CN114946100A

CN114946100A - Movable platform, power supply control method thereof and storage medium

Info

Publication number: CN114946100A
Application number: CN202180007893.0A
Authority: CN
Inventors: 訾强; 柯鑫
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2021-10-15
Filing date: 2021-10-15
Publication date: 2022-08-26
Also published as: WO2023060548A1

Abstract

A power supply control method of a movable platform includes detecting a working state of the movable platform, the working state including a stationary state (S110); detecting a number of batteries included in the battery assembly when the movable platform is in the stationary state; when detecting that the number of the batteries is changed, adjusting the supply current of the battery assembly according to the voltage of the batteries with changed number (S120); controlling the battery assembly to supply the adjusted supply current to the movable platform (S130). The battery can be prevented from overcurrent. A removable platform and a storage medium are also provided.

Description

Movable platform, power supply control method thereof and storage medium

Technical Field

The present disclosure relates to the field of movable platforms, and particularly, to a movable platform, a power supply control method thereof, and a storage medium.

Background

Mobile platforms, such as unmanned aerial vehicles or unmanned vehicles, are typically powered by batteries, for example lithium ion batteries. However, due to the restriction of battery endurance, the battery needs to be replaced frequently. At present unmanned vehicles can have great inrush current when changing the battery in-process on the battery, when surpassing the maximum discharge current value that the battery allows, can damage the battery, for example electric core can be because of overflowing production lithium analysis, influences the battery life-span, further probably leads to the burning accident of starting a fire.

Disclosure of Invention

The application provides a movable platform, a power supply control method thereof and a storage medium, and aims to solve the technical problems that over current occurs in a battery of the movable platform and the like.

In a first aspect, an embodiment of the present application provides a power supply control method for a movable platform, where the movable platform includes a battery assembly for supplying power to the movable platform, and the battery assembly includes at least one battery, and the method includes:

detecting working states of the movable platform, wherein the working states comprise static states;

detecting a number of batteries included in the battery assembly when the movable platform is in the stationary state; when the change of the number of the batteries is detected, adjusting the power supply current of the battery assembly according to the voltage of the batteries with the changed number;

and controlling the battery assembly to supply power to the movable platform by the adjusted power supply current.

In a second aspect, embodiments of the present application provide a movable platform capable of carrying a battery assembly for supplying power to the movable platform, where the battery assembly includes at least one battery;

the movable platform includes one or more processors, working individually or collectively, to perform the steps of:

In a third aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the steps of the above-mentioned method.

The embodiment of the application provides a movable platform, a power supply control method thereof and a storage medium, wherein the movable platform comprises a battery assembly for supplying power, and the battery assembly comprises at least one battery; under the condition that the movable platform is in a static state and the battery is replaced, the supply current of the battery assembly is adjusted according to the voltage of the battery, and the battery assembly is controlled to supply power with the adjusted supply current so as to limit the supply current of the battery assembly, so that the battery assembly is prevented from outputting larger current to cause damage.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of the embodiments of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic flowchart of a power supply control method for a movable platform according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a present battery supplying power to a load;

FIG. 3 is a schematic diagram of a movable stage according to one embodiment;

FIG. 4 is a schematic diagram of a battery power supply in a movable platform according to one embodiment;

FIG. 5 is a schematic diagram of battery power in a movable platform in another embodiment;

FIG. 6 is a schematic diagram of battery power in a movable platform in yet another embodiment;

FIG. 7 is a flow diagram illustrating a power control method according to one embodiment;

FIG. 8 is a schematic diagram of a battery powering a power system in one embodiment;

FIG. 9 is a schematic diagram illustrating an effect of a pre-charge circuit according to an embodiment;

fig. 10 is a schematic block diagram of a movable platform provided in an embodiment of the present application.

Detailed Description

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, but not all, embodiments of the present application. 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 flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a power supply control method for a movable platform according to an embodiment of the present disclosure. The power supply control method of the movable platform can be applied to the movable platform and used for controlling the processes of supplying power to the movable platform by the battery and the like.

Illustratively, the movable platform may comprise at least one of an unmanned aerial vehicle, an unmanned vehicle, and the like. Further, unmanned vehicles can be rotor-type unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicles, hexa-rotor unmanned aerial vehicles, and octa-rotor unmanned aerial vehicles, and also can be fixed-wing unmanned aerial vehicles.

For example, an unmanned aircraft with multiple rotors has advantages of simple and stable structure, convenient control, flexible application, low cost and the like, and is popularized and used in more and more fields. At present, the multi-rotor unmanned aerial vehicle mainly provides energy for the whole flight system by a lithium ion battery, but is limited by battery endurance, and battery replacement is a strong demand in the flight operation process. In the process of replacing batteries, most unmanned aerial vehicles need to power off the whole flight system, replace batteries and restart the whole flight system. In the process of shutting down and restarting, on one hand, the integrity of flight operation data is influenced due to the outage of the flight system, and on the other hand, the time cost is increased, and the efficiency of flight operation is influenced.

Referring to fig. 2, a technical solution for implementing battery replacement in an electronic device at present is a multi-battery parallel connection scheme, in which a plurality of batteries 41 are connected in parallel to supply power to a load 42 of the device. When one of the batteries 41 is removed, the other battery 41 may continue to supply power to the load 42; in order to prevent the two batteries 41 from generating current backflow due to the excessive difference between the voltage U1 and the voltage U2, a switch 43 is usually provided on the output branch of each battery 41, and although the switch 43 can be cut off to prevent the current backflow, the inrush current generated when the battery 41 is replaced cannot be suppressed: for example, the voltage U1 of the first battery 41 supplies power to the equipment, the second battery 41 connects to the load 42 through the switch 43, and the switch 43 of the first battery 41 is turned off, so that the battery voltages can be prevented from being charged with each other, but when the difference between the voltage U1 and the voltage U2 between the two batteries 41 is too large, a large inrush current still exists on a line from the second battery 41 to the load, and when the inrush current exceeds the maximum discharge current value allowed by the batteries 41, lithium is separated from the battery cells of the batteries 41 due to overcurrent, which further may cause a fire accident.

If the scheme shown in fig. 2 is applied to the movable platform, the battery of the movable platform can be damaged, the service life of the battery is reduced, and even the safety of the movable platform during movement is affected. Therefore, the inventor of the present application improves the battery-powered solution to solve the technical problem of over-current of the battery of the movable platform.

Referring to fig. 3, the movable platform 100 includes a battery assembly 200 for supplying power to the movable platform 100, and the battery assembly 200 includes at least one battery 210.

Illustratively, as shown in fig. 3, one or more battery receiving portions 10 are provided on the movable platform 100, and a battery 210 is detachably received in the battery receiving portion 10.

Illustratively, the battery assembly 200 includes a battery receiving assembly (not shown) having one or more battery receiving parts 10, and a battery 210 disposed in the battery receiving part 10. Alternatively, the battery 210 is fixedly connected in the battery receiving part 10, and the battery assembly 200 can be detachably connected with the movable platform 100; alternatively, the battery receiving assembly is fixedly connected to the movable platform 100, and the battery 210 can be detachably received in the battery receiving portion 10 of the battery receiving assembly.

In some embodiments, the moveable platform 100 includes a powered system 110, and the position of the moveable platform changes when the powered system 110 is operated. For example, when the movable platform 100 comprises an unmanned aerial vehicle, the power system 110 comprises an electric motor and/or a rotor assembly, wherein the rotor assembly may comprise an electric motor and a rotor, the electric motor is electrically adjusted to determine the rotation of the electric motor, and the electric motor drives the rotor to rotate; optionally, the electronic controller may be disposed separately from or integrally with the rotor assembly; optionally, the power system 110 may further include a pan-tilt carried by the movable platform 100. Illustratively, when the movable platform 100 comprises an unmanned vehicle, the power system 110 includes wheels and motors for driving the wheels.

In some embodiments, the moveable platform 100 further includes a control system 120, the control system 120 being configured to control operation of the power system 110 to adjust the pose of the moveable platform 100. Illustratively, the control system 120 includes a controller and a sensor, and the controller may acquire information such as a position, a posture, and a position relationship between the movable platform 100 and other objects (e.g., the ground, a building, trees, etc.), and control the power system 110 to operate according to the acquired information, for example, adjust a pose of the movable platform 100 by electrically adjusting a working state (steering, rotation speed) of the motor.

In some embodiments, the power supply control method of the movable platform may be implemented by a controller in the control system 120, or may also be implemented by other processors and control circuits, for example, but not limited to, a processor and a control circuit in a battery assembly.

As shown in fig. 1, the power supply control method for a movable platform according to the embodiment of the present application includes steps S110 to S130.

And S110, detecting the working state of the movable platform, wherein the working state comprises a static state.

It can be understood that when the movable platform is in a static state, the pose of the movable platform is not changed by the action of the power system 110, such as when the unmanned aerial vehicle is in a non-takeoff state.

In some embodiments, when the movable platform is in a static state, the control system may control the power system to perform a self-check to determine whether the state of the power system affects the operation of the movable platform, and when the self-check determines that the state of the power system does not meet the requirement, a prompt message may be issued.

In some embodiments, the operating state further comprises a motion state. When the movable platform is in a motion state, the power system works to change the pose of the movable platform, for example, the motion state of the unmanned aerial vehicle comprises one or more of the following: taking off, hovering, cruising, ascending, descending, obstacle avoidance and returning.

In some embodiments, the detecting an operating state of the movable platform includes: obtaining current and/or power of a power system of the movable platform; and determining the working state of the movable platform according to the current and/or power of the power system.

For example, the battery assembly and the power system may be capable of communicating to draw current and/or power from the power system. According to the current and/or power of the power system, the working state of the movable platform can be accurately determined.

For example, when the current of the power system is greater than or equal to a preset current threshold value and/or the power is greater than or equal to a preset power threshold value, the movable platform is determined to be in a motion state. For example, when the power consumed by the power system is greater than or equal to a preset power threshold value, the lift provided by the rotor can enable the unmanned aerial vehicle to hover, ascend or land.

For example, when the current of the power system is less than a preset current threshold and/or the power is less than a preset power threshold, the movable platform is determined to be in a static state. For example, when the power consumed by the power system is smaller than a preset power threshold value, the lift force provided by the rotor wing is smaller than the gravity of the unmanned aerial vehicle, and the unmanned aerial vehicle does not take off.

In some embodiments, the detecting an operating state of the movable platform comprises: acquiring a position and/or altitude of the movable platform; determining an operating state of the movable platform from a position and/or altitude of the movable platform.

For example, the position and/or altitude of the movable platform may be determined from sensors onboard the movable platform, such as a GPS receiver, an Inertial Measurement Unit (IMU), an altimeter, and the like. According to the position and/or the altitude of the movable platform, the working state of the movable platform can be accurately determined.

For example, the movable platform is determined to be in motion when the rate of change of the position of the movable platform is greater than or equal to a preset speed threshold and/or the altitude is greater than or equal to a preset altitude threshold. For example, when the speed of the movable platform is greater than the speed threshold and the altitude is greater than the altitude threshold, the movable platform is determined to be in the working state of flight, for example, the working state of the movable platform can be accurately determined when the movable platform is located on a running vehicle or on a mountain peak.

For example, the mobile platform is determined to be stationary when the rate of change of the position of the mobile platform is less than a preset speed threshold and the altitude is less than a preset altitude threshold. For example, misjudgment of the working state of the movable platform when the unmanned aerial vehicle is hovering or cruising at low altitude can be prevented.

S120, detecting the number of batteries included in the battery assembly when the movable platform is in the static state; and when the change of the number of the batteries is detected, adjusting the supply current of the battery assembly according to the voltage of the batteries with the changed number.

In some embodiments, the battery is provided with a current regulating circuit, and the supply current of the battery can be regulated by controlling the state of the current regulating circuit on the battery, so as to regulate the supply current of the battery assembly. In other embodiments, the battery assembly further comprises a current regulating circuit connected to the battery, and the supply current of the battery assembly can be regulated by controlling the state of the current regulating circuit.

For example, the current adjusting circuit includes a resistor circuit, and the supply current of the battery assembly can be adjusted by adjusting the resistance value of the output loop of the battery circuit connected to the battery. Of course, the current regulating circuit may include a constant current circuit for limiting the supply current of the battery pack, for example.

When the movable platform is in the static state, detecting the number of batteries included in the battery assembly to determine whether the movable platform is hot-plugged; when the number of the batteries is detected to be changed, namely hot plug occurs, the supply current of the battery assembly is adjusted according to the voltage of the batteries after the number is changed, the supply current of the battery assembly can be limited, and the battery assembly is prevented from outputting larger current to cause damage.

For example, when the increase of the number of the batteries is detected, the battery assembly is controlled to supply the power to the movable platform with the adjusted power supply current according to the voltage of the increased number of the batteries. It can be understood that the voltage of the battery added to the movable platform is not equal to the voltage between the batteries that have been powered for a period of time, that is, the voltage of the battery added to the movable platform is not equal to the voltage at the load (e.g., the power system and/or the control system) end of the movable platform, and a large inrush current is generated.

For example, when a fully charged battery is connected to the movable platform, a voltage difference exists between a low-battery and the fully charged battery which are supplied with power for a period of time, and a large surge current is generated; for example, the power system requires high power, and generally has a large capacitor connected in parallel, which may be called a load capacitor, to eliminate ripple voltage and ensure stable working state, and the load capacitor has strong current absorption capability, and generates a large surge current when the voltage difference is high; the embodiment of the application can prevent the battery pack from outputting larger current to cause damage by limiting the supply current of the battery pack when the number of the batteries is increased.

For example, the magnitude of the supply current for adjusting the battery assembly is smaller than or equal to a preset current threshold, and the current threshold may be determined according to the voltage of the at least one battery. For example, the higher the voltage of the battery, the larger the determined current threshold; or the voltage difference between the batteries with the changed number can be determined according to the voltages of the batteries with the changed number, the larger the voltage difference between different batteries is, the smaller the determined current threshold value is, and when the voltage difference between the batteries is too large, the current output by the batteries in the battery assembly can be limited, so that the damage to the batteries is reduced.

It is understood that when the number of the changed number of batteries is greater than 1, a difference between the maximum voltage and the minimum voltage among the voltages of the changed number of batteries is determined as a voltage difference between the batteries.

And S130, controlling the battery assembly to supply power to the movable platform by the adjusted power supply current.

Illustratively, the circuit between the battery assembly and the movable platform is controlled to be conducted, so that the battery assembly supplies power to the movable platform by the adjusted power supply current. The switch may be disposed on the battery assembly or on the movable platform, and the switch is closed or opened to control the conduction or disconnection of the circuit between the battery assembly and the movable platform.

For example, referring to fig. 4, a first switch 31 between the battery assembly 200 and the control system 120 of the movable platform 100 may be closed to control the circuit conduction between the battery assembly 200 and the control system 120 of the movable platform 100, and a second switch 32 between the battery assembly 200 and the power system 110 of the movable platform 100 may be closed to control the circuit conduction between the battery assembly 200 and the power system 110 of the movable platform 100, so that the battery assembly 200 may supply power to the control system 120 and the power system 110 of the movable platform 100, for example, to support the takeoff of an unmanned aerial vehicle.

For example, the first switch 31 and the second switch 32 may include at least one of the following: a MOS switch (metal-oxide semiconductor Field Effect Transistor), a BJT switch (Bipolar Transistor), a JFET switch (Junction Field Effect Transistor), an IGBT switch (Insulated Gate Bipolar Transistor), which can be driven to be turned on or off by a corresponding driving chip.

According to the power supply control method of the movable platform, when the movable platform is in a static state, the power supply current of the battery assembly can be adjusted according to the voltage of the battery, the battery assembly is controlled to supply power with the adjusted power supply current, the power supply current of the battery assembly can be limited, the battery assembly is prevented from outputting large current to cause damage, and the safety of the battery and the connector is guaranteed.

In some embodiments, the adjusting the supply current of the battery assembly according to the voltage of the changed number of batteries includes: when the number of the changed batteries is equal to 1, determining the voltage of the changed batteries as the voltage difference between the batteries, and adjusting the power supply current of the battery assembly according to the voltage difference between the changed batteries. In some embodiments, the adjusting the supply current of the battery assembly according to the voltage of the changed number of batteries includes: acquiring the voltage of the batteries with changed quantity; determining the voltage difference between the batteries with the changed number according to the voltages of the batteries with the changed number; and adjusting the power supply current of the battery assembly according to the voltage difference.

For example, the voltage difference may be determined from the voltage of a battery added to the movable platform and the voltage of a battery already supplying power to the movable platform for a period of time; or the voltage difference may be determined from the voltage of a battery added to the movable platform and the voltage of the load terminal of the movable platform.

According to ohm's law, the larger the voltage difference is, the larger the generated current is, and by adjusting the supply current of the battery assembly according to the voltage difference, the supply current of the battery assembly can be more accurately limited, for example, the movable platform can be made to perform a corresponding task, and damage caused by overcurrent can be prevented.

Illustratively, the adjusting the supply current of the battery assembly according to the voltage difference includes: when the voltage difference is greater than or equal to a preset first voltage threshold, adjusting the power supply current of the battery assembly into a first power supply current; the magnitude of the first power supply current is smaller than or equal to a preset first current threshold value. It is understood that, when the voltage difference is greater than or equal to the preset first voltage threshold, the magnitude of the supply current for adjusting the battery assembly is less than or equal to the preset first current threshold, and the first current threshold may be determined according to the voltage of the battery, the capacitance of the load of the movable platform, the required power of the load, and the like.

Optionally, when the voltage difference is greater than or equal to a preset first voltage threshold, the controlling the battery assembly to supply power to the movable platform with the adjusted power supply current includes: and controlling the battery assembly to supply power to the movable platform by the first power supply current.

Illustratively, the adjusting the supply current of the battery assembly according to the voltage difference includes: and when the voltage difference is smaller than a preset first voltage threshold, adjusting the supply current of the battery assembly into a second supply current, wherein the size of the second supply current is smaller than or equal to a preset second current threshold. It can be understood that, when the voltage difference is smaller than the preset first voltage threshold, the magnitude of the supply current of the battery assembly is adjusted to be smaller than or equal to the preset second current threshold.

Optionally, when the voltage difference is smaller than a preset first voltage threshold, the controlling the battery assembly to supply power to the movable platform with the adjusted supply current includes: and controlling the battery assembly to supply power to the movable platform by the second power supply current.

Specifically, the second current threshold is greater than the first current threshold. When the voltage difference is greater than or equal to a preset first voltage threshold, adjusting the magnitude of the supply current of the battery assembly to be smaller than or equal to a smaller first current threshold, wherein the power supply mode of the battery assembly at this time can be called a first current mode or a small current mode; when the voltage difference is smaller than a preset first voltage threshold, the magnitude of the supply current of the battery assembly is adjusted to be smaller than or equal to a larger second current threshold, and at this time, the power supply mode of the battery assembly may be referred to as a second current mode or a large current mode.

In some embodiments, the adjusting the power supply current of the battery assembly in step S120 includes: adjusting a power supply mode of the battery assembly; the power supply modes may include a first power supply mode for indicating that a magnitude of the supply current of the battery assembly is less than or equal to the first current threshold and a second power supply mode for indicating that the magnitude of the supply current of the battery assembly is less than or equal to the second current threshold. For example, the resistance value of the output loop of the resistor circuit connected to the battery can be adjusted according to the adjusted power supply mode to adjust the power supply current of the battery assembly.

In some embodiments, said controlling said battery assembly to power said movable platform at said first supply current comprises: controlling a circuit between the battery assembly and a control system of the movable platform to be on, and controlling a circuit between the battery assembly and a power system of the movable platform to be off; and controlling the battery assembly to supply power to the control system by using the first power supply current.

For example, referring to fig. 3, when the voltage difference between the batteries 210 is greater than or equal to the preset first voltage threshold, the magnitude of the first supply current of the battery assembly 200 is less than or equal to the smaller first current threshold, and by closing the first switch 31, the circuit between the battery assembly and the control system of the movable platform is controlled to be conductive, so that the battery assembly 200 can supply power to the control system 120 with the first supply current; by opening the second switch 32, the circuit between the battery assembly and the power system of the movable platform is controlled to be open, so that excessive surge current caused by large voltage difference is prevented.

For example, by opening the second switch 32 between the battery pack and the power system, thereby controlling the circuit between the battery pack and the power system to open, the voltage difference between the batteries on the movable platform can be prevented from causing excessive inrush current, thereby reducing the life of the batteries. Because the first supply current of the battery assembly 200 is smaller than or equal to the smaller first current threshold, the current between the batteries is not too large, and the control system can work, for example, tasks such as self-checking of the movable platform, man-machine interaction, communication with the terminal device, and the like can be realized.

In some embodiments, said controlling said battery assembly to power said movable platform at said second supply current comprises: controlling the circuit conduction between the battery assembly and a control system of the movable platform and controlling the circuit conduction between the battery assembly and a power system of the movable platform; and controlling the battery assembly to supply power to the control system and the power system by using the second power supply current.

For example, referring to fig. 3, when the voltage difference between the batteries 210 is smaller than the preset first voltage threshold, the magnitude of the second supply current of the battery assembly 200 is smaller than or equal to a larger second current threshold, and the supply current may be larger; by closing the first switch 31, the circuit between the battery assembly and the control system of the movable platform is controlled to be conducted, so that the battery assembly 200 can supply power to the control system 120; by closing the second switch 32, the circuit between the battery assembly and the control system of the movable platform is controlled to be conducted, so that the battery assembly 200 can also supply power to the power system 110. Since the voltage difference between the batteries 210 is small, it is also possible to prevent generation of an excessive inrush current. When the battery assembly 200 supplies power to the power system 110, the power system 110 operates to adjust the pose of the movable platform, for example, the lift provided by the rotors in the power system 110 enables the unmanned aerial vehicle to take off from a stationary state.

In some embodiments, the controlling the conduction of the electrical circuit between the battery assembly and the power system of the movable platform comprises: determining a voltage difference between at least one of the batteries according to the voltages of the batteries; and when the voltage difference is greater than a second voltage threshold value, controlling the battery with the larger voltage to charge the battery with the smaller voltage so as to adjust the magnitude of the voltage difference to the second voltage threshold value.

For example, when the voltage difference is greater than the second voltage threshold, the battery with a larger voltage may be controlled to charge the battery with a smaller voltage, and the voltage difference may be reduced, so that the inrush current between the battery and the load may be further reduced.

For example, referring to fig. 5, when the voltage difference between the batteries 210 in the battery assembly 200 is greater than the second voltage threshold, the third switch 33 between the batteries 210 is closed, and the battery with the higher voltage is controlled to charge the battery with the lower voltage.

Illustratively, the controlling the closing of the second switch between the battery assembly and the power system of the movable platform includes: when the voltage difference is smaller than or equal to the second voltage threshold value, a second switch between the battery assembly and a power system of the movable platform is controlled to be closed, so that the battery assembly can supply power to the power system. When the voltage difference is smaller than or equal to the second voltage threshold, the second switch is closed, so that the battery assembly supplies power to the power system, and surge current between batteries can be reduced.

In some embodiments, the second voltage threshold is less than the first voltage threshold.

When the voltage difference is greater than or equal to a preset first voltage threshold, adjusting the supply current of the battery assembly to a first supply current, and controlling a first switch between the battery assembly and a control system of the movable platform to be closed so as to conduct a circuit between the battery assembly and the control system of the movable platform, so that the battery assembly supplies the control system with the first supply current, wherein the magnitude of the first supply current is less than or equal to the preset first current threshold; when the voltage difference is greater than or equal to a preset first voltage threshold, the voltage difference is also greater than the second voltage threshold, and a third switch between the multiple batteries can be controlled to be closed, so that the battery with the higher voltage charges the battery with the lower voltage, and the voltage difference is adjusted to the first voltage threshold; when the voltage difference is smaller than the first voltage threshold, adjusting the power supply current of the battery assembly to be a second power supply current, continuously charging the battery with larger voltage to the battery with smaller voltage, and adjusting the voltage difference to be the second voltage threshold; when the voltage difference is smaller than or equal to the second voltage threshold and smaller than the first voltage threshold, a second switch between the battery assembly and the power system of the movable platform is controlled to be closed, so that a circuit between the battery assembly and the power system of the movable platform is conducted, and the battery assembly supplies power to the control system and the power system through the second supply current.

In some embodiments, the operating state comprises a motion state, the method further comprising: when the movable platform is in a motion state, adjusting the power supply current of the battery assembly to a third power supply current, wherein the magnitude of the third power supply current is smaller than or equal to a preset third current threshold; the controlling the battery assembly to supply power to the movable platform with the adjusted supply current includes: and controlling the battery assembly to supply power to the movable platform by the third power supply current.

For example, the third current threshold is greater than the first current threshold, may be greater than, equal to, or less than the second current threshold, and may be determined according to the power requirement when the movable platform is in the motion state.

Illustratively, the controlling the battery assembly to power the movable platform at the third supply current includes: controlling a second switch between the battery assembly and a power system of the movable platform to close; and controlling the battery assembly to supply power to the power system by the third power supply current. The power system is powered, so that the movable platform can be ensured to move safely.

According to the power supply control method of the movable platform, when the movable platform is in a static state, the power supply current of the battery assembly can be adjusted according to the voltage of the battery, the battery assembly is controlled to supply power with the adjusted power supply current, the power supply current of the battery assembly can be limited, the battery assembly is prevented from outputting larger current to cause damage, and the safety of the battery and the connector is guaranteed.

In some embodiments, referring to fig. 6 and 7, the unmanned aerial vehicle includes a battery assembly 200, a power system 110, and a control system 120. A switch circuit 130 may be further included, and the switch circuit 130 may be disposed integrally with the battery assembly 200 or separately, but is not limited thereto, for example, a part of the switch circuit 130 is disposed on the battery assembly 200, and another part of the switch circuit is disposed on the power system 110. The battery assembly 200 includes at least one battery 210, the power system 110 includes an electric power and a motor, and the control system 120 includes a main controller and a flight controller.

The main controller obtains the working state of the unmanned aerial vehicle from the flight controller, adjusts the power supply mode of the battery 210 to adjust the power supply current of the battery assembly 200 to a third power supply current when the unmanned aerial vehicle is in a motion state, and controls the switch circuit 130 (e.g., controls the switch circuit 130 through an enable signal) to enable the battery assembly 200 to supply power to the power system 110 of the movable platform at the third power supply current, and specifically, can control the first switch and the second switch in the switch circuit 130 to be closed; and controlling the battery assembly 200 to supply the control system 120 and/or the power system 110 with the second supply current. Detecting the number of batteries 210 included in the battery assembly 200 when the unmanned aerial vehicle is in a stationary state; when it is detected that the number of the batteries 210 is changed and the number of the batteries 210 is greater than 1, the voltage of the batteries 210 is acquired, and the voltage difference between the batteries 210 is determined according to the voltage of the batteries 210.

When the voltage difference is greater than or equal to a preset first voltage threshold, such as 0.7V, the power supply mode of the battery 210 is adjusted to be a low current mode, that is, the power supply current of the battery assembly 200 is adjusted to be a first power supply current less than or equal to the preset first current threshold; and the control switch circuit 130 disconnects the battery assembly 200 from the power system 110, so that the pose of the unmanned aerial vehicle is not changed due to the action of the power system 110, such as the unmanned aerial vehicle is kept in a static state. The battery 210 with a higher voltage may also be controlled to charge the battery 210 with a lower voltage to reduce the voltage difference, for example, the third switch in the switch circuit 130 may be controlled to be closed to charge the battery with a higher voltage to the battery with a lower voltage.

As shown in fig. 7, when the voltage difference is smaller than the first voltage threshold, the power supply mode of the battery 210 is adjusted to adjust the power supply current of the battery assembly 200 to a second power supply current smaller than or equal to the preset second current threshold.

For example, when the voltage difference is smaller than the first voltage threshold, the switching circuit 130 may be controlled to communicate the battery assembly 200 with the power system 110, and the electronic controller may be further controlled to communicate the battery assembly 200 with the power system through the enabling signal to supply power to the motor.

For example, as shown in fig. 7, when the voltage difference is less than the first voltage threshold and greater than or equal to the second voltage threshold, such as 0.2V, the control switch circuit 130 disconnects the battery assembly 200 from the power system 110, such as the unmanned aerial vehicle remains in a stationary state; the battery 210 with a larger voltage can be continuously controlled to charge the battery 210 with a smaller voltage, and the voltage difference can be continuously reduced. When the voltage difference is less than the second voltage threshold, the control switch circuit 130 connects the battery assembly 200 and the power system 110, so that the battery assembly 200 supplies power to the control system 120 and/or the power system 110 with the second supply current.

For example, the switch between the battery assembly and the power system is controlled by integrating the voltage information of the battery and the working state information of the unmanned aerial vehicle. When the voltage difference of the battery is overlarge, the switch is switched off, so that the unmanned aerial vehicle cannot take off; when the unmanned aerial vehicle is in a motion state, the switch can be closed forcibly, so that the power supply stability of the unmanned aerial vehicle, such as the power supply stability of a power system, is ensured, and the flight safety is ensured.

For example, when the voltage difference of the battery is too large, the supply current of the battery assembly is adjusted to be a smaller first supply current to support the operation of the control system.

For example, when the voltage difference of the battery is smaller than a first voltage threshold, the supply current of the battery assembly is adjusted to be a larger second voltage threshold, and when the voltage difference of the battery is smaller than a second voltage threshold, the switch between the battery assembly and the power system is controlled to be closed, so that the unmanned aerial vehicle can take off and the like.

In some embodiments, it can be ensured that the movable platform does not move under the condition that the battery has an excessive pressure difference, for example, the power supply to the power system is cut off when the battery has the excessive pressure difference, so that the unmanned aerial vehicle cannot take off, and the risk of battery current backflow is eliminated. But also ensures the flight state.

In some embodiments, when the voltage difference between the batteries is larger, the battery with larger voltage can be controlled to charge the battery with smaller voltage, and the voltage difference is reduced to reduce the surge current.

In some embodiments, as shown in fig. 8, the second switch 32 between the battery assembly 200 and the power system 110 is connected in parallel with the pre-charging circuit 34, and the second switch 32 and the pre-charging circuit 34 may be referred to as a soft start circuit, which may further include a driving circuit of the switch. The precharge circuit 34 includes, for example, a resistance circuit. When a voltage difference exists between the battery 210 and the power system 110 in the battery assembly 200, the battery 210 charges the power system 110 through the pre-charging circuit 34 to reduce the voltage difference between the battery 210 and the power system 110, the rising speed of the voltage output by the battery 210 is slow, and the inrush current of the current can be suppressed. When the voltage difference is small, the second switch 32 can be controlled to be closed, so as to provide a low impedance path for the heavy current load.

For example, referring to fig. 9, when the voltage of the power system is U1, and the battery with the voltage of U2 is added to the movable platform, the voltage at the input side of the slow start circuit is increased; referring to Irush1 without the precharge circuit and Irush2 with the precharge circuit in fig. 9, because of the existence of the precharge circuit, the inrush current Irush is greatly suppressed; the capacitor in the power system is charged through the pre-charging circuit, and the voltage of the capacitor is improved. When the voltage of the capacitor in the power system reaches a set threshold value or the voltage difference between the capacitor and the battery is smaller than a corresponding threshold value, the second switch can be controlled to be closed, a low-impedance voltage access is provided for the power system to obtain larger current, the requirement of the power system is met, and the voltage drop and the power consumption are reduced.

In some embodiments, the third switch between the plurality of batteries is also connected in parallel with the precharge circuit, so that the current when the battery with higher voltage charges the battery with lower voltage can be restrained.

In some embodiments, battery hot replacement (battery replacement without power interruption) of a movable platform, such as an unmanned aerial vehicle, can be realized, and the power supply safety of the flight system can be guaranteed while the surge current of the battery hot replacement is inhibited. A safe, stable and reliable realization path is provided for realizing the long-time uninterrupted continuous work of the unmanned aerial vehicle, and the cruising operation capability of the unmanned aerial vehicle can be improved. The continuity of flight operation can be ensured, the operation efficiency of the unmanned aerial vehicle is improved, and the application range of the multi-rotor unmanned aerial vehicle is further expanded.

According to the surge current in the battery hot replacement process, the surge current caused by voltage mutation can be restrained by slowly starting the pre-charging circuit, and intelligent switching of battery supply current and pre-charging monitoring in the battery hot replacement process are realized by fusing battery information and a working state, so that the power supply safety and stability are guaranteed.

Referring to fig. 10, fig. 10 is a schematic block diagram of a movable platform 700 according to an embodiment of the present application. Alternatively, the movable platform 700 may be adapted to the aforementioned power supply control method.

For example, the movable platform 700 may include at least one of an unmanned aerial vehicle, a pan and tilt head, an unmanned vehicle, and the like. Further, unmanned vehicles can be rotor type unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicles, hexa-rotor unmanned aerial vehicles, octa-rotor unmanned aerial vehicles, and also can be fixed wing unmanned aerial vehicles.

As shown in fig. 10, the mobile platform 700 can carry a battery assembly 200 for powering the mobile platform 700, the battery assembly 200 including at least one battery 210.

Illustratively, as shown in fig. 3, one or more battery receiving portions 10 are provided on the movable platform 700, and the battery 210 is detachably received in the battery receiving portion 10.

Illustratively, the battery pack 200 includes a battery receiving assembly (not shown) having one or more battery receiving portions 10, and a battery 210 disposed in the battery receiving portion 10. Alternatively, the battery 210 is fixedly connected in the battery receiving part 10, and the battery assembly 200 can be detachably connected with the movable platform 700; alternatively, the battery receiving assembly is fixedly connected to the movable platform 700, and the battery 210 can be detachably received in the battery receiving portion 10 of the battery receiving assembly.

In some embodiments, the movable platform 700 includes a powered system 110, and the position of the movable platform changes when the powered system 110 is operated. For example, when the movable platform 700 comprises an unmanned aerial vehicle, the power system 110 comprises an electric motor and/or a rotor assembly, wherein the rotor assembly may comprise an electric motor and a rotor, the electric motor is electrically adjusted to determine the rotation of the electric motor, and the electric motor drives the rotor to rotate; optionally, the electronic controller may be disposed separately from or integrally with the rotor assembly; optionally, the power system 110 may further include a pan-tilt carried by the movable platform 700. Illustratively, when the movable platform 700 comprises an unmanned vehicle, the powertrain 110 includes wheels and motors for driving the wheels.

In some embodiments, the moveable platform 700 further includes a control system 120, and the control system 120 is configured to control operation of the power system 110 to adjust the pose of the moveable platform 700. Illustratively, the control system 120 includes a controller and a sensor, and the controller may acquire information such as a position, a posture, and a position relationship between the movable platform 700 and other objects (e.g., the ground, a building, trees, etc.), and control the power system 110 to operate according to the acquired information, for example, adjust a pose of the movable platform 700 by electrically adjusting a working state (steering, rotation speed) of the control motor.

The moveable platform 700 includes one or more processors 701, the one or more processors 701 operating individually or collectively to perform the steps of the moveable platform power supply control method described previously. The processor 701 may be, for example, a processor in the control system 120, or may be a processor that is independent from the control system 120, which is not limited in this embodiment of the application.

Illustratively, the movable platform 700 also includes memory.

Illustratively, the processor 701 and the memory are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the Processor 701 may be a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like, but is not limited thereto.

Specifically, the Memory may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.

The processor 701 is configured to run a computer program stored in the memory, and implement the aforementioned steps of the power supply control method for the movable platform when executing the computer program.

Illustratively, the processor 701 is configured to run a computer program stored in the memory, and when executing the computer program, implements the following steps:

Optionally, the processor is configured to, when the processor executes the voltage of the battery according to the changed number and adjusts the supply current of the battery assembly,:

acquiring the voltage of the batteries with changed quantity;

determining a voltage difference between the changed number of batteries according to voltages of the changed number of batteries;

and adjusting the supply current of the battery assembly according to the voltage difference between the batteries with the changed number.

when the number of the batteries is larger than 1, acquiring the voltage of the batteries with changed number;

determining a voltage difference between the changed number of batteries according to the voltage of the changed number of batteries;

and adjusting the power supply current of the battery assembly according to the voltage difference.

Optionally, when the processor executes the adjustment of the power supply current of the battery assembly according to the voltage difference, the processor is configured to:

when the voltage difference is greater than or equal to a preset first voltage threshold, adjusting the power supply current of the battery assembly into a first power supply current; the magnitude of the first power supply current is smaller than or equal to a preset first current threshold value;

the processor is configured to, when the processor executes the control of the battery assembly to supply the adjusted supply current to the movable platform:

and controlling the battery assembly to supply power to the movable platform by the first power supply current.

Optionally, when the processor executes the control to control the battery assembly to supply the first supply current to the movable platform, the processor is configured to:

controlling a circuit conduction between the battery assembly and a control system of the movable platform, an

Controlling a circuit disconnection between the battery assembly and a power system of the movable platform;

and controlling the battery assembly to supply power to the control system by the first power supply current.

Optionally, when the processor executes the adjustment of the supply current of the battery assembly according to the voltage difference, the processor is configured to:

when the voltage difference is smaller than a preset first voltage threshold, adjusting the supply current of the battery assembly to be a second supply current, wherein the magnitude of the second supply current is smaller than or equal to a preset second current threshold;

wherein the second current threshold is greater than the first current threshold;

the processor executes the control to control the battery assembly to supply power to the movable platform by the adjusted power supply current, and is used for:

and controlling the battery assembly to supply power to the movable platform by the second power supply current.

Optionally, when the processor executes the control to control the battery assembly to supply the second supply current to the movable platform, the processor is configured to:

Controlling the conduction of a circuit between the battery assembly and a power system of the movable platform;

and controlling the battery assembly to supply power to the control system and the power system by using the second power supply current.

Optionally, the working state includes a motion state, and the processor is further configured to perform:

when the movable platform is in a motion state, adjusting the power supply current of the battery assembly to be a third power supply current, wherein the magnitude of the third power supply current is smaller than or equal to a preset third current threshold value.

Optionally, when the processor executes the control to control the battery assembly to supply the adjusted supply current to the movable platform, the processor is configured to:

and controlling the battery assembly to supply power to the movable platform by the third power supply current.

Optionally, when the processor performs the control of the circuit conduction between the battery assembly and the power system of the movable platform, the processor is configured to:

determining a voltage difference between at least one of the batteries according to the voltages of the batteries;

and when the voltage difference is greater than a second voltage threshold, controlling the battery with larger voltage to charge the battery with smaller voltage so as to adjust the magnitude of the voltage difference to the second voltage threshold.

Optionally, when the processor executes the control to control the battery assembly to supply the third supply current to the movable platform, the processor is configured to:

controlling the conduction of a circuit between the battery assembly and a power system of the movable platform according to the voltage of at least one battery;

and controlling the battery assembly to supply power to the power system by the third power supply current.

Optionally, the processor is configured to, when controlling the conduction of the circuit between the battery assembly and the power system of the movable platform according to the voltage of at least one of the batteries,:

acquiring the voltage of at least one battery;

determining a voltage difference between at least one of the batteries based on the voltage;

and controlling the conduction of a circuit between the battery assembly and a power system of the movable platform according to the voltage difference.

Optionally, the processor, when executing the controlling of the conduction of the circuit between the battery assembly and the power system of the movable platform according to the voltage difference, is configured to:

when the voltage difference is larger than a second voltage threshold, controlling the battery with larger voltage to charge the battery with smaller voltage so as to adjust the magnitude of the voltage difference to the second voltage threshold;

and when the voltage difference is adjusted to the second voltage threshold, controlling the conduction of a circuit between the battery assembly and a power system of the movable platform.

Optionally, when the processor executes the control of the conduction of the circuit between the battery assembly and the power system of the movable platform according to the voltage difference, the processor is configured to:

and when the voltage difference is smaller than or equal to the second voltage threshold, controlling the conduction of a circuit between the battery assembly and a power system of the movable platform so as to enable the battery assembly to supply power to the power system.

acquiring the voltage of the changed number of batteries when the number of the changed batteries is equal to 1;

determining a voltage of the changed number of batteries as a voltage difference between the changed number of batteries;

Optionally, when the processor executes the detecting of the working state of the movable platform, the processor is configured to:

obtaining current and/or power of a power system of the movable platform;

and determining the working state of the movable platform according to the current and/or power of the power system.

Optionally, the processor, when executing the determining the working state of the movable platform according to the current and/or power of the power system, is configured to:

when the current of the power system is larger than or equal to a preset current threshold value and/or the power is larger than or equal to a preset power threshold value, determining that the movable platform is in a motion state.

and when the current of the power system is smaller than a preset current threshold value and/or the power is smaller than a preset power threshold value, determining that the movable platform is in a static state.

acquiring a position and/or altitude of the movable platform;

determining an operating state of the movable platform from a position and/or altitude of the movable platform.

Optionally, the processor is configured to, when determining the working state of the movable platform according to the position and/or altitude of the movable platform,:

determining that the movable platform is in a motion state when the rate of change of the position of the movable platform is greater than or equal to a preset speed threshold and/or the altitude is greater than or equal to a preset altitude threshold.

when the rate of change of the position of the movable platform is less than a preset speed threshold and the altitude is less than a preset altitude threshold, determining that the movable platform is in a stationary state.

The specific principle and implementation manner of the movable platform provided in the embodiment of the present application are similar to those of the power supply control method of the movable platform in the foregoing embodiment, and are not described herein again.

An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and when the computer program is executed by a processor, the processor is enabled to implement the steps of the power supply control method for a movable platform provided in the foregoing embodiment.

The computer readable storage medium may be an internal storage unit of the removable platform described in any previous embodiment, for example, a hard disk or a memory of the removable platform. The computer readable storage medium may also be an external storage device of the removable platform, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the removable platform.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It should also be understood that the term "and/or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for controlling power to a movable platform, the movable platform including a battery assembly for providing power to the movable platform, the battery assembly including at least one battery, the method comprising:

2. The method of claim 1, wherein adjusting the supply current of the battery assembly according to the voltage of the changed number of batteries comprises:

when the number of the changed batteries is larger than 1, acquiring the voltage of the changed batteries;

determining a voltage difference between at least one of the batteries according to the voltage of the changed number of batteries;

3. The method of claim 2, wherein said adjusting the supply current of the battery assembly according to the voltage difference comprises:

the controlling the battery assembly to supply power to the movable platform with the adjusted supply current includes:

4. The method of claim 3, wherein the controlling the battery assembly to power the movable platform at the first supply current comprises:

5. The method of claim 2, wherein the adjusting the supply current of the battery assembly according to the voltage difference comprises:

when the voltage difference is smaller than a preset first voltage threshold, adjusting the power supply current of the battery assembly to be a second power supply current, wherein the size of the second power supply current is smaller than or equal to a preset second current threshold;

6. The method of claim 5, wherein the controlling the battery assembly to power the movable platform at the second supply current comprises:

controlling the continuity of an electrical circuit between the battery pack and a control system of the movable platform, an

Controlling a circuit between the battery assembly and a power system of the movable platform to be conducted according to the voltage difference;

7. The method of claim 1, wherein the operating state comprises a motion state, the method further comprising:

when the movable platform is in a motion state, adjusting the power supply current of the battery assembly to a third power supply current, wherein the magnitude of the third power supply current is smaller than or equal to a preset third current threshold;

8. The method of claim 7, wherein the controlling the battery assembly to power the movable platform at the third supply current comprises:

9. The method of claim 8, wherein said controlling the continuity of the electrical circuit between the battery assembly and the power system of the movable platform based on the voltage of the at least one battery comprises:

acquiring the voltage of at least one battery;

10. The method of claim 6 or 9, wherein said controlling the conduction of a circuit between the battery assembly and the power system of the movable platform based on the voltage difference comprises:

and when the voltage difference is adjusted to the second voltage threshold value, controlling the conduction of a circuit between the battery assembly and a power system of the movable platform.

11. The method of claim 6 or 9, wherein said controlling the conduction of a circuit between the battery assembly and the power system of the movable platform based on the voltage difference comprises:

12. The method of claim 1, wherein adjusting the supply current of the battery assembly according to the voltage of the changed number of batteries comprises:

acquiring the voltage of the changed number of batteries when the changed number of batteries is equal to 1;

13. The method of any one of claims 1-12, wherein said detecting an operational state of the movable platform comprises:

obtaining current and/or power of a power system of the movable platform;

14. The method of claim 13, wherein said determining an operational state of said movable platform from current and/or power of said powered system comprises:

15. The method of claim 13, wherein said determining an operational state of said movable platform from current and/or power of said powered system comprises:

16. The method of any one of claims 1-12, wherein said detecting an operational state of the movable platform comprises:

acquiring a position and/or altitude of the movable platform;

17. The method of claim 16, wherein said determining an operational state of said movable platform based on a position and/or altitude of said movable platform comprises:

when the change rate of the position of the movable platform is greater than or equal to a preset speed threshold value, determining that the movable platform is in a motion state; and/or

And when the altitude is greater than or equal to a preset altitude threshold value, determining that the movable platform is in a motion state.

18. The method of claim 16, wherein said determining an operational state of said movable platform based on a position and/or altitude of said movable platform comprises:

19. A mobile platform capable of carrying a battery assembly for powering the mobile platform, the battery assembly comprising at least one battery;

detecting a number of batteries included in the battery assembly when the movable platform is in the stationary state;

when the change of the number of the batteries is detected, adjusting the power supply current of the battery assembly according to the voltage of the batteries with the changed number;

20. The movable platform of claim 19, wherein the processor, when executing the adjusting the supply current of the battery assembly according to the voltage of the changed number of batteries, is configured to:

21. The movable platform of claim 20, wherein the processor, when executing the adjusting the supply current of the battery assembly according to the voltage difference, is configured to:

22. The movable platform of claim 21, wherein the processor, when executing the controlling the battery assembly to power the movable platform at the first supply current, is configured to:

and controlling the battery assembly to supply power to the control system by using the first power supply current.

23. The movable platform of claim 20, wherein the processor, when executing the adjusting the supply current of the battery assembly according to the voltage difference, is configured to:

24. The movable platform of claim 23, wherein the processor, when executing the controlling the battery assembly to power the movable platform at the second supply current, is configured to:

Controlling the conduction of a circuit between the battery assembly and a power system of the movable platform according to the voltage;

25. The movable platform of claim 19, wherein the operating state comprises a motion state, the processor further configured to perform:

26. The movable platform of claim 25, wherein the processor, when executing the controlling the battery assembly to power the movable platform at the third supply current, is configured to:

27. The movable platform of claim 26, wherein the processor, when executing the circuitry between the battery assembly and the power system of the movable platform controlled based on the voltage of the at least one battery, is configured to:

acquiring the voltage of at least one battery;

28. The movable platform of claim 24 or 27, wherein the processor, when executing the controlling of the conduction of the electrical circuit between the battery assembly and the power system of the movable platform according to the voltage difference, is configured to:

29. The movable platform of claim 24 or 27, wherein the processor, when executing the controlling of the conduction of the electrical circuit between the battery assembly and the power system of the movable platform according to the voltage difference, is configured to:

30. The movable platform of claim 19, wherein the processor, when executing the adjusting the supply current of the battery assembly according to the voltage of the changed number of batteries, is configured to:

31. The movable platform of any one of claims 19-30, wherein the processor, when executing the detecting an operational state of the movable platform, is configured to:

obtaining current and/or power of a power system of the movable platform;

32. The movable platform of claim 31, wherein the processor, when executing the determining the operational state of the movable platform from the current and/or power of the powered system, is configured to:

33. The movable platform of claim 31, wherein the processor, when executing the determining the operational state of the movable platform from the current and/or power of the powered system, is configured to:

34. The movable platform of any one of claims 19-30, wherein the processor, when executing the detecting an operational state of the movable platform, is configured to:

acquiring a position and/or altitude of the movable platform;

determining an operating state of the movable platform based on the position and/or altitude of the movable platform.

35. The movable platform of claim 34, wherein the processor, when executing the determining the operational state of the movable platform from the position and/or altitude of the movable platform, is configured to:

36. The movable platform of claim 34, wherein the processor, when executing the determining the operational state of the movable platform from the position and/or altitude of the movable platform, is configured to:

37. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the steps of the power supply control method of a movable platform according to any one of claims 1-18.