WO2019052146A1

WO2019052146A1 - Battery power estimation method and device, and unmanned aerial vehicle

Info

Publication number: WO2019052146A1
Application number: PCT/CN2018/080629
Authority: WO
Inventors: 秦威; 邹锦林
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-09-15
Filing date: 2018-03-27
Publication date: 2019-03-21
Also published as: CN107643493A

Abstract

A battery power estimation method and device, and an unmanned aerial vehicle. The battery power estimation method comprises: obtaining a power value of a battery module at current time detected by a power metering module (101); comparing the power value with a pre-stored corresponding empirical standard power value of the battery module in a current state, and if the difference therebetween exceeds a preset range, determining a power change rate of the battery module in the current state (102); and determining the power value of the battery module at the current time and a power value after the current time according to the power change rate (103). The solution can correct a power deviation in time and improve the accuracy of power measurement.

Description

Battery power estimating method and device, drone

The application claims the priority of the Chinese patent application filed on September 15, 2017, the application number is 201710833272.3, and the application name is "a battery power estimation method and device, a drone", the entire contents of which are incorporated by reference. In this application.

Technical field

The invention relates to a battery technology, in particular to a battery power estimation method and device, and a drone.

Background technique

With the widespread use of lithium batteries in the drone market, smart power management solutions have become mainstream. The current intelligent power management solutions are mostly based on TI's BQ30Z55, BQ40Z50, BQ34Z100 and other chips, and are supplemented by peripheral devices such as processors. The information on battery power is mainly provided by TI's electricity metering chip. However, the current power metering chip has the problem of power jump and inaccurate power metering, so it is difficult to meet the demanding equipment for power metering by relying entirely on the information of the power metering chip.

Summary of the invention

In order to solve the above technical problem, at least one embodiment of the present invention provides a battery power detecting method and apparatus, and a drone, which improves battery power detection accuracy.

In order to achieve the object of the present invention, at least one embodiment of the present invention provides a battery power estimation method, including:

Obtaining a power value of the battery module at the current time detected by the power metering module;

Comparing the electric quantity value with a pre-stored electric power experience standard value of the battery module corresponding to the current state, and if the difference between the two is greater than the preset range, determining a power change rate of the battery module in a current state;

Determining a power value of the current time of the battery module and a power value after the current time according to the power rate change rate.

In an optional embodiment, before comparing the power value with the pre-stored battery module's power experience standard value corresponding to the current state, the method further includes:

It is determined that the voltage value of any of the battery modules is lower than a preset voltage.

In an optional embodiment, the method further includes: when the voltage value of each battery in the battery module is greater than the preset voltage, using the power value detected by the power metering module as the battery The power value of the module.

In an optional embodiment, the current state includes at least one of the following: a charge and discharge state of the battery module, a number of charge and discharge cycles of the battery module, and an ambient temperature.

In an optional embodiment, the determining a rate of change of the power of the battery module in a current state includes:

The power change rate is determined according to the number of charge and discharge cycles of the battery module, the current temperature, the discharge current, the difference between the current power value and the battery experience standard value, and the battery capacity.

At least one embodiment of the present invention provides a battery power estimating apparatus, including: a storage module, a power acquiring module, a comparing module, and a power estimating module, wherein:

The storage module is configured to store a battery experience standard value in different states of the battery module;

The power acquisition module is configured to obtain a power value of a battery module at a current time detected by the power metering module, and output the value to the comparison module;

And the comparing module is configured to acquire, from the storage module, a battery power experience standard value corresponding to the current state, and the battery value that is input by the power acquiring module and the battery module corresponding to the current state The battery power experience standard value is compared, and if the difference between the two exceeds the preset range, the power estimation module is notified;

The power estimation module is configured to: after receiving the notification of the comparison module, determine a power change rate of the battery module in a current state, determine a power value of the current time of the battery module according to the power change rate, and current The amount of electricity after the moment.

In an optional embodiment, the battery power estimating device further includes a voltage detecting module, wherein:

The voltage detecting module is configured to detect a voltage value of the battery in the battery module, and notify the comparison module when a voltage value of any one of the battery modules is lower than a preset voltage;

The comparison module is further configured to compare the power value with a pre-stored battery power experience standard value corresponding to the current state after receiving the notification of the voltage detection module.

In an optional embodiment, the voltage detecting module is further configured to notify the power estimating module when a voltage value of each of the battery modules is greater than the preset voltage;

The power estimation module is further configured to: after receiving the notification of the comparison module, output the power value detected by the power measurement module as the power value of the battery module.

In an optional embodiment, the power estimation module includes a parameter acquisition unit, a rate determination unit, and a power estimation unit, wherein:

The parameter obtaining unit is configured to: after receiving the notification of the comparison module, acquire a difference between a charge and discharge cycle number, a current temperature, a discharge current, a current power value, and a battery experience standard value of the battery module, and a battery capacity;

The rate determining unit is configured to determine the power rate change rate according to a difference between a charge and discharge cycle number of the battery module, a current temperature, a discharge current, a current power value, and a difference between a battery power experience standard value and a battery capacity;

The power estimation unit is configured to determine a power value of the current time of the battery module and a power value after the current time according to the power rate change rate.

At least one embodiment of the present invention provides a battery power estimating apparatus including a memory and a processor, wherein the memory stores a program, and the program implements the battery power estimating method when read and executed by the processor.

At least one embodiment of the present invention provides a drone, including a rack, a power component mounted to the rack, and a power module electrically connected to and powered by the power pack, the power module including a battery module, a fuel gauge module and a battery power estimating device, wherein the battery power estimating device is configured to:

In an optional embodiment, the battery power estimating device is further configured to: determine the battery module before comparing the power value with a stored power experience standard value of the battery module corresponding to a current state. The voltage value of any of the batteries is already lower than the preset voltage.

In an optional embodiment, the battery power estimating device is further configured to: when the voltage value of each of the battery modules is greater than the preset voltage, the amount of power detected by the power metering module The value is the value of the battery module.

In an optional embodiment, the battery power estimating device determines a rate of change of the power in the current state of the battery module, including: according to the number of charging and discharging cycles of the battery module, current temperature, discharging current, current power value, and The difference between the battery experience standard value and the battery capacity determines the rate of change of the power.

Compared with the related art, in the solution provided by the present application, when the difference between the power value and the power standard value exceeds the preset range, the power value detected by the power metering module is not used as the power value of the battery module, but is calculated. A rate of change in the amount of electricity is determined based on the rate of change in the amount of electricity. In this application, the battery state is monitored in real time, and the power measurement value is corrected in time, and the power information is accurately predicted.

Other features and advantages of the invention will be set forth in the description which follows, The objectives and other advantages of the invention may be realized and obtained by means of the structure particularly pointed in the appended claims.

DRAWINGS

The drawings are used to provide a further understanding of the technical solutions of the present invention, and constitute a part of the specification, which together with the embodiments of the present application are used to explain the technical solutions of the present invention, and do not constitute a limitation of the technical solutions of the present invention. For those of ordinary skill in the art, the drawings of other embodiments may be obtained from the drawings without departing from the scope of the invention.

FIG. 1 is a flowchart of a method for estimating a battery power according to an embodiment of the present invention;

2 is a block diagram of a battery power estimating device according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a drone according to an embodiment of the present invention; FIG.

4 is a block diagram of a power module of a drone according to an embodiment of the present invention;

FIG. 5 is a structural diagram of hardware of a battery power estimating device according to an embodiment of the present invention.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments in the present application may be arbitrarily combined with each other.

The steps illustrated in the flowchart of the figures may be executed in a computer system such as a set of computer executable instructions. Also, although logical sequences are shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than the ones described herein.

In the present application, based on the electricity metering module, the battery voltage, discharge current, temperature, charge and discharge cycle number and other related data are simultaneously monitored, and the accuracy of the power metering module is evaluated. If the power metering module is found to have a certain error, the power is corrected in time. And estimate the actual power.

Embodiment 1

As shown in FIG. 1 , the embodiment provides a battery power estimation method, where the power estimation method is used to estimate the power of the battery module, including:

Step 101: Acquire a power value of a battery module at a current time detected by the power metering module.

The power metering module is, for example, a conventional power metering chip that measures power.

Step 102: Compare the power value with a stored power experience standard value of the battery module corresponding to the current state, and if the difference between the two exceeds the preset range, determine a power change rate of the battery module in a current state. ;

The current state includes at least one of the following: a charge and discharge state of the battery module, a number of charge and discharge cycles of the battery module, and an ambient temperature. The charge and discharge state includes, for example, a discharge current, a voltage, and the like.

The preset range may be set according to requirements, and may be -5% to 5%5%. Of course, the present application is not limited thereto, and may be set to other values.

Step 103: Determine a power value of the current time of the battery module and a power value after the current time according to the power rate change rate.

Generally, when the voltage of the battery module is higher than a predetermined voltage, the power value measured by the power metering module is relatively accurate. After the preset voltage is lowered, the error of the power value measured by the power metering module is relatively large. Therefore, in one In an optional embodiment, when the voltage value of the single battery in the battery module drops to a preset voltage, the power value is compared with the power standard value of the current voltage of the battery module. When the voltage value of the single battery in the battery module is greater than the preset voltage, the power value detected by the power metering module is used as the power value of the battery module. The preset voltage can be determined by testing. For example, after several tests, the voltage value when the power measured by the fuel gauge module starts to jump is used as the preset voltage. It should be noted that, under different average discharge currents, the voltage value measured by the fuel gauge module starts to jump. Therefore, the preset voltage is related to the average discharge current of the battery module, and can be tested under different average discharge currents. The preset voltage. After the preset voltage is reached, the power estimation is started. Taking the drone battery as an example, when the average discharge current is 15A, the battery power is rarely changed when the battery power is 3.65V (the voltage of the battery with the lowest voltage among all the strings in the battery pack), and the output voltage and remaining power are output. The change is relatively stable, and most of the transitions occur below 3.65V. Therefore, the preset voltage when the average discharge current is 15A can be set to 3.65V. Under normal circumstances, when the battery is powered by a device, the average discharge current is relatively fixed, and the preset voltage corresponding to the average discharge current in the working state can be tested.

The battery module may include one battery, and may also include a plurality of batteries. When a plurality of batteries are included, a voltage value of a single battery in the battery module refers to a voltage value of a battery having the lowest voltage among the battery modules. Specifically, before comparing the power value with the stored power experience standard value of the battery module corresponding to the current state, the method further includes: determining that a voltage value of any one of the battery modules is lower than a preset voltage . When the voltage value of each of the battery modules is greater than the preset voltage, the power value detected by the power metering module is used as the power value of the battery module.

The battery experience standard value of the battery module in different states can be estimated and stored in advance. Among them, the power is mainly related to the voltage value of the battery module, the current temperature, and the number of charge and discharge cycles of the battery module. In an optional embodiment, the empirical standard value of the power under different temperatures and the number of charge and discharge cycles can be pre-stored when the voltage of the single battery in the battery module is a preset voltage.

In an optional embodiment, in step 102, determining a rate of change of the power of the battery module in a current state includes:

The power change rate is determined according to the number of charge and discharge cycles of the battery module, the current temperature, the discharge current, the difference between the current power value and the battery experience standard value, and the battery capacity. The specific calculation formula can be determined in advance by testing.

The battery capacity is the capacity of the battery module, and if the battery module is a battery pack, the capacity of the battery pack. Among them, the battery module's charge and discharge cycle number, current temperature, discharge current and other parameters can be obtained from the fuel gauge module.

In an optional embodiment, the method further includes displaying a power value of the current time of the battery module determined according to the power rate change rate and a power value after the current time.

Embodiment 2

As shown in FIG. 2, the embodiment provides a battery power estimating device, including: a storage module 201, a power acquiring module 202, a comparing module 203, and a power estimating module 204, wherein:

The storage module 201 is configured to store a battery power experience standard value in different states of the battery module;

The power acquisition module 202 is configured to obtain the power value of the battery module at the current time detected by the power metering module, and output the result to the comparison module 203;

The comparison module 203 is configured to acquire, from the storage module 201, a battery power experience standard value corresponding to the current state, and the power value input by the power quantity acquisition module 202 and the corresponding current state. The battery module's power experience standard value is compared, if the difference between the two exceeds the preset range, the power estimation module 204 is notified;

The power estimation module 204 is configured to: after receiving the notification of the comparison module 203, determine a power change rate of the battery module in a current state, and determine a power value of the current time of the battery module according to the power change rate. And the amount of electricity after the current time.

In an optional embodiment, the battery power estimating device further includes a voltage detecting module 205, wherein:

The voltage detecting module 205 is configured to detect a voltage value of a battery in the battery module, and when the voltage value of any one of the battery modules is lower than a preset voltage, notify the comparison module 203;

The comparison module 203 is further configured to compare the power value with a pre-stored battery power experience standard value of the current state after receiving the notification of the voltage detection module.

In an optional embodiment, the voltage detecting module 205 is further configured to notify the power estimating module 204 when the voltage value of each battery in the battery module is greater than the preset voltage;

The power estimation module 204 is further configured to: after receiving the notification of the comparison module, output the power value detected by the power measurement module as the power value of the battery module.

In an optional embodiment, the power estimation module 204 includes a parameter acquisition unit 2041, a rate determination unit 2042, and a power estimation unit 2043, where:

The parameter obtaining unit 2041 is configured to: after receiving the notification of the comparison module 203, acquire a difference between a charge and discharge cycle number, a current temperature, a discharge current, a current power value, and a power experience standard value of the battery module, and a battery. Capacity; wherein the battery capacity is the capacity of the battery module, and if the battery module is a battery pack, the capacity of the battery pack.

The rate determining unit 2042 is configured to determine the power rate change rate according to a difference between a charge and discharge cycle number of the battery module, a current temperature, a discharge current, a current power value, and a difference between a battery power experience standard value and a battery capacity;

The power estimation unit 2043 is configured to determine, according to the power change rate, a power value of the current time of the battery module and a power value after the current time.

Embodiment 3

In this embodiment, the application is further described by taking a drone battery as an example. When the power is above 3.65V, the power information of the fuel gauge module is mostly used. Most of the estimates occur below 3.65V. Therefore, in this embodiment, the preset voltage is set to 3.65V. In addition, the power value output by the fuel gauge module is usually a percentage value, which means that the current battery value of the battery pack is a few percent of the initial power.

When the average discharge current of 15A is used, the voltage of the battery pack is detected. When the voltage of the single-cell terminal is less than or equal to 3.65V, it is divided into the following cases according to the number of charge-discharge cycles and the battery temperature:

1, the number of charge and discharge cycles between 0 and 30 times

(1) Temperature is between 20 ° C and 80 ° C

The corresponding standard value of the electric quantity in this state is 30%. If the error between the electric quantity value detected by the electric quantity measuring module and the actual electric quantity standard value is greater than ±5% (that is, the electric quantity value output by the electric quantity measuring module is greater than 35% or less than 25%). ), began to intervene in the power information. The percentage of power is reduced to 0% at a rate of (1/150)*(1+X/30)*(4900/cap)*I per second (/S), that is, the amount of power after the falling rate is calculated and displayed. The battery value of the fuel gauge module is not displayed. When the remaining power is displayed, the integer percentage can be rounded off. Of course, the calculated amount of electricity can also be directly displayed.

Where X is the difference between the current measured value of the electricity metering module and the pre-stored empirical standard value, which may be a negative value; cap is the battery capacity unit mAH; and I refers to the real-time current (amperes). The parameters of the subsequent formulas are consistent with this, and will not be described again.

For example, if the capacity of the battery is 4900Mah, the number of cycles is between 0 and 30, the temperature is between 20 ° C and 80 ° C, and the discharge current is 15 A. When the voltage of the battery with the lowest voltage is 3.65V when the battery is discharged, the electricity metering module displays 40%, and the difference from the empirical value of 30% is greater than 5%. At this point, the intervention starts to display the power. The percentage of electricity drops to 0% at a rate of (1/150)*(1+10/30)*(4900/4900)*15/S=0.13%/S, starting with 40% of the fuel gauge module display The rate of 0.13%/S began to drop to 0%.

For example, if the battery capacity is 4900Mah, the number of cycles is between 0 and 30, the temperature is between 20 ° C and 80 ° C, and the discharge current is 15 A. When the voltage of the battery with the lowest voltage is 3.65V when the battery is discharged, the electricity metering module displays 20%, and the difference from the empirical value of 30% is less than -5%. At this point, the intervention starts to display the power. The percentage of electricity dropped to 0% at a rate of (1/150)*(1-10/30)*(4900/4900)*15/S=0.067%/S, which is smaller than 0.13%/S in the previous example. Among them, starting from 20% displayed by the electricity metering module, it starts to drop to 0% at a rate of 0.067%/S.

It can be seen that when the electric quantity value detected by the electric quantity measuring module is too small, the calculated electric power falling rate when the estimating is performed is smaller than the electric power falling rate when the electric quantity measured by the electric quantity measuring module is too large.

(2) Temperature is between 0 ° C and 20 ° C

At this time, the battery experience standard value is 40%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ±5%, the power information is started to be intervened. The percentage of charge drops to 0% at the rate of (1/100)*(1+X/40)*(4900/cap)*I/S, where the percentage of the integer can be rounded off when the remaining charge is displayed.

(3) Temperature is between -10 °C and 0 °C

At this time, the battery experience standard value is 50%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ±5%, the power information is started to be intervened. The percentage of charge drops to 0% at the rate of (1/50)*(1+X/50)*(4900/cap)*I/S, where the integer percentage can be rounded off when the remaining charge is displayed.

2. The number of charge and discharge cycles is between 30 and 60 times.

(1) Temperature is between 20 ° C and 80 ° C

At this time, the battery experience standard value is 30%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ±5%, the power information is started to be intervened. The percentage of power drops to 0% at a rate of 1.1*(1/150)*(1+X/30)*(4900/cap)*I/S, where an integer percentage can be rounded off when the remaining charge is displayed.

(2) Temperature is between 0 ° C and 20 ° C

At this time, the battery experience standard value is 40%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ±5%, the power information is started to be intervened. The percentage of charge drops to 0% at a rate of 1.2*(1/100)*(1+X/40)*(4900/cap)*I/S, where an integer percentage can be rounded off when the remaining charge is displayed.

(3) Temperature is between -10 °C and 0 °C

At this time, the battery experience standard value is 50%. If the battery's power error is greater than 5% at this time, the processor intervenes to start the battery information. The percentage of charge drops to 0% at a rate of 1.5*(1/50)*(1+X/50)*(4900/cap)*I/S, where the integer percentage can be rounded off when the remaining charge is displayed.

3, the number of charge and discharge cycles between 60 and 100 times

(1) Temperature is between 20 ° C and 80 ° C

At this time, the battery experience standard value is 30%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ±5%, the power information is started to be intervened. The percentage of charge drops to 0% at a rate of 1.4*(1/100)*(1+X/40)*(4900/cap)*I/S, where the percentage of the integer can be rounded off when the remaining charge is displayed.

(2) Temperature is between 0 ° C and 20 ° C

At this time, the battery experience standard value is 40%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ±5%, the power information is started to be intervened. The percentage of electricity drops to 0% at a rate of 1.7*(1/100)*(1+X/40)*(4900/cap)*I/S. When the remaining power is displayed, the integer percentage can be rounded off.

(3) Temperature is between -10 °C and 0 °C

At this time, the battery experience standard value is 50%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ±5%, the power information is started to be intervened. The percentage of electricity drops to 0% at a rate of 2.3*(1/50)*(1+X/50)*(4900/cap)*I/S. When the remaining power is displayed, the integer percentage can be rounded off.

4, the number of charge and discharge cycles between 100 ~ 150

(1) Temperature is between 20 ° C and 80 ° C

At this time, the battery experience standard value is 30%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ±5%, the power information is started to be intervened. The percentage of electricity drops to 0% at a rate of 1.9*(1/150)*(1+X/30)*(4900/cap)*I/S. When the remaining power is displayed, the integer percentage can be rounded off.

(2) Temperature is between 0 ° C and 20 ° C

At this time, the battery experience standard value is 40%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ±5%, the power information is started to be intervened. The percentage of charge drops to 0% at a rate of 2.5*(1/100)*(1+X/40)*(4900/cap)*I/S. When the remaining power is displayed, the integer percentage can be rounded off.

(3) Temperature is between -10 °C and 0 °C

At this time, the battery experience standard value is 50%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ±5%, the power information is started to be intervened. The percentage of electricity drops to 0% at a rate of 3.0*(1/50)*(1+X/50)*(4900/cap)*I/S. When the remaining power is displayed, the integer percentage can be rounded off.

It should be noted that the parameters provided in the third embodiment are only an example. For other types of batteries, a formula for determining the corresponding power drop rate can be tested.

In addition, if the number of charge and discharge cycles is greater than or equal to 150, the battery may be recommended to be no longer used or used with caution due to factors such as battery life.

The solution provided by the present application can be extended to all methods based on the fuel gauge module to evaluate the accuracy of the fuel gauge module, correct the power and estimate the power, not limited to the drone battery, other devices (such as mobile phones, tablets, The battery power estimation of notebook computers, mobile electronic devices, etc. can also adopt the solution described in the present application.

As shown in FIG. 5, an embodiment of the present invention further provides a battery power estimating device 50, which includes a memory 520 and a processor 510. The memory 520 stores a program, and the program is read by the processor 510. At the time of execution, the above battery power estimation method is implemented.

An embodiment of the invention provides a computer readable storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the battery Power estimation method.

The computer readable storage medium includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like, which can store program codes. Medium.

An embodiment of the present invention further provides a drone, as shown in FIG. 3, comprising a frame 301, a power component 302 mounted to the frame 301, and a power source electrically connected to the power component 302 and powered The module 303, as shown in FIG. 4, the power module 303 includes a battery module 401, a power metering module 402, and a battery power estimating device 403. The battery module 401 can include one or more batteries, and the power metering module 402 can be a power metering unit. a chip, wherein the battery power estimating device 403 is configured to:

Acquiring the power value of the battery module 401 at the current time detected by the power metering module 402;

And comparing the power value to the stored power experience standard value of the battery module 401 corresponding to the current state, and if the difference between the two is greater than the preset range, determining a power change rate of the battery module 401 in a current state;

The power value of the current time of the battery module 401 and the power value after the current time are determined according to the power rate change rate.

In an embodiment, the battery power estimating device 403 is further configured to: determine the battery module before comparing the power value with a stored power experience standard value of the battery module 401 corresponding to a current state. The voltage value of any of the 401 batteries has been lower than the preset voltage.

In an embodiment, the battery power estimating device 403 is further configured to detect, when the voltage value of each battery in the battery module 401 is greater than the preset voltage, by the power metering module 402. The power value is used as the power value of the battery module.

In an embodiment, the current state includes at least one of the following: a charge and discharge state of the battery module, a number of charge and discharge cycles of the battery module, and an ambient temperature.

In an embodiment, the battery power estimating device 403 determines a power change rate of the battery module in a current state, including: a charge and discharge cycle number, a current temperature, a discharge current, a current power value, and a power amount of the battery module. The difference in empirical standard values and the battery capacity determine the rate of change in the amount of electricity.

It should be noted that the frame 301 and the power component 302 of the drone are referred to a conventional design, and details are not described herein again. In addition, the drone architecture shown in FIG. 3 is merely an example, and the present application is not limited thereto.

While the embodiments of the present invention have been described above, the described embodiments are merely for the purpose of understanding the invention and are not intended to limit the invention. Any modification and variation in the form and details of the embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention. The scope defined by the appended claims shall prevail.

Claims

A battery power estimation method, comprising:

Obtaining a power value of the battery module at the current time detected by the power metering module;

Comparing the electric quantity value with a pre-stored electric power experience standard value of the battery module corresponding to the current state, and if the difference between the two is greater than the preset range, determining a power change rate of the battery module in a current state;

Determining a power value of the current time of the battery module and a power value after the current time according to the power rate change rate.
The battery power estimation method according to claim 1, further comprising: comparing the power value with the pre-stored battery module power standard value of the current state, the method further comprising:

It is determined that the voltage value of any of the battery modules is lower than a preset voltage.
The battery power estimation method according to claim 2, wherein the method further comprises: when the voltage value of each of the battery modules is greater than the preset voltage, The detected power value is used as the power value of the battery module.
The battery power estimation method according to any one of claims 1 to 3, wherein the current state includes at least one of the following: a charge and discharge state of the battery module, a number of charge and discharge cycles of the battery module, Ambient temperature.
The battery power estimation method according to any one of claims 1 to 3, wherein the determining the rate of change of the power in the current state of the battery module comprises:

The power change rate is determined according to the number of charge and discharge cycles of the battery module, the current temperature, the discharge current, the difference between the current power value and the battery experience standard value, and the battery capacity.
A battery power estimating device, comprising: a storage module, a power acquiring module, a comparing module, and a power estimating module, wherein:

The storage module is configured to store a battery experience standard value in different states of the battery module;

The power acquisition module is configured to obtain a power value of a battery module at a current time detected by the power metering module, and output the value to the comparison module;

And the comparing module is configured to acquire, from the storage module, a battery power experience standard value corresponding to the current state, and the battery value that is input by the power acquiring module and the battery module corresponding to the current state The battery power experience standard value is compared, and if the difference between the two exceeds the preset range, the power estimation module is notified;

The power estimation module is configured to: after receiving the notification of the comparison module, determine a power change rate of the battery module in a current state, determine a power value of the current time of the battery module according to the power change rate, and current The amount of electricity after the moment.
The battery power estimating device according to claim 6, wherein said battery power estimating device further comprises a voltage detecting module, wherein:

The voltage detecting module is configured to detect a voltage value of the battery in the battery module, and notify the comparison module when a voltage value of any one of the battery modules is lower than a preset voltage;

The comparison module is further configured to compare the power value with a pre-stored battery power experience standard value corresponding to the current state after receiving the notification of the voltage detection module.
A battery power estimating device according to claim 7, wherein:

The voltage detecting module is further configured to notify the power estimating module when a voltage value of each of the battery modules is greater than the preset voltage;

The power estimation module is further configured to: after receiving the notification of the comparison module, output the power value detected by the power measurement module as the power value of the battery module.
The battery power estimating device according to any one of claims 6 to 8, wherein the current state includes at least one of the following: a charge and discharge state of the battery module, a number of charge and discharge cycles of the battery module, Ambient temperature.
The battery power estimating device according to any one of claims 6 to 8, wherein the power estimating module comprises a parameter obtaining unit, a rate determining unit, and a power estimating unit, wherein:

The parameter obtaining unit is configured to: after receiving the notification of the comparison module, acquire a difference between a charge and discharge cycle number, a current temperature, a discharge current, a current power value, and a battery experience standard value of the battery module, and a battery capacity;

The rate determining unit is configured to determine the power rate change rate according to a difference between a charge and discharge cycle number of the battery module, a current temperature, a discharge current, a current power value, and a difference between a battery power experience standard value and a battery capacity;

The power estimation unit is configured to determine a power value of the current time of the battery module and a power value after the current time according to the power rate change rate.
A battery power estimating device, comprising: a memory and a processor, wherein the memory stores a program, and when the program is read and executed by the processor, implementing the method according to any one of claims 1 to 5 Battery power estimation method.
An unmanned aerial vehicle, comprising: a rack, a power component mounted on the rack, a power module electrically connected to the power component and powered by the power module, the power module comprising a battery module and a power metering module And a battery power estimating device, wherein the battery power estimating device is configured to:

Obtaining a power value of the battery module at the current time detected by the power metering module;

Comparing the electric quantity value with a pre-stored electric power experience standard value of the battery module corresponding to the current state, and if the difference between the two is greater than the preset range, determining a power change rate of the battery module in a current state;

Determining a power value of the current time of the battery module and a power value after the current time according to the power rate change rate.
The drone according to claim 12, wherein said battery power estimating means is further configured to: compare said power amount value with a pre-stored current battery state power standard value of said corresponding current state Previously, it was determined that the voltage value of any of the battery modules was lower than the preset voltage.
The drone according to claim 13, wherein the battery power estimating device is further configured to: when the voltage value of each of the battery modules is greater than the predetermined voltage, The power value detected by the power metering module is used as the power value of the battery module.
The drone according to any one of claims 12 to 14, wherein the current state includes at least one of the following: a charge and discharge state of the battery module, a number of charge and discharge cycles of the battery module, and an ambient temperature. .
The UAV according to any one of claims 12 to 14, wherein the battery power estimating means determines the rate of change of the amount of electricity in the current state of the battery module, including: the number of charge and discharge cycles of the battery module The current temperature, the discharge current, the difference between the current power value and the battery experience standard value, and the battery capacity determine the power rate change rate.