WO2019085562A1

WO2019085562A1 - Method and apparatus for acquiring remaining state of charge of battery

Info

Publication number: WO2019085562A1
Application number: PCT/CN2018/098128
Authority: WO
Inventors: 邹锦林; 秦威
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-10-30
Filing date: 2018-08-01
Publication date: 2019-05-09
Also published as: CN107831445A

Abstract

Disclosed are a method and apparatus for acquiring a remaining state of charge of a battery. The method comprises: acquiring an output voltage and an output current, and a remaining state of charge of each battery cell of a battery; performing compensation and filtering on the output voltage according to the output current, so as to obtain a smooth voltage; determining, according to the smooth voltage and the remaining state of charge, whether a jump in the remaining state of charge will occur, and if so, calculating a real remaining state of charge according to the remaining state of charge and the smooth voltage. The solution of the embodiments of the present invention involves: performing compensation and filtering on an output voltage according to an output current so as to obtain a smooth voltage, determining, according to the obtained RSOC and the smooth voltage, whether a jump in the electric quantity will occur, and then calculating a real remaining state of charge if a jump in the electric quantity will occur. In this way, corresponding preparation (such as controlling the landing of an unmanned aerial vehicle) can be made in advance according to the real remaining electric quantity, such that a serious consequence caused by the jump in the state of charge is weakened or eliminated, and flight safety is thus ensured.

Description

Method and device for obtaining remaining battery power

The application claims the priority of the Chinese Patent Application No. 20171103408 3.6, the entire disclosure of which is hereby incorporated by reference in its entirety in its entirety in .

Technical field

The present invention relates to battery technology, and more particularly to a method and apparatus for obtaining battery remaining power.

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 Texas Instruments' BQ30Z55, BQ40Z50, BQ34Z100 and other chips, and are supplemented by peripheral devices such as processors. Among them, the information of Remain State Of Charge (RSOC) is mainly provided by TI's electricity metering chip. In order to ensure the safe flight of the drone, the flight control system needs to obtain a continuous, linear and accurate battery RSOC, otherwise there is a risk of crash.

However, due to the inaccurate power and the jump of the power caused by the leakage of the battery core of the current power metering chip, the data completely relying on the power metering chip cannot meet the demanding requirements of the drone for accurately measuring the battery power.

Summary of the invention

Embodiments of the present invention provide a method and apparatus for remaining battery power, which can improve the accuracy of the remaining battery power obtained, and reduce or eliminate the occurrence of hopping, thereby ensuring flight safety.

An embodiment of the present invention provides a method for obtaining a remaining battery power, including:

Obtain the output voltage and output current of all the cells of the battery, and the remaining power;

The output voltage is compensated and filtered according to the output current to obtain a smooth voltage;

Whether the power is to be hopped is determined according to the smoothed voltage and the remaining power, and if so, the true remaining power is calculated according to the remaining power and the smoothed voltage.

Optionally, the method further includes:

When it is judged that the power does not jump, the remaining power obtained is taken as the real remaining power.

Optionally, the smoothing voltage is obtained by performing compensation processing and filtering processing on the output voltage according to the output current, including:

Performing current compensation on the output voltage according to the output current to obtain a compensation voltage;

Performing a filtering process on the compensation voltage to obtain the smoothed voltage;

or,

Filtering the output voltage to obtain a filtered voltage;

Current compensation is performed on the filtered voltage according to the output current to obtain a smoothed voltage.

Optionally, the performing current compensation on the output voltage according to the output current to obtain the compensation voltage includes:

And filtering the output current according to the output current and the last filter current to obtain the current filter current;

The compensation voltage is obtained by performing current compensation on the output voltage according to the current filter current.

Optionally, the weighting and filtering the output current according to the output current and the last filtering current to obtain the current filtering current includes:

Calculating the current filter current according to the formula I ₂ =K ₀ I ₁ +K ₁ I';

Where I ₂ is the current filter current, K ₀ and K ₁ are weighting coefficients, and K ₀ + K ₁ =1, specifically, K ₁ = 0.8, K ₀ = 0.2, and I ₁ is the cell The output current, I', is the last filtered current.

Optionally, the performing current compensation on the output voltage according to the current filter current to obtain the compensation voltage includes:

Calculating the second compensation voltage according to the formula V ₂ = K ₂ I ₂ + V ₁ ;

Wherein, V ₂ is the compensation voltage, and K ₂ is a compensation coefficient. Specifically, K ₂ is a theoretical internal resistance value of the battery core, and I ₂ is the current filter current, and V ₁ is the smallest of all the output voltages. one of.

Optionally, performing the filtering process on the compensation voltage to obtain a smooth voltage includes:

Performing a weighted filtering on the compensation voltage according to the compensation voltage and the last smoothing voltage to obtain the current smoothed voltage; specifically,

Calculating the current smoothing voltage according to the formula V ₃ = K ₃ V ₂ + K ₄ V ₃ ';

Where V ₃ is the current smoothing voltage, K ₃ and K ₄ are weighting coefficients, and K ₃ + K ₄ =1, specifically, K ₄ =0.98, K ₃ = 0.02, and V ₂ is the compensation voltage. , V ₃ ' is the last smoothed voltage.

Optionally, the filtering the output voltage to obtain the filtered voltage includes:

And filtering the output voltage according to the last smoothing voltage to obtain the filtered voltage; specifically, calculating the filtered voltage according to the formula V ₄ =K ₃ V ₁ +K ₄ V ₃ ';

Where V ₄ is the filtered voltage, K ₃ and K ₄ are weighting coefficients, and K ₃ + K ₄ =1, specifically, K ₄ =0.98, K ₃ = 0.02, and V ₁ is the smallest of the output voltages. One of them, V ₃ ' is the last smoothed voltage.

Optionally, the performing current compensation on the filtered voltage according to the output current to obtain a smoothed voltage includes:

The smoothing voltage is obtained by performing current compensation on the filtered voltage according to the current filter current.

Optionally, the performing current compensation on the filtered voltage according to the current filter current to obtain a smoothed voltage includes:

Calculating the current second compensation voltage according to the formula V ₃ = K ₂ I ₂ + V ₄ ;

Wherein, V ₃ is the current smoothing voltage, and K ₂ is a compensation coefficient. Specifically, K ₂ is a theoretical internal resistance value of the battery core, I ₂ is the current filtering current, and V ₄ is the filtering voltage.

Optionally, the determining whether the power will be hopped according to the smoothed voltage and the remaining power includes:

Comparing the smoothed voltage with the first preset threshold, the remaining power, and the second preset threshold, respectively, if the smoothed voltage is less than or equal to the first preset threshold, and the remaining power is greater than the second preset The threshold value determines that the power quantity will jump; otherwise, it determines that the power quantity does not jump.

Optionally, the calculating the true remaining power according to the remaining power and the smoothing voltage includes:

According to the formula

Calculating the real remaining power;

Where R is the true remaining power, R ₁ is the remaining power, V _{3 is} the smoothed voltage, V ₃ ' is the last smoothed voltage, and EDV is the cell terminated discharge voltage of the battery.

An embodiment of the present invention provides an apparatus for acquiring a remaining battery power, including:

Obtaining a module for acquiring an output voltage and an output current of all the cells of the battery, and a remaining amount of power;

a processing module, configured to perform a compensation process and a filtering process on the output voltage according to the output current to obtain a smooth voltage;

And a determining module, configured to determine, according to the smoothed voltage and the remaining power, whether a power will be hopped, and if yes, calculate a true remaining power according to the remaining power and the smoothed voltage.

Optionally, the determining module is further configured to:

Optionally, the processing module is specifically configured to:

or,

Filtering the output voltage to obtain a filtered voltage;

Optionally, the processing module is specifically configured to implement, by using the following manner, performing current compensation on the output voltage according to the output current to obtain a compensation voltage:

Optionally, the processing module is specifically configured to implement, according to the output current, performing current compensation on the filtered voltage to obtain a smoothed voltage:

Optionally, the determining module is specifically configured to: determine, according to the smoothed voltage and the remaining power, whether the power will jump according to the following manner:

Optionally, the determining module is specifically configured to calculate, by using the following manner, the real remaining power according to the remaining power and the smoothed voltage:

According to the formula

Calculating the real remaining power;

Where R is the true remaining power, R ₁ is the remaining power, V _{3 is} the smooth voltage, and V ₃ ' is the last smoothing voltage EDV is the cell termination discharge voltage of the battery.

An embodiment of the present invention provides an apparatus for acquiring remaining battery power, including a processor and a computer readable storage medium, wherein the computer readable storage medium stores instructions, when the instructions are executed by the processor, Any of the above methods for obtaining the remaining battery power.

Embodiments of the present invention provide a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements any of the steps of a method for obtaining a remaining battery power.

Compared with the related art, the embodiment of the present invention includes: acquiring an output voltage and an output current of all the cells of the battery, and a remaining power; and performing a compensation process and a filtering process on the output voltage according to the output current to obtain a smoothed voltage; And determining whether the amount of power will be hopped with the remaining amount of power, and if so, calculating the true remaining amount of power based on the remaining amount of power and the smoothed voltage. In the solution of the embodiment of the present invention, the output voltage is compensated and filtered by the output current to obtain a smooth voltage, and according to the obtained RSOC and the smoothed voltage, it is determined whether the power will jump, and then when the power will jump, the calculation is performed. The actual remaining power, so that according to the actual remaining power can be prepared in advance (such as controlling the drone landing) to reduce or eliminate the serious consequences caused by the power jump, thus ensuring flight safety.

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.

1 is a flowchart of a method for acquiring remaining battery power according to an embodiment of the present invention;

2 is a schematic diagram of a voltage filtering effect according to an embodiment of the present invention;

3 is a schematic diagram of an effect of acquiring a remaining battery power according to an embodiment of the present invention;

4 is a schematic structural diagram of an apparatus for acquiring a remaining battery power according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of another apparatus for acquiring remaining battery power according to an embodiment of the present invention.

Detailed ways

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.

Referring to FIG. 1, an embodiment of the present invention provides a method for obtaining a remaining battery power, including:

Step 100: Obtain an output voltage and an output current of all the cells of the battery, and a remaining power RSOC.

In this step, the output voltages of different cells of the battery are different, and the output currents are the same.

The power metering chip can be used to obtain the output voltage and output current of all the cells of the battery, and the RSOC. The controller, or the A/D conversion device can also be used to obtain the output voltage and output current of all the cells of the battery. The embodiment of the invention is not limited thereto.

Step 101: Perform a compensation process and a filtering process on the output voltage according to the output current to obtain a smoothed voltage.

In this step, the smoothing voltage can be obtained by using either of the following two methods.

First, first, current compensation is performed on the output voltage according to the output current to obtain a compensation voltage; and the compensation voltage is filtered to obtain the smoothed voltage.

Wherein, the current compensation is performed on the output voltage according to the output current to obtain a compensation voltage, including:

And filtering the output current according to the output current and the last filter current to obtain the current filter current; and performing current compensation on the output voltage according to the current filter current to obtain the compensation voltage.

Wherein, the output current is weighted and filtered according to the output current and the last filter current to obtain the current filter current:

Calculate the current filter current according to the formula I ₂ =K ₀ I ₁ +K ₁ I';

Where I _{2 is} the current filter current, K ₀ and K ₁ are weighting coefficients, and K ₀ +K ₁ =1, I ₁ is the output current of the cell, and I′ is the last filter current.

In the above formula, the value of K ₁ is related to the actual circuit system. The larger the output current fluctuation is, the larger the value of K ₁ is. The smoothness of the current filtered current obtained after the processing is also higher. Sexual interference has a good inhibitory effect and is very suitable for high fluctuation frequencies.

Alternatively, K ₁ = 0.8 and K ₀ = 0.2.

Wherein, according to the current filtering current, the output voltage is current-compensated to obtain a compensation voltage, including:

Calculating the compensation voltage according to the formula V ₂ =K ₂ I ₂ +V ₁ ;

Where V ₂ is the compensation voltage, K ₂ is the compensation coefficient, I _{2 is} the current filter current, and V ₁ is the smallest _one of all output voltages.

Among them, the value of K ₂ depends on the current internal resistance of the cell.

Alternatively, K ₂ can be taken as the theoretical internal resistance of the cell.

Wherein, the smoothing voltage is obtained by filtering the compensation voltage, and the smoothing voltage is obtained by weighting the compensation voltage according to the compensation voltage and the last smoothing voltage.

Specifically, the current smoothing voltage is calculated according to the formula V ₃ =K ₃ V ₂ +K ₄ V ₃ ';

Where V _{3 is} the smoothed voltage, K ₃ and K ₄ are weighting coefficients, and K ₃ + K ₄ =1, V ₂ is the second compensation voltage, and V ₃ ' is the last smoothed voltage.

Wherein, the current smoothed voltage obtained by filtering the output voltage by the above formula is smoother, and the delay of the output current in the time domain caused by the weighted filtering process of the output current is considered, and the output current of the power metering chip is relative to the output voltage. Hysteresis, the value of K ₄ should be very close to K ₁ and slightly larger than K ₁ , for example, K ₄ = 0.98, K ₃ = 0.02.

Secondly, the output voltage is first filtered to obtain a filtered voltage; and the filtered voltage is current-compensated according to the output current to obtain a smoothed voltage.

The filtering voltage obtained by filtering the output voltage includes: weighting and filtering the output voltage according to the last smoothing voltage to obtain a filtered voltage, including:

Calculating the filter voltage according to the formula V ₄ =K ₃ V ₁ +K ₄ V ₃ ';

Where V ₄ is the filtered voltage, K ₃ and K ₄ are weighting coefficients, and K ₃ + K ₄ =1, V ₁ is the smallest of all output voltages, and V ₃ ' is the last smoothed voltage.

Wherein, the smoothing voltage is obtained by performing current compensation on the filtered voltage according to the output current, including:

According to the output current and the last filter current, the output current is weighted and filtered to obtain the current filter current; according to the current filter current, the filter voltage is current-compensated to obtain a smooth voltage.

Wherein, according to the current filtering current, the smoothing voltage is obtained by performing current compensation on the filtered voltage, including:

Calculating the second compensation voltage according to the formula V ₃ = K ₂ I ₂ + V ₄ ;

Where V _{3 is} the smoothed voltage, K ₂ is the compensation coefficient, I _{2 is} the current filter current, and V ₄ is the filter voltage.

2 is a schematic diagram of a battery voltage filtering effect according to an embodiment of the present invention. As shown in Fig. 2, the abscissa is time T, and the ordinate is the smoothed voltage obtained each time. In the figure, curve 21 is the output voltage curve and curve 22 is the smooth voltage curve. As can be seen from the figure, the smoothed voltage curve is more continuous, smooth and accurate with respect to the output voltage curve.

Step 102: Determine whether the power will be hopped according to the smoothed voltage and the RSOC, and if yes, calculate the true RSOC according to the RSOC and the smoothed voltage.

In this step, it is determined whether the power will be hopped according to the smoothed voltage and the RSOC, including:

Comparing the smoothed voltage with the first preset threshold, the RSOC and the second preset threshold respectively, if the smoothed voltage is less than or equal to the first preset threshold, and the RSOC is greater than the second preset threshold, determining that the power will jump Otherwise, it is judged that the power does not jump.

Optionally, the first preset threshold and the second preset threshold are determined by cell performance. For example, the first preset threshold may be 3.6 volts (V), and the second preset threshold may be taken as 30% of the total power. The specific value depends on the specific situation.

In this step, calculating the true RSOC based on the RSOC and the smoothed voltage includes:

According to the formula

Calculate the real RSOC;

Where R is the true RSOC, R ₁ is RSOC, V _{3 is} the smoothed voltage, V ₃ ' is the last smoothed voltage, and EDV is the cell terminated discharge voltage of the battery.

Optionally, the method further includes:

When it is judged that the electric power does not jump, the obtained RSOC is taken as the real RSOC, and the process returns to step 100.

FIG. 3 is a schematic diagram of an effect of acquiring remaining battery power according to an embodiment of the present invention. As shown in Figure 3, the abscissa is time T and the ordinate is the true RSOC obtained each time. In the figure, curve 31 is a directly obtained RSOC curve, and curve 32 is a true RSOC curve calculated by the method of the embodiment of the present invention. As can be seen from the figure, the actual RSOC curve calculated by the method of the embodiment of the present invention reduces the occurrence of hopping relative to the directly obtained RSOC curve, thereby ensuring flight safety.

Through the solution of the embodiment of the present invention, the output voltage is compensated and filtered by the output current, and then when the power is hopped, the real RSOC is calculated, the accuracy of the obtained RSOC is improved, and the hopping is weakened or eliminated. Occurs to ensure flight safety.

Referring to FIG. 4, an embodiment of the present invention further provides an apparatus for remaining battery power, including:

Obtaining a module for acquiring an output voltage and an output current of all the cells of the battery, and a remaining power RSOC;

Optionally, the determining module is further configured to:

When it is judged that no jump occurs, the obtained RSOC is taken as the real RSOC.

Optionally, the processing module is specifically configured to:

or,

Filtering the output voltage to obtain a filtered voltage;

And weighting the output current according to the output current and the last filter current to obtain the current filter current;

According to the formula

Calculating the real remaining power;

Referring to FIG. 5, an embodiment of the present invention further provides an apparatus for acquiring a remaining battery power, including a processor and a computer readable storage medium, wherein the computer readable storage medium stores an instruction when the instruction is processed. When the device is executed, any one of the above methods for obtaining the remaining battery power is implemented.

The readable storage medium includes at least one of the following: a flash memory, a hard disk, a multimedia card, and a card type memory (for example, a Secure Digital Memory Card (SD card) or a Data Register (DX) memory). Random Access Memory (RAM), Static Random Access Memory (SRAM), Read Only Memory (ROM), EEPROM (Electrically Erasable Programmable) Read-Only Memory), Programmable Read-Only Memory (PROM), Magnetic Memory, Disk, Optical Disk, etc.

The processor can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip.

It can be understood that the above method for obtaining the remaining battery power can be used to obtain the remaining power of various batteries, such as a lithium battery, a nickel cadmium battery or other storage batteries. The battery can be used to power various electronic devices such as drones, automobiles, terminal devices, wearable devices, and the like. In this embodiment, the battery is used to power a drone. The method for obtaining the remaining battery power may be performed by any suitable type of chip or controller having a certain logic operation capability, capable of realizing the function of acquiring the remaining battery power, such as a battery control chip (such as an MCU).

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 method for obtaining a remaining battery power, comprising:

Obtain the output voltage and output current of all the cells of the battery, and the remaining power;

The output voltage is compensated and filtered according to the output current to obtain a smooth voltage;

Whether the power is to be hopped is determined according to the smoothed voltage and the remaining power, and if so, the true remaining power is calculated according to the remaining power and the smoothed voltage.
The method of claim 1 further comprising:

When it is judged that the power does not jump, the remaining power obtained is taken as the real remaining power.
The method according to claim 1 or 2, wherein the smoothing voltage is obtained by performing compensation processing and filtering processing on the output voltage according to the output current, including:

Performing current compensation on the output voltage according to the output current to obtain a compensation voltage;

Performing a filtering process on the compensation voltage to obtain the smoothed voltage;

or,

Filtering the output voltage to obtain a filtered voltage;

Current compensation is performed on the filtered voltage according to the output current to obtain a smoothed voltage.
The method according to claim 3, wherein the current compensation of the output voltage according to the output current to obtain the compensation voltage comprises:

And filtering the output current according to the output current and the last filter current to obtain the current filter current;

The compensation voltage is obtained by performing current compensation on the output voltage according to the current filter current.
The method according to claim 4, wherein said weighting and filtering the output current according to the output current and the last filtered current to obtain the current filtered current comprises:

Calculating the current filter current according to the formula I 2 =K 0 I 1 +K 1 I';

Where I 2 is the current filter current, K 0 and K 1 are weighting coefficients, and K 0 + K 1 =1, specifically, K 1 = 0.8, K 0 = 0.2, and I 1 is the cell The output current, I', is the last filtered current.
The battery voltage filtering method according to claim 4, wherein the current compensation of the output voltage according to the current filter current to obtain a compensation voltage comprises:

Calculating the second compensation voltage according to the formula V 2 = K 2 I 2 + V 1 ;

Wherein, V 2 is the compensation voltage, and K 2 is a compensation coefficient. Specifically, K 2 is a theoretical internal resistance value of the battery core, and I 2 is the current filter current, and V 1 is the smallest of all the output voltages. one of.
The battery voltage filtering method according to claim 3, wherein the filtering the compensation voltage to obtain a smooth voltage comprises:

Performing a weighted filtering on the compensation voltage according to the compensation voltage and the last smoothing voltage to obtain the current smoothed voltage; specifically,

Calculating the current smoothing voltage according to the formula V 3 = K 3 V 2 + K 4 V 3 ';

Where V 3 is the current smoothing voltage, K 3 and K 4 are weighting coefficients, and K 3 + K 4 =1, specifically, K 4 =0.98, K 3 = 0.02, and V 2 is the compensation voltage. , V 3 ' is the last smoothed voltage.
The battery voltage filtering method according to claim 3, wherein the filtering the output voltage to obtain a filtered voltage comprises:

And filtering the output voltage according to the last smoothing voltage to obtain the filtered voltage; specifically, calculating the filtered voltage according to the formula V 4 =K 3 V 1 +K 4 V 3 ';

Where V 4 is the filter voltage, K 3 and K 4 are weighting coefficients, and K 3 + K 4 =1, specifically, K 4 =0.98, K 3 = 0.02, and V1 is the smallest of the output voltages. One, V 3 ' is the last smoothed voltage.
The battery voltage filtering method according to claim 3, wherein the current compensation of the filtered voltage according to the output current to obtain a smoothed voltage comprises:

And filtering the output current according to the output current and the last filter current to obtain the current filter current;

The smoothing voltage is obtained by performing current compensation on the filtered voltage according to the current filter current.
The battery voltage filtering method according to claim 9, wherein the smoothing the voltage by the current compensation according to the current filter current comprises:

Calculating the current second compensation voltage according to the formula V 3 = K 2 I 2 + V 4 ;

Wherein, V 3 is the current smoothing voltage, and K 2 is a compensation coefficient. Specifically, K 2 is a theoretical internal resistance value of the battery core, I 2 is the current filtering current, and V 4 is the filtering voltage.
The method according to claim 1 or 2, wherein the determining whether the power is to be mutated according to the smoothed voltage and the remaining power includes:

Comparing the smoothed voltage with the first preset threshold, the remaining power, and the second preset threshold, respectively, if the smoothed voltage is less than or equal to the first preset threshold, and the remaining power is greater than the second preset The threshold value determines that the power quantity will jump; otherwise, it determines that the power quantity does not jump.
The method according to claim 1 or 2, wherein the calculating the true remaining power based on the remaining power and the smoothed voltage comprises:

According to the formula
Calculating the real remaining power;

Where R is the true remaining power, R 1 is the remaining power, V 3 is the smoothed voltage, V 3 ' is the last smoothed voltage, and EDV is the cell terminated discharge voltage of the battery.
A device for obtaining a remaining battery power, comprising:

Obtaining a module for acquiring an output voltage and an output current of all the cells of the battery, and a remaining amount of power;

a processing module, configured to perform a compensation process and a filtering process on the output voltage according to the output current to obtain a smooth voltage;

And a determining module, configured to determine, according to the smoothed voltage and the remaining power, whether a power will be hopped, and if yes, calculate a true remaining power according to the remaining power and the smoothed voltage.
The device according to claim 13, wherein the determining module is further configured to:

When it is judged that the power does not jump, the remaining power obtained is taken as the real remaining power.
The device according to claim 13 or 14, wherein the processing module is specifically configured to:

Performing current compensation on the output voltage according to the output current to obtain a compensation voltage;

Performing a filtering process on the compensation voltage to obtain the smoothed voltage;

or,

Filtering the output voltage to obtain a filtered voltage;

Current compensation is performed on the filtered voltage according to the output current to obtain a smoothed voltage.
The device according to claim 15, wherein the processing module is specifically configured to implement the current compensation of the output voltage according to the output current to obtain a compensation voltage:

And filtering the output current according to the output current and the last filter current to obtain the current filter current;

The compensation voltage is obtained by performing current compensation on the output voltage according to the current filter current.
The device according to claim 15, wherein the processing module is specifically configured to implement the current compensation of the filtered voltage according to the output current to obtain a smoothed voltage:

And filtering the output current according to the output current and the last filter current to obtain the current filter current;

The smoothing voltage is obtained by performing current compensation on the filtered voltage according to the current filter current.
The device according to claim 13 or 14, wherein the determining module is specifically configured to: in the following manner, determine whether the power is to be hopped according to the smoothed voltage and the remaining power:

Comparing the smoothed voltage with the first preset threshold, the remaining power, and the second preset threshold, respectively, if the smoothed voltage is less than or equal to the first preset threshold, and the remaining power is greater than the second preset The threshold value determines that the power quantity will jump; otherwise, it determines that the power quantity does not jump.
The device according to claim 13 or 14, wherein the determining module is specifically configured to calculate the real remaining power according to the remaining power and the smoothed voltage in the following manner:

According to the formula
Calculating the real remaining power;

Where R is the true remaining power, R 1 is the remaining power, V 3 is the smooth voltage, and V 3 ' is the last smoothing voltage EDV is the cell termination discharge voltage of the battery.
An apparatus for obtaining a remaining battery power, comprising a processor and a computer readable storage medium, wherein the computer readable storage medium stores instructions, wherein the instructions are implemented when the instructions are executed by the processor A method for obtaining a remaining battery power according to any one of 1 to 12.
A computer readable storage medium having stored thereon a computer program, wherein the computer program is executed by a processor to implement the steps of the method for obtaining a remaining battery power according to any one of claims 1 to 12.