electricity meters are relatively close, and it indicates that the remaining capacity of the battery is detected to be accurate (e.g., not falsely high).

Alternatively, the first electricity meter may calculate the remaining amount of electricity in the same manner as the second electricity meter calculates the remaining amount of electricity.

Optionally, a manner of calculating the remaining power of the first electricity meter may be different from a manner of calculating the remaining power of the second electricity meter, so that an error caused by the calculation manner may be avoided. The first electricity meter can calculate the remaining capacity of the battery by adopting a Kalman filtering mode, and the second electricity meter can calculate the remaining capacity of the battery by adopting a least square method.

Optionally, the present embodiment is not limited to two electricity meters, and may also be three or more electricity meters, and the remaining power difference at this time may be a remaining power difference between a maximum remaining power and a minimum remaining power in a plurality of remaining powers acquired from the plurality of electricity meters.

In some embodiments, one possible implementation manner of detecting that the remaining capacity of the battery is inaccurate is as follows: acquiring a third residual capacity of the battery, which is acquired by the fuel gauge through a first calculation mode, at a first moment, acquiring a second residual capacity of the battery, which is acquired by the fuel gauge through a second calculation mode, at a second moment, wherein the time length between the first moment and the second moment is less than or equal to a second preset time length; obtaining a residual capacity difference value between a first residual capacity and the second residual capacity; and when the residual electric quantity difference value is larger than a preset difference value, detecting that the residual electric quantity of the battery is inaccurate.

In this embodiment, an electricity meter is adopted, and the electricity meter obtains the remaining capacity of the battery, which is called as a third remaining capacity, through a first calculation method at a first time, and then the embodiment obtains the third remaining capacity obtained by the electricity meter at the first time. Then, the fuel gauge obtains the remaining capacity of the battery, called as a fourth remaining capacity, through a second calculation mode at a second time, and then the embodiment obtains the fourth remaining capacity obtained by the fuel gauge at the second time. The time length between the first moment and the second moment is less than or equal to a second preset time length, the first moment is adjacent to the second moment, and the residual capacity of the battery does not change greatly actually at the moment, so that whether the residual capacity of the battery is accurate or not can be judged more accurately. Alternatively, the first time and the second time may be two adjacent times when the fuel gauge calculates the remaining capacity of the battery.

And then obtaining a remaining power difference value between the third remaining power and the fourth remaining power, and then judging whether the remaining power difference value is larger than a preset difference value, wherein if the remaining power difference value is larger than the preset difference value, it indicates that the remaining power obtained by calculating similar time by the same fuel gauge is far different, and it indicates that the remaining power of the battery is detected to be inaccurate (for example, false height). If the remaining capacity difference is smaller than or equal to the preset difference, it indicates that the remaining capacities calculated by the same electricity meter at similar times are relatively close, and it indicates that the remaining capacity of the battery is detected to be accurate (e.g., not artificially high).

Optionally, the first calculation mode is different from the second calculation mode, so that an error caused by the calculation mode can be eliminated, and the accuracy of the remaining power difference value is improved. The first calculation method is, for example, a kalman filter method, and the second calculation method is, for example, a least square method.

Optionally, the manner of acquiring the remaining power of the battery by the fuel gauge in any of the above embodiments may adopt the embodiment shown in fig. 2 or the related description in the related embodiment, which is not described herein again.

In some embodiments, one possible implementation manner of detecting that the remaining capacity of the battery is inaccurate is as follows: acquiring the discharge voltage of the battery; and if the discharge voltage of the battery is smaller than a first preset voltage, determining that the residual electric quantity of the battery is inaccurate. In this embodiment, after the discharge voltage of the battery is obtained, whether the discharge voltage of the battery is smaller than a first preset voltage is determined, and if the discharge voltage of the battery is smaller than the first preset voltage, it indicates that the discharge voltage is too small, which may cause inaccurate calculation of the remaining power of the battery, the remaining power of the battery is determined to be inaccurate.

In some embodiments, one possible implementation manner of detecting that the remaining capacity of the battery is inaccurate is as follows: acquiring the discharge voltage of each battery cell in the battery; determining the minimum discharge voltage of the battery cell according to the discharge voltage of each battery cell; and if the minimum discharge voltage is smaller than the second preset voltage, which indicates that the discharge voltage of the battery core is too small, the residual electric quantity of the battery may be calculated inaccurately, and then the residual electric quantity of the battery is determined inaccurately.

In this embodiment, the battery includes a plurality of battery cells, and the discharge voltage of each battery cell in the battery may be obtained, and then the discharge voltages of the battery cells are compared to determine the minimum discharge voltage. And judging whether the minimum discharge voltage is less than a second preset voltage or not, and if the minimum discharge voltage is less than the second preset voltage, determining that the residual electric quantity of the battery is inaccurate.

Optionally, the remaining capacity of the battery is further obtained on the basis of determining whether the remaining capacity of the battery is accurate according to the discharge voltage of the battery or the minimum discharge voltage in each battery cell in the battery. And then judging whether the residual capacity of the battery is smaller than a preset residual capacity, if the residual capacity of the battery is larger than the preset residual capacity, and the discharge voltage of the battery is smaller than a first preset voltage or the minimum discharge voltage is smaller than a second preset voltage, indicating that the discharge voltage is very small but the residual capacity of the battery is more, and determining that the residual capacity of the battery is inaccurate if the residual capacity of the battery is not matched with the discharge voltage.

Optionally, on the basis of determining whether the remaining power of the battery is accurate according to the discharge voltage of the battery or the minimum discharge voltage in each battery cell in the battery, the discharge power of the battery is also obtained. And then judging whether the discharge power of the battery is greater than the preset power, if the discharge power of the battery is less than or equal to the preset power, and the discharge voltage of the battery is less than the first preset voltage or the minimum discharge voltage is less than the second preset voltage, indicating that the discharge voltage is very small and the discharge power of the battery is very small, and determining that the residual electric quantity of the battery is inaccurate when the residual electric quantity of the battery is possibly inaccurate.

Optionally, the temperature of the battery is further obtained on the basis of determining whether the remaining power of the battery is accurate according to the discharge voltage of the battery or the minimum discharge voltage in each battery cell in the battery. And then judging whether the temperature of the battery is higher than a first preset temperature or not, if the temperature of the battery is lower than or equal to the first preset temperature, and the discharge voltage of the battery is lower than a first preset voltage or the minimum discharge voltage is lower than a second preset voltage, indicating that the discharge voltage is very small and the battery is currently in a low-temperature environment, indicating that the residual electric quantity of the battery is possibly inaccurate, and determining that the residual electric quantity of the battery is inaccurate. Or, it may also be determined whether the temperature of the battery is lower than a second preset temperature, and if the temperature of the battery is higher than or equal to the second preset temperature, and the discharge voltage of the battery is lower than the first preset voltage or the minimum discharge voltage is lower than the second preset voltage, it indicates that the discharge voltage is already small and the battery is currently in a high-temperature environment, which indicates that the remaining power of the battery may be inaccurate, then it is determined that the remaining power of the battery is inaccurate.

In some embodiments, on the basis of determining whether the remaining capacity of the battery is accurate through the discharge voltage of the battery or the minimum discharge voltage in each battery cell in the battery, it is further determined whether a preset trigger condition is met. And if the preset trigger condition is met, and the discharge voltage of the battery is smaller than the first preset voltage or the minimum discharge voltage is smaller than the second preset voltage, which indicates that the residual electric quantity of the battery is possibly inaccurate, determining that the residual electric quantity of the battery is inaccurate.

The preset trigger condition is related to the type of the battery. Alternatively, the preset trigger condition is related to the type of the battery-powered external device, for example, the preset trigger condition may be related to whether the battery-powered external device is an unmanned aerial vehicle, a robot, an unmanned vehicle, or the like, or the preset trigger condition may be related to different types of unmanned aerial vehicles (e.g., an agricultural unmanned aerial vehicle, a surveying and mapping unmanned aerial vehicle, or the like). The preset trigger condition is associated with a predetermined operating state of the battery-powered external device.

In some embodiments, after detecting that the remaining amount of the battery is inaccurate, that is, after performing step S1001 or step S1101, first information indicating that the first processing strategy for the remaining amount of the battery is inaccurate may also be output. The outputting the first information may be, for example, transmitting the first information to an external device that supplies power to the battery, and the external device determining, based on the first information, that the remaining power of the battery is inaccurate, determining a first processing policy, and outputting instruction information of the first processing policy. Alternatively, the external device may indicate the first processing policy by an indicator light, or may indicate the first processing policy by sound or voice, or may display the first processing policy by a display device, or the like.

Optionally, the first processing strategy may include servicing the battery. After the user acquires the first processing strategy, the battery can be maintained, so that the problem that the residual capacity of the battery is inaccurate is solved. Alternatively, the present embodiment may determine that the remaining power inaccurate state clearing condition of the battery is satisfied when it is detected that the battery is maintained.

If the external device powered by the battery is a movable platform, after the movable platform receives the first information, if the movable platform is in a motion state currently, the movable platform further outputs information indicating that the movable platform returns to the initial position, and if the movable platform is not in the motion state currently, the movable platform further outputs information indicating that the movable platform is forbidden to move.

Taking the movable platform as the unmanned aerial vehicle as an example, if the unmanned aerial vehicle does not take off yet, the unmanned aerial vehicle outputs information for prohibiting taking off and maintaining the battery after receiving the first information, for example, "the battery is inaccurate in electric quantity, and the unmanned aerial vehicle is prohibited from taking off and requiring timely maintenance". If the unmanned aerial vehicle takes off, the unmanned aerial vehicle outputs information of returning to the air and maintaining the battery after receiving the first information, for example, "the actual residual capacity of the battery is low, please return to the air and charge for maintenance as soon as possible".

In some embodiments, after detecting that the remaining amount of the battery is inaccurate, that is, after performing step S1002 or step S1103, second information indicating a second processing policy for the battery abnormality may be further output. The outputting of the second information may be, for example, sending the second information to an external device that supplies power to the battery, and the external device determining, according to the second information, that the remaining power of the battery is inaccurate for a plurality of times, that the battery is abnormal, determining a second processing policy, and outputting indication information of the second processing policy. Alternatively, the external device may indicate the second treatment strategy through an indicator light, or may indicate the second treatment strategy through sound or voice, or may display the second treatment strategy through a display device, or the like.

Optionally, the second processing strategy may include replacing the battery or repairing the battery. After the user acquires the first processing strategy, the battery can be replaced or maintained, so that the problem that the residual capacity of the battery is inaccurate is solved.

If the external device powered by the battery is a movable platform, after the movable platform receives the second information, if the movable platform is currently in a motion state, the movable platform further outputs information indicating that the movable platform returns to the initial position, and if the movable platform is not currently in the motion state, the movable platform further outputs information indicating that the movable platform is forbidden to move.

Taking the movable platform as the unmanned aerial vehicle as an example, if the unmanned aerial vehicle does not take off yet, the unmanned aerial vehicle outputs information for prohibiting taking off and replacing the battery after receiving the second information, for example, "battery power is abnormal, and it is requested to replace the battery for prohibiting taking off, and after sale is connected". If the unmanned aerial vehicle takes off, the unmanned aerial vehicle outputs the information of returning to the air and replacing the battery after receiving the second information, for example, "the battery is inaccurate, the actual remaining power is low, please return to the air as soon as possible, replace the battery, and contact after sale".

The embodiment of the present application further provides a computer storage medium, in which program instructions are stored, and when the program is executed, the program may include some or all of the steps of the battery abnormality detection method in any corresponding embodiment.

Fig. 12 is a schematic structural diagram of a battery abnormality detection system according to an embodiment of the present application, and as shown in fig. 12, a battery abnormality detection system 1200 according to the present embodiment may include: at least one processor 1201 (illustrated as a single processor). Optionally, the battery abnormality detection system 1200 of this embodiment may further include: an output device 1202. The output means 1202 is connected to at least one processor 1201. The output device 1202 may be, for example, a communication interface, a communication circuit, or the like.

The at least one processor 1201 configured to detect that a remaining amount of power of the battery is inaccurate; and if the residual electric quantity of the battery is detected to be inaccurate again, determining that the battery is abnormal.

In some embodiments, the at least one processor 1201 is further configured to set the state of the battery to the first state after detecting that a remaining amount of power of the battery is inaccurate. When the at least one processor 1201 determines that the battery is abnormal if the remaining power of the battery is detected again to be inaccurate, the at least one processor is specifically configured to: and after the state of the battery is detected to be the first state, if the residual electric quantity of the battery is detected to be inaccurate again, determining that the battery is abnormal.

In some embodiments, the state of the battery is set by altering a status flag bit of the battery.

In some embodiments, the at least one processor 1201 is specifically configured to: setting a state of a battery to a first state when it is determined that a remaining power inaccurate state clearing condition of the battery is satisfied.

In some embodiments, the first state indicates that the remaining charge of the battery was inaccurate but that an inaccurate state has cleared.

In some embodiments, the at least one processor 1201 is further configured to set the state of the battery to a second state after the detecting that the remaining amount of the battery is inaccurate before setting the state of the battery to the first state;

the second state indicates that the remaining amount of the battery is inaccurate but the inaccurate state may be cleared.

In some embodiments, the at least one processor 1201 is further configured to, after determining that the battery is abnormal, set the state of the battery to a third state indicating that the state remaining capacity of the battery is inaccurate but not clear.

In some embodiments, the at least one processor 1201 is specifically configured to: and if the residual electric quantity of the battery is detected to be inaccurate again within the preset time after the residual electric quantity of the battery is detected to be inaccurate, determining that the battery is abnormal.

In some embodiments, the at least one processor 1201 is further configured to: and if the residual electric quantity of the battery is not detected to be inaccurate within the preset time after the residual electric quantity of the battery is detected to be inaccurate, determining that the battery is normal.

In some embodiments, the at least one processor 1201 is further configured to, after determining that the battery is normal, set the state of the battery to a fourth state, the fourth state indicating that the battery is normal.

In some embodiments, the state of the battery is a fourth state before the at least one processor 1201 detects that the remaining amount of power of the battery is inaccurate, the fourth state indicating that the battery is normal.

In some embodiments, the at least one processor 1201 is specifically configured to: detecting that the remaining capacity of the battery is low.

In some embodiments, the at least one processor 1201 is specifically configured to: acquiring a first residual capacity of the battery calculated by a first electricity meter and a second residual capacity of the battery calculated by a second electricity meter, wherein the time length between the moment of acquiring the first residual capacity and the moment of acquiring the first residual capacity is less than or equal to a first preset time length; obtaining a residual capacity difference value between a first residual capacity and the second residual capacity; and if the residual electric quantity difference value is larger than a preset difference value, detecting that the residual electric quantity of the battery is inaccurate.

In some embodiments, the first electricity meter calculates the amount of remaining electricity in a different manner than the second electricity meter calculates the amount of remaining electricity.

In some embodiments, the at least one processor 1201 is specifically configured to: the method comprises the steps of obtaining a third residual capacity of a battery, obtained by an electricity meter through a first calculation mode, at a first moment, obtaining a second residual capacity of the battery, obtained by the electricity meter through a second calculation mode, at a second moment, wherein the time length between the first moment and the second moment is less than or equal to a second preset time length. And obtaining a residual capacity difference value between the first residual capacity and the second residual capacity. And when the residual electric quantity difference value is larger than a preset difference value, detecting that the residual electric quantity of the battery is inaccurate.

In some embodiments, the at least one processor 1201 is specifically configured to: and acquiring the discharge voltage of the battery. And if the discharge voltage of the battery is smaller than a first preset voltage, determining that the residual electric quantity of the battery is inaccurate.

In some embodiments, the at least one processor 1201 is specifically configured to: acquiring the discharge voltage of each battery cell in the battery; determining the minimum discharge voltage of the battery cell according to the discharge voltage of each battery cell; and if the minimum discharge voltage is less than a second preset voltage, determining that the residual electric quantity of the battery is inaccurate.

In some embodiments, the at least one processor 1201 is specifically configured to: if the residual capacity of the battery is greater than or equal to the preset residual capacity, determining that the residual capacity of the battery is inaccurate; or if the discharge power of the battery is less than or equal to the preset power, determining that the residual electric quantity of the battery is inaccurate; or if the temperature of the battery is less than or equal to a first preset temperature or the temperature of the battery is greater than or equal to a second preset temperature, determining that the residual electric quantity of the battery is inaccurate.

In some embodiments, the at least one processor 1201 is specifically configured to: and if the preset trigger condition is met, determining that the residual electric quantity of the battery is inaccurate. The preset trigger condition is related to a type of the battery, or a type of the battery-powered external device, or a predetermined operating state of the battery-powered device.

In some embodiments, the output device 1202 is configured to output, after the at least one processor 1201 detects that the remaining amount of the battery is inaccurate, first information indicating that the first processing policy for the remaining amount of the battery is inaccurate.

In some embodiments, the first processing strategy includes servicing a battery.

In some embodiments, the output device 1202 is configured to output, after the at least one processor 1201 determines that the battery has an abnormality, second information indicating a second processing policy for the battery abnormality.

In some embodiments, the second processing strategy includes replacing a battery or repairing a battery.

Optionally, the battery abnormality detection system 1200 of the present embodiment may further include a memory (not shown in the figure) for storing program codes. The at least one processor 1201 invokes the program code to implement the above-described aspects.

The battery abnormality detection system of this embodiment may be used to implement the technical solutions in fig. 10 or fig. 11 and the related embodiments, which have similar implementation principles and technical effects and are not described herein again.

Fig. 13 is a schematic structural diagram of a battery according to another embodiment of the present disclosure, and as shown in fig. 13, a battery 1300 according to the present embodiment may include: a plurality of cells 1310 and a battery anomaly detection system 1320. The battery abnormality detection system 1320 may include at least one processor 1321 (one processor is illustrated). Optionally, the battery abnormality detection system 1320 may further include: and an output device 1322. The output device 1322 is coupled to at least one processor 1321. The output device 1322 may be, for example, a communication interface or a communication circuit.

The at least one processor 1321 configured to detect that a remaining amount of the battery 1300 is inaccurate; if it is detected again that the remaining power amount of battery 1300 is inaccurate, it is determined that there is an abnormality in battery 1300.

In some embodiments, the at least one processor 1321 is further configured to set the state of the battery 1300 to the first state after detecting that the remaining amount of power of the battery 1300 is inaccurate. When the at least one processor 1321 determines that the battery 1300 is abnormal if it is detected again that the remaining power of the battery 1300 is inaccurate, the at least one processor 1321 is specifically configured to: after the state of the battery 1300 is detected to be the first state, if the remaining power of the battery 1300 is detected to be inaccurate again, it is determined that the battery 1300 is abnormal.

In some embodiments, the state of the battery 1300 is set by modifying a status flag bit of the battery 1300.

In some embodiments, the at least one processor 1321 is specifically configured to: when it is determined that the remaining power inaccurate state clear condition of the battery 1300 is satisfied, the state of the battery 1300 is set to the first state.

In some embodiments, the first state indicates that the remaining charge of the battery 1300 was inaccurate but that an inaccurate state has cleared.

In some embodiments, the at least one processor 1321 is further configured to set the state of the battery 1300 to the second state after the detection of the inaccuracy in the remaining amount of power of the battery 1300 before the setting of the state of the battery 1300 to the first state;

the second state indicates that the remaining amount of the battery 1300 is inaccurate but the inaccurate state may be cleared.

In some embodiments, the at least one processor 1321 is further configured to, after determining that the battery 1300 is abnormal, set the state of the battery 1300 to a third state indicating that the state remaining capacity of the battery 1300 is inaccurate but not removable.

In some embodiments, the at least one processor 1321 is specifically configured to: if the inaccuracy of the residual electric quantity of the battery 1300 is detected again within the preset time after the inaccuracy of the residual electric quantity of the battery 1300 is detected, it is determined that the battery 1300 is abnormal.

In some embodiments, the at least one processor 1321 is further configured to: if the inaccuracy of the residual electric quantity of the battery 1300 is not detected within the preset time after the inaccuracy of the residual electric quantity of the battery 1300 is detected, it is determined that the battery 1300 is normal.

In some embodiments, the at least one processor 1321 is further configured to, after determining that the battery 1300 is normal, set the state of the battery 1300 to a fourth state, the fourth state indicating that the battery 1300 is normal.

In some embodiments, the state of the battery 1300 is a fourth state before the at least one processor 1321 detects that the remaining amount of power of the battery 1300 is inaccurate, the fourth state indicating that the battery 1300 is normal.

In some embodiments, the at least one processor 1321 is specifically configured to: a remaining capacity of the battery 1300 is detected to be empty.

In some embodiments, the at least one processor 1321 is specifically configured to: acquiring a first residual capacity of the battery 1300 calculated by a first electric quantity meter and a second residual capacity of the battery 1300 calculated by a second electric quantity meter, wherein the time length between the moment of acquiring the first residual capacity and the moment of acquiring the first residual capacity is less than or equal to a first preset time length; obtaining a residual capacity difference value between a first residual capacity and the second residual capacity; if the remaining power difference is greater than the preset difference, it is detected that the remaining power of the battery 1300 is inaccurate.

Alternatively, the first and second electricity meters may be components belonging to the battery 1300.

In some embodiments, the at least one processor 1321 is specifically configured to: the method comprises the steps of obtaining a third remaining capacity of the battery 1300 obtained by the electricity meter through a first calculation mode at a first time, obtaining a second remaining capacity of the battery 1300 obtained by the electricity meter through a second calculation mode at a second time, and enabling the duration between the first time and the second time to be less than or equal to a second preset duration. And obtaining a residual capacity difference value between the first residual capacity and the second residual capacity. When the remaining power difference is greater than the preset difference, it is detected that the remaining power of the battery 1300 is inaccurate. Alternatively, the electricity meter may be a component belonging to the battery 1300.

In some embodiments, the at least one processor 1321 is specifically configured to: the discharge voltage of the battery 1300 is acquired. If the discharge voltage of the battery 1300 is less than the first preset voltage, it is determined that the remaining power of the battery 1300 is inaccurate.

In some embodiments, the at least one processor 1321 is specifically configured to: acquiring discharge voltage of each electric core 1310 in the battery 1300; determining the minimum discharge voltage of the battery cell 1310 according to the discharge voltage of each battery cell 1310; if the minimum discharge voltage is less than the second preset voltage, it is determined that the remaining amount of the battery 1300 is inaccurate.

In some embodiments, the at least one processor 1321 is specifically configured to: if the residual capacity of the battery 1300 is greater than or equal to the preset residual capacity, determining that the residual capacity of the battery 1300 is inaccurate; or, if the discharge power of the battery 1300 is less than or equal to the preset power, determining that the residual electric quantity of the battery 1300 is inaccurate; or, if the temperature of the battery 1300 is less than or equal to a first preset temperature or the temperature of the battery 1300 is greater than or equal to a second preset temperature, it is determined that the remaining power of the battery 1300 is inaccurate.

In some embodiments, the at least one processor 1321 is specifically configured to: if the preset trigger condition is satisfied, it is determined that the remaining power of the battery 1300 is inaccurate. The preset trigger condition is related to a type of the battery 1300, or a type of an external device powered by the battery 1300, or a predetermined operating state of the device powered by the battery 1300.

In some embodiments, the output device 1322 is configured to output, after the at least one processor 1321 detects that the remaining capacity of the battery 1300 is inaccurate, first information indicating that the first processing strategy for the remaining capacity of the battery 1300 is inaccurate.

In some embodiments, the output device 1322 is configured to output, after the at least one processor 1321 determines that the battery 1300 has an abnormality, second information indicating a second processing strategy for the abnormality of the battery 1300.

Optionally, the battery 1300 of the present embodiment may further include a memory (not shown in the figure) for storing the program codes. The at least one processor 1321 calls the program code to implement the aspects described above.

The battery of this embodiment may be used to implement the technical solutions in fig. 10 or fig. 11 and the related embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.

Fig. 14 is a schematic structural diagram of a movable platform according to another embodiment of the present application, and as shown in fig. 14, a movable platform 1400 of the present embodiment includes: a body 1401 and a battery 1402; the body 1401 is provided with a battery abnormality detection system 1403; the battery 1402 is disposed in a battery compartment of the body 1401; the battery abnormality detection system 1403 is used to obtain the remaining capacity of the battery 1402.

The battery abnormality detection system 1403 may adopt a structure as shown in fig. 12 for implementing the technical solutions in fig. 10 or fig. 11 and related embodiments of the present application, and the implementation principle and technical effects are similar, which are not described herein again.

Fig. 15 is a schematic structural diagram of a movable platform according to another embodiment of the present application, and as shown in fig. 15, a movable platform 1500 of the present embodiment includes: a body 1501 and a battery 1502. The battery 1502 is disposed in a battery compartment of the body 1501.

The battery 1502 may adopt a structure as shown in fig. 13, which is used for implementing the technical solutions in fig. 10 or fig. 11 and related embodiments described above in the present application, and the implementation principle and technical effect are similar, and are not described herein again.

Optionally, on the basis of the movable platform shown in fig. 14 or fig. 15, a display device may be further included, where the display device is configured to display the first processing strategy or the second processing strategy, and the display device may be a component in a control terminal of the movable platform.

According to the battery electric quantity calculation method, the battery electric quantity calculation system, the battery and the movable platform, the current-time discharge voltage of each battery cell in the plurality of battery cells is acquired under different preset conditions. And acquiring the residual electric quantity information of each battery cell according to the current discharge voltage of each battery cell. And acquiring the current-time available total capacity of the battery according to the current-time available capacity of each battery cell in the plurality of battery cells and the residual electric quantity information of each battery cell. And acquiring the current-time residual electric quantity information of the battery according to the current-time available total capacity of the battery. The total capacity available at the current moment of the battery can be accurately acquired through the available capacity of each battery cell at the current moment in the plurality of battery cells and the residual capacity information of each battery cell, so that the residual capacity information at the current moment acquired according to the accurate available capacity at the current moment is more accurate.

According to the battery abnormity detection method and system, the battery and the movable platform, if the residual electric quantity of the battery is inaccurate through detection under the specific condition, and then if the residual electric quantity of the battery is inaccurate through detection again, the battery is determined to be abnormal. Therefore, the present embodiment determines that there is an abnormality in the battery by detecting the remaining amount of the battery is inaccurate a plurality of times. The phenomenon that the battery is judged by mistake to be abnormal is avoided, so that the accuracy of detecting the battery abnormity can be improved, unnecessary battery maintenance conditions are avoided, and the use experience of a user is improved.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

A battery abnormality detection method, characterized by comprising:

detecting that the residual electric quantity of the battery is inaccurate;

and if the residual electric quantity of the battery is detected to be inaccurate again, determining that the battery is abnormal.
The method of claim 1, wherein after detecting that the remaining amount of the battery is inaccurate, further comprising:

setting a state of the battery to a first state;

if the residual electric quantity of the battery is detected to be inaccurate again, determining that the battery is abnormal comprises the following steps:

and after the state of the battery is detected to be the first state, if the residual electric quantity of the battery is detected to be inaccurate again, determining that the battery is abnormal.
The method of claim 2, wherein the state of the battery is set by changing a status flag bit of the battery.
The method of claim 2 or 3, wherein setting the state of the battery to a first state comprises:

setting a state of a battery to a first state when it is determined that a remaining power inaccurate state clearing condition of the battery is satisfied.
The method of claim 4, wherein the first state indicates that the remaining charge of the battery was inaccurate but an inaccurate state has cleared.
The method of claim 4 or 5, wherein prior to setting the state of the battery to the first state, further comprising:

setting the state of the battery to a second state after the detection that the remaining amount of the battery is inaccurate;

the second state indicates that the remaining amount of the battery is inaccurate but the inaccurate state may be cleared.
The method according to any one of claims 2-6, wherein after determining that the battery is abnormal, further comprising:

setting the state of the battery to a third state, wherein the third state represents that the state residual capacity of the battery is not accurate but can not be cleared.
The method according to any one of claims 1 to 7, wherein determining that the battery is abnormal if the remaining amount of the battery is detected again to be inaccurate comprises:

and if the residual electric quantity of the battery is detected to be inaccurate again within the preset time after the residual electric quantity of the battery is detected to be inaccurate, determining that the battery is abnormal.
The method of claim 8, further comprising:

and if the residual electric quantity of the battery is not detected to be inaccurate within the preset time after the residual electric quantity of the battery is detected to be inaccurate, determining that the battery is normal.
The method of claim 9, wherein after determining that the battery is normal, further comprising:

and setting the state of the battery to be a fourth state, wherein the fourth state represents that the battery is normal.
The method according to any one of claims 1-10, wherein the state of the battery is a fourth state before the detection of the inaccuracy of the remaining amount of power of the battery, the fourth state indicating that the battery is normal.
The method of any one of claims 1-11, wherein the detecting that the remaining amount of power of the battery is inaccurate comprises:

detecting that the remaining capacity of the battery is low.
The method of any one of claims 1-12, wherein the detecting that the remaining amount of power of the battery is inaccurate comprises:

acquiring a first residual capacity of the battery calculated by a first electricity meter and a second residual capacity of the battery calculated by a second electricity meter, wherein the time length between the moment of acquiring the first residual capacity and the moment of acquiring the first residual capacity is less than or equal to a first preset time length;

obtaining a residual capacity difference value between a first residual capacity and the second residual capacity;

and if the residual electric quantity difference value is larger than a preset difference value, detecting that the residual electric quantity of the battery is inaccurate.
The method of claim 13, wherein the first electricity meter calculates the amount of remaining electricity in a different manner than the second electricity meter calculates the amount of remaining electricity.
The method of any one of claims 1-12, wherein the detecting that the remaining amount of power of the battery is inaccurate comprises:

acquiring a third residual capacity of the battery, which is acquired by the fuel gauge through a first calculation mode, at a first moment, acquiring a second residual capacity of the battery, which is acquired by the fuel gauge through a second calculation mode, at a second moment, wherein the time length between the first moment and the second moment is less than or equal to a second preset time length;

obtaining a residual capacity difference value between a first residual capacity and the second residual capacity;

and when the residual electric quantity difference value is larger than a preset difference value, detecting that the residual electric quantity of the battery is inaccurate.
The method of any one of claims 1-12, wherein the detecting that the remaining amount of power of the battery is inaccurate comprises:

acquiring the discharge voltage of the battery;

and if the discharge voltage of the battery is smaller than a first preset voltage, determining that the residual electric quantity of the battery is inaccurate.
The method of any one of claims 1-12, wherein the detecting that the remaining amount of power of the battery is inaccurate comprises:

acquiring the discharge voltage of each battery cell in the battery;

determining the minimum discharge voltage of the battery cell according to the discharge voltage of each battery cell;

and if the minimum discharge voltage is less than a second preset voltage, determining that the residual electric quantity of the battery is inaccurate.
The method of claim 16 or 17, wherein the determining that the remaining amount of the battery is inaccurate comprises:

if the residual capacity of the battery is greater than or equal to the preset residual capacity, determining that the residual capacity of the battery is inaccurate; or,

if the discharge power of the battery is smaller than or equal to the preset power, determining that the residual electric quantity of the battery is inaccurate; or,

and if the temperature of the battery is less than or equal to a first preset temperature or the temperature of the battery is greater than or equal to a second preset temperature, determining that the residual electric quantity of the battery is inaccurate.
The method of claim 16 or 17, wherein the determining that the remaining amount of the battery is inaccurate comprises:

if the preset trigger condition is met, determining that the residual electric quantity of the battery is inaccurate;

the preset trigger condition is related to a type of the battery, or a type of the battery-powered external device, or a predetermined operating state of the battery-powered device.
The method of any one of claims 1-19, further comprising, after detecting that the remaining amount of power of the battery is inaccurate:

outputting first information indicating that a first processing strategy for residual capacity of the battery is inaccurate.
The method of claim 20, wherein the first processing strategy comprises servicing a battery.
The method of any of claims 1-21, wherein after determining that the battery is abnormal, further comprising:

outputting second information indicating a second handling policy for the battery abnormality.
The method of claim 22, wherein the second processing strategy comprises replacing a battery or repairing a battery.
A battery abnormality detection system characterized by comprising: at least one processor;

the at least one processor configured to detect that a remaining amount of power of the battery is inaccurate; and if the residual electric quantity of the battery is detected to be inaccurate again, determining that the battery is abnormal.
The system according to claim 24, wherein the at least one processor is further configured to set the state of the battery to a first state after detecting that a remaining amount of power of the battery is inaccurate;

the at least one processor, when it is determined that the battery is abnormal if it is detected that the remaining power of the battery is inaccurate again, is specifically configured to: and after the state of the battery is detected to be the first state, if the residual electric quantity of the battery is detected to be inaccurate again, determining that the battery is abnormal.
The system of claim 25, wherein the state of the battery is set by changing a status flag bit of the battery.
The system according to claim 25 or 26, wherein the at least one processor is specifically configured to: setting a state of a battery to a first state when it is determined that a remaining power inaccurate state clearing condition of the battery is satisfied.
The system of claim 27, wherein the first state indicates that the remaining charge of the battery was inaccurate but that an inaccurate state has cleared.
The system according to claim 27 or 28, wherein the at least one processor is further configured to set the state of the battery to the second state after the detection of the inaccuracy in the remaining amount of the battery before the setting of the state of the battery to the first state;

the second state indicates that the remaining amount of the battery is inaccurate but the inaccurate state may be cleared.
The system according to any one of claims 25-29, wherein said at least one processor is further configured to, after determining that said battery is abnormal, set the state of said battery to a third state, said third state indicating that the state remaining charge of said battery is inaccurate but not removable.
The system according to any one of claims 24-30, wherein said at least one processor is specifically configured to: and if the residual electric quantity of the battery is detected to be inaccurate again within the preset time after the residual electric quantity of the battery is detected to be inaccurate, determining that the battery is abnormal.
The system according to claim 31, wherein said at least one processor is further configured to:

and if the residual electric quantity of the battery is not detected to be inaccurate within the preset time after the residual electric quantity of the battery is detected to be inaccurate, determining that the battery is normal.
The system according to claim 32, wherein the at least one processor is further configured to set the state of the battery to a fourth state after determining that the battery is normal, the fourth state indicating that the battery is normal.
The system of any one of claims 24-33, wherein the state of the battery is a fourth state indicating that the battery is normal before the at least one processor detects that the remaining amount of power of the battery is inaccurate.
The system according to any one of claims 24-34, wherein the at least one processor is specifically configured to: detecting that the remaining capacity of the battery is low.
The system according to any one of claims 24-35, wherein the at least one processor is specifically configured to:

acquiring a first residual capacity of the battery calculated by a first electricity meter and a second residual capacity of the battery calculated by a second electricity meter, wherein the time length between the moment of acquiring the first residual capacity and the moment of acquiring the first residual capacity is less than or equal to a first preset time length;

obtaining a residual capacity difference value between a first residual capacity and the second residual capacity;

and if the residual electric quantity difference value is larger than a preset difference value, detecting that the residual electric quantity of the battery is inaccurate.
The system of claim 36, wherein the first electricity meter calculates the amount of remaining electricity in a different manner than the second electricity meter calculates the amount of remaining electricity.
The system according to any one of claims 24-35, wherein the at least one processor is specifically configured to:

acquiring a third residual capacity of the battery, which is acquired by the fuel gauge through a first calculation mode, at a first moment, acquiring a second residual capacity of the battery, which is acquired by the fuel gauge through a second calculation mode, at a second moment, wherein the time length between the first moment and the second moment is less than or equal to a second preset time length;

obtaining a residual capacity difference value between a first residual capacity and the second residual capacity;

and when the residual electric quantity difference value is larger than a preset difference value, detecting that the residual electric quantity of the battery is inaccurate.
The system according to any one of claims 24-35, wherein the at least one processor is specifically configured to:

acquiring the discharge voltage of the battery;

and if the discharge voltage of the battery is smaller than a first preset voltage, determining that the residual electric quantity of the battery is inaccurate.
The system according to any one of claims 24-35, wherein the at least one processor is specifically configured to:

acquiring the discharge voltage of each battery cell in the battery;

determining the minimum discharge voltage of the battery cell according to the discharge voltage of each battery cell;

and if the minimum discharge voltage is less than a second preset voltage, determining that the residual electric quantity of the battery is inaccurate.
The system according to claim 39 or 40, wherein the at least one processor is specifically configured to:

if the residual capacity of the battery is greater than or equal to the preset residual capacity, determining that the residual capacity of the battery is inaccurate; or,

if the discharge power of the battery is smaller than or equal to the preset power, determining that the residual electric quantity of the battery is inaccurate; or,

and if the temperature of the battery is less than or equal to a first preset temperature or the temperature of the battery is greater than or equal to a second preset temperature, determining that the residual electric quantity of the battery is inaccurate.
The system according to claim 39 or 40, wherein the at least one processor is specifically configured to:

if the preset trigger condition is met, determining that the residual electric quantity of the battery is inaccurate;

the preset trigger condition is related to a type of the battery, or a type of the battery-powered external device, or a predetermined operating state of the battery-powered device.
The system of any one of claims 24-42, further comprising:

the output device is used for outputting first information after the at least one processor detects that the residual capacity of the battery is inaccurate, wherein the first information is used for indicating an inaccurate first processing strategy for the residual capacity of the battery.
The system of claim 43, wherein the first processing strategy comprises servicing a battery.
The system of any one of claims 24-42, further comprising:

output means for outputting second information indicating a second processing policy for the battery abnormality after the at least one processor determines that the battery has an abnormality.
The system of claim 45, wherein the second processing strategy comprises replacing a battery or repairing a battery.
A battery, comprising: a plurality of cells and the battery abnormality detection system of any of claims 24-46 electrically connected to the plurality of cells.
A movable platform, comprising:

a body and a battery;

the body is provided with a battery abnormality detection system according to any one of claims 24 to 46; the battery is arranged in a battery compartment of the machine body; the battery abnormality detection system is used for determining whether the battery is abnormal or not by detecting whether the residual capacity of the battery is accurate or not.
A movable platform, comprising: a body and a battery as in claim 47;

the battery is arranged in a battery compartment of the machine body.
A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program; the computer program, when executed, implements a battery abnormality detection method as recited in any one of claims 1-23.